diff options
Diffstat (limited to 'src/ipa')
266 files changed, 42164 insertions, 537 deletions
diff --git a/src/ipa/ipa-sign-install.sh b/src/ipa/ipa-sign-install.sh new file mode 100755 index 00000000..71696d5a --- /dev/null +++ b/src/ipa/ipa-sign-install.sh @@ -0,0 +1,22 @@ +#!/bin/sh +# SPDX-License-Identifier: GPL-2.0-or-later +# Copyright (C) 2020, Google Inc. +# +# Author: Laurent Pinchart <laurent.pinchart@ideasonboard.com> +# +# Regenerate IPA module signatures when installing + +key=$1 +shift +modules=$* + +ipa_sign=$(dirname "$0")/ipa-sign.sh + +echo "Regenerating IPA modules signatures" + +for module in ${modules} ; do + module="${MESON_INSTALL_DESTDIR_PREFIX}/${module}" + if [ -f "${module}" ] ; then + "${ipa_sign}" "${key}" "${module}" "${module}.sign" + fi +done diff --git a/src/ipa/ipa-sign.sh b/src/ipa/ipa-sign.sh new file mode 100755 index 00000000..69024213 --- /dev/null +++ b/src/ipa/ipa-sign.sh @@ -0,0 +1,13 @@ +#!/bin/sh +# SPDX-License-Identifier: GPL-2.0-or-later +# Copyright (C) 2020, Google Inc. +# +# Author: Laurent Pinchart <laurent.pinchart@ideasonboard.com> +# +# Generate a signature for an IPA module + +key="$1" +input="$2" +output="$3" + +openssl dgst -sha256 -sign "${key}" -out "${output}" "${input}" diff --git a/src/ipa/ipu3/algorithms/af.cpp b/src/ipa/ipu3/algorithms/af.cpp new file mode 100644 index 00000000..cf68fb59 --- /dev/null +++ b/src/ipa/ipu3/algorithms/af.cpp @@ -0,0 +1,458 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Red Hat + * + * IPU3 auto focus algorithm + */ + +#include "af.h" + +#include <algorithm> +#include <chrono> +#include <cmath> +#include <fcntl.h> +#include <sys/ioctl.h> +#include <sys/stat.h> +#include <sys/types.h> +#include <unistd.h> + +#include <linux/videodev2.h> + +#include <libcamera/base/log.h> + +#include <libcamera/ipa/core_ipa_interface.h> + +/** + * \file af.h + */ + +/* + * Static variables from ChromiumOS Intel Camera HAL and ia_imaging library: + * - https://chromium.googlesource.com/chromiumos/platform/arc-camera/+/master/hal/intel/psl/ipu3/statsConverter/ipu3-stats.h + * - https://chromium.googlesource.com/chromiumos/platform/camera/+/refs/heads/main/hal/intel/ipu3/include/ia_imaging/af_public.h + */ + +/** The minimum horizontal grid dimension. */ +static constexpr uint8_t kAfMinGridWidth = 16; +/** The minimum vertical grid dimension. */ +static constexpr uint8_t kAfMinGridHeight = 16; +/** The maximum horizontal grid dimension. */ +static constexpr uint8_t kAfMaxGridWidth = 32; +/** The maximum vertical grid dimension. */ +static constexpr uint8_t kAfMaxGridHeight = 24; +/** The minimum value of Log2 of the width of the grid cell. */ +static constexpr uint16_t kAfMinGridBlockWidth = 4; +/** The minimum value of Log2 of the height of the grid cell. */ +static constexpr uint16_t kAfMinGridBlockHeight = 3; +/** The maximum value of Log2 of the width of the grid cell. */ +static constexpr uint16_t kAfMaxGridBlockWidth = 6; +/** The maximum value of Log2 of the height of the grid cell. */ +static constexpr uint16_t kAfMaxGridBlockHeight = 6; +/** The number of blocks in vertical axis per slice. */ +static constexpr uint16_t kAfDefaultHeightPerSlice = 2; + +namespace libcamera { + +using namespace std::literals::chrono_literals; + +namespace ipa::ipu3::algorithms { + +LOG_DEFINE_CATEGORY(IPU3Af) + +/** + * Maximum focus steps of the VCM control + * \todo should be obtained from the VCM driver + */ +static constexpr uint32_t kMaxFocusSteps = 1023; + +/* Minimum focus step for searching appropriate focus */ +static constexpr uint32_t kCoarseSearchStep = 30; +static constexpr uint32_t kFineSearchStep = 1; + +/* Max ratio of variance change, 0.0 < kMaxChange < 1.0 */ +static constexpr double kMaxChange = 0.5; + +/* The numbers of frame to be ignored, before performing focus scan. */ +static constexpr uint32_t kIgnoreFrame = 10; + +/* Fine scan range 0 < kFineRange < 1 */ +static constexpr double kFineRange = 0.05; + +/* Settings for IPU3 AF filter */ +static struct ipu3_uapi_af_filter_config afFilterConfigDefault = { + .y1_coeff_0 = { 0, 1, 3, 7 }, + .y1_coeff_1 = { 11, 13, 1, 2 }, + .y1_coeff_2 = { 8, 19, 34, 242 }, + .y1_sign_vec = 0x7fdffbfe, + .y2_coeff_0 = { 0, 1, 6, 6 }, + .y2_coeff_1 = { 13, 25, 3, 0 }, + .y2_coeff_2 = { 25, 3, 177, 254 }, + .y2_sign_vec = 0x4e53ca72, + .y_calc = { 8, 8, 8, 8 }, + .nf = { 0, 9, 0, 9, 0 }, +}; + +/** + * \class Af + * \brief An auto-focus algorithm based on IPU3 statistics + * + * This algorithm is used to determine the position of the lens to make a + * focused image. The IPU3 AF processing block computes the statistics that + * are composed by two types of filtered value and stores in a AF buffer. + * Typically, for a clear image, it has a relatively higher contrast than a + * blurred one. Therefore, if an image with the highest contrast can be + * found through the scan, the position of the len indicates to a clearest + * image. + */ +Af::Af() + : focus_(0), bestFocus_(0), currentVariance_(0.0), previousVariance_(0.0), + coarseCompleted_(false), fineCompleted_(false) +{ +} + +/** + * \brief Configure the Af given a configInfo + * \param[in] context The shared IPA context + * \param[in] configInfo The IPA configuration data + * \return 0 on success, a negative error code otherwise + */ +int Af::configure(IPAContext &context, const IPAConfigInfo &configInfo) +{ + struct ipu3_uapi_grid_config &grid = context.configuration.af.afGrid; + grid.width = kAfMinGridWidth; + grid.height = kAfMinGridHeight; + grid.block_width_log2 = kAfMinGridBlockWidth; + grid.block_height_log2 = kAfMinGridBlockHeight; + + /* + * \todo - while this clamping code is effectively a no-op, it satisfies + * the compiler that the constant definitions of the hardware limits + * are used, and paves the way to support dynamic grid sizing in the + * future. While the block_{width,height}_log2 remain assigned to the + * minimum, this code should be optimized out by the compiler. + */ + grid.width = std::clamp(grid.width, kAfMinGridWidth, kAfMaxGridWidth); + grid.height = std::clamp(grid.height, kAfMinGridHeight, kAfMaxGridHeight); + + grid.block_width_log2 = std::clamp(grid.block_width_log2, + kAfMinGridBlockWidth, + kAfMaxGridBlockWidth); + + grid.block_height_log2 = std::clamp(grid.block_height_log2, + kAfMinGridBlockHeight, + kAfMaxGridBlockHeight); + + grid.height_per_slice = kAfDefaultHeightPerSlice; + + /* Position the AF grid in the center of the BDS output. */ + Rectangle bds(configInfo.bdsOutputSize); + Size gridSize(grid.width << grid.block_width_log2, + grid.height << grid.block_height_log2); + + /* + * \todo - Support request metadata + * - Set the ROI based on any input controls in the request + * - Return the AF ROI as metadata in the Request + */ + Rectangle roi = gridSize.centeredTo(bds.center()); + Point start = roi.topLeft(); + + /* x_start and y_start should be even */ + grid.x_start = utils::alignDown(start.x, 2); + grid.y_start = utils::alignDown(start.y, 2); + grid.y_start |= IPU3_UAPI_GRID_Y_START_EN; + + /* Initial max focus step */ + maxStep_ = kMaxFocusSteps; + + /* Initial frame ignore counter */ + afIgnoreFrameReset(); + + /* Initial focus value */ + context.activeState.af.focus = 0; + /* Maximum variance of the AF statistics */ + context.activeState.af.maxVariance = 0; + /* The stable AF value flag. if it is true, the AF should be in a stable state. */ + context.activeState.af.stable = false; + + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void Af::prepare(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + ipu3_uapi_params *params) +{ + const struct ipu3_uapi_grid_config &grid = context.configuration.af.afGrid; + params->acc_param.af.grid_cfg = grid; + params->acc_param.af.filter_config = afFilterConfigDefault; + + /* Enable AF processing block */ + params->use.acc_af = 1; +} + +/** + * \brief AF coarse scan + * \param[in] context The shared IPA context + * + * Find a near focused image using a coarse step. The step is determined by + * kCoarseSearchStep. + */ +void Af::afCoarseScan(IPAContext &context) +{ + if (coarseCompleted_) + return; + + if (afNeedIgnoreFrame()) + return; + + if (afScan(context, kCoarseSearchStep)) { + coarseCompleted_ = true; + context.activeState.af.maxVariance = 0; + focus_ = context.activeState.af.focus - + (context.activeState.af.focus * kFineRange); + context.activeState.af.focus = focus_; + previousVariance_ = 0; + maxStep_ = std::clamp(focus_ + static_cast<uint32_t>((focus_ * kFineRange)), + 0U, kMaxFocusSteps); + } +} + +/** + * \brief AF fine scan + * \param[in] context The shared IPA context + * + * Find an optimum lens position with moving 1 step for each search. + */ +void Af::afFineScan(IPAContext &context) +{ + if (!coarseCompleted_) + return; + + if (afNeedIgnoreFrame()) + return; + + if (afScan(context, kFineSearchStep)) { + context.activeState.af.stable = true; + fineCompleted_ = true; + } +} + +/** + * \brief AF reset + * \param[in] context The shared IPA context + * + * Reset all the parameters to start over the AF process. + */ +void Af::afReset(IPAContext &context) +{ + if (afNeedIgnoreFrame()) + return; + + context.activeState.af.maxVariance = 0; + context.activeState.af.focus = 0; + focus_ = 0; + context.activeState.af.stable = false; + ignoreCounter_ = kIgnoreFrame; + previousVariance_ = 0.0; + coarseCompleted_ = false; + fineCompleted_ = false; + maxStep_ = kMaxFocusSteps; +} + +/** + * \brief AF variance comparison + * \param[in] context The IPA context + * \param[in] min_step The VCM movement step + * + * We always pick the largest variance to replace the previous one. The image + * with a larger variance also indicates it is a clearer image than previous + * one. If we find a negative derivative, we return immediately. + * + * \return True, if it finds a AF value. + */ +bool Af::afScan(IPAContext &context, int min_step) +{ + if (focus_ > maxStep_) { + /* If reach the max step, move lens to the position. */ + context.activeState.af.focus = bestFocus_; + return true; + } else { + /* + * Find the maximum of the variance by estimating its + * derivative. If the direction changes, it means we have + * passed a maximum one step before. + */ + if ((currentVariance_ - context.activeState.af.maxVariance) >= + -(context.activeState.af.maxVariance * 0.1)) { + /* + * Positive and zero derivative: + * The variance is still increasing. The focus could be + * increased for the next comparison. Also, the max variance + * and previous focus value are updated. + */ + bestFocus_ = focus_; + focus_ += min_step; + context.activeState.af.focus = focus_; + context.activeState.af.maxVariance = currentVariance_; + } else { + /* + * Negative derivative: + * The variance starts to decrease which means the maximum + * variance is found. Set focus step to previous good one + * then return immediately. + */ + context.activeState.af.focus = bestFocus_; + return true; + } + } + + previousVariance_ = currentVariance_; + LOG(IPU3Af, Debug) << " Previous step is " + << bestFocus_ + << " Current step is " + << focus_; + return false; +} + +/** + * \brief Determine the frame to be ignored + * \return Return True if the frame should be ignored, false otherwise + */ +bool Af::afNeedIgnoreFrame() +{ + if (ignoreCounter_ == 0) + return false; + else + ignoreCounter_--; + return true; +} + +/** + * \brief Reset frame ignore counter + */ +void Af::afIgnoreFrameReset() +{ + ignoreCounter_ = kIgnoreFrame; +} + +/** + * \brief Estimate variance + * \param[in] y_items The AF filter data set from the IPU3 statistics buffer + * \param[in] isY1 Selects between filter Y1 or Y2 to calculate the variance + * + * Calculate the mean of the data set provided by \a y_item, and then calculate + * the variance of that data set from the mean. + * + * The operation can work on one of two sets of values contained within the + * y_item data set supplied by the IPU3. The two data sets are the results of + * both the Y1 and Y2 filters which are used to support coarse (Y1) and fine + * (Y2) calculations of the contrast. + * + * \return The variance of the values in the data set \a y_item selected by \a isY1 + */ +double Af::afEstimateVariance(Span<const y_table_item_t> y_items, bool isY1) +{ + uint32_t total = 0; + double mean; + double var_sum = 0; + + for (auto y : y_items) + total += isY1 ? y.y1_avg : y.y2_avg; + + mean = total / y_items.size(); + + for (auto y : y_items) { + double avg = isY1 ? y.y1_avg : y.y2_avg; + var_sum += pow(avg - mean, 2); + } + + return var_sum / y_items.size(); +} + +/** + * \brief Determine out-of-focus situation + * \param[in] context The IPA context + * + * Out-of-focus means that the variance change rate for a focused and a new + * variance is greater than a threshold. + * + * \return True if the variance threshold is crossed indicating lost focus, + * false otherwise + */ +bool Af::afIsOutOfFocus(IPAContext &context) +{ + const uint32_t diff_var = std::abs(currentVariance_ - + context.activeState.af.maxVariance); + const double var_ratio = diff_var / context.activeState.af.maxVariance; + + LOG(IPU3Af, Debug) << "Variance change rate: " + << var_ratio + << " Current VCM step: " + << context.activeState.af.focus; + + if (var_ratio > kMaxChange) + return true; + else + return false; +} + +/** + * \brief Determine the max contrast image and lens position + * \param[in] context The IPA context + * \param[in] frame The frame context sequence number + * \param[in] frameContext The current frame context + * \param[in] stats The statistics buffer of IPU3 + * \param[out] metadata Metadata for the frame, to be filled by the algorithm + * + * Ideally, a clear image also has a relatively higher contrast. So, every + * image for each focus step should be tested to find an optimal focus step. + * + * The Hill Climbing Algorithm[1] is used to find the maximum variance of the + * AF statistics which is the AF output of IPU3. The focus step is increased + * then the variance of the AF statistics are estimated. If it finds the + * negative derivative we have just passed the peak, and we infer that the best + * focus is found. + * + * [1] Hill Climbing Algorithm, https://en.wikipedia.org/wiki/Hill_climbing + */ +void Af::process(IPAContext &context, [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + const ipu3_uapi_stats_3a *stats, + [[maybe_unused]] ControlList &metadata) +{ + /* Evaluate the AF buffer length */ + uint32_t afRawBufferLen = context.configuration.af.afGrid.width * + context.configuration.af.afGrid.height; + + ASSERT(afRawBufferLen < IPU3_UAPI_AF_Y_TABLE_MAX_SIZE); + + Span<const y_table_item_t> y_items(reinterpret_cast<const y_table_item_t *>(&stats->af_raw_buffer.y_table), + afRawBufferLen); + + /* + * Calculate the mean and the variance of AF statistics for a given grid. + * For coarse: y1 are used. + * For fine: y2 results are used. + */ + currentVariance_ = afEstimateVariance(y_items, !coarseCompleted_); + + if (!context.activeState.af.stable) { + afCoarseScan(context); + afFineScan(context); + } else { + if (afIsOutOfFocus(context)) + afReset(context); + else + afIgnoreFrameReset(); + } +} + +REGISTER_IPA_ALGORITHM(Af, "Af") + +} /* namespace ipa::ipu3::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/ipu3/algorithms/af.h b/src/ipa/ipu3/algorithms/af.h new file mode 100644 index 00000000..68126d46 --- /dev/null +++ b/src/ipa/ipu3/algorithms/af.h @@ -0,0 +1,73 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Red Hat + * + * IPU3 Af algorithm + */ + +#pragma once + +#include <linux/intel-ipu3.h> + +#include <libcamera/base/utils.h> + +#include <libcamera/geometry.h> + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::ipu3::algorithms { + +class Af : public Algorithm +{ + /* The format of y_table. From ipu3-ipa repo */ + typedef struct __attribute__((packed)) y_table_item { + uint16_t y1_avg; + uint16_t y2_avg; + } y_table_item_t; +public: + Af(); + ~Af() = default; + + int configure(IPAContext &context, const IPAConfigInfo &configInfo) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + ipu3_uapi_params *params) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const ipu3_uapi_stats_3a *stats, + ControlList &metadata) override; + +private: + void afCoarseScan(IPAContext &context); + void afFineScan(IPAContext &context); + bool afScan(IPAContext &context, int min_step); + void afReset(IPAContext &context); + bool afNeedIgnoreFrame(); + void afIgnoreFrameReset(); + double afEstimateVariance(Span<const y_table_item_t> y_items, bool isY1); + + bool afIsOutOfFocus(IPAContext &context); + + /* VCM step configuration. It is the current setting of the VCM step. */ + uint32_t focus_; + /* The best VCM step. It is a local optimum VCM step during scanning. */ + uint32_t bestFocus_; + /* Current AF statistic variance. */ + double currentVariance_; + /* The frames are ignore before starting measuring. */ + uint32_t ignoreCounter_; + /* It is used to determine the derivative during scanning */ + double previousVariance_; + /* The designated maximum range of focus scanning. */ + uint32_t maxStep_; + /* If the coarse scan completes, it is set to true. */ + bool coarseCompleted_; + /* If the fine scan completes, it is set to true. */ + bool fineCompleted_; +}; + +} /* namespace ipa::ipu3::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/ipu3/algorithms/agc.cpp b/src/ipa/ipu3/algorithms/agc.cpp new file mode 100644 index 00000000..39d0aebb --- /dev/null +++ b/src/ipa/ipu3/algorithms/agc.cpp @@ -0,0 +1,255 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Ideas On Board + * + * AGC/AEC mean-based control algorithm + */ + +#include "agc.h" + +#include <algorithm> +#include <chrono> + +#include <libcamera/base/log.h> +#include <libcamera/base/utils.h> + +#include <libcamera/control_ids.h> + +#include <libcamera/ipa/core_ipa_interface.h> + +#include "libipa/colours.h" +#include "libipa/histogram.h" + +/** + * \file agc.h + */ + +namespace libcamera { + +using namespace std::literals::chrono_literals; + +namespace ipa::ipu3::algorithms { + +/** + * \class Agc + * \brief A mean-based auto-exposure algorithm + * + * This algorithm calculates an exposure time and an analogue gain so that the + * average value of the green channel of the brightest 2% of pixels approaches + * 0.5. The AWB gains are not used here, and all cells in the grid have the same + * weight, like an average-metering case. In this metering mode, the camera uses + * light information from the entire scene and creates an average for the final + * exposure setting, giving no weighting to any particular portion of the + * metered area. + * + * Reference: Battiato, Messina & Castorina. (2008). Exposure + * Correction for Imaging Devices: An Overview. 10.1201/9781420054538.ch12. + */ + +LOG_DEFINE_CATEGORY(IPU3Agc) + +/* Minimum limit for analogue gain value */ +static constexpr double kMinAnalogueGain = 1.0; + +/* \todo Honour the FrameDurationLimits control instead of hardcoding a limit */ +static constexpr utils::Duration kMaxExposureTime = 60ms; + +/* Histogram constants */ +static constexpr uint32_t knumHistogramBins = 256; + +Agc::Agc() + : minExposureTime_(0s), maxExposureTime_(0s) +{ +} + +/** + * \brief Initialise the AGC algorithm from tuning files + * \param[in] context The shared IPA context + * \param[in] tuningData The YamlObject containing Agc tuning data + * + * This function calls the base class' tuningData parsers to discover which + * control values are supported. + * + * \return 0 on success or errors from the base class + */ +int Agc::init(IPAContext &context, const YamlObject &tuningData) +{ + int ret; + + ret = parseTuningData(tuningData); + if (ret) + return ret; + + context.ctrlMap.merge(controls()); + + return 0; +} + +/** + * \brief Configure the AGC given a configInfo + * \param[in] context The shared IPA context + * \param[in] configInfo The IPA configuration data + * + * \return 0 + */ +int Agc::configure(IPAContext &context, + [[maybe_unused]] const IPAConfigInfo &configInfo) +{ + const IPASessionConfiguration &configuration = context.configuration; + IPAActiveState &activeState = context.activeState; + + stride_ = configuration.grid.stride; + bdsGrid_ = configuration.grid.bdsGrid; + + minExposureTime_ = configuration.agc.minExposureTime; + maxExposureTime_ = std::min(configuration.agc.maxExposureTime, + kMaxExposureTime); + + minAnalogueGain_ = std::max(configuration.agc.minAnalogueGain, kMinAnalogueGain); + maxAnalogueGain_ = configuration.agc.maxAnalogueGain; + + /* Configure the default exposure and gain. */ + activeState.agc.gain = minAnalogueGain_; + activeState.agc.exposure = 10ms / configuration.sensor.lineDuration; + + context.activeState.agc.constraintMode = constraintModes().begin()->first; + context.activeState.agc.exposureMode = exposureModeHelpers().begin()->first; + + /* \todo Run this again when FrameDurationLimits is passed in */ + setLimits(minExposureTime_, maxExposureTime_, minAnalogueGain_, + maxAnalogueGain_); + resetFrameCount(); + + return 0; +} + +Histogram Agc::parseStatistics(const ipu3_uapi_stats_3a *stats, + const ipu3_uapi_grid_config &grid) +{ + uint32_t hist[knumHistogramBins] = { 0 }; + + rgbTriples_.clear(); + + for (unsigned int cellY = 0; cellY < grid.height; cellY++) { + for (unsigned int cellX = 0; cellX < grid.width; cellX++) { + uint32_t cellPosition = cellY * stride_ + cellX; + + const ipu3_uapi_awb_set_item *cell = + reinterpret_cast<const ipu3_uapi_awb_set_item *>( + &stats->awb_raw_buffer.meta_data[cellPosition]); + + rgbTriples_.push_back({ + cell->R_avg, + (cell->Gr_avg + cell->Gb_avg) / 2, + cell->B_avg + }); + + /* + * Store the average green value to estimate the + * brightness. Even the overexposed pixels are + * taken into account. + */ + hist[(cell->Gr_avg + cell->Gb_avg) / 2]++; + } + } + + return Histogram(Span<uint32_t>(hist)); +} + +/** + * \brief Estimate the relative luminance of the frame with a given gain + * \param[in] gain The gain to apply in estimating luminance + * + * The estimation is based on the AWB statistics for the current frame. Red, + * green and blue averages for all cells are first multiplied by the gain, and + * then saturated to approximate the sensor behaviour at high brightness + * values. The approximation is quite rough, as it doesn't take into account + * non-linearities when approaching saturation. + * + * The relative luminance (Y) is computed from the linear RGB components using + * the Rec. 601 formula. The values are normalized to the [0.0, 1.0] range, + * where 1.0 corresponds to a theoretical perfect reflector of 100% reference + * white. + * + * More detailed information can be found in: + * https://en.wikipedia.org/wiki/Relative_luminance + * + * \return The relative luminance of the frame + */ +double Agc::estimateLuminance(double gain) const +{ + RGB<double> sum{ 0.0 }; + + for (unsigned int i = 0; i < rgbTriples_.size(); i++) { + sum.r() += std::min(std::get<0>(rgbTriples_[i]) * gain, 255.0); + sum.g() += std::min(std::get<1>(rgbTriples_[i]) * gain, 255.0); + sum.b() += std::min(std::get<2>(rgbTriples_[i]) * gain, 255.0); + } + + RGB<double> gains{{ rGain_, gGain_, bGain_ }}; + double ySum = rec601LuminanceFromRGB(sum * gains); + return ySum / (bdsGrid_.height * bdsGrid_.width) / 255; +} + +/** + * \brief Process IPU3 statistics, and run AGC operations + * \param[in] context The shared IPA context + * \param[in] frame The current frame sequence number + * \param[in] frameContext The current frame context + * \param[in] stats The IPU3 statistics and ISP results + * \param[out] metadata Metadata for the frame, to be filled by the algorithm + * + * Identify the current image brightness, and use that to estimate the optimal + * new exposure and gain for the scene. + */ +void Agc::process(IPAContext &context, [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + const ipu3_uapi_stats_3a *stats, + ControlList &metadata) +{ + Histogram hist = parseStatistics(stats, context.configuration.grid.bdsGrid); + rGain_ = context.activeState.awb.gains.red; + gGain_ = context.activeState.awb.gains.blue; + bGain_ = context.activeState.awb.gains.green; + + /* + * The Agc algorithm needs to know the effective exposure value that was + * applied to the sensor when the statistics were collected. + */ + utils::Duration exposureTime = context.configuration.sensor.lineDuration + * frameContext.sensor.exposure; + double analogueGain = frameContext.sensor.gain; + utils::Duration effectiveExposureValue = exposureTime * analogueGain; + + utils::Duration newExposureTime; + double aGain, dGain; + std::tie(newExposureTime, aGain, dGain) = + calculateNewEv(context.activeState.agc.constraintMode, + context.activeState.agc.exposureMode, hist, + effectiveExposureValue); + + LOG(IPU3Agc, Debug) + << "Divided up exposure time, analogue gain and digital gain are " + << newExposureTime << ", " << aGain << " and " << dGain; + + IPAActiveState &activeState = context.activeState; + /* Update the estimated exposure time and gain. */ + activeState.agc.exposure = newExposureTime / context.configuration.sensor.lineDuration; + activeState.agc.gain = aGain; + + metadata.set(controls::AnalogueGain, frameContext.sensor.gain); + metadata.set(controls::ExposureTime, exposureTime.get<std::micro>()); + + /* \todo Use VBlank value calculated from each frame exposure. */ + uint32_t vTotal = context.configuration.sensor.size.height + + context.configuration.sensor.defVBlank; + utils::Duration frameDuration = context.configuration.sensor.lineDuration + * vTotal; + metadata.set(controls::FrameDuration, frameDuration.get<std::micro>()); +} + +REGISTER_IPA_ALGORITHM(Agc, "Agc") + +} /* namespace ipa::ipu3::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/ipu3/algorithms/agc.h b/src/ipa/ipu3/algorithms/agc.h new file mode 100644 index 00000000..890c271b --- /dev/null +++ b/src/ipa/ipu3/algorithms/agc.h @@ -0,0 +1,61 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Ideas On Board + * + * IPU3 AGC/AEC mean-based control algorithm + */ + +#pragma once + +#include <linux/intel-ipu3.h> + +#include <libcamera/base/utils.h> + +#include <libcamera/geometry.h> + +#include "libipa/agc_mean_luminance.h" +#include "libipa/histogram.h" + +#include "algorithm.h" + +namespace libcamera { + +struct IPACameraSensorInfo; + +namespace ipa::ipu3::algorithms { + +class Agc : public Algorithm, public AgcMeanLuminance +{ +public: + Agc(); + ~Agc() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + int configure(IPAContext &context, const IPAConfigInfo &configInfo) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const ipu3_uapi_stats_3a *stats, + ControlList &metadata) override; + +private: + double estimateLuminance(double gain) const override; + Histogram parseStatistics(const ipu3_uapi_stats_3a *stats, + const ipu3_uapi_grid_config &grid); + + utils::Duration minExposureTime_; + utils::Duration maxExposureTime_; + + double minAnalogueGain_; + double maxAnalogueGain_; + + uint32_t stride_; + double rGain_; + double gGain_; + double bGain_; + ipu3_uapi_grid_config bdsGrid_; + std::vector<std::tuple<uint8_t, uint8_t, uint8_t>> rgbTriples_; +}; + +} /* namespace ipa::ipu3::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/ipu3/algorithms/algorithm.h b/src/ipa/ipu3/algorithms/algorithm.h new file mode 100644 index 00000000..c7801f93 --- /dev/null +++ b/src/ipa/ipu3/algorithms/algorithm.h @@ -0,0 +1,22 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Ideas On Board + * + * IPU3 control algorithm interface + */ + +#pragma once + +#include <libipa/algorithm.h> + +#include "module.h" + +namespace libcamera { + +namespace ipa::ipu3 { + +using Algorithm = libcamera::ipa::Algorithm<Module>; + +} /* namespace ipa::ipu3 */ + +} /* namespace libcamera */ diff --git a/src/ipa/ipu3/algorithms/awb.cpp b/src/ipa/ipu3/algorithms/awb.cpp new file mode 100644 index 00000000..55de05d9 --- /dev/null +++ b/src/ipa/ipu3/algorithms/awb.cpp @@ -0,0 +1,480 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Ideas On Board + * + * AWB control algorithm + */ +#include "awb.h" + +#include <algorithm> +#include <cmath> + +#include <libcamera/base/log.h> + +#include <libcamera/control_ids.h> + +#include "libipa/colours.h" + +/** + * \file awb.h + */ + +namespace libcamera { + +namespace ipa::ipu3::algorithms { + +LOG_DEFINE_CATEGORY(IPU3Awb) + +/* + * When zones are used for the grey world algorithm, they are only considered if + * their average green value is at least 16/255 (after black level subtraction) + * to exclude zones that are too dark and don't provide relevant colour + * information (on the opposite side of the spectrum, saturated regions are + * excluded by the ImgU statistics engine). + */ +static constexpr uint32_t kMinGreenLevelInZone = 16; + +/* + * Minimum proportion of non-saturated cells in a zone for the zone to be used + * by the AWB algorithm. + */ +static constexpr double kMaxCellSaturationRatio = 0.8; + +/* + * Maximum ratio of saturated pixels in a cell for the cell to be considered + * non-saturated and counted by the AWB algorithm. + */ +static constexpr uint32_t kMinCellsPerZoneRatio = 255 * 90 / 100; + +/** + * \struct Accumulator + * \brief RGB statistics for a given zone + * + * Accumulate red, green and blue values for each non-saturated item over a + * zone. Items can for instance be pixels, but also the average of groups of + * pixels, depending on who uses the accumulator. + * \todo move this description and structure into a common header + * + * Zones which are saturated beyond the threshold defined in + * ipu3_uapi_awb_config_s are not included in the average. + * + * \var Accumulator::counted + * \brief Number of unsaturated cells used to calculate the sums + * + * \var Accumulator::sum + * \brief A structure containing the average red, green and blue sums + * + * \var Accumulator::sum.red + * \brief Sum of the average red values of each unsaturated cell in the zone + * + * \var Accumulator::sum.green + * \brief Sum of the average green values of each unsaturated cell in the zone + * + * \var Accumulator::sum.blue + * \brief Sum of the average blue values of each unsaturated cell in the zone + */ + +/** + * \struct Awb::AwbStatus + * \brief AWB parameters calculated + * + * The AwbStatus structure is intended to store the AWB + * parameters calculated by the algorithm + * + * \var AwbStatus::temperatureK + * \brief Color temperature calculated + * + * \var AwbStatus::redGain + * \brief Gain calculated for the red channel + * + * \var AwbStatus::greenGain + * \brief Gain calculated for the green channel + * + * \var AwbStatus::blueGain + * \brief Gain calculated for the blue channel + */ + +/* Default settings for Bayer noise reduction replicated from the Kernel */ +static const struct ipu3_uapi_bnr_static_config imguCssBnrDefaults = { + .wb_gains = { 16, 16, 16, 16 }, + .wb_gains_thr = { 255, 255, 255, 255 }, + .thr_coeffs = { 1700, 0, 31, 31, 0, 16 }, + .thr_ctrl_shd = { 26, 26, 26, 26 }, + .opt_center = { -648, 0, -366, 0 }, + .lut = { + { 17, 23, 28, 32, 36, 39, 42, 45, + 48, 51, 53, 55, 58, 60, 62, 64, + 66, 68, 70, 72, 73, 75, 77, 78, + 80, 82, 83, 85, 86, 88, 89, 90 } }, + .bp_ctrl = { 20, 0, 1, 40, 0, 6, 0, 6, 0 }, + .dn_detect_ctrl = { 9, 3, 4, 0, 8, 0, 1, 1, 1, 1, 0 }, + .column_size = 1296, + .opt_center_sqr = { 419904, 133956 }, +}; + +/* Default color correction matrix defined as an identity matrix */ +static const struct ipu3_uapi_ccm_mat_config imguCssCcmDefault = { + 8191, 0, 0, 0, + 0, 8191, 0, 0, + 0, 0, 8191, 0 +}; + +/** + * \class Awb + * \brief A Grey world white balance correction algorithm + * + * The Grey World algorithm assumes that the scene, in average, is neutral grey. + * Reference: Lam, Edmund & Fung, George. (2008). Automatic White Balancing in + * Digital Photography. 10.1201/9781420054538.ch10. + * + * The IPU3 generates statistics from the Bayer Down Scaler output into a grid + * defined in the ipu3_uapi_awb_config_s structure. + * + * - Cells are defined in Pixels + * - Zones are defined in Cells + * + * 80 cells + * /───────────── 1280 pixels ───────────\ + * 16 zones + * 16 + * ┌────┬────┬────┬────┬────┬─ ──────┬────┐ \ + * │Cell│ │ │ │ │ | │ │ │ + * 16 │ px │ │ │ │ │ | │ │ │ + * ├────┼────┼────┼────┼────┼─ ──────┼────┤ │ + * │ │ │ │ │ │ | │ │ + * │ │ │ │ │ │ | │ │ 7 + * │ ── │ ── │ ── │ ── │ ── │ ── ── ─┤ ── │ 1 2 4 + * │ │ │ │ │ │ | │ │ 2 0 5 + * + * │ │ │ │ │ │ | │ │ z p c + * ├────┼────┼────┼────┼────┼─ ──────┼────┤ o i e + * │ │ │ │ │ │ | │ │ n x l + * │ │ | │ │ e e l + * ├─── ───┼─ ──────┼────┤ s l s + * │ │ | │ │ s + * │ │ | │ │ + * ├─── Zone of Cells ───┼─ ──────┼────┤ │ + * │ (5 x 4) │ | │ │ │ + * │ │ | │ │ │ + * ├── ───┼─ ──────┼────┤ │ + * │ │ │ | │ │ │ + * │ │ │ │ │ │ | │ │ │ + * └────┴────┴────┴────┴────┴─ ──────┴────┘ / + * + * + * In each cell, the ImgU computes for each colour component the average of all + * unsaturated pixels (below a programmable threshold). It also provides the + * ratio of saturated pixels in the cell. + * + * The AWB algorithm operates on a coarser grid, made by grouping cells from the + * hardware grid into zones. The number of zones is fixed to \a kAwbStatsSizeX x + * \a kAwbStatsSizeY. For example, a frame of 1280x720 is divided into 80x45 + * cells of [16x16] pixels and 16x12 zones of [5x4] cells each + * (\a kAwbStatsSizeX=16 and \a kAwbStatsSizeY=12). If the number of cells isn't + * an exact multiple of the number of zones, the right-most and bottom-most + * cells are ignored. The grid configuration is computed by + * IPAIPU3::calculateBdsGrid(). + * + * Before calculating the gains, the algorithm aggregates the cell averages for + * each zone in generateAwbStats(). Cells that have a too high ratio of + * saturated pixels are ignored, and only zones that contain enough + * non-saturated cells are then used by the algorithm. + * + * The Grey World algorithm will then estimate the red and blue gains to apply, and + * store the results in the metadata. The green gain is always set to 1. + */ + +Awb::Awb() + : Algorithm() +{ + asyncResults_.blueGain = 1.0; + asyncResults_.greenGain = 1.0; + asyncResults_.redGain = 1.0; + asyncResults_.temperatureK = 4500; + + zones_.reserve(kAwbStatsSizeX * kAwbStatsSizeY); +} + +Awb::~Awb() = default; + +/** + * \copydoc libcamera::ipa::Algorithm::configure + */ +int Awb::configure(IPAContext &context, + [[maybe_unused]] const IPAConfigInfo &configInfo) +{ + const ipu3_uapi_grid_config &grid = context.configuration.grid.bdsGrid; + stride_ = context.configuration.grid.stride; + + cellsPerZoneX_ = std::round(grid.width / static_cast<double>(kAwbStatsSizeX)); + cellsPerZoneY_ = std::round(grid.height / static_cast<double>(kAwbStatsSizeY)); + + /* + * Configure the minimum proportion of cells counted within a zone + * for it to be relevant for the grey world algorithm. + * \todo This proportion could be configured. + */ + cellsPerZoneThreshold_ = cellsPerZoneX_ * cellsPerZoneY_ * kMaxCellSaturationRatio; + LOG(IPU3Awb, Debug) << "Threshold for AWB is set to " << cellsPerZoneThreshold_; + + return 0; +} + +constexpr uint16_t Awb::threshold(float value) +{ + /* AWB thresholds are in the range [0, 8191] */ + return value * 8191; +} + +constexpr uint16_t Awb::gainValue(double gain) +{ + /* + * The colour gains applied by the BNR for the four channels (Gr, R, B + * and Gb) are expressed in the parameters structure as 16-bit integers + * that store a fixed-point U3.13 value in the range [0, 8[. + * + * The real gain value is equal to the gain parameter plus one, i.e. + * + * Pout = Pin * (1 + gain / 8192) + * + * where 'Pin' is the input pixel value, 'Pout' the output pixel value, + * and 'gain' the gain in the parameters structure as a 16-bit integer. + */ + return std::clamp((gain - 1.0) * 8192, 0.0, 65535.0); +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void Awb::prepare(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + ipu3_uapi_params *params) +{ + /* + * Green saturation thresholds are reduced because we are using the + * green channel only in the exposure computation. + */ + params->acc_param.awb.config.rgbs_thr_r = threshold(1.0); + params->acc_param.awb.config.rgbs_thr_gr = threshold(0.9); + params->acc_param.awb.config.rgbs_thr_gb = threshold(0.9); + params->acc_param.awb.config.rgbs_thr_b = threshold(1.0); + + /* + * Enable saturation inclusion on thr_b for ImgU to update the + * ipu3_uapi_awb_set_item->sat_ratio field. + */ + params->acc_param.awb.config.rgbs_thr_b |= IPU3_UAPI_AWB_RGBS_THR_B_INCL_SAT | + IPU3_UAPI_AWB_RGBS_THR_B_EN; + + const ipu3_uapi_grid_config &grid = context.configuration.grid.bdsGrid; + + params->acc_param.awb.config.grid = context.configuration.grid.bdsGrid; + + /* + * Optical center is column start (respectively row start) of the + * cell of interest minus its X center (respectively Y center). + * + * For the moment use BDS as a first approximation, but it should + * be calculated based on Shading (SHD) parameters. + */ + params->acc_param.bnr = imguCssBnrDefaults; + Size &bdsOutputSize = context.configuration.grid.bdsOutputSize; + params->acc_param.bnr.column_size = bdsOutputSize.width; + params->acc_param.bnr.opt_center.x_reset = grid.x_start - (bdsOutputSize.width / 2); + params->acc_param.bnr.opt_center.y_reset = grid.y_start - (bdsOutputSize.height / 2); + params->acc_param.bnr.opt_center_sqr.x_sqr_reset = params->acc_param.bnr.opt_center.x_reset + * params->acc_param.bnr.opt_center.x_reset; + params->acc_param.bnr.opt_center_sqr.y_sqr_reset = params->acc_param.bnr.opt_center.y_reset + * params->acc_param.bnr.opt_center.y_reset; + + params->acc_param.bnr.wb_gains.gr = gainValue(context.activeState.awb.gains.green); + params->acc_param.bnr.wb_gains.r = gainValue(context.activeState.awb.gains.red); + params->acc_param.bnr.wb_gains.b = gainValue(context.activeState.awb.gains.blue); + params->acc_param.bnr.wb_gains.gb = gainValue(context.activeState.awb.gains.green); + + LOG(IPU3Awb, Debug) << "Color temperature estimated: " << asyncResults_.temperatureK; + + /* The CCM matrix may change when color temperature will be used */ + params->acc_param.ccm = imguCssCcmDefault; + + params->use.acc_awb = 1; + params->use.acc_bnr = 1; + params->use.acc_ccm = 1; +} + +/* Generate an RGB vector with the average values for each zone */ +void Awb::generateZones() +{ + zones_.clear(); + + for (unsigned int i = 0; i < kAwbStatsSizeX * kAwbStatsSizeY; i++) { + double counted = awbStats_[i].counted; + if (counted >= cellsPerZoneThreshold_) { + RGB<double> zone{{ + static_cast<double>(awbStats_[i].sum.red), + static_cast<double>(awbStats_[i].sum.green), + static_cast<double>(awbStats_[i].sum.blue) + }}; + + zone /= counted; + + if (zone.g() >= kMinGreenLevelInZone) + zones_.push_back(zone); + } + } +} + +/* Translate the IPU3 statistics into the default statistics zone array */ +void Awb::generateAwbStats(const ipu3_uapi_stats_3a *stats) +{ + /* + * Generate a (kAwbStatsSizeX x kAwbStatsSizeY) array from the IPU3 grid which is + * (grid.width x grid.height). + */ + for (unsigned int cellY = 0; cellY < kAwbStatsSizeY * cellsPerZoneY_; cellY++) { + for (unsigned int cellX = 0; cellX < kAwbStatsSizeX * cellsPerZoneX_; cellX++) { + uint32_t cellPosition = cellY * stride_ + cellX; + uint32_t zoneX = cellX / cellsPerZoneX_; + uint32_t zoneY = cellY / cellsPerZoneY_; + + uint32_t awbZonePosition = zoneY * kAwbStatsSizeX + zoneX; + + /* Cast the initial IPU3 structure to simplify the reading */ + const ipu3_uapi_awb_set_item *currentCell = + reinterpret_cast<const ipu3_uapi_awb_set_item *>( + &stats->awb_raw_buffer.meta_data[cellPosition] + ); + + /* + * Use cells which have less than 90% + * saturation as an initial means to include + * otherwise bright cells which are not fully + * saturated. + * + * \todo The 90% saturation rate may require + * further empirical measurements and + * optimisation during camera tuning phases. + */ + if (currentCell->sat_ratio <= kMinCellsPerZoneRatio) { + /* The cell is not saturated, use the current cell */ + awbStats_[awbZonePosition].counted++; + uint32_t greenValue = currentCell->Gr_avg + currentCell->Gb_avg; + awbStats_[awbZonePosition].sum.green += greenValue / 2; + awbStats_[awbZonePosition].sum.red += currentCell->R_avg; + awbStats_[awbZonePosition].sum.blue += currentCell->B_avg; + } + } + } +} + +void Awb::clearAwbStats() +{ + for (unsigned int i = 0; i < kAwbStatsSizeX * kAwbStatsSizeY; i++) { + awbStats_[i].sum.blue = 0; + awbStats_[i].sum.red = 0; + awbStats_[i].sum.green = 0; + awbStats_[i].counted = 0; + } +} + +void Awb::awbGreyWorld() +{ + LOG(IPU3Awb, 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<double>> &redDerivative(zones_); + std::vector<RGB<double>> blueDerivative(redDerivative); + std::sort(redDerivative.begin(), redDerivative.end(), + [](RGB<double> const &a, RGB<double> const &b) { + return a.g() * b.r() < b.g() * a.r(); + }); + std::sort(blueDerivative.begin(), blueDerivative.end(), + [](RGB<double> const &a, RGB<double> const &b) { + return a.g() * b.b() < b.g() * a.b(); + }); + + /* Average the middle half of the values. */ + int discard = redDerivative.size() / 4; + + RGB<double> sumRed{ 0.0 }; + RGB<double> sumBlue{ 0.0 }; + for (auto ri = redDerivative.begin() + discard, + bi = blueDerivative.begin() + discard; + ri != redDerivative.end() - discard; ri++, bi++) + sumRed += *ri, sumBlue += *bi; + + double redGain = sumRed.g() / (sumRed.r() + 1), + blueGain = sumBlue.g() / (sumBlue.b() + 1); + + /* Color temperature is not relevant in Grey world but still useful to estimate it :-) */ + asyncResults_.temperatureK = estimateCCT({{ sumRed.r(), sumRed.g(), sumBlue.b() }}); + + /* + * Gain values are unsigned integer value ranging [0, 8) with 13 bit + * fractional part. + */ + redGain = std::clamp(redGain, 0.0, 65535.0 / 8192); + blueGain = std::clamp(blueGain, 0.0, 65535.0 / 8192); + + asyncResults_.redGain = redGain; + /* Hardcode the green gain to 1.0. */ + asyncResults_.greenGain = 1.0; + asyncResults_.blueGain = blueGain; +} + +void Awb::calculateWBGains(const ipu3_uapi_stats_3a *stats) +{ + ASSERT(stats->stats_3a_status.awb_en); + + clearAwbStats(); + generateAwbStats(stats); + generateZones(); + + LOG(IPU3Awb, Debug) << "Valid zones: " << zones_.size(); + + if (zones_.size() > 10) { + awbGreyWorld(); + LOG(IPU3Awb, Debug) << "Gain found for red: " << asyncResults_.redGain + << " and for blue: " << asyncResults_.blueGain; + } +} + +/** + * \copydoc libcamera::ipa::Algorithm::process + */ +void Awb::process(IPAContext &context, [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + const ipu3_uapi_stats_3a *stats, + [[maybe_unused]] ControlList &metadata) +{ + calculateWBGains(stats); + + /* + * Gains are only recalculated if enough zones were detected. + * The results are cached, so if no results were calculated, we set the + * cached values from asyncResults_ here. + */ + context.activeState.awb.gains.blue = asyncResults_.blueGain; + context.activeState.awb.gains.green = asyncResults_.greenGain; + context.activeState.awb.gains.red = asyncResults_.redGain; + context.activeState.awb.temperatureK = asyncResults_.temperatureK; + + metadata.set(controls::AwbEnable, true); + metadata.set(controls::ColourGains, { + static_cast<float>(context.activeState.awb.gains.red), + static_cast<float>(context.activeState.awb.gains.blue) + }); + metadata.set(controls::ColourTemperature, + context.activeState.awb.temperatureK); +} + +REGISTER_IPA_ALGORITHM(Awb, "Awb") + +} /* namespace ipa::ipu3::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/ipu3/algorithms/awb.h b/src/ipa/ipu3/algorithms/awb.h new file mode 100644 index 00000000..1916990a --- /dev/null +++ b/src/ipa/ipu3/algorithms/awb.h @@ -0,0 +1,81 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Ideas On Board + * + * IPU3 AWB control algorithm + */ + +#pragma once + +#include <vector> + +#include <linux/intel-ipu3.h> + +#include <libcamera/geometry.h> + +#include "libipa/vector.h" + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::ipu3::algorithms { + +/* Region size for the statistics generation algorithm */ +static constexpr uint32_t kAwbStatsSizeX = 16; +static constexpr uint32_t kAwbStatsSizeY = 12; + +struct Accumulator { + unsigned int counted; + struct { + uint64_t red; + uint64_t green; + uint64_t blue; + } sum; +}; + +class Awb : public Algorithm +{ +public: + Awb(); + ~Awb(); + + int configure(IPAContext &context, const IPAConfigInfo &configInfo) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + ipu3_uapi_params *params) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const ipu3_uapi_stats_3a *stats, + ControlList &metadata) override; + +private: + struct AwbStatus { + double temperatureK; + double redGain; + double greenGain; + double blueGain; + }; + +private: + void calculateWBGains(const ipu3_uapi_stats_3a *stats); + void generateZones(); + void generateAwbStats(const ipu3_uapi_stats_3a *stats); + void clearAwbStats(); + void awbGreyWorld(); + static constexpr uint16_t threshold(float value); + static constexpr uint16_t gainValue(double gain); + + std::vector<RGB<double>> zones_; + Accumulator awbStats_[kAwbStatsSizeX * kAwbStatsSizeY]; + AwbStatus asyncResults_; + + uint32_t stride_; + uint32_t cellsPerZoneX_; + uint32_t cellsPerZoneY_; + uint32_t cellsPerZoneThreshold_; +}; + +} /* namespace ipa::ipu3::algorithms */ + +} /* namespace libcamera*/ diff --git a/src/ipa/ipu3/algorithms/blc.cpp b/src/ipa/ipu3/algorithms/blc.cpp new file mode 100644 index 00000000..35748fb2 --- /dev/null +++ b/src/ipa/ipu3/algorithms/blc.cpp @@ -0,0 +1,71 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Google inc. + * + * IPU3 Black Level Correction control + */ + +#include "blc.h" + +/** + * \file blc.h + * \brief IPU3 Black Level Correction control + */ + +namespace libcamera { + +namespace ipa::ipu3::algorithms { + +/** + * \class BlackLevelCorrection + * \brief A class to handle black level correction + * + * The pixels output by the camera normally include a black level, because + * sensors do not always report a signal level of '0' for black. Pixels at or + * below this level should be considered black. To achieve that, the ImgU BLC + * algorithm subtracts a configurable offset from all pixels. + * + * The black level can be measured at runtime from an optical dark region of the + * camera sensor, or measured during the camera tuning process. The first option + * isn't currently supported. + */ + +BlackLevelCorrection::BlackLevelCorrection() +{ +} + +/** + * \brief Fill in the parameter structure, and enable black level correction + * \param[in] context The shared IPA context + * \param[in] frame The frame context sequence number + * \param[in] frameContext The FrameContext for this frame + * \param[out] params The IPU3 parameters + * + * Populate the IPU3 parameter structure with the correction values for each + * channel and enable the corresponding ImgU block processing. + */ +void BlackLevelCorrection::prepare([[maybe_unused]] IPAContext &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + ipu3_uapi_params *params) +{ + /* + * The Optical Black Level correction values + * \todo The correction values should come from sensor specific + * tuning processes. This is a first rough approximation. + */ + params->obgrid_param.gr = 64; + params->obgrid_param.r = 64; + params->obgrid_param.b = 64; + params->obgrid_param.gb = 64; + + /* Enable the custom black level correction processing */ + params->use.obgrid = 1; + params->use.obgrid_param = 1; +} + +REGISTER_IPA_ALGORITHM(BlackLevelCorrection, "BlackLevelCorrection") + +} /* namespace ipa::ipu3::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/ipu3/algorithms/blc.h b/src/ipa/ipu3/algorithms/blc.h new file mode 100644 index 00000000..62748045 --- /dev/null +++ b/src/ipa/ipu3/algorithms/blc.h @@ -0,0 +1,28 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Google inc. + * + * IPU3 Black Level Correction control + */ + +#pragma once + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::ipu3::algorithms { + +class BlackLevelCorrection : public Algorithm +{ +public: + BlackLevelCorrection(); + + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + ipu3_uapi_params *params) override; +}; + +} /* namespace ipa::ipu3::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/ipu3/algorithms/meson.build b/src/ipa/ipu3/algorithms/meson.build new file mode 100644 index 00000000..b70a551c --- /dev/null +++ b/src/ipa/ipu3/algorithms/meson.build @@ -0,0 +1,9 @@ +# SPDX-License-Identifier: CC0-1.0 + +ipu3_ipa_algorithms = files([ + 'af.cpp', + 'agc.cpp', + 'awb.cpp', + 'blc.cpp', + 'tone_mapping.cpp', +]) diff --git a/src/ipa/ipu3/algorithms/tone_mapping.cpp b/src/ipa/ipu3/algorithms/tone_mapping.cpp new file mode 100644 index 00000000..160338c1 --- /dev/null +++ b/src/ipa/ipu3/algorithms/tone_mapping.cpp @@ -0,0 +1,120 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Google inc. + * + * IPU3 ToneMapping and Gamma control + */ + +#include "tone_mapping.h" + +#include <cmath> +#include <string.h> + +/** + * \file tone_mapping.h + */ + +namespace libcamera { + +namespace ipa::ipu3::algorithms { + +/** + * \class ToneMapping + * \brief A class to handle tone mapping based on gamma + * + * This algorithm improves the image dynamic using a look-up table which is + * generated based on a gamma parameter. + */ + +ToneMapping::ToneMapping() + : gamma_(1.0) +{ +} + +/** + * \brief Configure the tone mapping given a configInfo + * \param[in] context The shared IPA context + * \param[in] configInfo The IPA configuration data + * + * \return 0 + */ +int ToneMapping::configure(IPAContext &context, + [[maybe_unused]] const IPAConfigInfo &configInfo) +{ + /* Initialise tone mapping gamma value. */ + context.activeState.toneMapping.gamma = 0.0; + + return 0; +} + +/** + * \brief Fill in the parameter structure, and enable gamma control + * \param[in] context The shared IPA context + * \param[in] frame The frame context sequence number + * \param[in] frameContext The FrameContext for this frame + * \param[out] params The IPU3 parameters + * + * Populate the IPU3 parameter structure with our tone mapping look up table and + * enable the gamma control module in the processing blocks. + */ +void ToneMapping::prepare([[maybe_unused]] IPAContext &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + ipu3_uapi_params *params) +{ + /* Copy the calculated LUT into the parameters buffer. */ + memcpy(params->acc_param.gamma.gc_lut.lut, + context.activeState.toneMapping.gammaCorrection.lut, + IPU3_UAPI_GAMMA_CORR_LUT_ENTRIES * + sizeof(params->acc_param.gamma.gc_lut.lut[0])); + + /* Enable the custom gamma table. */ + params->use.acc_gamma = 1; + params->acc_param.gamma.gc_ctrl.enable = 1; +} + +/** + * \brief Calculate the tone mapping look up table + * \param[in] context The shared IPA context + * \param[in] frame The current frame sequence number + * \param[in] frameContext The current frame context + * \param[in] stats The IPU3 statistics and ISP results + * \param[out] metadata Metadata for the frame, to be filled by the algorithm + * + * The tone mapping look up table is generated as an inverse power curve from + * our gamma setting. + */ +void ToneMapping::process(IPAContext &context, [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + [[maybe_unused]] const ipu3_uapi_stats_3a *stats, + [[maybe_unused]] ControlList &metadata) +{ + /* + * Hardcode gamma to 1.1 as a default for now. + * + * \todo Expose gamma control setting through the libcamera control API + */ + gamma_ = 1.1; + + if (context.activeState.toneMapping.gamma == gamma_) + return; + + struct ipu3_uapi_gamma_corr_lut &lut = + context.activeState.toneMapping.gammaCorrection; + + for (uint32_t i = 0; i < std::size(lut.lut); i++) { + double j = static_cast<double>(i) / (std::size(lut.lut) - 1); + double gamma = std::pow(j, 1.0 / gamma_); + + /* The output value is expressed on 13 bits. */ + lut.lut[i] = gamma * 8191; + } + + context.activeState.toneMapping.gamma = gamma_; +} + +REGISTER_IPA_ALGORITHM(ToneMapping, "ToneMapping") + +} /* namespace ipa::ipu3::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/ipu3/algorithms/tone_mapping.h b/src/ipa/ipu3/algorithms/tone_mapping.h new file mode 100644 index 00000000..b2b38010 --- /dev/null +++ b/src/ipa/ipu3/algorithms/tone_mapping.h @@ -0,0 +1,35 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Google inc. + * + * IPU3 ToneMapping and Gamma control + */ + +#pragma once + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::ipu3::algorithms { + +class ToneMapping : public Algorithm +{ +public: + ToneMapping(); + + int configure(IPAContext &context, const IPAConfigInfo &configInfo) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, ipu3_uapi_params *params) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const ipu3_uapi_stats_3a *stats, + ControlList &metadata) override; + +private: + double gamma_; +}; + +} /* namespace ipa::ipu3::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/ipu3/data/meson.build b/src/ipa/ipu3/data/meson.build new file mode 100644 index 00000000..0f7cd5c6 --- /dev/null +++ b/src/ipa/ipu3/data/meson.build @@ -0,0 +1,9 @@ +# SPDX-License-Identifier: CC0-1.0 + +conf_files = files([ + 'uncalibrated.yaml', +]) + +install_data(conf_files, + install_dir : ipa_data_dir / 'ipu3', + install_tag : 'runtime') diff --git a/src/ipa/ipu3/data/uncalibrated.yaml b/src/ipa/ipu3/data/uncalibrated.yaml new file mode 100644 index 00000000..794ab3ed --- /dev/null +++ b/src/ipa/ipu3/data/uncalibrated.yaml @@ -0,0 +1,11 @@ +# SPDX-License-Identifier: CC0-1.0 +%YAML 1.1 +--- +version: 1 +algorithms: + - Af: + - Agc: + - Awb: + - BlackLevelCorrection: + - ToneMapping: +... diff --git a/src/ipa/ipu3/ipa_context.cpp b/src/ipa/ipu3/ipa_context.cpp new file mode 100644 index 00000000..3b22f791 --- /dev/null +++ b/src/ipa/ipu3/ipa_context.cpp @@ -0,0 +1,190 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Google Inc. + * + * IPU3 IPA Context + */ + +#include "ipa_context.h" + +/** + * \file ipa_context.h + * \brief Context and state information shared between the algorithms + */ + +namespace libcamera::ipa::ipu3 { + +/** + * \struct IPASessionConfiguration + * \brief Session configuration for the IPA module + * + * The session configuration contains all IPA configuration parameters that + * remain constant during the capture session, from IPA module start to stop. + * It is typically set during the configure() operation of the IPA module, but + * may also be updated in the start() operation. + */ + +/** + * \struct IPAActiveState + * \brief The active state of the IPA algorithms + * + * The IPA is fed with the statistics generated from the latest frame captured + * by the hardware. The statistics are then processed by the IPA algorithms to + * compute ISP parameters required for the next frame capture. The current state + * of the algorithms is reflected through the IPAActiveState to store the values + * most recently computed by the IPA algorithms. + */ + +/** + * \struct IPAContext + * \brief Global IPA context data shared between all algorithms + * + * \fn IPAContext::IPAContext + * \brief Initialize the instance with the given number of frame contexts + * \param[in] frameContextSize Size of the frame context ring buffer + * + * \var IPAContext::configuration + * \brief The IPA session configuration, immutable during the session + * + * \var IPAContext::frameContexts + * \brief Ring buffer of the IPAFrameContext(s) + * + * \var IPAContext::activeState + * \brief The current state of IPA algorithms + * + * \var IPAContext::ctrlMap + * \brief A ControlInfoMap::Map of controls populated by the algorithms + */ + +/** + * \var IPASessionConfiguration::grid + * \brief Grid configuration of the IPA + * + * \var IPASessionConfiguration::grid.bdsGrid + * \brief Bayer Down Scaler grid plane config used by the kernel + * + * \var IPASessionConfiguration::grid.bdsOutputSize + * \brief BDS output size configured by the pipeline handler + * + * \var IPASessionConfiguration::grid.stride + * \brief Number of cells on one line including the ImgU padding + */ + +/** + * \var IPASessionConfiguration::af + * \brief AF grid configuration of the IPA + * + * \var IPASessionConfiguration::af.afGrid + * \brief AF scene grid configuration + */ + +/** + * \var IPAActiveState::af + * \brief Context for the Automatic Focus algorithm + * + * \var IPAActiveState::af.focus + * \brief Current position of the lens + * + * \var IPAActiveState::af.maxVariance + * \brief The maximum variance of the current image + * + * \var IPAActiveState::af.stable + * \brief It is set to true, if the best focus is found + */ + +/** + * \var IPASessionConfiguration::agc + * \brief AGC parameters configuration of the IPA + * + * \var IPASessionConfiguration::agc.minExposureTime + * \brief Minimum exposure time supported with the configured sensor + * + * \var IPASessionConfiguration::agc.maxExposureTime + * \brief Maximum exposure time supported with the configured sensor + * + * \var IPASessionConfiguration::agc.minAnalogueGain + * \brief Minimum analogue gain supported with the configured sensor + * + * \var IPASessionConfiguration::agc.maxAnalogueGain + * \brief Maximum analogue gain supported with the configured sensor + */ + +/** + * \var IPASessionConfiguration::sensor + * \brief Sensor-specific configuration of the IPA + * + * \var IPASessionConfiguration::sensor.lineDuration + * \brief Line duration in microseconds + * + * \var IPASessionConfiguration::sensor.defVBlank + * \brief The default vblank value of the sensor + * + * \var IPASessionConfiguration::sensor.size + * \brief Sensor output resolution + */ + +/** + * \var IPAActiveState::agc + * \brief Context for the Automatic Gain Control algorithm + * + * The exposure and gain determined are expected to be applied to the sensor + * at the earliest opportunity. + * + * \var IPAActiveState::agc.exposure + * \brief Exposure time expressed as a number of lines + * + * \var IPAActiveState::agc.gain + * \brief Analogue gain multiplier + * + * The gain should be adapted to the sensor specific gain code before applying. + */ + +/** + * \var IPAActiveState::awb + * \brief Context for the Automatic White Balance algorithm + * + * \var IPAActiveState::awb.gains + * \brief White balance gains + * + * \var IPAActiveState::awb.gains.red + * \brief White balance gain for R channel + * + * \var IPAActiveState::awb.gains.green + * \brief White balance gain for G channel + * + * \var IPAActiveState::awb.gains.blue + * \brief White balance gain for B channel + * + * \var IPAActiveState::awb.temperatureK + * \brief Estimated color temperature + */ + +/** + * \var IPAActiveState::toneMapping + * \brief Context for ToneMapping and Gamma control + * + * \var IPAActiveState::toneMapping.gamma + * \brief Gamma value for the LUT + * + * \var IPAActiveState::toneMapping.gammaCorrection + * \brief Per-pixel tone mapping implemented as a LUT + * + * The LUT structure is defined by the IPU3 kernel interface. See + * <linux/intel-ipu3.h> struct ipu3_uapi_gamma_corr_lut for further details. + */ + +/** + * \struct IPAFrameContext + * \brief IPU3-specific FrameContext + * + * \var IPAFrameContext::sensor + * \brief Effective sensor values that were applied for the frame + * + * \var IPAFrameContext::sensor.exposure + * \brief Exposure time expressed as a number of lines + * + * \var IPAFrameContext::sensor.gain + * \brief Analogue gain multiplier + */ + +} /* namespace libcamera::ipa::ipu3 */ diff --git a/src/ipa/ipu3/ipa_context.h b/src/ipa/ipu3/ipa_context.h new file mode 100644 index 00000000..97fcf06c --- /dev/null +++ b/src/ipa/ipu3/ipa_context.h @@ -0,0 +1,102 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Google Inc. + * + * IPU3 IPA Context + * + */ + +#pragma once + +#include <linux/intel-ipu3.h> + +#include <libcamera/base/utils.h> + +#include <libcamera/controls.h> +#include <libcamera/geometry.h> + +#include <libipa/fc_queue.h> + +namespace libcamera { + +namespace ipa::ipu3 { + +struct IPASessionConfiguration { + struct { + ipu3_uapi_grid_config bdsGrid; + Size bdsOutputSize; + uint32_t stride; + } grid; + + struct { + ipu3_uapi_grid_config afGrid; + } af; + + struct { + utils::Duration minExposureTime; + utils::Duration maxExposureTime; + double minAnalogueGain; + double maxAnalogueGain; + } agc; + + struct { + int32_t defVBlank; + utils::Duration lineDuration; + Size size; + } sensor; +}; + +struct IPAActiveState { + struct { + uint32_t focus; + double maxVariance; + bool stable; + } af; + + struct { + uint32_t exposure; + double gain; + uint32_t constraintMode; + uint32_t exposureMode; + } agc; + + struct { + struct { + double red; + double green; + double blue; + } gains; + + double temperatureK; + } awb; + + struct { + double gamma; + struct ipu3_uapi_gamma_corr_lut gammaCorrection; + } toneMapping; +}; + +struct IPAFrameContext : public FrameContext { + struct { + uint32_t exposure; + double gain; + } sensor; +}; + +struct IPAContext { + IPAContext(unsigned int frameContextSize) + : frameContexts(frameContextSize) + { + } + + IPASessionConfiguration configuration; + IPAActiveState activeState; + + FCQueue<IPAFrameContext> frameContexts; + + ControlInfoMap::Map ctrlMap; +}; + +} /* namespace ipa::ipu3 */ + +} /* namespace libcamera*/ diff --git a/src/ipa/ipu3/ipu3-ipa-design-guide.rst b/src/ipa/ipu3/ipu3-ipa-design-guide.rst new file mode 100644 index 00000000..85d735c6 --- /dev/null +++ b/src/ipa/ipu3/ipu3-ipa-design-guide.rst @@ -0,0 +1,162 @@ +.. SPDX-License-Identifier: CC-BY-SA-4.0 + +IPU3 IPA Architecture Design and Overview +========================================= + +The IPU3 IPA is built as a modular and extensible framework with an +upper layer to manage the interactions with the pipeline handler, and +the image processing algorithms split to compartmentalise the processing +required for each processing block, making use of the fixed-function +accelerators provided by the ImgU ISP. + +The core IPU3 class is responsible for initialisation and construction +of the algorithm components, processing controls set by the requests +from applications, and managing events from the pipeline handler. + +:: + + ┌───────────────────────────────────────────┐ + │ IPU3 Pipeline Handler │ + │ ┌────────┐ ┌────────┐ ┌────────┐ │ + │ │ │ │ │ │ │ │ + │ │ Sensor ├───►│ CIO2 ├───►│ ImgU ├──► + │ │ │ │ │ │ │ │ + │ └────────┘ └────────┘ └─▲────┬─┘ │ P: Parameter Buffer + │ │P │ │ S: Statistics Buffer + │ │ │S │ + └─┬───┬───┬──────┬────┬────┬────┬─┴────▼─┬──┘ 1: init() + │ │ │ │ ▲ │ ▲ │ ▲ │ ▲ │ 2: configure() + │1 │2 │3 │4│ │4│ │4│ │4│ │5 3: mapBuffers(), start() + │ │ │ │ │ │ │ │ │ │ │ │ 4: (▼) queueRequest(), computeParams(), processStats() + ▼ ▼ ▼ ▼ │ ▼ │ ▼ │ ▼ │ ▼ (▲) setSensorControls, paramsComputed, metadataReady Signals + ┌──────────────────┴────┴────┴────┴─────────┐ 5: stop(), unmapBuffers() + │ IPU3 IPA │ + │ ┌───────────────────────┐ │ + │ ┌───────────┐ │ Algorithms │ │ + │ │IPAContext │ │ ┌─────────┐ │ │ + │ │ ┌───────┐ │ │ │ ... │ │ │ + │ │ │ │ │ │ ┌─┴───────┐ │ │ │ + │ │ │ SC │ │ │ │ Tonemap ├─┘ │ │ + │ │ │ │ ◄───► ┌─┴───────┐ │ │ │ + │ │ ├───────┤ │ │ │ AWB ├─┘ │ │ + │ │ │ │ │ │ ┌─┴───────┐ │ │ │ + │ │ │ FC │ │ │ │ AGC ├─┘ │ │ + │ │ │ │ │ │ │ │ │ │ + │ │ └───────┘ │ │ └─────────┘ │ │ + │ └───────────┘ └───────────────────────┘ │ + └───────────────────────────────────────────┘ + SC: IPASessionConfiguration + FC: IPAFrameContext(s) + +The IPA instance is constructed and initialised at the point a Camera is +created by the IPU3 pipeline handler. The initialisation call provides +details about which camera sensor is being used, and the controls that +it has available, along with their default values and ranges. + +Buffers +~~~~~~~ + +The IPA will have Parameter and Statistics buffers shared with it from +the IPU3 Pipeline handler. These buffers will be passed to the IPA using +the ``mapBuffers()`` call before the ``start()`` operation occurs. + +The IPA will map the buffers into CPU-accessible memory, associated with +a buffer ID, and further events for sending or receiving parameter and +statistics buffers will reference the ID to avoid expensive memory +mapping operations, or the passing of file handles during streaming. + +After the ``stop()`` operation occurs, these buffers will be unmapped +when requested by the pipeline handler using the ``unmapBuffers()`` call +and no further access to the buffers is permitted. + +Context +~~~~~~~ + +Algorithm calls will always have the ``IPAContext`` available to them. +This context comprises of two parts: + +- IPA Session Configuration +- IPA Frame Context + +The session configuration structure ``IPASessionConfiguration`` +represents constant parameters determined before streaming commenced +during ``configure()``. + +The IPA Frame Context provides the storage for algorithms for a single +frame operation. + +The ``IPAFrameContext`` structure may be extended to an array, list, or +queue to store historical state for each frame, allowing algorithms to +obtain and reference results of calculations which are deeply pipelined. +This may only be done if an algorithm needs to know the context that was +applied at the frame the statistics were produced for, rather than the +previous or current frame. + +Presently there is a single ``IPAFrameContext`` without historical data, +and the context is maintained and updated through successive processing +operations. + +Operating +~~~~~~~~~ + +There are three main interactions with the algorithms for the IPU3 IPA +to operate when running: + +- configure() +- queueRequest() +- computeParams() +- processStats() + +The configuration phase allows the pipeline-handler to inform the IPA of +the current stream configurations, which is then passed into each +algorithm to provide an opportunity to identify and track state of the +hardware, such as image size or ImgU pipeline configurations. + +Pre-frame preparation +~~~~~~~~~~~~~~~~~~~~~ + +When configured, the IPA is notified by the pipeline handler of the +Camera ``start()`` event, after which incoming requests will be queued +for processing, requiring a parameter buffer (``ipu3_uapi_params``) to +be populated for the ImgU. This is given to the IPA through +``computeParams()``, and then passed directly to each algorithm +through the ``prepare()`` call allowing the ISP configuration to be +updated for the needs of each component that the algorithm is +responsible for. + +The algorithm should set the use flag (``ipu3_uapi_flags``) for any +structure that it modifies, and it should take care to ensure that any +structure set by a use flag is fully initialised to suitable values. + +The parameter buffer is returned to the pipeline handler through the +``paramsComputed`` signal, and from there queued to the ImgU along +with a raw frame captured with the CIO2. + +Post-frame completion +~~~~~~~~~~~~~~~~~~~~~ + +When the capture of an image is completed, and successfully processed +through the ImgU, the generated statistics buffer +(``ipu3_uapi_stats_3a``) is given to the IPA through +``processStats()``. This provides the IPA with an opportunity to +examine the results of the ISP and run the calculations required by each +algorithm on the new data. The algorithms may require context from the +operations of other algorithms, for example, the AWB might choose to use +a scene brightness determined by the AGC. It is important that the +algorithms are ordered to ensure that required results are determined +before they are needed. + +The ordering of the algorithm processing is determined by their +placement in the ``IPU3::algorithms_`` ordered list. + +Finally, the IPA metadata for the completed frame is returned back via +the ``metadataReady`` signal. + +Sensor Controls +~~~~~~~~~~~~~~~ + +The AutoExposure and AutoGain (AGC) algorithm differs slightly from the +others as it requires operating directly on the sensor, as opposed to +through the ImgU ISP. To support this, there is a ``setSensorControls`` +signal to allow the IPA to request controls to be set on the camera +sensor through the pipeline handler. diff --git a/src/ipa/ipu3/ipu3.cpp b/src/ipa/ipu3/ipu3.cpp new file mode 100644 index 00000000..1cae08bf --- /dev/null +++ b/src/ipa/ipu3/ipu3.cpp @@ -0,0 +1,692 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2020, Google Inc. + * + * IPU3 Image Processing Algorithms + */ + +#include <algorithm> +#include <array> +#include <cmath> +#include <limits> +#include <map> +#include <memory> +#include <stdint.h> +#include <utility> +#include <vector> + +#include <linux/intel-ipu3.h> +#include <linux/v4l2-controls.h> + +#include <libcamera/base/file.h> +#include <libcamera/base/log.h> +#include <libcamera/base/utils.h> + +#include <libcamera/control_ids.h> +#include <libcamera/controls.h> +#include <libcamera/framebuffer.h> +#include <libcamera/geometry.h> +#include <libcamera/request.h> + +#include <libcamera/ipa/ipa_interface.h> +#include <libcamera/ipa/ipa_module_info.h> +#include <libcamera/ipa/ipu3_ipa_interface.h> + +#include "libcamera/internal/mapped_framebuffer.h" +#include "libcamera/internal/yaml_parser.h" + +#include "libipa/camera_sensor_helper.h" + +#include "ipa_context.h" +#include "module.h" + +/* Minimum grid width, expressed as a number of cells */ +static constexpr uint32_t kMinGridWidth = 16; +/* Maximum grid width, expressed as a number of cells */ +static constexpr uint32_t kMaxGridWidth = 80; +/* Minimum grid height, expressed as a number of cells */ +static constexpr uint32_t kMinGridHeight = 16; +/* Maximum grid height, expressed as a number of cells */ +static constexpr uint32_t kMaxGridHeight = 60; +/* log2 of the minimum grid cell width and height, in pixels */ +static constexpr uint32_t kMinCellSizeLog2 = 3; +/* log2 of the maximum grid cell width and height, in pixels */ +static constexpr uint32_t kMaxCellSizeLog2 = 6; + +/* Maximum number of frame contexts to be held */ +static constexpr uint32_t kMaxFrameContexts = 16; + +namespace libcamera { + +LOG_DEFINE_CATEGORY(IPAIPU3) + +using namespace std::literals::chrono_literals; + +namespace ipa::ipu3 { + +/** + * \brief The IPU3 IPA implementation + * + * The IPU3 Pipeline defines an IPU3-specific interface for communication + * between the PipelineHandler and the IPA module. + * + * We extend the IPAIPU3Interface to implement our algorithms and handle + * calls from the IPU3 PipelineHandler to satisfy requests from the + * application. + * + * At initialisation time, a CameraSensorHelper is instantiated to support + * camera-specific calculations, while the default controls are computed, and + * the algorithms are instantiated from the tuning data file. + * + * The IPU3 ImgU operates with a grid layout to divide the overall frame into + * rectangular cells of pixels. When the IPA is configured, we determine the + * best grid for the statistics based on the pipeline handler Bayer Down Scaler + * output size. + * + * Two main events are then handled to operate the IPU3 ImgU by populating its + * parameter buffer, and adapting the settings of the sensor attached to the + * IPU3 CIO2 through sensor-specific V4L2 controls. + * + * In computeParams(), we populate the ImgU parameter buffer with + * settings to configure the device in preparation for handling the frame + * queued in the Request. + * + * When the frame has completed processing, the ImgU will generate a statistics + * buffer which is given to the IPA with processStats(). In this we run the + * algorithms to parse the statistics and cache any results for the next + * computeParams() call. + * + * The individual algorithms are split into modular components that are called + * iteratively to allow them to process statistics from the ImgU in the order + * defined in the tuning data file. + * + * The current implementation supports five core algorithms: + * + * - Auto focus (AF) + * - Automatic gain and exposure control (AGC) + * - Automatic white balance (AWB) + * - Black level correction (BLC) + * - Tone mapping (Gamma) + * + * AWB is implemented using a Greyworld algorithm, and calculates the red and + * blue gains to apply to generate a neutral grey frame overall. + * + * AGC is handled by calculating a histogram of the green channel to estimate an + * analogue gain and exposure time which will provide a well exposed frame. A + * low-pass IIR filter is used to smooth the changes to the sensor to reduce + * perceivable steps. + * + * The tone mapping algorithm provides a gamma correction table to improve the + * contrast of the scene. + * + * The black level compensation algorithm subtracts a hardcoded black level from + * all pixels. + * + * The IPU3 ImgU has further processing blocks to support image quality + * improvements through bayer and temporal noise reductions, however those are + * not supported in the current implementation, and will use default settings as + * provided by the kernel driver. + * + * Demosaicing is operating with the default parameters and could be further + * optimised to provide improved sharpening coefficients, checker artifact + * removal, and false color correction. + * + * Additional image enhancements can be made by providing lens and + * sensor-specific tuning to adapt for Black Level compensation (BLC), Lens + * shading correction (SHD) and Color correction (CCM). + */ +class IPAIPU3 : public IPAIPU3Interface, public Module +{ +public: + IPAIPU3(); + + int init(const IPASettings &settings, + const IPACameraSensorInfo &sensorInfo, + const ControlInfoMap &sensorControls, + ControlInfoMap *ipaControls) override; + + int start() override; + void stop() override; + + int configure(const IPAConfigInfo &configInfo, + ControlInfoMap *ipaControls) override; + + void mapBuffers(const std::vector<IPABuffer> &buffers) override; + void unmapBuffers(const std::vector<unsigned int> &ids) override; + + void queueRequest(const uint32_t frame, const ControlList &controls) override; + void computeParams(const uint32_t frame, const uint32_t bufferId) override; + void processStats(const uint32_t frame, const int64_t frameTimestamp, + const uint32_t bufferId, + const ControlList &sensorControls) override; + +protected: + std::string logPrefix() const override; + +private: + void updateControls(const IPACameraSensorInfo &sensorInfo, + const ControlInfoMap &sensorControls, + ControlInfoMap *ipaControls); + void updateSessionConfiguration(const ControlInfoMap &sensorControls); + + void setControls(unsigned int frame); + void calculateBdsGrid(const Size &bdsOutputSize); + + std::map<unsigned int, MappedFrameBuffer> buffers_; + + ControlInfoMap sensorCtrls_; + ControlInfoMap lensCtrls_; + + IPACameraSensorInfo sensorInfo_; + + /* Interface to the Camera Helper */ + std::unique_ptr<CameraSensorHelper> camHelper_; + + /* Local parameter storage */ + struct IPAContext context_; +}; + +IPAIPU3::IPAIPU3() + : context_(kMaxFrameContexts) +{ +} + +std::string IPAIPU3::logPrefix() const +{ + return "ipu3"; +} + +/** + * \brief Compute IPASessionConfiguration using the sensor information and the + * sensor V4L2 controls + */ +void IPAIPU3::updateSessionConfiguration(const ControlInfoMap &sensorControls) +{ + const ControlInfo vBlank = sensorControls.find(V4L2_CID_VBLANK)->second; + context_.configuration.sensor.defVBlank = vBlank.def().get<int32_t>(); + + const ControlInfo &v4l2Exposure = sensorControls.find(V4L2_CID_EXPOSURE)->second; + int32_t minExposure = v4l2Exposure.min().get<int32_t>(); + int32_t maxExposure = v4l2Exposure.max().get<int32_t>(); + + const ControlInfo &v4l2Gain = sensorControls.find(V4L2_CID_ANALOGUE_GAIN)->second; + int32_t minGain = v4l2Gain.min().get<int32_t>(); + int32_t maxGain = v4l2Gain.max().get<int32_t>(); + + /* + * When the AGC computes the new exposure values for a frame, it needs + * to know the limits for exposure time and analogue gain. + * As it depends on the sensor, update it with the controls. + * + * \todo take VBLANK into account for maximum exposure time + */ + context_.configuration.agc.minExposureTime = minExposure * context_.configuration.sensor.lineDuration; + context_.configuration.agc.maxExposureTime = maxExposure * context_.configuration.sensor.lineDuration; + context_.configuration.agc.minAnalogueGain = camHelper_->gain(minGain); + context_.configuration.agc.maxAnalogueGain = camHelper_->gain(maxGain); +} + +/** + * \brief Compute camera controls using the sensor information and the sensor + * V4L2 controls + * + * Some of the camera controls are computed by the pipeline handler, some others + * by the IPA module which is in charge of handling, for example, the exposure + * time and the frame duration. + * + * This function computes: + * - controls::ExposureTime + * - controls::FrameDurationLimits + */ +void IPAIPU3::updateControls(const IPACameraSensorInfo &sensorInfo, + const ControlInfoMap &sensorControls, + ControlInfoMap *ipaControls) +{ + ControlInfoMap::Map controls{}; + double lineDuration = context_.configuration.sensor.lineDuration.get<std::micro>(); + + /* + * Compute exposure time limits by using line length and pixel rate + * converted to microseconds. Use the V4L2_CID_EXPOSURE control to get + * exposure min, max and default and convert it from lines to + * microseconds. + */ + const ControlInfo &v4l2Exposure = sensorControls.find(V4L2_CID_EXPOSURE)->second; + int32_t minExposure = v4l2Exposure.min().get<int32_t>() * lineDuration; + int32_t maxExposure = v4l2Exposure.max().get<int32_t>() * lineDuration; + int32_t defExposure = v4l2Exposure.def().get<int32_t>() * lineDuration; + controls[&controls::ExposureTime] = ControlInfo(minExposure, maxExposure, + defExposure); + + /* + * Compute the frame duration limits. + * + * The frame length is computed assuming a fixed line length combined + * with the vertical frame sizes. + */ + const ControlInfo &v4l2HBlank = sensorControls.find(V4L2_CID_HBLANK)->second; + uint32_t hblank = v4l2HBlank.def().get<int32_t>(); + uint32_t lineLength = sensorInfo.outputSize.width + hblank; + + const ControlInfo &v4l2VBlank = sensorControls.find(V4L2_CID_VBLANK)->second; + std::array<uint32_t, 3> frameHeights{ + v4l2VBlank.min().get<int32_t>() + sensorInfo.outputSize.height, + v4l2VBlank.max().get<int32_t>() + sensorInfo.outputSize.height, + v4l2VBlank.def().get<int32_t>() + sensorInfo.outputSize.height, + }; + + std::array<int64_t, 3> frameDurations; + for (unsigned int i = 0; i < frameHeights.size(); ++i) { + uint64_t frameSize = lineLength * frameHeights[i]; + frameDurations[i] = frameSize / (sensorInfo.pixelRate / 1000000U); + } + + controls[&controls::FrameDurationLimits] = ControlInfo(frameDurations[0], + frameDurations[1], + frameDurations[2]); + + controls.merge(context_.ctrlMap); + *ipaControls = ControlInfoMap(std::move(controls), controls::controls); +} + +/** + * \brief Initialize the IPA module and its controls + * + * This function receives the camera sensor information from the pipeline + * handler, computes the limits of the controls it handles and returns + * them in the \a ipaControls output parameter. + */ +int IPAIPU3::init(const IPASettings &settings, + const IPACameraSensorInfo &sensorInfo, + const ControlInfoMap &sensorControls, + ControlInfoMap *ipaControls) +{ + camHelper_ = CameraSensorHelperFactoryBase::create(settings.sensorModel); + if (camHelper_ == nullptr) { + LOG(IPAIPU3, Error) + << "Failed to create camera sensor helper for " + << settings.sensorModel; + return -ENODEV; + } + + /* Clean context */ + context_.configuration = {}; + context_.configuration.sensor.lineDuration = + sensorInfo.minLineLength * 1.0s / sensorInfo.pixelRate; + + /* Load the tuning data file. */ + File file(settings.configurationFile); + if (!file.open(File::OpenModeFlag::ReadOnly)) { + int ret = file.error(); + LOG(IPAIPU3, Error) + << "Failed to open configuration file " + << settings.configurationFile << ": " << strerror(-ret); + return ret; + } + + std::unique_ptr<libcamera::YamlObject> data = YamlParser::parse(file); + if (!data) + return -EINVAL; + + unsigned int version = (*data)["version"].get<uint32_t>(0); + if (version != 1) { + LOG(IPAIPU3, Error) + << "Invalid tuning file version " << version; + return -EINVAL; + } + + if (!data->contains("algorithms")) { + LOG(IPAIPU3, Error) + << "Tuning file doesn't contain any algorithm"; + return -EINVAL; + } + + int ret = createAlgorithms(context_, (*data)["algorithms"]); + if (ret) + return ret; + + /* Initialize controls. */ + updateControls(sensorInfo, sensorControls, ipaControls); + + return 0; +} + +/** + * \brief Perform any processing required before the first frame + */ +int IPAIPU3::start() +{ + /* + * Set the sensors V4L2 controls before the first frame to ensure that + * we have an expected and known configuration from the start. + */ + setControls(0); + + return 0; +} + +/** + * \brief Ensure that all processing has completed + */ +void IPAIPU3::stop() +{ + context_.frameContexts.clear(); +} + +/** + * \brief Calculate a grid for the AWB statistics + * + * This function calculates a grid for the AWB algorithm in the IPU3 firmware. + * Its input is the BDS output size calculated in the ImgU. + * It is limited for now to the simplest method: find the lesser error + * with the width/height and respective log2 width/height of the cells. + * + * \todo The frame is divided into cells which can be 8x8 => 64x64. + * As a smaller cell improves the algorithm precision, adapting the + * x_start and y_start parameters of the grid would provoke a loss of + * some pixels but would also result in more accurate algorithms. + */ +void IPAIPU3::calculateBdsGrid(const Size &bdsOutputSize) +{ + Size best; + Size bestLog2; + + /* Set the BDS output size in the IPAConfiguration structure */ + context_.configuration.grid.bdsOutputSize = bdsOutputSize; + + uint32_t minError = std::numeric_limits<uint32_t>::max(); + for (uint32_t shift = kMinCellSizeLog2; shift <= kMaxCellSizeLog2; ++shift) { + uint32_t width = std::clamp(bdsOutputSize.width >> shift, + kMinGridWidth, + kMaxGridWidth); + + width = width << shift; + uint32_t error = utils::abs_diff(width, bdsOutputSize.width); + if (error >= minError) + continue; + + minError = error; + best.width = width; + bestLog2.width = shift; + } + + minError = std::numeric_limits<uint32_t>::max(); + for (uint32_t shift = kMinCellSizeLog2; shift <= kMaxCellSizeLog2; ++shift) { + uint32_t height = std::clamp(bdsOutputSize.height >> shift, + kMinGridHeight, + kMaxGridHeight); + + height = height << shift; + uint32_t error = utils::abs_diff(height, bdsOutputSize.height); + if (error >= minError) + continue; + + minError = error; + best.height = height; + bestLog2.height = shift; + } + + struct ipu3_uapi_grid_config &bdsGrid = context_.configuration.grid.bdsGrid; + bdsGrid.x_start = 0; + bdsGrid.y_start = 0; + bdsGrid.width = best.width >> bestLog2.width; + bdsGrid.block_width_log2 = bestLog2.width; + bdsGrid.height = best.height >> bestLog2.height; + bdsGrid.block_height_log2 = bestLog2.height; + + /* The ImgU pads the lines to a multiple of 4 cells. */ + context_.configuration.grid.stride = utils::alignUp(bdsGrid.width, 4); + + LOG(IPAIPU3, Debug) << "Best grid found is: (" + << (int)bdsGrid.width << " << " << (int)bdsGrid.block_width_log2 << ") x (" + << (int)bdsGrid.height << " << " << (int)bdsGrid.block_height_log2 << ")"; +} + +/** + * \brief Configure the IPU3 IPA + * \param[in] configInfo The IPA configuration data, received from the pipeline + * handler + * \param[in] ipaControls The IPA controls to update + * + * Calculate the best grid for the statistics based on the pipeline handler BDS + * output, and parse the minimum and maximum exposure and analogue gain control + * values. + * + * \todo Document what the BDS is, ideally in a block diagram of the ImgU. + * + * All algorithm modules are called to allow them to prepare the + * \a IPASessionConfiguration structure for the \a IPAContext. + */ +int IPAIPU3::configure(const IPAConfigInfo &configInfo, + ControlInfoMap *ipaControls) +{ + if (configInfo.sensorControls.empty()) { + LOG(IPAIPU3, Error) << "No sensor controls provided"; + return -ENODATA; + } + + sensorInfo_ = configInfo.sensorInfo; + + lensCtrls_ = configInfo.lensControls; + + /* Clear the IPA context for the new streaming session. */ + context_.activeState = {}; + context_.configuration = {}; + context_.frameContexts.clear(); + + /* Initialise the sensor configuration. */ + context_.configuration.sensor.lineDuration = + sensorInfo_.minLineLength * 1.0s / sensorInfo_.pixelRate; + context_.configuration.sensor.size = sensorInfo_.outputSize; + + /* + * Compute the sensor V4L2 controls to be used by the algorithms and + * to be set on the sensor. + */ + sensorCtrls_ = configInfo.sensorControls; + + calculateBdsGrid(configInfo.bdsOutputSize); + + /* Update the camera controls using the new sensor settings. */ + updateControls(sensorInfo_, sensorCtrls_, ipaControls); + + /* Update the IPASessionConfiguration using the sensor settings. */ + updateSessionConfiguration(sensorCtrls_); + + for (auto const &algo : algorithms()) { + int ret = algo->configure(context_, configInfo); + if (ret) + return ret; + } + + return 0; +} + +/** + * \brief Map the parameters and stats buffers allocated in the pipeline handler + * \param[in] buffers The buffers to map + */ +void IPAIPU3::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)); + } +} + +/** + * \brief Unmap the parameters and stats buffers + * \param[in] ids The IDs of the buffers to unmap + */ +void IPAIPU3::unmapBuffers(const std::vector<unsigned int> &ids) +{ + for (unsigned int id : ids) { + auto it = buffers_.find(id); + if (it == buffers_.end()) + continue; + + buffers_.erase(it); + } +} + +/** + * \brief Fill and return a buffer with ISP processing parameters for a frame + * \param[in] frame The frame number + * \param[in] bufferId ID of the parameter buffer to fill + * + * Algorithms are expected to fill the IPU3 parameter buffer for the next + * frame given their most recent processing of the ImgU statistics. + */ +void IPAIPU3::computeParams(const uint32_t frame, const uint32_t bufferId) +{ + auto it = buffers_.find(bufferId); + if (it == buffers_.end()) { + LOG(IPAIPU3, Error) << "Could not find param buffer!"; + return; + } + + Span<uint8_t> mem = it->second.planes()[0]; + ipu3_uapi_params *params = + reinterpret_cast<ipu3_uapi_params *>(mem.data()); + + /* + * The incoming params buffer may contain uninitialised data, or the + * parameters of previously queued frames. Clearing the entire buffer + * may be an expensive operation, and the kernel will only read from + * structures which have their associated use-flag set. + * + * It is the responsibility of the algorithms to set the use flags + * accordingly for any data structure they update during prepare(). + */ + params->use = {}; + + IPAFrameContext &frameContext = context_.frameContexts.get(frame); + + for (auto const &algo : algorithms()) + algo->prepare(context_, frame, frameContext, params); + + paramsComputed.emit(frame); +} + +/** + * \brief Process the statistics generated by the ImgU + * \param[in] frame The frame number + * \param[in] frameTimestamp Timestamp of the frame + * \param[in] bufferId ID of the statistics buffer + * \param[in] sensorControls Sensor controls + * + * Parse the most recently processed image statistics from the ImgU. The + * statistics are passed to each algorithm module to run their calculations and + * update their state accordingly. + */ +void IPAIPU3::processStats(const uint32_t frame, + [[maybe_unused]] const int64_t frameTimestamp, + const uint32_t bufferId, const ControlList &sensorControls) +{ + auto it = buffers_.find(bufferId); + if (it == buffers_.end()) { + LOG(IPAIPU3, Error) << "Could not find stats buffer!"; + return; + } + + Span<uint8_t> mem = it->second.planes()[0]; + const ipu3_uapi_stats_3a *stats = + reinterpret_cast<ipu3_uapi_stats_3a *>(mem.data()); + + IPAFrameContext &frameContext = context_.frameContexts.get(frame); + + frameContext.sensor.exposure = sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>(); + frameContext.sensor.gain = camHelper_->gain(sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>()); + + ControlList metadata(controls::controls); + + for (auto const &algo : algorithms()) + algo->process(context_, frame, frameContext, stats, metadata); + + setControls(frame); + + /* + * \todo The Metadata provides a path to getting extended data + * out to the application. Further data such as a simplifed Histogram + * might have value to be exposed, however such data may be + * difficult to report in a generically parsable way and we + * likely want to avoid putting platform specific metadata in. + */ + + metadataReady.emit(frame, metadata); +} + +/** + * \brief Queue a request and process the control list from the application + * \param[in] frame The number of the frame which will be processed next + * \param[in] controls The controls for the \a frame + * + * Parse the request to handle any IPA-managed controls that were set from the + * application such as manual sensor settings. + */ +void IPAIPU3::queueRequest(const uint32_t frame, const ControlList &controls) +{ + IPAFrameContext &frameContext = context_.frameContexts.alloc(frame); + + for (auto const &algo : algorithms()) + algo->queueRequest(context_, frame, frameContext, controls); +} + +/** + * \brief Handle sensor controls for a given \a frame number + * \param[in] frame The frame on which the sensor controls should be set + * + * Send the desired sensor control values to the pipeline handler to request + * that they are applied on the camera sensor. + */ +void IPAIPU3::setControls(unsigned int frame) +{ + int32_t exposure = context_.activeState.agc.exposure; + int32_t gain = camHelper_->gainCode(context_.activeState.agc.gain); + + ControlList ctrls(sensorCtrls_); + ctrls.set(V4L2_CID_EXPOSURE, exposure); + ctrls.set(V4L2_CID_ANALOGUE_GAIN, gain); + + ControlList lensCtrls(lensCtrls_); + lensCtrls.set(V4L2_CID_FOCUS_ABSOLUTE, + static_cast<int32_t>(context_.activeState.af.focus)); + + setSensorControls.emit(frame, ctrls, lensCtrls); +} + +} /* namespace ipa::ipu3 */ + +/** + * \brief External IPA module interface + * + * The IPAModuleInfo is required to match an IPA module construction against the + * intented pipeline handler with the module. The API and pipeline handler + * versions must match the corresponding IPA interface and pipeline handler. + * + * \sa struct IPAModuleInfo + */ +extern "C" { +const struct IPAModuleInfo ipaModuleInfo = { + IPA_MODULE_API_VERSION, + 1, + "ipu3", + "ipu3", +}; + +/** + * \brief Create an instance of the IPA interface + * + * This function is the entry point of the IPA module. It is called by the IPA + * manager to create an instance of the IPA interface for each camera. When + * matched against with a pipeline handler, the IPAManager will construct an IPA + * instance for each associated Camera. + */ +IPAInterface *ipaCreate() +{ + return new ipa::ipu3::IPAIPU3(); +} +} + +} /* namespace libcamera */ diff --git a/src/ipa/ipu3/meson.build b/src/ipa/ipu3/meson.build new file mode 100644 index 00000000..34de6213 --- /dev/null +++ b/src/ipa/ipu3/meson.build @@ -0,0 +1,31 @@ +# SPDX-License-Identifier: CC0-1.0 + +subdir('algorithms') +subdir('data') + +ipa_name = 'ipa_ipu3' + +ipu3_ipa_sources = files([ + 'ipa_context.cpp', + 'ipu3.cpp', +]) + +ipu3_ipa_sources += ipu3_ipa_algorithms + +mod = shared_module(ipa_name, ipu3_ipa_sources, + name_prefix : '', + include_directories : [ipa_includes], + dependencies : [libcamera_private, libipa_dep], + 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 + +ipa_names += ipa_name diff --git a/src/ipa/ipu3/module.h b/src/ipa/ipu3/module.h new file mode 100644 index 00000000..60f65cc4 --- /dev/null +++ b/src/ipa/ipu3/module.h @@ -0,0 +1,27 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022, Ideas On Board + * + * IPU3 IPA Module + */ + +#pragma once + +#include <linux/intel-ipu3.h> + +#include <libcamera/ipa/ipu3_ipa_interface.h> + +#include <libipa/module.h> + +#include "ipa_context.h" + +namespace libcamera { + +namespace ipa::ipu3 { + +using Module = ipa::Module<IPAContext, IPAFrameContext, IPAConfigInfo, + ipu3_uapi_params, ipu3_uapi_stats_3a>; + +} /* namespace ipa::ipu3 */ + +} /* namespace libcamera*/ diff --git a/src/ipa/libipa/agc_mean_luminance.cpp b/src/ipa/libipa/agc_mean_luminance.cpp new file mode 100644 index 00000000..02555a44 --- /dev/null +++ b/src/ipa/libipa/agc_mean_luminance.cpp @@ -0,0 +1,578 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024 Ideas on Board Oy + * + * Base class for mean luminance AGC algorithms + */ + +#include "agc_mean_luminance.h" + +#include <cmath> + +#include <libcamera/base/log.h> +#include <libcamera/control_ids.h> + +#include "exposure_mode_helper.h" + +using namespace libcamera::controls; + +/** + * \file agc_mean_luminance.h + * \brief Base class implementing mean luminance AEGC + */ + +namespace libcamera { + +using namespace std::literals::chrono_literals; + +LOG_DEFINE_CATEGORY(AgcMeanLuminance) + +namespace ipa { + +/* + * Number of frames for which to run the algorithm at full speed, before slowing + * down to prevent large and jarring changes in exposure from frame to frame. + */ +static constexpr uint32_t kNumStartupFrames = 10; + +/* + * Default relative luminance target + * + * This value should be chosen so that when the camera points at a grey target, + * the resulting image brightness looks "right". Custom values can be passed + * as the relativeLuminanceTarget value in sensor tuning files. + */ +static constexpr double kDefaultRelativeLuminanceTarget = 0.16; + +/** + * \struct AgcMeanLuminance::AgcConstraint + * \brief The boundaries and target for an AeConstraintMode constraint + * + * This structure describes an AeConstraintMode constraint for the purposes of + * this algorithm. These constraints are expressed as a pair of quantile + * boundaries for a histogram, along with a luminance target and a bounds-type. + * The algorithm uses the constraints by ensuring that the defined portion of a + * luminance histogram (I.E. lying between the two quantiles) is above or below + * the given luminance value. + */ + +/** + * \enum AgcMeanLuminance::AgcConstraint::Bound + * \brief Specify whether the constraint defines a lower or upper bound + * \var AgcMeanLuminance::AgcConstraint::Lower + * \brief The constraint defines a lower bound + * \var AgcMeanLuminance::AgcConstraint::Upper + * \brief The constraint defines an upper bound + */ + +/** + * \var AgcMeanLuminance::AgcConstraint::bound + * \brief The type of constraint bound + */ + +/** + * \var AgcMeanLuminance::AgcConstraint::qLo + * \brief The lower quantile to use for the constraint + */ + +/** + * \var AgcMeanLuminance::AgcConstraint::qHi + * \brief The upper quantile to use for the constraint + */ + +/** + * \var AgcMeanLuminance::AgcConstraint::yTarget + * \brief The luminance target for the constraint + */ + +/** + * \class AgcMeanLuminance + * \brief A mean-based auto-exposure algorithm + * + * This algorithm calculates an exposure time, analogue and digital gain such + * that the normalised mean luminance value of an image is driven towards a + * target, which itself is discovered from tuning data. The algorithm is a + * two-stage process. + * + * In the first stage, an initial gain value is derived by iteratively comparing + * the gain-adjusted mean luminance across the entire image against a target, + * and selecting a value which pushes it as closely as possible towards the + * target. + * + * In the second stage we calculate the gain required to drive the average of a + * section of a histogram to a target value, where the target and the boundaries + * of the section of the histogram used in the calculation are taken from the + * values defined for the currently configured AeConstraintMode within the + * tuning data. This class provides a helper function to parse those tuning data + * to discover the constraints, and so requires a specific format for those + * data which is described in \ref parseTuningData(). The gain from the first + * stage is then clamped to the gain from this stage. + * + * The final gain is used to adjust the effective exposure value of the image, + * and that new exposure value is divided into exposure time, analogue gain and + * digital gain according to the selected AeExposureMode. This class uses the + * \ref ExposureModeHelper class to assist in that division, and expects the + * data needed to initialise that class to be present in tuning data in a + * format described in \ref parseTuningData(). + * + * In order to be able to use this algorithm an IPA module needs to be able to + * do the following: + * + * 1. Provide a luminance estimation across an entire image. + * 2. Provide a luminance Histogram for the image to use in calculating + * constraint compliance. The precision of the Histogram that is available + * will determine the supportable precision of the constraints. + * + * IPA modules that want to use this class to implement their AEGC algorithm + * should derive it and provide an overriding estimateLuminance() function for + * this class to use. They must call parseTuningData() in init(), and must also + * call setLimits() and resetFrameCounter() in configure(). They may then use + * calculateNewEv() in process(). If the limits passed to setLimits() change for + * any reason (for example, in response to a FrameDurationLimit control being + * passed in queueRequest()) then setLimits() must be called again with the new + * values. + */ + +AgcMeanLuminance::AgcMeanLuminance() + : frameCount_(0), filteredExposure_(0s), relativeLuminanceTarget_(0) +{ +} + +AgcMeanLuminance::~AgcMeanLuminance() = default; + +void AgcMeanLuminance::parseRelativeLuminanceTarget(const YamlObject &tuningData) +{ + relativeLuminanceTarget_ = + tuningData["relativeLuminanceTarget"].get<double>(kDefaultRelativeLuminanceTarget); +} + +void AgcMeanLuminance::parseConstraint(const YamlObject &modeDict, int32_t id) +{ + for (const auto &[boundName, content] : modeDict.asDict()) { + if (boundName != "upper" && boundName != "lower") { + LOG(AgcMeanLuminance, Warning) + << "Ignoring unknown constraint bound '" << boundName << "'"; + continue; + } + + unsigned int idx = static_cast<unsigned int>(boundName == "upper"); + AgcConstraint::Bound bound = static_cast<AgcConstraint::Bound>(idx); + double qLo = content["qLo"].get<double>().value_or(0.98); + double qHi = content["qHi"].get<double>().value_or(1.0); + double yTarget = + content["yTarget"].getList<double>().value_or(std::vector<double>{ 0.5 }).at(0); + + AgcConstraint constraint = { bound, qLo, qHi, yTarget }; + + if (!constraintModes_.count(id)) + constraintModes_[id] = {}; + + if (idx) + constraintModes_[id].push_back(constraint); + else + constraintModes_[id].insert(constraintModes_[id].begin(), constraint); + } +} + +int AgcMeanLuminance::parseConstraintModes(const YamlObject &tuningData) +{ + std::vector<ControlValue> availableConstraintModes; + + const YamlObject &yamlConstraintModes = tuningData[controls::AeConstraintMode.name()]; + if (yamlConstraintModes.isDictionary()) { + for (const auto &[modeName, modeDict] : yamlConstraintModes.asDict()) { + if (AeConstraintModeNameValueMap.find(modeName) == + AeConstraintModeNameValueMap.end()) { + LOG(AgcMeanLuminance, Warning) + << "Skipping unknown constraint mode '" << modeName << "'"; + continue; + } + + if (!modeDict.isDictionary()) { + LOG(AgcMeanLuminance, Error) + << "Invalid constraint mode '" << modeName << "'"; + return -EINVAL; + } + + parseConstraint(modeDict, + AeConstraintModeNameValueMap.at(modeName)); + availableConstraintModes.push_back( + AeConstraintModeNameValueMap.at(modeName)); + } + } + + /* + * If the tuning data file contains no constraints then we use the + * default constraint that the IPU3/RkISP1 Agc algorithms were adhering + * to anyway before centralisation; this constraint forces the top 2% of + * the histogram to be at least 0.5. + */ + if (constraintModes_.empty()) { + AgcConstraint constraint = { + AgcConstraint::Bound::Lower, + 0.98, + 1.0, + 0.5 + }; + + constraintModes_[controls::ConstraintNormal].insert( + constraintModes_[controls::ConstraintNormal].begin(), + constraint); + availableConstraintModes.push_back( + AeConstraintModeNameValueMap.at("ConstraintNormal")); + } + + controls_[&controls::AeConstraintMode] = ControlInfo(availableConstraintModes); + + return 0; +} + +int AgcMeanLuminance::parseExposureModes(const YamlObject &tuningData) +{ + std::vector<ControlValue> availableExposureModes; + + const YamlObject &yamlExposureModes = tuningData[controls::AeExposureMode.name()]; + if (yamlExposureModes.isDictionary()) { + for (const auto &[modeName, modeValues] : yamlExposureModes.asDict()) { + if (AeExposureModeNameValueMap.find(modeName) == + AeExposureModeNameValueMap.end()) { + LOG(AgcMeanLuminance, Warning) + << "Skipping unknown exposure mode '" << modeName << "'"; + continue; + } + + if (!modeValues.isDictionary()) { + LOG(AgcMeanLuminance, Error) + << "Invalid exposure mode '" << modeName << "'"; + return -EINVAL; + } + + std::vector<uint32_t> exposureTimes = + modeValues["exposureTime"].getList<uint32_t>().value_or(std::vector<uint32_t>{}); + std::vector<double> gains = + modeValues["gain"].getList<double>().value_or(std::vector<double>{}); + + if (exposureTimes.size() != gains.size()) { + LOG(AgcMeanLuminance, Error) + << "Exposure time and gain array sizes unequal"; + return -EINVAL; + } + + if (exposureTimes.empty()) { + LOG(AgcMeanLuminance, Error) + << "Exposure time and gain arrays are empty"; + return -EINVAL; + } + + std::vector<std::pair<utils::Duration, double>> stages; + for (unsigned int i = 0; i < exposureTimes.size(); i++) { + stages.push_back({ + std::chrono::microseconds(exposureTimes[i]), + gains[i] + }); + } + + std::shared_ptr<ExposureModeHelper> helper = + std::make_shared<ExposureModeHelper>(stages); + + exposureModeHelpers_[AeExposureModeNameValueMap.at(modeName)] = helper; + availableExposureModes.push_back(AeExposureModeNameValueMap.at(modeName)); + } + } + + /* + * If we don't have any exposure modes in the tuning data we create an + * ExposureModeHelper using an empty vector of stages. This will result + * in the ExposureModeHelper simply driving the exposure time as high as + * possible before touching gain. + */ + if (availableExposureModes.empty()) { + int32_t exposureModeId = AeExposureModeNameValueMap.at("ExposureNormal"); + std::vector<std::pair<utils::Duration, double>> stages = { }; + + std::shared_ptr<ExposureModeHelper> helper = + std::make_shared<ExposureModeHelper>(stages); + + exposureModeHelpers_[exposureModeId] = helper; + availableExposureModes.push_back(exposureModeId); + } + + controls_[&controls::AeExposureMode] = ControlInfo(availableExposureModes); + + return 0; +} + +/** + * \brief Parse tuning data for AeConstraintMode and AeExposureMode controls + * \param[in] tuningData the YamlObject representing the tuning data + * + * This function parses tuning data to build the list of allowed values for the + * AeConstraintMode and AeExposureMode controls. Those tuning data must provide + * the data in a specific format; the Agc algorithm's tuning data should contain + * a dictionary called AeConstraintMode containing per-mode setting dictionaries + * with the key being a value from \ref controls::AeConstraintModeNameValueMap. + * Each mode dict may contain either a "lower" or "upper" key or both, for + * example: + * + * \code{.unparsed} + * algorithms: + * - Agc: + * AeConstraintMode: + * ConstraintNormal: + * lower: + * qLo: 0.98 + * qHi: 1.0 + * yTarget: 0.5 + * ConstraintHighlight: + * lower: + * qLo: 0.98 + * qHi: 1.0 + * yTarget: 0.5 + * upper: + * qLo: 0.98 + * qHi: 1.0 + * yTarget: 0.8 + * + * \endcode + * + * For the AeExposureMode control the data should contain a dictionary called + * AeExposureMode containing per-mode setting dictionaries with the key being a + * value from \ref controls::AeExposureModeNameValueMap. Each mode dict should + * contain an array of exposure times with the key "exposureTime" and an array + * of gain values with the key "gain", in this format: + * + * \code{.unparsed} + * algorithms: + * - Agc: + * AeExposureMode: + * ExposureNormal: + * exposureTime: [ 100, 10000, 30000, 60000, 120000 ] + * gain: [ 2.0, 4.0, 6.0, 8.0, 10.0 ] + * ExposureShort: + * exposureTime: [ 100, 10000, 30000, 60000, 120000 ] + * gain: [ 2.0, 4.0, 6.0, 8.0, 10.0 ] + * + * \endcode + * + * \return 0 on success or a negative error code + */ +int AgcMeanLuminance::parseTuningData(const YamlObject &tuningData) +{ + int ret; + + parseRelativeLuminanceTarget(tuningData); + + ret = parseConstraintModes(tuningData); + if (ret) + return ret; + + return parseExposureModes(tuningData); +} + +/** + * \brief Set the ExposureModeHelper limits for this class + * \param[in] minExposureTime Minimum exposure time to allow + * \param[in] maxExposureTime Maximum ewposure time to allow + * \param[in] minGain Minimum gain to allow + * \param[in] maxGain Maximum gain to allow + * + * This function calls \ref ExposureModeHelper::setLimits() for each + * ExposureModeHelper that has been created for this class. + */ +void AgcMeanLuminance::setLimits(utils::Duration minExposureTime, + utils::Duration maxExposureTime, + double minGain, double maxGain) +{ + for (auto &[id, helper] : exposureModeHelpers_) + helper->setLimits(minExposureTime, maxExposureTime, minGain, maxGain); +} + +/** + * \fn AgcMeanLuminance::constraintModes() + * \brief Get the constraint modes that have been parsed from tuning data + */ + +/** + * \fn AgcMeanLuminance::exposureModeHelpers() + * \brief Get the ExposureModeHelpers that have been parsed from tuning data + */ + +/** + * \fn AgcMeanLuminance::controls() + * \brief Get the controls that have been generated after parsing tuning data + */ + +/** + * \fn AgcMeanLuminance::estimateLuminance(const double gain) + * \brief Estimate the luminance of an image, adjusted by a given gain + * \param[in] gain The gain with which to adjust the luminance estimate + * + * This function estimates the average relative luminance of the frame that + * would be output by the sensor if an additional \a gain was applied. It is a + * pure virtual function because estimation of luminance is a hardware-specific + * operation, which depends wholly on the format of the stats that are delivered + * to libcamera from the ISP. Derived classes must override this function with + * one that calculates the normalised mean luminance value across the entire + * image. + * + * \return The normalised relative luminance of the image + */ + +/** + * \brief Estimate the initial gain needed to achieve a relative luminance + * target + * \return The calculated initial gain + */ +double AgcMeanLuminance::estimateInitialGain() const +{ + double yTarget = relativeLuminanceTarget_; + double yGain = 1.0; + + /* + * To account for non-linearity caused by saturation, the value needs to + * be estimated in an iterative process, as multiplying by a gain will + * not increase the relative luminance by the same factor if some image + * regions are saturated. + */ + for (unsigned int i = 0; i < 8; i++) { + double yValue = estimateLuminance(yGain); + double extra_gain = std::min(10.0, yTarget / (yValue + .001)); + + yGain *= extra_gain; + LOG(AgcMeanLuminance, Debug) << "Y value: " << yValue + << ", Y target: " << yTarget + << ", gives gain " << yGain; + + if (utils::abs_diff(extra_gain, 1.0) < 0.01) + break; + } + + return yGain; +} + +/** + * \brief Clamp gain within the bounds of a defined constraint + * \param[in] constraintModeIndex The index of the constraint to adhere to + * \param[in] hist A histogram over which to calculate inter-quantile means + * \param[in] gain The gain to clamp + * + * \return The gain clamped within the constraint bounds + */ +double AgcMeanLuminance::constraintClampGain(uint32_t constraintModeIndex, + const Histogram &hist, + double gain) +{ + std::vector<AgcConstraint> &constraints = constraintModes_[constraintModeIndex]; + for (const AgcConstraint &constraint : constraints) { + double newGain = constraint.yTarget * hist.bins() / + hist.interQuantileMean(constraint.qLo, constraint.qHi); + + if (constraint.bound == AgcConstraint::Bound::Lower && + newGain > gain) + gain = newGain; + + if (constraint.bound == AgcConstraint::Bound::Upper && + newGain < gain) + gain = newGain; + } + + return gain; +} + +/** + * \brief Apply a filter on the exposure value to limit the speed of changes + * \param[in] exposureValue The target exposure from the AGC algorithm + * + * The speed of the filter is adaptive, and will produce the target quicker + * during startup, or when the target exposure is within 20% of the most recent + * filter output. + * + * \return The filtered exposure + */ +utils::Duration AgcMeanLuminance::filterExposure(utils::Duration exposureValue) +{ + double speed = 0.2; + + /* Adapt instantly if we are in startup phase. */ + if (frameCount_ < kNumStartupFrames) + speed = 1.0; + + /* + * If we are close to the desired result, go faster to avoid making + * multiple micro-adjustments. + * \todo Make this customisable? + */ + if (filteredExposure_ < 1.2 * exposureValue && + filteredExposure_ > 0.8 * exposureValue) + speed = sqrt(speed); + + filteredExposure_ = speed * exposureValue + + filteredExposure_ * (1.0 - speed); + + return filteredExposure_; +} + +/** + * \brief Calculate the new exposure value and splut it between exposure time + * and gain + * \param[in] constraintModeIndex The index of the current constraint mode + * \param[in] exposureModeIndex The index of the current exposure mode + * \param[in] yHist A Histogram from the ISP statistics to use in constraining + * the calculated gain + * \param[in] effectiveExposureValue The EV applied to the frame from which the + * statistics in use derive + * + * Calculate a new exposure value to try to obtain the target. The calculated + * exposure value is filtered to prevent rapid changes from frame to frame, and + * divided into exposure time, analogue and digital gain. + * + * \return Tuple of exposure time, analogue gain, and digital gain + */ +std::tuple<utils::Duration, double, double> +AgcMeanLuminance::calculateNewEv(uint32_t constraintModeIndex, + uint32_t exposureModeIndex, + const Histogram &yHist, + utils::Duration effectiveExposureValue) +{ + /* + * The pipeline handler should validate that we have received an allowed + * value for AeExposureMode. + */ + std::shared_ptr<ExposureModeHelper> exposureModeHelper = + exposureModeHelpers_.at(exposureModeIndex); + + double gain = estimateInitialGain(); + gain = constraintClampGain(constraintModeIndex, yHist, gain); + + /* + * We don't check whether we're already close to the target, because + * even if the effective exposure value is the same as the last frame's + * we could have switched to an exposure mode that would require a new + * pass through the splitExposure() function. + */ + + utils::Duration newExposureValue = effectiveExposureValue * gain; + + /* + * We filter the exposure value to make sure changes are not too jarring + * from frame to frame. + */ + newExposureValue = filterExposure(newExposureValue); + + frameCount_++; + return exposureModeHelper->splitExposure(newExposureValue); +} + +/** + * \fn AgcMeanLuminance::resetFrameCount() + * \brief Reset the frame counter + * + * This function resets the internal frame counter, which exists to help the + * algorithm decide whether it should respond instantly or not. The expectation + * is for derived classes to call this function before each camera start call in + * their configure() function. + */ + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/agc_mean_luminance.h b/src/ipa/libipa/agc_mean_luminance.h new file mode 100644 index 00000000..c41391cb --- /dev/null +++ b/src/ipa/libipa/agc_mean_luminance.h @@ -0,0 +1,98 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024 Ideas on Board Oy + * + agc_mean_luminance.h - Base class for mean luminance AGC algorithms + */ + +#pragma once + +#include <map> +#include <memory> +#include <tuple> +#include <vector> + +#include <libcamera/base/utils.h> + +#include <libcamera/controls.h> + +#include "libcamera/internal/yaml_parser.h" + +#include "exposure_mode_helper.h" +#include "histogram.h" + +namespace libcamera { + +namespace ipa { + +class AgcMeanLuminance +{ +public: + AgcMeanLuminance(); + virtual ~AgcMeanLuminance(); + + struct AgcConstraint { + enum class Bound { + Lower = 0, + Upper = 1 + }; + Bound bound; + double qLo; + double qHi; + double yTarget; + }; + + int parseTuningData(const YamlObject &tuningData); + + void setLimits(utils::Duration minExposureTime, utils::Duration maxExposureTime, + double minGain, double maxGain); + + std::map<int32_t, std::vector<AgcConstraint>> constraintModes() + { + return constraintModes_; + } + + std::map<int32_t, std::shared_ptr<ExposureModeHelper>> exposureModeHelpers() + { + return exposureModeHelpers_; + } + + ControlInfoMap::Map controls() + { + return controls_; + } + + std::tuple<utils::Duration, double, double> + calculateNewEv(uint32_t constraintModeIndex, uint32_t exposureModeIndex, + const Histogram &yHist, utils::Duration effectiveExposureValue); + + void resetFrameCount() + { + frameCount_ = 0; + } + +private: + virtual double estimateLuminance(const double gain) const = 0; + + void parseRelativeLuminanceTarget(const YamlObject &tuningData); + void parseConstraint(const YamlObject &modeDict, int32_t id); + int parseConstraintModes(const YamlObject &tuningData); + int parseExposureModes(const YamlObject &tuningData); + double estimateInitialGain() const; + double constraintClampGain(uint32_t constraintModeIndex, + const Histogram &hist, + double gain); + utils::Duration filterExposure(utils::Duration exposureValue); + + uint64_t frameCount_; + utils::Duration filteredExposure_; + double relativeLuminanceTarget_; + + std::map<int32_t, std::vector<AgcConstraint>> constraintModes_; + std::map<int32_t, std::shared_ptr<ExposureModeHelper>> exposureModeHelpers_; + ControlInfoMap::Map controls_; +}; + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/algorithm.cpp b/src/ipa/libipa/algorithm.cpp new file mode 100644 index 00000000..201efdfd --- /dev/null +++ b/src/ipa/libipa/algorithm.cpp @@ -0,0 +1,181 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Ideas On Board + * + * IPA control algorithm interface + */ + +#include "algorithm.h" + +/** + * \file algorithm.h + * \brief Algorithm common interface + */ + +namespace libcamera { + +namespace ipa { + +/** + * \class Algorithm + * \brief The base class for all IPA algorithms + * \tparam Module The IPA module type for this class of algorithms + * + * The Algorithm class defines a standard interface for IPA algorithms + * compatible with the \a Module. By abstracting algorithms, it makes possible + * the implementation of generic code to manage algorithms regardless of their + * specific type. + * + * To specialize the Algorithm class template, an IPA module shall specialize + * the Module class template with module-specific context and configuration + * types, and pass the specialized Module class as the \a Module template + * argument. + */ + +/** + * \typedef Algorithm::Module + * \brief The IPA module type for this class of algorithms + */ + +/** + * \fn Algorithm::init() + * \brief Initialize the Algorithm with tuning data + * \param[in] context The shared IPA context + * \param[in] tuningData The tuning data for the algorithm + * + * This function is called once, when the IPA module is initialized, to + * initialize the algorithm. The \a tuningData YamlObject contains the tuning + * data for algorithm. + * + * \return 0 if successful, an error code otherwise + */ + +/** + * \fn Algorithm::configure() + * \brief Configure the Algorithm given an IPAConfigInfo + * \param[in] context The shared IPA context + * \param[in] configInfo The IPA configuration data, received from the pipeline + * handler + * + * Algorithms may implement a configure operation to pre-calculate + * parameters prior to commencing streaming. + * + * Configuration state may be stored in the IPASessionConfiguration structure of + * the IPAContext. + * + * \return 0 if successful, an error code otherwise + */ + +/** + * \fn Algorithm::queueRequest() + * \brief Provide control values to the algorithm + * \param[in] context The shared IPA context + * \param[in] frame The frame number to apply the control values + * \param[in] frameContext The current frame's context + * \param[in] controls The list of user controls + * + * This function is called for each request queued to the camera. It provides + * the controls stored in the request to the algorithm. The \a frame number + * is the Request sequence number and identifies the desired corresponding + * frame to target for the controls to take effect. + * + * Algorithms shall read the applicable controls and store their value for later + * use during frame processing. + */ + +/** + * \fn Algorithm::prepare() + * \brief Fill the \a params buffer with ISP processing parameters for a frame + * \param[in] context The shared IPA context + * \param[in] frame The frame context sequence number + * \param[in] frameContext The FrameContext for this frame + * \param[out] params The ISP specific parameters + * + * This function is called for every frame when the camera is running before it + * is processed by the ISP to prepare the ISP processing parameters for that + * frame. + * + * Algorithms shall fill in the parameter structure fields appropriately to + * configure the ISP processing blocks that they are responsible for. This + * includes setting fields and flags that enable those processing blocks. + */ + +/** + * \fn Algorithm::process() + * \brief Process ISP statistics, and run algorithm operations + * \param[in] context The shared IPA context + * \param[in] frame The frame context sequence number + * \param[in] frameContext The current frame's context + * \param[in] stats The IPA statistics and ISP results + * \param[out] metadata Metadata for the frame, to be filled by the algorithm + * + * This function is called while camera is running for every frame processed by + * the ISP, to process statistics generated from that frame by the ISP. + * Algorithms shall use this data to run calculations, update their state + * accordingly, and fill the frame metadata. + * + * Processing shall not take an undue amount of time, and any extended or + * computationally expensive calculations or operations must be handled + * asynchronously in a separate thread. + * + * Algorithms can store state in their respective IPAFrameContext structures, + * and reference state from the IPAFrameContext of other algorithms. + * + * \todo Historical data may be required as part of the processing. + * Either the previous frame, or the IPAFrameContext state of the frame + * that generated the statistics for this operation may be required for + * some advanced algorithms to prevent oscillations or support control + * loops correctly. Only a single IPAFrameContext is available currently, + * and so any data stored may represent the results of the previously + * completed operations. + * + * Care shall be taken to ensure the ordering of access to the information + * such that the algorithms use up to date state as required. + */ + +/** + * \class AlgorithmFactory + * \brief Registration of Algorithm classes and creation of instances + * \tparam _Algorithm The algorithm class type for this factory + * + * To facilitate instantiation of Algorithm classes, the AlgorithmFactory class + * implements auto-registration of algorithms with the IPA Module class. Each + * Algorithm subclass shall register itself using the REGISTER_IPA_ALGORITHM() + * macro, which will create a corresponding instance of an AlgorithmFactory and + * register it with the IPA Module. + */ + +/** + * \fn AlgorithmFactory::AlgorithmFactory() + * \brief Construct an algorithm factory + * \param[in] name Name of the algorithm class + * + * Creating an instance of the factory automatically registers is with the IPA + * Module class, enabling creation of algorithm instances through + * Module::createAlgorithm(). + * + * The factory \a name identifies the algorithm and shall be unique. + */ + +/** + * \fn AlgorithmFactory::create() + * \brief Create an instance of the Algorithm corresponding to the factory + * \return A pointer to a newly constructed instance of the Algorithm subclass + * corresponding to the factory + */ + +/** + * \def REGISTER_IPA_ALGORITHM + * \brief Register an algorithm with the IPA module + * \param[in] algorithm Class name of Algorithm derived class to register + * \param[in] name Name of the algorithm + * + * Register an Algorithm subclass with the IPA module to make it available for + * instantiation through Module::createAlgorithm(). The \a name identifies the + * algorithm and must be unique across all algorithms registered for the IPA + * module. + */ + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/algorithm.h b/src/ipa/libipa/algorithm.h new file mode 100644 index 00000000..9a19dbd6 --- /dev/null +++ b/src/ipa/libipa/algorithm.h @@ -0,0 +1,106 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Ideas On Board + * + * ISP control algorithm interface + */ +#pragma once + +#include <memory> +#include <stdint.h> +#include <string> + +#include <libcamera/controls.h> + +namespace libcamera { + +class YamlObject; + +namespace ipa { + +template<typename _Module> +class Algorithm +{ +public: + using Module = _Module; + + virtual ~Algorithm() {} + + virtual int init([[maybe_unused]] typename Module::Context &context, + [[maybe_unused]] const YamlObject &tuningData) + { + return 0; + } + + virtual int configure([[maybe_unused]] typename Module::Context &context, + [[maybe_unused]] const typename Module::Config &configInfo) + { + return 0; + } + + virtual void queueRequest([[maybe_unused]] typename Module::Context &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] typename Module::FrameContext &frameContext, + [[maybe_unused]] const ControlList &controls) + { + } + + virtual void prepare([[maybe_unused]] typename Module::Context &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] typename Module::FrameContext &frameContext, + [[maybe_unused]] typename Module::Params *params) + { + } + + virtual void process([[maybe_unused]] typename Module::Context &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] typename Module::FrameContext &frameContext, + [[maybe_unused]] const typename Module::Stats *stats, + [[maybe_unused]] ControlList &metadata) + { + } +}; + +template<typename _Module> +class AlgorithmFactoryBase +{ +public: + AlgorithmFactoryBase(const char *name) + : name_(name) + { + _Module::registerAlgorithm(this); + } + + virtual ~AlgorithmFactoryBase() = default; + + const std::string &name() const { return name_; } + + virtual std::unique_ptr<Algorithm<_Module>> create() const = 0; + +private: + std::string name_; +}; + +template<typename _Algorithm> +class AlgorithmFactory : public AlgorithmFactoryBase<typename _Algorithm::Module> +{ +public: + AlgorithmFactory(const char *name) + : AlgorithmFactoryBase<typename _Algorithm::Module>(name) + { + } + + ~AlgorithmFactory() = default; + + std::unique_ptr<Algorithm<typename _Algorithm::Module>> create() const override + { + return std::make_unique<_Algorithm>(); + } +}; + +#define REGISTER_IPA_ALGORITHM(algorithm, name) \ +static AlgorithmFactory<algorithm> global_##algorithm##Factory(name); + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/camera_sensor_helper.cpp b/src/ipa/libipa/camera_sensor_helper.cpp new file mode 100644 index 00000000..7c66cd57 --- /dev/null +++ b/src/ipa/libipa/camera_sensor_helper.cpp @@ -0,0 +1,752 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Google Inc. + * + * Helper class that performs sensor-specific + * parameter computations + */ +#include "camera_sensor_helper.h" + +#include <cmath> +#include <limits> + +#include <libcamera/base/log.h> + +/** + * \file camera_sensor_helper.h + * \brief Helper class that performs sensor-specific parameter computations + * + * Computation of sensor configuration parameters is a sensor specific + * operation. Each CameraHelper derived class computes the value of + * configuration parameters, for example the analogue gain value, using + * sensor-specific functions and constants. + * + * Every subclass of CameraSensorHelper shall be registered with libipa using + * the REGISTER_CAMERA_SENSOR_HELPER() macro. + */ + +namespace libcamera { + +LOG_DEFINE_CATEGORY(CameraSensorHelper) + +namespace ipa { + +/** + * \class CameraSensorHelper + * \brief Base class for computing sensor tuning parameters using + * sensor-specific constants + * + * Instances derived from CameraSensorHelper class are sensor-specific. + * Each supported sensor will have an associated base class defined. + */ + +/** + * \fn CameraSensorHelper::CameraSensorHelper() + * \brief Construct a CameraSensorHelper instance + * + * CameraSensorHelper derived class instances shall never be constructed + * manually but always through the CameraSensorHelperFactoryBase::create() + * function. + */ + +/** + * \fn CameraSensorHelper::blackLevel() + * \brief Fetch the black level of the sensor + * + * This function returns the black level of the sensor scaled to a 16bit pixel + * width. If it is unknown an empty optional is returned. + * + * \todo Fill the blanks and add pedestal values for all supported sensors. Once + * done, drop the std::optional<>. + * + * Black levels are typically the result of the following phenomena: + * - Pedestal added by the sensor to pixel values. They are typically fixed, + * sometimes programmable and should be reported in datasheets (but + * documentation is not always available). + * - Dark currents and other physical effects that add charge to pixels in the + * absence of light. Those can depend on the integration time and the sensor + * die temperature, and their contribution to pixel values depend on the + * sensor gains. + * + * The pedestal is usually the value with the biggest contribution to the + * overall black level. In most cases it is either known before or in rare cases + * (there is not a single driver with such a control in the linux kernel) can be + * queried from the sensor. This function provides that fixed, known value. + * + * \return The black level of the sensor, or std::nullopt if not known + */ + +/** + * \brief Compute gain code from the analogue gain absolute value + * \param[in] gain The real gain to pass + * + * This function aims to abstract the calculation of the gain letting the IPA + * use the real gain for its estimations. + * + * \return The gain code to pass to V4L2 + */ +uint32_t CameraSensorHelper::gainCode(double gain) const +{ + if (auto *l = std::get_if<AnalogueGainLinear>(&gain_)) { + ASSERT(l->m0 == 0 || l->m1 == 0); + + return (l->c0 - l->c1 * gain) / + (l->m1 * gain - l->m0); + } else if (auto *e = std::get_if<AnalogueGainExp>(&gain_)) { + ASSERT(e->a != 0 && e->m != 0); + + return std::log2(gain / e->a) / e->m; + } else { + ASSERT(false); + return 0; + } +} + +/** + * \brief Compute the real gain from the V4L2 subdev control gain code + * \param[in] gainCode The V4L2 subdev control gain + * + * This function aims to abstract the calculation of the gain letting the IPA + * use the real gain for its estimations. It is the counterpart of the function + * CameraSensorHelper::gainCode. + * + * \return The real gain + */ +double CameraSensorHelper::gain(uint32_t gainCode) const +{ + double gain = static_cast<double>(gainCode); + + if (auto *l = std::get_if<AnalogueGainLinear>(&gain_)) { + ASSERT(l->m0 == 0 || l->m1 == 0); + + return (l->m0 * gain + l->c0) / + (l->m1 * gain + l->c1); + } else if (auto *e = std::get_if<AnalogueGainExp>(&gain_)) { + ASSERT(e->a != 0 && e->m != 0); + + return e->a * std::exp2(e->m * gain); + } else { + ASSERT(false); + return 0.0; + } +} + +/** + * \struct CameraSensorHelper::AnalogueGainLinear + * \brief Analogue gain constants for the linear gain model + * + * The relationship between the integer gain parameter and the resulting gain + * multiplier is given by the following equation: + * + * \f$gain=\frac{m0x+c0}{m1x+c1}\f$ + * + * Where 'x' is the gain control parameter, and m0, m1, c0 and c1 are + * image-sensor-specific constants of the sensor. + * These constants are static parameters, and for any given image sensor either + * m0 or m1 shall be zero. + * + * The full Gain equation therefore reduces to either: + * + * \f$gain=\frac{c0}{m1x+c1}\f$ or \f$\frac{m0x+c0}{c1}\f$ + * + * \var CameraSensorHelper::AnalogueGainLinear::m0 + * \brief Constant used in the linear gain coding/decoding + * + * \note Either m0 or m1 shall be zero. + * + * \var CameraSensorHelper::AnalogueGainLinear::c0 + * \brief Constant used in the linear gain coding/decoding + * + * \var CameraSensorHelper::AnalogueGainLinear::m1 + * \brief Constant used in the linear gain coding/decoding + * + * \note Either m0 or m1 shall be zero. + * + * \var CameraSensorHelper::AnalogueGainLinear::c1 + * \brief Constant used in the linear gain coding/decoding + */ + +/** + * \struct CameraSensorHelper::AnalogueGainExp + * \brief Analogue gain constants for the exponential gain model + * + * The relationship between the integer gain parameter and the resulting gain + * multiplier is given by the following equation: + * + * \f$gain = a \cdot 2^{m \cdot x}\f$ + * + * Where 'x' is the gain control parameter, and 'a' and 'm' are image + * sensor-specific constants. + * + * This is a subset of the MIPI CCS exponential gain model with the linear + * factor 'a' being a constant, but with the exponent being configurable + * through the 'm' coefficient. + * + * When the gain is expressed in dB, 'a' is equal to 1 and 'm' to + * \f$log_{2}{10^{\frac{1}{20}}}\f$. + * + * \var CameraSensorHelper::AnalogueGainExp::a + * \brief Constant used in the exponential gain coding/decoding + * + * \var CameraSensorHelper::AnalogueGainExp::m + * \brief Constant used in the exponential gain coding/decoding + */ + +/** + * \var CameraSensorHelper::blackLevel_ + * \brief The black level of the sensor + * \sa CameraSensorHelper::blackLevel() + */ + +/** + * \var CameraSensorHelper::gain_ + * \brief The analogue gain parameters used for calculation + * + * The analogue gain is calculated through a formula, and its parameters are + * sensor specific. Use this variable to store the values at init time. + */ + +/** + * \class CameraSensorHelperFactoryBase + * \brief Base class for camera sensor helper factories + * + * The CameraSensorHelperFactoryBase class is the base of all specializations of + * the CameraSensorHelperFactory class template. It implements the factory + * registration, maintains a registry of factories, and provides access to the + * registered factories. + */ + +/** + * \brief Construct a camera sensor helper factory base + * \param[in] name Name of the camera sensor helper class + * + * Creating an instance of the factory base registers it with the global list of + * factories, accessible through the factories() function. + * + * The factory \a name is used to look up factories and shall be unique. + */ +CameraSensorHelperFactoryBase::CameraSensorHelperFactoryBase(const std::string name) + : name_(name) +{ + registerType(this); +} + +/** + * \brief Create an instance of the CameraSensorHelper corresponding to + * a named factory + * \param[in] name Name of the factory + * + * \return A unique pointer to a new instance of the CameraSensorHelper subclass + * corresponding to the named factory or a null pointer if no such factory + * exists + */ +std::unique_ptr<CameraSensorHelper> CameraSensorHelperFactoryBase::create(const std::string &name) +{ + const std::vector<CameraSensorHelperFactoryBase *> &factories = + CameraSensorHelperFactoryBase::factories(); + + for (const CameraSensorHelperFactoryBase *factory : factories) { + if (name != factory->name_) + continue; + + return factory->createInstance(); + } + + return nullptr; +} + +/** + * \brief Add a camera sensor helper class to the registry + * \param[in] factory Factory to use to construct the camera sensor helper + * + * The caller is responsible to guarantee the uniqueness of the camera sensor + * helper name. + */ +void CameraSensorHelperFactoryBase::registerType(CameraSensorHelperFactoryBase *factory) +{ + std::vector<CameraSensorHelperFactoryBase *> &factories = + CameraSensorHelperFactoryBase::factories(); + + factories.push_back(factory); +} + +/** + * \brief Retrieve the list of all camera sensor helper factories + * \return The list of camera sensor helper factories + */ +std::vector<CameraSensorHelperFactoryBase *> &CameraSensorHelperFactoryBase::factories() +{ + /* + * The static factories map is defined inside the function to ensure + * it gets initialized on first use, without any dependency on link + * order. + */ + static std::vector<CameraSensorHelperFactoryBase *> factories; + return factories; +} + +/** + * \class CameraSensorHelperFactory + * \brief Registration of CameraSensorHelperFactory classes and creation of instances + * \tparam _Helper The camera sensor helper class type for this factory + * + * To facilitate discovery and instantiation of CameraSensorHelper classes, the + * CameraSensorHelperFactory class implements auto-registration of camera sensor + * helpers. Each CameraSensorHelper subclass shall register itself using the + * REGISTER_CAMERA_SENSOR_HELPER() macro, which will create a corresponding + * instance of a CameraSensorHelperFactory subclass and register it with the + * static list of factories. + */ + +/** + * \fn CameraSensorHelperFactory::CameraSensorHelperFactory(const char *name) + * \brief Construct a camera sensor helper factory + * \param[in] name Name of the camera sensor helper class + * + * Creating an instance of the factory registers it with the global list of + * factories, accessible through the CameraSensorHelperFactoryBase::factories() + * function. + * + * The factory \a name is used to look up factories and shall be unique. + */ + +/** + * \fn CameraSensorHelperFactory::createInstance() const + * \brief Create an instance of the CameraSensorHelper corresponding to the + * factory + * + * \return A unique pointer to a newly constructed instance of the + * CameraSensorHelper subclass corresponding to the factory + */ + +/** + * \def REGISTER_CAMERA_SENSOR_HELPER + * \brief Register a camera sensor helper with the camera sensor helper factory + * \param[in] name Sensor model name used to register the class + * \param[in] helper Class name of CameraSensorHelper derived class to register + * + * Register a CameraSensorHelper subclass with the factory and make it available + * to try and match sensors. + */ + +/* ----------------------------------------------------------------------------- + * Sensor-specific subclasses + */ + +#ifndef __DOXYGEN__ + +/* + * Helper function to compute the m parameter of the exponential gain model + * when the gain code is expressed in dB. + */ +static constexpr double expGainDb(double step) +{ + constexpr double log2_10 = 3.321928094887362; + + /* + * The gain code is expressed in step * dB (e.g. in 0.1 dB steps): + * + * G_code = G_dB/step = 20/step*log10(G_linear) + * + * Inverting the formula, we get + * + * G_linear = 10^(step/20*G_code) = 2^(log2(10)*step/20*G_code) + */ + return log2_10 * step / 20; +} + +class CameraSensorHelperAr0144 : public CameraSensorHelper +{ +public: + CameraSensorHelperAr0144() + { + /* Power-on default value: 168 at 12bits. */ + blackLevel_ = 2688; + } + + uint32_t gainCode(double gain) const override + { + /* The recommended minimum gain is 1.6842 to avoid artifacts. */ + gain = std::clamp(gain, 1.0 / (1.0 - 13.0 / 32.0), 18.45); + + /* + * The analogue gain is made of a coarse exponential gain in + * the range [2^0, 2^4] and a fine inversely linear gain in the + * range [1.0, 2.0[. There is an additional fixed 1.153125 + * multiplier when the coarse gain reaches 2^2. + */ + + if (gain > 4.0) + gain /= 1.153125; + + unsigned int coarse = std::log2(gain); + unsigned int fine = (1 - (1 << coarse) / gain) * 32; + + /* The fine gain rounding depends on the coarse gain. */ + if (coarse == 1 || coarse == 3) + fine &= ~1; + else if (coarse == 4) + fine &= ~3; + + return (coarse << 4) | (fine & 0xf); + } + + double gain(uint32_t gainCode) const override + { + unsigned int coarse = gainCode >> 4; + unsigned int fine = gainCode & 0xf; + unsigned int d1; + double d2, m; + + switch (coarse) { + default: + case 0: + d1 = 1; + d2 = 32.0; + m = 1.0; + break; + case 1: + d1 = 2; + d2 = 16.0; + m = 1.0; + break; + case 2: + d1 = 1; + d2 = 32.0; + m = 1.153125; + break; + case 3: + d1 = 2; + d2 = 16.0; + m = 1.153125; + break; + case 4: + d1 = 4; + d2 = 8.0; + m = 1.153125; + break; + } + + /* + * With infinite precision, the calculated gain would be exact, + * and the reverse conversion with gainCode() would produce the + * same gain code. In the real world, rounding errors may cause + * the calculated gain to be lower by an amount negligible for + * all purposes, except for the reverse conversion. Converting + * the gain to a gain code could then return the quantized value + * just lower than the original gain code. To avoid this, tests + * showed that adding the machine epsilon to the multiplier m is + * sufficient. + */ + m += std::numeric_limits<decltype(m)>::epsilon(); + + return m * (1 << coarse) / (1.0 - (fine / d1) / d2); + } + +private: + static constexpr double kStep_ = 16; +}; +REGISTER_CAMERA_SENSOR_HELPER("ar0144", CameraSensorHelperAr0144) + +class CameraSensorHelperAr0521 : public CameraSensorHelper +{ +public: + uint32_t gainCode(double gain) const override + { + gain = std::clamp(gain, 1.0, 15.5); + unsigned int coarse = std::log2(gain); + unsigned int fine = (gain / (1 << coarse) - 1) * kStep_; + + return (coarse << 4) | (fine & 0xf); + } + + double gain(uint32_t gainCode) const override + { + unsigned int coarse = gainCode >> 4; + unsigned int fine = gainCode & 0xf; + + return (1 << coarse) * (1 + fine / kStep_); + } + +private: + static constexpr double kStep_ = 16; +}; +REGISTER_CAMERA_SENSOR_HELPER("ar0521", CameraSensorHelperAr0521) + +class CameraSensorHelperGc05a2 : public CameraSensorHelper +{ +public: + CameraSensorHelperGc05a2() + { + /* From datasheet: 64 at 10bits. */ + blackLevel_ = 4096; + gain_ = AnalogueGainLinear{ 100, 0, 0, 1024 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("gc05a2", CameraSensorHelperGc05a2) + +class CameraSensorHelperGc08a3 : public CameraSensorHelper +{ +public: + CameraSensorHelperGc08a3() + { + /* From datasheet: 64 at 10bits. */ + blackLevel_ = 4096; + gain_ = AnalogueGainLinear{ 100, 0, 0, 1024 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("gc08a3", CameraSensorHelperGc08a3) + +class CameraSensorHelperImx214 : public CameraSensorHelper +{ +public: + CameraSensorHelperImx214() + { + /* From datasheet: 64 at 10bits. */ + blackLevel_ = 4096; + gain_ = AnalogueGainLinear{ 0, 512, -1, 512 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("imx214", CameraSensorHelperImx214) + +class CameraSensorHelperImx219 : public CameraSensorHelper +{ +public: + CameraSensorHelperImx219() + { + /* From datasheet: 64 at 10bits. */ + blackLevel_ = 4096; + gain_ = AnalogueGainLinear{ 0, 256, -1, 256 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("imx219", CameraSensorHelperImx219) + +class CameraSensorHelperImx258 : public CameraSensorHelper +{ +public: + CameraSensorHelperImx258() + { + /* From datasheet: 0x40 at 10bits. */ + blackLevel_ = 4096; + gain_ = AnalogueGainLinear{ 0, 512, -1, 512 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("imx258", CameraSensorHelperImx258) + +class CameraSensorHelperImx283 : public CameraSensorHelper +{ +public: + CameraSensorHelperImx283() + { + /* From datasheet: 0x32 at 10bits. */ + blackLevel_ = 3200; + gain_ = AnalogueGainLinear{ 0, 2048, -1, 2048 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("imx283", CameraSensorHelperImx283) + +class CameraSensorHelperImx290 : public CameraSensorHelper +{ +public: + CameraSensorHelperImx290() + { + /* From datasheet: 0xf0 at 12bits. */ + blackLevel_ = 3840; + gain_ = AnalogueGainExp{ 1.0, expGainDb(0.3) }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("imx290", CameraSensorHelperImx290) + +class CameraSensorHelperImx296 : public CameraSensorHelper +{ +public: + CameraSensorHelperImx296() + { + gain_ = AnalogueGainExp{ 1.0, expGainDb(0.1) }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("imx296", CameraSensorHelperImx296) + +class CameraSensorHelperImx327 : public CameraSensorHelperImx290 +{ +}; +REGISTER_CAMERA_SENSOR_HELPER("imx327", CameraSensorHelperImx327) + +class CameraSensorHelperImx335 : public CameraSensorHelper +{ +public: + CameraSensorHelperImx335() + { + /* From datasheet: 0x32 at 10bits. */ + blackLevel_ = 3200; + gain_ = AnalogueGainExp{ 1.0, expGainDb(0.3) }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("imx335", CameraSensorHelperImx335) + +class CameraSensorHelperImx415 : public CameraSensorHelper +{ +public: + CameraSensorHelperImx415() + { + gain_ = AnalogueGainExp{ 1.0, expGainDb(0.3) }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("imx415", CameraSensorHelperImx415) + +class CameraSensorHelperImx462 : public CameraSensorHelperImx290 +{ +}; +REGISTER_CAMERA_SENSOR_HELPER("imx462", CameraSensorHelperImx462) + +class CameraSensorHelperImx477 : public CameraSensorHelper +{ +public: + CameraSensorHelperImx477() + { + gain_ = AnalogueGainLinear{ 0, 1024, -1, 1024 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("imx477", CameraSensorHelperImx477) + +class CameraSensorHelperOv2685 : public CameraSensorHelper +{ +public: + CameraSensorHelperOv2685() + { + /* + * The Sensor Manual doesn't appear to document the gain model. + * This has been validated with some empirical testing only. + */ + gain_ = AnalogueGainLinear{ 1, 0, 0, 128 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("ov2685", CameraSensorHelperOv2685) + +class CameraSensorHelperOv2740 : public CameraSensorHelper +{ +public: + CameraSensorHelperOv2740() + { + gain_ = AnalogueGainLinear{ 1, 0, 0, 128 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("ov2740", CameraSensorHelperOv2740) + +class CameraSensorHelperOv4689 : public CameraSensorHelper +{ +public: + CameraSensorHelperOv4689() + { + /* From datasheet: 0x40 at 12bits. */ + blackLevel_ = 1024; + gain_ = AnalogueGainLinear{ 1, 0, 0, 128 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("ov4689", CameraSensorHelperOv4689) + +class CameraSensorHelperOv5640 : public CameraSensorHelper +{ +public: + CameraSensorHelperOv5640() + { + /* From datasheet: 0x10 at 10bits. */ + blackLevel_ = 1024; + gain_ = AnalogueGainLinear{ 1, 0, 0, 16 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("ov5640", CameraSensorHelperOv5640) + +class CameraSensorHelperOv5647 : public CameraSensorHelper +{ +public: + CameraSensorHelperOv5647() + { + gain_ = AnalogueGainLinear{ 1, 0, 0, 16 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("ov5647", CameraSensorHelperOv5647) + +class CameraSensorHelperOv5670 : public CameraSensorHelper +{ +public: + CameraSensorHelperOv5670() + { + gain_ = AnalogueGainLinear{ 1, 0, 0, 128 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("ov5670", CameraSensorHelperOv5670) + +class CameraSensorHelperOv5675 : public CameraSensorHelper +{ +public: + CameraSensorHelperOv5675() + { + /* From Linux kernel driver: 0x40 at 10bits. */ + blackLevel_ = 4096; + gain_ = AnalogueGainLinear{ 1, 0, 0, 128 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("ov5675", CameraSensorHelperOv5675) + +class CameraSensorHelperOv5693 : public CameraSensorHelper +{ +public: + CameraSensorHelperOv5693() + { + gain_ = AnalogueGainLinear{ 1, 0, 0, 16 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("ov5693", CameraSensorHelperOv5693) + +class CameraSensorHelperOv64a40 : public CameraSensorHelper +{ +public: + CameraSensorHelperOv64a40() + { + gain_ = AnalogueGainLinear{ 1, 0, 0, 128 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("ov64a40", CameraSensorHelperOv64a40) + +class CameraSensorHelperOv8858 : public CameraSensorHelper +{ +public: + CameraSensorHelperOv8858() + { + /* + * \todo Validate the selected 1/128 step value as it differs + * from what the sensor manual describes. + * + * See: https://patchwork.linuxtv.org/project/linux-media/patch/20221106171129.166892-2-nicholas@rothemail.net/#142267 + */ + gain_ = AnalogueGainLinear{ 1, 0, 0, 128 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("ov8858", CameraSensorHelperOv8858) + +class CameraSensorHelperOv8865 : public CameraSensorHelper +{ +public: + CameraSensorHelperOv8865() + { + gain_ = AnalogueGainLinear{ 1, 0, 0, 128 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("ov8865", CameraSensorHelperOv8865) + +class CameraSensorHelperOv13858 : public CameraSensorHelper +{ +public: + CameraSensorHelperOv13858() + { + gain_ = AnalogueGainLinear{ 1, 0, 0, 128 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("ov13858", CameraSensorHelperOv13858) + +#endif /* __DOXYGEN__ */ + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/camera_sensor_helper.h b/src/ipa/libipa/camera_sensor_helper.h new file mode 100644 index 00000000..a9300a64 --- /dev/null +++ b/src/ipa/libipa/camera_sensor_helper.h @@ -0,0 +1,94 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Google Inc. + * + * Helper class that performs sensor-specific parameter computations + */ + +#pragma once + +#include <memory> +#include <optional> +#include <stdint.h> +#include <string> +#include <variant> +#include <vector> + +#include <libcamera/base/class.h> + +namespace libcamera { + +namespace ipa { + +class CameraSensorHelper +{ +public: + CameraSensorHelper() = default; + virtual ~CameraSensorHelper() = default; + + std::optional<int16_t> blackLevel() const { return blackLevel_; } + virtual uint32_t gainCode(double gain) const; + virtual double gain(uint32_t gainCode) const; + +protected: + struct AnalogueGainLinear { + int16_t m0; + int16_t c0; + int16_t m1; + int16_t c1; + }; + + struct AnalogueGainExp { + double a; + double m; + }; + + std::optional<int16_t> blackLevel_; + std::variant<std::monostate, AnalogueGainLinear, AnalogueGainExp> gain_; + +private: + LIBCAMERA_DISABLE_COPY_AND_MOVE(CameraSensorHelper) +}; + +class CameraSensorHelperFactoryBase +{ +public: + CameraSensorHelperFactoryBase(const std::string name); + virtual ~CameraSensorHelperFactoryBase() = default; + + static std::unique_ptr<CameraSensorHelper> create(const std::string &name); + + static std::vector<CameraSensorHelperFactoryBase *> &factories(); + +private: + LIBCAMERA_DISABLE_COPY_AND_MOVE(CameraSensorHelperFactoryBase) + + static void registerType(CameraSensorHelperFactoryBase *factory); + + virtual std::unique_ptr<CameraSensorHelper> createInstance() const = 0; + + std::string name_; +}; + +template<typename _Helper> +class CameraSensorHelperFactory final : public CameraSensorHelperFactoryBase +{ +public: + CameraSensorHelperFactory(const char *name) + : CameraSensorHelperFactoryBase(name) + { + } + +private: + std::unique_ptr<CameraSensorHelper> createInstance() const override + { + return std::make_unique<_Helper>(); + } +}; + +#define REGISTER_CAMERA_SENSOR_HELPER(name, helper) \ +static CameraSensorHelperFactory<helper> global_##helper##Factory(name); + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/colours.cpp b/src/ipa/libipa/colours.cpp new file mode 100644 index 00000000..97124cf4 --- /dev/null +++ b/src/ipa/libipa/colours.cpp @@ -0,0 +1,81 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2024, Ideas on Board Oy + * + * libipa miscellaneous colour helpers + */ + +#include "colours.h" + +#include <algorithm> +#include <cmath> + +namespace libcamera { + +namespace ipa { + +/** + * \file colours.h + * \brief Functions to reduce code duplication between IPA modules + */ + +/** + * \brief Estimate luminance from RGB values following ITU-R BT.601 + * \param[in] rgb The RGB value + * + * This function estimates a luminance value from a triplet of Red, Green and + * Blue values, following the formula defined by ITU-R Recommendation BT.601-7 + * which can be found at https://www.itu.int/rec/R-REC-BT.601 + * + * \return The estimated luminance value + */ +double rec601LuminanceFromRGB(const RGB<double> &rgb) +{ + static const Vector<double, 3> rgb2y{{ + 0.299, 0.587, 0.114 + }}; + + return rgb.dot(rgb2y); +} + +/** + * \brief Estimate correlated colour temperature from RGB color space input + * \param[in] rgb The RGB value + * + * This function estimates the correlated color temperature RGB color space + * input. In physics and color science, the Planckian locus or black body locus + * is the path or locus that the color of an incandescent black body would take + * in a particular chromaticity space as the black body temperature changes. + * + * If a narrow range of color temperatures is considered (those encapsulating + * daylight being the most practical case) one can approximate the Planckian + * locus in order to calculate the CCT in terms of chromaticity coordinates. + * + * More detailed information can be found in: + * https://en.wikipedia.org/wiki/Color_temperature#Approximation + * + * \return The estimated color temperature + */ +uint32_t estimateCCT(const RGB<double> &rgb) +{ + /* + * Convert the RGB values to CIE tristimulus values (XYZ) and divide by + * the sum of X, Y and Z to calculate the CIE xy chromaticity. + */ + static const Matrix<double, 3, 3> rgb2xyz({ + -0.14282, 1.54924, -0.95641, + -0.32466, 1.57837, -0.73191, + -0.68202, 0.77073, 0.56332 + }); + + Vector<double, 3> xyz = rgb2xyz * rgb; + xyz /= xyz.sum(); + + /* Calculate CCT */ + double n = (xyz.x() - 0.3320) / (0.1858 - xyz.y()); + return 449 * n * n * n + 3525 * n * n + 6823.3 * n + 5520.33; +} + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/colours.h b/src/ipa/libipa/colours.h new file mode 100644 index 00000000..fa6a8b57 --- /dev/null +++ b/src/ipa/libipa/colours.h @@ -0,0 +1,23 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2024, Ideas on Board Oy + * + * libipa miscellaneous colour helpers + */ + +#pragma once + +#include <stdint.h> + +#include "vector.h" + +namespace libcamera { + +namespace ipa { + +double rec601LuminanceFromRGB(const RGB<double> &rgb); +uint32_t estimateCCT(const RGB<double> &rgb); + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/exposure_mode_helper.cpp b/src/ipa/libipa/exposure_mode_helper.cpp new file mode 100644 index 00000000..f235316d --- /dev/null +++ b/src/ipa/libipa/exposure_mode_helper.cpp @@ -0,0 +1,240 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Helper class that performs computations relating to exposure + */ +#include "exposure_mode_helper.h" + +#include <algorithm> + +#include <libcamera/base/log.h> + +/** + * \file exposure_mode_helper.h + * \brief Helper class that performs computations relating to exposure + * + * AEGC algorithms have a need to split exposure between exposure time, analogue + * and digital gain. Multiple implementations do so based on paired stages of + * exposure time and gain limits; provide a helper to avoid duplicating the code. + */ + +namespace libcamera { + +using namespace std::literals::chrono_literals; + +LOG_DEFINE_CATEGORY(ExposureModeHelper) + +namespace ipa { + +/** + * \class ExposureModeHelper + * \brief Class for splitting exposure into exposure time and total gain + * + * The ExposureModeHelper class provides a standard interface through which an + * AEGC algorithm can divide exposure between exposure time and gain. It is + * configured with a set of exposure time and gain pairs and works by initially + * fixing gain at 1.0 and increasing exposure time up to the exposure time value + * from the first pair in the set in an attempt to meet the required exposure + * value. + * + * If the required exposure is not achievable by the first exposure time value + * alone it ramps gain up to the value from the first pair in the set. If the + * required exposure is still not met it then allows exposure time to ramp up to + * the exposure time value from the second pair in the set, and continues in this + * vein until either the required exposure time is met, or else the hardware's + * exposure time or gain limits are reached. + * + * This method allows users to strike a balance between a well-exposed image and + * an acceptable frame-rate, as opposed to simply maximising exposure time + * followed by gain. The same helpers can be used to perform the latter + * operation if needed by passing an empty set of pairs to the initialisation + * function. + * + * The gain values may exceed a camera sensor's analogue gain limits if either + * it or the IPA is also capable of digital gain. The configure() function must + * be called with the hardware's limits to inform the helper of those + * constraints. Any gain that is needed will be applied as analogue gain first + * until the hardware's limit is reached, following which digital gain will be + * used. + */ + +/** + * \brief Construct an ExposureModeHelper instance + * \param[in] stages The vector of paired exposure time and gain limits + * + * The input stages are exposure time and _total_ gain pairs; the gain + * encompasses both analogue and digital gain. + * + * The vector of stages may be empty. In that case, the helper will simply use + * the runtime limits set through setLimits() instead. + */ +ExposureModeHelper::ExposureModeHelper(const Span<std::pair<utils::Duration, double>> stages) +{ + minExposureTime_ = 0us; + maxExposureTime_ = 0us; + minGain_ = 0; + maxGain_ = 0; + + for (const auto &[s, g] : stages) { + exposureTimes_.push_back(s); + gains_.push_back(g); + } +} + +/** + * \brief Set the exposure time and gain limits + * \param[in] minExposureTime The minimum exposure time supported + * \param[in] maxExposureTime The maximum exposure time supported + * \param[in] minGain The minimum analogue gain supported + * \param[in] maxGain The maximum analogue gain supported + * + * This function configures the exposure time and analogue gain limits that need + * to be adhered to as the helper divides up exposure. Note that this function + * *must* be called whenever those limits change and before splitExposure() is + * used. + * + * If the algorithm using the helpers needs to indicate that either exposure time + * or analogue gain or both should be fixed it can do so by setting both the + * minima and maxima to the same value. + */ +void ExposureModeHelper::setLimits(utils::Duration minExposureTime, + utils::Duration maxExposureTime, + double minGain, double maxGain) +{ + minExposureTime_ = minExposureTime; + maxExposureTime_ = maxExposureTime; + minGain_ = minGain; + maxGain_ = maxGain; +} + +utils::Duration ExposureModeHelper::clampExposureTime(utils::Duration exposureTime) const +{ + return std::clamp(exposureTime, minExposureTime_, maxExposureTime_); +} + +double ExposureModeHelper::clampGain(double gain) const +{ + return std::clamp(gain, minGain_, maxGain_); +} + +/** + * \brief Split exposure into exposure time and gain + * \param[in] exposure Exposure value + * + * This function divides a given exposure into exposure time, analogue and + * digital gain by iterating through stages of exposure time and gain limits. + * At each stage the current stage's exposure time limit is multiplied by the + * previous stage's gain limit (or 1.0 initially) to see if the combination of + * the two can meet the required exposure. If they cannot then the current + * stage's exposure time limit is multiplied by the same stage's gain limit to + * see if that combination can meet the required exposure time. If they cannot + * then the function moves to consider the next stage. + * + * When a combination of exposure time and gain _stage_ limits are found that + * are sufficient to meet the required exposure, the function attempts to reduce + * exposure time as much as possible whilst fixing gain and still meeting the + * exposure. If a _runtime_ limit prevents exposure time from being lowered + * enough to meet the exposure with gain fixed at the stage limit, gain is also + * lowered to compensate. + * + * Once the exposure time and gain values are ascertained, gain is assigned as + * analogue gain as much as possible, with digital gain only in use if the + * maximum analogue gain runtime limit is unable to accommodate the exposure + * value. + * + * If no combination of exposure time and gain limits is found that meets the + * required exposure, the helper falls-back to simply maximising the exposure + * time first, followed by analogue gain, followed by digital gain. + * + * \return Tuple of exposure time, analogue gain, and digital gain + */ +std::tuple<utils::Duration, double, double> +ExposureModeHelper::splitExposure(utils::Duration exposure) const +{ + ASSERT(maxExposureTime_); + ASSERT(maxGain_); + + bool gainFixed = minGain_ == maxGain_; + bool exposureTimeFixed = minExposureTime_ == maxExposureTime_; + + /* + * There's no point entering the loop if we cannot change either gain + * nor exposure time anyway. + */ + if (exposureTimeFixed && gainFixed) + return { minExposureTime_, minGain_, exposure / (minExposureTime_ * minGain_) }; + + utils::Duration exposureTime; + double stageGain = 1.0; + double gain; + + for (unsigned int stage = 0; stage < gains_.size(); stage++) { + double lastStageGain = stage == 0 ? 1.0 : clampGain(gains_[stage - 1]); + utils::Duration stageExposureTime = clampExposureTime(exposureTimes_[stage]); + stageGain = clampGain(gains_[stage]); + + /* + * We perform the clamping on both exposure time and gain in + * case the helper has had limits set that prevent those values + * being lowered beyond a certain minimum...this can happen at + * runtime for various reasons and so would not be known when + * the stage limits are initialised. + */ + + if (stageExposureTime * lastStageGain >= exposure) { + exposureTime = clampExposureTime(exposure / clampGain(lastStageGain)); + gain = clampGain(exposure / exposureTime); + + return { exposureTime, gain, exposure / (exposureTime * gain) }; + } + + if (stageExposureTime * stageGain >= exposure) { + exposureTime = clampExposureTime(exposure / clampGain(stageGain)); + gain = clampGain(exposure / exposureTime); + + return { exposureTime, gain, exposure / (exposureTime * gain) }; + } + } + + /* + * From here on all we can do is max out the exposure time, followed by + * the analogue gain. If we still haven't achieved the target we send + * the rest of the exposure time to digital gain. If we were given no + * stages to use then the default stageGain of 1.0 is used so that + * exposure time is maxed before gain is touched at all. + */ + exposureTime = clampExposureTime(exposure / clampGain(stageGain)); + gain = clampGain(exposure / exposureTime); + + return { exposureTime, gain, exposure / (exposureTime * gain) }; +} + +/** + * \fn ExposureModeHelper::minExposureTime() + * \brief Retrieve the configured minimum exposure time limit set through + * setLimits() + * \return The minExposureTime_ value + */ + +/** + * \fn ExposureModeHelper::maxExposureTime() + * \brief Retrieve the configured maximum exposure time set through setLimits() + * \return The maxExposureTime_ value + */ + +/** + * \fn ExposureModeHelper::minGain() + * \brief Retrieve the configured minimum gain set through setLimits() + * \return The minGain_ value + */ + +/** + * \fn ExposureModeHelper::maxGain() + * \brief Retrieve the configured maximum gain set through setLimits() + * \return The maxGain_ value + */ + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/exposure_mode_helper.h b/src/ipa/libipa/exposure_mode_helper.h new file mode 100644 index 00000000..c5be1b67 --- /dev/null +++ b/src/ipa/libipa/exposure_mode_helper.h @@ -0,0 +1,53 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Helper class that performs computations relating to exposure + */ + +#pragma once + +#include <tuple> +#include <utility> +#include <vector> + +#include <libcamera/base/span.h> +#include <libcamera/base/utils.h> + +namespace libcamera { + +namespace ipa { + +class ExposureModeHelper +{ +public: + ExposureModeHelper(const Span<std::pair<utils::Duration, double>> stages); + ~ExposureModeHelper() = default; + + void setLimits(utils::Duration minExposureTime, utils::Duration maxExposureTime, + double minGain, double maxGain); + + std::tuple<utils::Duration, double, double> + splitExposure(utils::Duration exposure) const; + + utils::Duration minExposureTime() const { return minExposureTime_; } + utils::Duration maxExposureTime() const { return maxExposureTime_; } + double minGain() const { return minGain_; } + double maxGain() const { return maxGain_; } + +private: + utils::Duration clampExposureTime(utils::Duration exposureTime) const; + double clampGain(double gain) const; + + std::vector<utils::Duration> exposureTimes_; + std::vector<double> gains_; + + utils::Duration minExposureTime_; + utils::Duration maxExposureTime_; + double minGain_; + double maxGain_; +}; + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/fc_queue.cpp b/src/ipa/libipa/fc_queue.cpp new file mode 100644 index 00000000..0365e919 --- /dev/null +++ b/src/ipa/libipa/fc_queue.cpp @@ -0,0 +1,140 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022, Google Inc. + * + * IPA Frame context queue + */ + +#include "fc_queue.h" + +#include <libcamera/base/log.h> + +namespace libcamera { + +LOG_DEFINE_CATEGORY(FCQueue) + +namespace ipa { + +/** + * \file fc_queue.h + * \brief Queue of per-frame contexts + */ + +/** + * \struct FrameContext + * \brief Context for a frame + * + * The frame context stores data specific to a single frame processed by the + * IPA module. Each frame processed by the IPA module has a context associated + * with it, accessible through the Frame Context Queue. + * + * Fields in the frame context should reflect values and controls associated + * with the specific frame as requested by the application, and as configured by + * the hardware. Fields can be read by algorithms to determine if they should + * update any specific action for this frame, and finally to update the metadata + * control lists when the frame is fully completed. + * + * \var FrameContext::frame + * \brief The frame number + */ + +/** + * \class FCQueue + * \brief A support class for managing FrameContext instances in IPA modules + * \tparam FrameContext The IPA module-specific FrameContext derived class type + * + * Along with the Module and Algorithm classes, the frame context queue is a + * core component of the libipa infrastructure. It stores per-frame contexts + * used by the Algorithm operations. By centralizing the lifetime management of + * the contexts and implementing safeguards against underflows and overflows, it + * simplifies IPA modules and improves their reliability. + * + * The queue references frame contexts by a monotonically increasing sequence + * number. The FCQueue design assumes that this number matches both the sequence + * number of the corresponding frame, as generated by the camera sensor, and the + * sequence number of the request. This allows IPA modules to obtain the frame + * context from any location where a request or a frame is available. + * + * A frame context normally begins its lifetime when the corresponding request + * is queued, way before the frame is captured by the camera sensor. IPA modules + * allocate the context from the queue at that point, calling alloc() using the + * request number. The queue initializes the context, and the IPA module then + * populates it with data from the request. The context can be later retrieved + * with a call to get(), typically when the IPA module is requested to provide + * sensor or ISP parameters or receives statistics for a frame. The frame number + * is used at that point to identify the context. + * + * If an application fails to queue requests to the camera fast enough, frames + * may be produced by the camera sensor and processed by the IPA module without + * a corresponding request having been queued to the IPA module. This creates an + * underrun condition, where the IPA module will try to get a frame context that + * hasn't been allocated. In this case, the get() function will allocate and + * initialize a context for the frame, and log a message. Algorithms will not + * apply the controls associated with the late request, but should otherwise + * behave correctly. + * + * \todo Mark the frame context with a per-frame control error flag in case of + * underrun, and research how algorithms should handle this. + * + * At its core, the queue uses a circular buffer to avoid dynamic memory + * allocation at runtime. The buffer is pre-allocated with a maximum number of + * entries when the FCQueue instance is constructed. Entries are initialized on + * first use by alloc() or, in underrun conditions, get(). The queue is not + * allowed to overflow, which must be ensured by pipeline handlers never + * queuing more in-flight requests to the IPA module than the queue size. If an + * overflow condition is detected, the queue will log a fatal error. + * + * IPA module-specific frame context implementations shall inherit from the + * FrameContext base class to support the minimum required features for a + * FrameContext. + */ + +/** + * \fn FCQueue::FCQueue(unsigned int size) + * \brief Construct a frame contexts queue of a specified size + * \param[in] size The number of contexts in the queue + */ + +/** + * \fn FCQueue::clear() + * \brief Clear the contexts queue + * + * IPA modules must clear the frame context queue at the beginning of a new + * streaming session, in IPAModule::start(). + * + * \todo Fix any issue this may cause with requests queued before the camera is + * started. + */ + +/** + * \fn FCQueue::alloc(uint32_t frame) + * \brief Allocate and return a FrameContext for the \a frame + * \param[in] frame The frame context sequence number + * + * The first call to obtain a FrameContext from the FCQueue should be handled + * through this function. The FrameContext will be initialised, if not + * initialised already, and returned to the caller. + * + * If the FrameContext was already initialized for this \a frame, a warning will + * be reported and the previously initialized FrameContext is returned. + * + * Frame contexts are expected to be initialised when a Request is first passed + * to the IPA module in IPAModule::queueRequest(). + * + * \return A reference to the FrameContext for sequence \a frame + */ + +/** + * \fn FCQueue::get(uint32_t frame) + * \brief Obtain the FrameContext for the \a frame + * \param[in] frame The frame context sequence number + * + * If the FrameContext is not correctly initialised for the \a frame, it will be + * initialised. + * + * \return A reference to the FrameContext for sequence \a frame + */ + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/fc_queue.h b/src/ipa/libipa/fc_queue.h new file mode 100644 index 00000000..a1d13652 --- /dev/null +++ b/src/ipa/libipa/fc_queue.h @@ -0,0 +1,137 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022, Google Inc. + * + * IPA Frame context queue + */ + +#pragma once + +#include <stdint.h> +#include <vector> + +#include <libcamera/base/log.h> + +namespace libcamera { + +LOG_DECLARE_CATEGORY(FCQueue) + +namespace ipa { + +template<typename FrameContext> +class FCQueue; + +struct FrameContext { +private: + template<typename T> friend class FCQueue; + uint32_t frame; + bool initialised = false; +}; + +template<typename FrameContext> +class FCQueue +{ +public: + FCQueue(unsigned int size) + : contexts_(size) + { + } + + void clear() + { + for (FrameContext &ctx : contexts_) { + ctx.initialised = false; + ctx.frame = 0; + } + } + + FrameContext &alloc(const uint32_t frame) + { + FrameContext &frameContext = contexts_[frame % contexts_.size()]; + + /* + * Do not re-initialise if a get() call has already fetched this + * frame context to preseve the context. + * + * \todo If the the sequence number of the context to initialise + * is smaller than the sequence number of the queue slot to use, + * it means that we had a serious request underrun and more + * frames than the queue size has been produced since the last + * time the application has queued a request. Does this deserve + * an error condition ? + */ + if (frame != 0 && frame <= frameContext.frame) + LOG(FCQueue, Warning) + << "Frame " << frame << " already initialised"; + else + init(frameContext, frame); + + return frameContext; + } + + FrameContext &get(uint32_t frame) + { + FrameContext &frameContext = contexts_[frame % contexts_.size()]; + + /* + * If the IPA algorithms try to access a frame context slot which + * has been already overwritten by a newer context, it means the + * frame context queue has overflowed and the desired context + * has been forever lost. The pipeline handler shall avoid + * queueing more requests to the IPA than the frame context + * queue size. + */ + if (frame < frameContext.frame) + LOG(FCQueue, Fatal) << "Frame context for " << frame + << " has been overwritten by " + << frameContext.frame; + + if (frame == 0 && !frameContext.initialised) { + /* + * If the IPA calls get() at start() time it will get an + * un-intialized FrameContext as the below "frame == + * frameContext.frame" check will return success because + * FrameContexts are zeroed at creation time. + * + * Make sure the FrameContext gets initialised if get() + * is called before alloc() by the IPA for frame#0. + */ + init(frameContext, frame); + + return frameContext; + } + + if (frame == frameContext.frame) + return frameContext; + + /* + * The frame context has been retrieved before it was + * initialised through the initialise() call. This indicates an + * algorithm attempted to access a Frame context before it was + * queued to the IPA. Controls applied for this request may be + * left unhandled. + * + * \todo Set an error flag for per-frame control errors. + */ + LOG(FCQueue, Warning) + << "Obtained an uninitialised FrameContext for " << frame; + + init(frameContext, frame); + + return frameContext; + } + +private: + void init(FrameContext &frameContext, const uint32_t frame) + { + frameContext = {}; + frameContext.frame = frame; + frameContext.initialised = true; + } + + std::vector<FrameContext> contexts_; +}; + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/fixedpoint.cpp b/src/ipa/libipa/fixedpoint.cpp new file mode 100644 index 00000000..6b698fc5 --- /dev/null +++ b/src/ipa/libipa/fixedpoint.cpp @@ -0,0 +1,42 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Fixed / floating point conversions + */ + +#include "fixedpoint.h" + +/** + * \file fixedpoint.h + */ + +namespace libcamera { + +namespace ipa { + +/** + * \fn R floatingToFixedPoint(T number) + * \brief Convert a floating point number to a fixed-point representation + * \tparam I Bit width of the integer part of the fixed-point + * \tparam F Bit width of the fractional part of the fixed-point + * \tparam R Return type of the fixed-point representation + * \tparam T Input type of the floating point representation + * \param number The floating point number to convert to fixed point + * \return The converted value + */ + +/** + * \fn R fixedToFloatingPoint(T number) + * \brief Convert a fixed-point number to a floating point representation + * \tparam I Bit width of the integer part of the fixed-point + * \tparam F Bit width of the fractional part of the fixed-point + * \tparam R Return type of the floating point representation + * \tparam T Input type of the fixed-point representation + * \param number The fixed point number to convert to floating point + * \return The converted value + */ + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/fixedpoint.h b/src/ipa/libipa/fixedpoint.h new file mode 100644 index 00000000..709cf50f --- /dev/null +++ b/src/ipa/libipa/fixedpoint.h @@ -0,0 +1,65 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Fixed / floating point conversions + */ + +#pragma once + +#include <cmath> +#include <type_traits> + +namespace libcamera { + +namespace ipa { + +#ifndef __DOXYGEN__ +template<unsigned int I, unsigned int F, typename R, typename T, + std::enable_if_t<std::is_integral_v<R> && + std::is_floating_point_v<T>> * = nullptr> +#else +template<unsigned int I, unsigned int F, typename R, typename T> +#endif +constexpr R floatingToFixedPoint(T number) +{ + static_assert(sizeof(int) >= sizeof(R)); + static_assert(I + F <= sizeof(R) * 8); + + /* + * The intermediate cast to int is needed on arm platforms to properly + * cast negative values. See + * https://embeddeduse.com/2013/08/25/casting-a-negative-float-to-an-unsigned-int/ + */ + R mask = (1 << (F + I)) - 1; + R frac = static_cast<R>(static_cast<int>(std::round(number * (1 << F)))) & mask; + + return frac; +} + +#ifndef __DOXYGEN__ +template<unsigned int I, unsigned int F, typename R, typename T, + std::enable_if_t<std::is_floating_point_v<R> && + std::is_integral_v<T>> * = nullptr> +#else +template<unsigned int I, unsigned int F, typename R, typename T> +#endif +constexpr R fixedToFloatingPoint(T number) +{ + static_assert(sizeof(int) >= sizeof(T)); + static_assert(I + F <= sizeof(T) * 8); + + /* + * Recreate the upper bits in case of a negative number by shifting the sign + * bit from the fixed point to the first bit of the unsigned and then right shifting + * by the same amount which keeps the sign bit in place. + * This can be optimized by the compiler quite well. + */ + int remaining_bits = sizeof(int) * 8 - (I + F); + int t = static_cast<int>(static_cast<unsigned>(number) << remaining_bits) >> remaining_bits; + return static_cast<R>(t) / static_cast<R>(1 << F); +} + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/histogram.cpp b/src/ipa/libipa/histogram.cpp new file mode 100644 index 00000000..10e44b54 --- /dev/null +++ b/src/ipa/libipa/histogram.cpp @@ -0,0 +1,175 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * histogram calculations + */ +#include "histogram.h" + +#include <cmath> + +#include <libcamera/base/log.h> + +/** + * \file histogram.h + * \brief Class to represent Histograms and manipulate them + */ + +namespace libcamera { + +namespace ipa { + +/** + * \class Histogram + * \brief The base class for creating histograms + * + * This class stores a cumulative frequency histogram, which is a mapping that + * counts the cumulative number of observations in all of the bins up to the + * specified bin. It can be used to find quantiles and averages between quantiles. + */ + +/** + * \fn Histogram::Histogram() + * \brief Construct an empty Histogram + * + * This empty constructor exists largely to allow Histograms to be embedded in + * other classes which may be created before the contents of the Histogram are + * known. + */ + +/** + * \brief Create a cumulative histogram + * \param[in] data A (non-cumulative) histogram + */ +Histogram::Histogram(Span<const uint32_t> data) +{ + cumulative_.resize(data.size() + 1); + cumulative_[0] = 0; + for (const auto &[i, value] : utils::enumerate(data)) + cumulative_[i + 1] = cumulative_[i] + value; +} + +/** + * \fn Histogram::Histogram(Span<const uint32_t> data, Transform transform) + * \brief Create a cumulative histogram + * \param[in] data A (non-cumulative) histogram + * \param[in] transform The transformation function to apply to every bin + */ + +/** + * \fn Histogram::bins() + * \brief Retrieve the number of bins currently used by the Histogram + * \return Number of bins + */ + +/** + * \fn Histogram::data() + * \brief Retrieve the internal data + * \return The data + */ + +/** + * \fn Histogram::total() + * \brief Retrieve the total number of values in the data set + * \return Number of values + */ + +/** + * \brief Cumulative frequency up to a (fractional) point in a bin + * \param[in] bin The bin up to which to cumulate + * + * With F(p) the cumulative frequency of the histogram, the value is 0 at + * the bottom of the histogram, and the maximum is the number of bins. + * The pixels are spread evenly throughout the “bin” in which they lie, so that + * F(p) is a continuous (monotonically increasing) function. + * + * \return The cumulative frequency from 0 up to the specified bin + */ +uint64_t Histogram::cumulativeFrequency(double bin) const +{ + if (bin <= 0) + return 0; + else if (bin >= bins()) + return total(); + int b = static_cast<int32_t>(bin); + return cumulative_[b] + + (bin - b) * (cumulative_[b + 1] - cumulative_[b]); +} + +/** + * \brief Return the (fractional) bin of the point through the histogram + * \param[in] q the desired point (0 <= q <= 1) + * \param[in] first low limit (default is 0) + * \param[in] last high limit (default is UINT_MAX) + * + * A quantile gives us the point p = Q(q) in the range such that a proportion + * q of the pixels lie below p. A familiar quantile is Q(0.5) which is the median + * of a distribution. + * + * \return The fractional bin of the point + */ +double Histogram::quantile(double q, uint32_t first, uint32_t last) const +{ + if (last == UINT_MAX) + last = cumulative_.size() - 2; + ASSERT(first <= last); + + uint64_t item = q * total(); + /* Binary search to find the right bin */ + while (first < last) { + int middle = (first + last) / 2; + /* Is it between first and middle ? */ + if (cumulative_[middle + 1] > item) + last = middle; + else + first = middle + 1; + } + ASSERT(item >= cumulative_[first] && item <= cumulative_[last + 1]); + + double frac; + if (cumulative_[first + 1] == cumulative_[first]) + frac = 0; + else + frac = (item - cumulative_[first]) / (cumulative_[first + 1] - cumulative_[first]); + return first + frac; +} + +/** + * \brief Calculate the mean between two quantiles + * \param[in] lowQuantile low Quantile + * \param[in] highQuantile high Quantile + * + * Quantiles are not ideal for metering as they suffer several limitations. + * Instead, a concept is introduced here: inter-quantile mean. + * It returns the mean of all pixels between lowQuantile and highQuantile. + * + * \return The mean histogram bin value between the two quantiles + */ +double Histogram::interQuantileMean(double lowQuantile, double highQuantile) const +{ + ASSERT(highQuantile > lowQuantile); + /* Proportion of pixels which lies below lowQuantile */ + double lowPoint = quantile(lowQuantile); + /* Proportion of pixels which lies below highQuantile */ + double highPoint = quantile(highQuantile, static_cast<uint32_t>(lowPoint)); + double sumBinFreq = 0, cumulFreq = 0; + + for (double p_next = floor(lowPoint) + 1.0; + p_next <= ceil(highPoint); + lowPoint = p_next, p_next += 1.0) { + int bin = floor(lowPoint); + double freq = (cumulative_[bin + 1] - cumulative_[bin]) + * (std::min(p_next, highPoint) - lowPoint); + + /* Accumulate weighted bin */ + sumBinFreq += bin * freq; + /* Accumulate weights */ + cumulFreq += freq; + } + /* add 0.5 to give an average for bin mid-points */ + return sumBinFreq / cumulFreq + 0.5; +} + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/histogram.h b/src/ipa/libipa/histogram.h new file mode 100644 index 00000000..a926002c --- /dev/null +++ b/src/ipa/libipa/histogram.h @@ -0,0 +1,51 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * histogram calculation interface + */ + +#pragma once + +#include <limits.h> +#include <stdint.h> +#include <type_traits> +#include <vector> + +#include <libcamera/base/span.h> +#include <libcamera/base/utils.h> + +namespace libcamera { + +namespace ipa { + +class Histogram +{ +public: + Histogram() { cumulative_.push_back(0); } + Histogram(Span<const uint32_t> data); + + template<typename Transform, + std::enable_if_t<std::is_invocable_v<Transform, uint32_t>> * = nullptr> + Histogram(Span<const uint32_t> data, Transform transform) + { + cumulative_.resize(data.size() + 1); + cumulative_[0] = 0; + for (const auto &[i, value] : utils::enumerate(data)) + cumulative_[i + 1] = cumulative_[i] + transform(value); + } + + size_t bins() const { return cumulative_.size() - 1; } + const Span<const uint64_t> data() const { return cumulative_; } + uint64_t total() const { return cumulative_[cumulative_.size() - 1]; } + uint64_t cumulativeFrequency(double bin) const; + double quantile(double q, uint32_t first = 0, uint32_t last = UINT_MAX) const; + double interQuantileMean(double lowQuantile, double hiQuantile) const; + +private: + std::vector<uint64_t> cumulative_; +}; + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/interpolator.cpp b/src/ipa/libipa/interpolator.cpp new file mode 100644 index 00000000..73e8d3b7 --- /dev/null +++ b/src/ipa/libipa/interpolator.cpp @@ -0,0 +1,157 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Helper class for interpolating objects + */ +#include "interpolator.h" + +#include <algorithm> +#include <string> + +#include <libcamera/base/log.h> + +#include "libcamera/internal/yaml_parser.h" + +#include "interpolator.h" + +/** + * \file interpolator.h + * \brief Helper class for linear interpolating a set of objects + */ + +namespace libcamera { + +LOG_DEFINE_CATEGORY(Interpolator) + +namespace ipa { + +/** + * \class Interpolator + * \brief Class for storing, retrieving, and interpolating objects + * \tparam T Type of objects stored in the interpolator + * + * The main use case is to pass a map from color temperatures to corresponding + * objects (eg. matrices for color correction), and then requesting a + * interpolated object for a specific color temperature. This class will + * abstract away the interpolation portion. + */ + +/** + * \fn Interpolator::Interpolator() + * \brief Construct an empty interpolator + */ + +/** + * \fn Interpolator::Interpolator(const std::map<unsigned int, T> &data) + * \brief Construct an interpolator from a map of objects + * \param data Map from which to construct the interpolator + */ + +/** + * \fn Interpolator::Interpolator(std::map<unsigned int, T> &&data) + * \brief Construct an interpolator from a map of objects + * \param data Map from which to construct the interpolator + */ + +/** + * \fn int Interpolator<T>::readYaml(const libcamera::YamlObject &yaml, + const std::string &key_name, + const std::string &value_name) + * \brief Initialize an Interpolator instance from yaml + * \tparam T Type of data stored in the interpolator + * \param[in] yaml The yaml object that contains the map of unsigned integers to + * objects + * \param[in] key_name The name of the key in the yaml object + * \param[in] value_name The name of the value in the yaml object + * + * The yaml object is expected to be a list of maps. Each map has two or more + * pairs: one of \a key_name to the key value (usually color temperature), and + * one or more of \a value_name to the object. This is a bit difficult to + * explain, so here is an example (in python, as it is easier to parse than + * yaml): + * [ + * { + * 'ct': 2860, + * 'ccm': [ 2.12089, -0.52461, -0.59629, + * -0.85342, 2.80445, -0.95103, + * -0.26897, -1.14788, 2.41685 ], + * 'offsets': [ 0, 0, 0 ] + * }, + * + * { + * 'ct': 2960, + * 'ccm': [ 2.26962, -0.54174, -0.72789, + * -0.77008, 2.60271, -0.83262, + * -0.26036, -1.51254, 2.77289 ], + * 'offsets': [ 0, 0, 0 ] + * }, + * + * { + * 'ct': 3603, + * 'ccm': [ 2.18644, -0.66148, -0.52496, + * -0.77828, 2.69474, -0.91645, + * -0.25239, -0.83059, 2.08298 ], + * 'offsets': [ 0, 0, 0 ] + * }, + * ] + * + * In this case, \a key_name would be 'ct', and \a value_name can be either + * 'ccm' or 'offsets'. This way multiple interpolators can be defined in + * one set of color temperature ranges in the tuning file, and they can be + * retrieved separately with the \a value_name parameter. + * + * \return Zero on success, negative error code otherwise + */ + +/** + * \fn void Interpolator<T>::setQuantization(const unsigned int q) + * \brief Set the quantization value + * \param[in] q The quantization value + * + * Sets the quantization value. When this is set, 'key' gets quantized to this + * size, before doing the interpolation. This can help in reducing the number of + * updates pushed to the hardware. + * + * Note that normally a threshold needs to be combined with quantization. + * Otherwise a value that swings around the edge of the quantization step will + * lead to constant updates. + */ + +/** + * \fn void Interpolator<T>::setData(std::map<unsigned int, T> &&data) + * \brief Set the internal map + * + * Overwrites the internal map using move semantics. + */ + +/** + * \fn const T& Interpolator<T>::getInterpolated() + * \brief Retrieve an interpolated value for the given key + * \param[in] key The unsigned integer key of the object to retrieve + * \param[out] quantizedKey If provided, the key value after quantization + * \return The object corresponding to the key. The object is cached internally, + * so on successive calls with the same key (after quantization) interpolation + * is not recalculated. + */ + +/** + * \fn void Interpolator<T>::interpolate(const T &a, const T &b, T &dest, double + * lambda) + * \brief Interpolate between two instances of T + * \param a The first value to interpolate + * \param b The second value to interpolate + * \param dest The destination for the interpolated value + * \param lambda The interpolation factor (0..1) + * + * Interpolates between \a a and \a b according to \a lambda. It calculates + * dest = a * (1.0 - lambda) + b * lambda; + * + * If T supports multiplication with double and addition, this function can be + * used as is. For other types this function can be overwritten using partial + * template specialization. + */ + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/interpolator.h b/src/ipa/libipa/interpolator.h new file mode 100644 index 00000000..fffce214 --- /dev/null +++ b/src/ipa/libipa/interpolator.h @@ -0,0 +1,131 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Helper class for interpolating maps of objects + */ + +#pragma once + +#include <algorithm> +#include <cmath> +#include <map> +#include <string> +#include <tuple> + +#include <libcamera/base/log.h> + +#include "libcamera/internal/yaml_parser.h" + +namespace libcamera { + +LOG_DECLARE_CATEGORY(Interpolator) + +namespace ipa { + +template<typename T> +class Interpolator +{ +public: + Interpolator() = default; + Interpolator(const std::map<unsigned int, T> &data) + : data_(data) + { + } + Interpolator(std::map<unsigned int, T> &&data) + : data_(std::move(data)) + { + } + + ~Interpolator() = default; + + int readYaml(const libcamera::YamlObject &yaml, + const std::string &key_name, + const std::string &value_name) + { + data_.clear(); + lastInterpolatedKey_.reset(); + + if (!yaml.isList()) { + LOG(Interpolator, Error) << "yaml object must be a list"; + return -EINVAL; + } + + for (const auto &value : yaml.asList()) { + unsigned int ct = std::stoul(value[key_name].get<std::string>("")); + std::optional<T> data = + value[value_name].get<T>(); + if (!data) { + return -EINVAL; + } + + data_[ct] = *data; + } + + if (data_.size() < 1) { + LOG(Interpolator, Error) << "Need at least one element"; + return -EINVAL; + } + + return 0; + } + + void setQuantization(const unsigned int q) + { + quantization_ = q; + } + + void setData(std::map<unsigned int, T> &&data) + { + data_ = std::move(data); + lastInterpolatedKey_.reset(); + } + + const T &getInterpolated(unsigned int key, unsigned int *quantizedKey = nullptr) + { + ASSERT(data_.size() > 0); + + if (quantization_ > 0) + key = std::lround(key / static_cast<double>(quantization_)) * quantization_; + + if (quantizedKey) + *quantizedKey = key; + + if (lastInterpolatedKey_.has_value() && + *lastInterpolatedKey_ == key) + return lastInterpolatedValue_; + + auto it = data_.lower_bound(key); + + if (it == data_.begin()) + return it->second; + + if (it == data_.end()) + return std::prev(it)->second; + + if (it->first == key) + return it->second; + + auto it2 = std::prev(it); + double lambda = (key - it2->first) / static_cast<double>(it->first - it2->first); + interpolate(it2->second, it->second, lastInterpolatedValue_, lambda); + lastInterpolatedKey_ = key; + + return lastInterpolatedValue_; + } + + void interpolate(const T &a, const T &b, T &dest, double lambda) + { + dest = a * (1.0 - lambda) + b * lambda; + } + +private: + std::map<unsigned int, T> data_; + T lastInterpolatedValue_; + std::optional<unsigned int> lastInterpolatedKey_; + unsigned int quantization_ = 0; +}; + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/ipa_interface_wrapper.cpp b/src/ipa/libipa/ipa_interface_wrapper.cpp deleted file mode 100644 index b93c1c1f..00000000 --- a/src/ipa/libipa/ipa_interface_wrapper.cpp +++ /dev/null @@ -1,245 +0,0 @@ -/* SPDX-License-Identifier: LGPL-2.1-or-later */ -/* - * Copyright (C) 2019, Google Inc. - * - * ipa_interface_wrapper.cpp - Image Processing Algorithm interface wrapper - */ - -#include "ipa_interface_wrapper.h" - -#include <map> -#include <string.h> -#include <unistd.h> -#include <vector> - -#include <ipa/ipa_interface.h> - -#include "byte_stream_buffer.h" - -/** - * \file ipa_interface_wrapper.h - * \brief Image Processing Algorithm interface wrapper - */ - -namespace libcamera { - -/** - * \class IPAInterfaceWrapper - * \brief Wrap an IPAInterface and expose it as an ipa_context - * - * This class implements the ipa_context API based on a provided IPAInterface. - * It helps IPAs that implement the IPAInterface API to provide the external - * ipa_context API. - * - * To use the wrapper, an IPA module simple creates a new instance of its - * IPAInterface implementation, and passes it to the constructor of the - * IPAInterfaceWrapper. As IPAInterfaceWrapper inherits from ipa_context, the - * constructed wrapper can then be directly returned from the IPA module's - * ipaCreate() function. - * - * \code{.cpp} - * class MyIPA : public IPAInterface - * { - * ... - * }; - * - * struct ipa_context *ipaCreate() - * { - * return new IPAInterfaceWrapper(std::make_unique<MyIPA>()); - * } - * \endcode - * - * The wrapper takes ownership of the IPAInterface and will automatically - * delete it when the wrapper is destroyed. - */ - -/** - * \brief Construct an IPAInterfaceWrapper wrapping \a interface - * \param[in] interface The interface to wrap - */ -IPAInterfaceWrapper::IPAInterfaceWrapper(std::unique_ptr<IPAInterface> interface) - : ipa_(std::move(interface)), callbacks_(nullptr), cb_ctx_(nullptr) -{ - ops = &operations_; - - ipa_->queueFrameAction.connect(this, &IPAInterfaceWrapper::queueFrameAction); -} - -void IPAInterfaceWrapper::destroy(struct ipa_context *_ctx) -{ - IPAInterfaceWrapper *ctx = static_cast<IPAInterfaceWrapper *>(_ctx); - - delete ctx; -} - -void *IPAInterfaceWrapper::get_interface(struct ipa_context *_ctx) -{ - IPAInterfaceWrapper *ctx = static_cast<IPAInterfaceWrapper *>(_ctx); - - return ctx->ipa_.get(); -} - -void IPAInterfaceWrapper::init(struct ipa_context *_ctx) -{ - IPAInterfaceWrapper *ctx = static_cast<IPAInterfaceWrapper *>(_ctx); - - ctx->ipa_->init(); -} - -void IPAInterfaceWrapper::register_callbacks(struct ipa_context *_ctx, - const struct ipa_callback_ops *callbacks, - void *cb_ctx) -{ - IPAInterfaceWrapper *ctx = static_cast<IPAInterfaceWrapper *>(_ctx); - - ctx->callbacks_ = callbacks; - ctx->cb_ctx_ = cb_ctx; -} - -void IPAInterfaceWrapper::configure(struct ipa_context *_ctx, - const struct ipa_stream *streams, - unsigned int num_streams, - const struct ipa_control_info_map *maps, - unsigned int num_maps) -{ - IPAInterfaceWrapper *ctx = static_cast<IPAInterfaceWrapper *>(_ctx); - - ctx->serializer_.reset(); - - /* Translate the IPA stream configurations map. */ - std::map<unsigned int, IPAStream> ipaStreams; - - for (unsigned int i = 0; i < num_streams; ++i) { - const struct ipa_stream &stream = streams[i]; - - ipaStreams[stream.id] = { - stream.pixel_format, - Size(stream.width, stream.height), - }; - } - - /* Translate the IPA entity controls map. */ - std::map<unsigned int, const ControlInfoMap &> entityControls; - std::map<unsigned int, ControlInfoMap> infoMaps; - - for (unsigned int i = 0; i < num_maps; ++i) { - const struct ipa_control_info_map &ipa_map = maps[i]; - ByteStreamBuffer byteStream(ipa_map.data, ipa_map.size); - unsigned int id = ipa_map.id; - - infoMaps[id] = ctx->serializer_.deserialize<ControlInfoMap>(byteStream); - entityControls.emplace(id, infoMaps[id]); - } - - ctx->ipa_->configure(ipaStreams, entityControls); -} - -void IPAInterfaceWrapper::map_buffers(struct ipa_context *_ctx, - const struct ipa_buffer *_buffers, - size_t num_buffers) -{ - IPAInterfaceWrapper *ctx = static_cast<IPAInterfaceWrapper *>(_ctx); - std::vector<IPABuffer> buffers(num_buffers); - - for (unsigned int i = 0; i < num_buffers; ++i) { - const struct ipa_buffer &_buffer = _buffers[i]; - IPABuffer &buffer = buffers[i]; - std::vector<FrameBuffer::Plane> &planes = buffer.planes; - - buffer.id = _buffer.id; - - planes.resize(_buffer.num_planes); - for (unsigned int j = 0; j < _buffer.num_planes; ++j) { - planes[j].fd = FileDescriptor(_buffer.planes[j].dmabuf); - planes[j].length = _buffer.planes[j].length; - } - } - - ctx->ipa_->mapBuffers(buffers); -} - -void IPAInterfaceWrapper::unmap_buffers(struct ipa_context *_ctx, - const unsigned int *_ids, - size_t num_buffers) -{ - IPAInterfaceWrapper *ctx = static_cast<IPAInterfaceWrapper *>(_ctx); - std::vector<unsigned int> ids(_ids, _ids + num_buffers); - ctx->ipa_->unmapBuffers(ids); -} - -void IPAInterfaceWrapper::process_event(struct ipa_context *_ctx, - const struct ipa_operation_data *data) -{ - IPAInterfaceWrapper *ctx = static_cast<IPAInterfaceWrapper *>(_ctx); - IPAOperationData opData; - - opData.operation = data->operation; - - opData.data.resize(data->num_data); - memcpy(opData.data.data(), data->data, - data->num_data * sizeof(*data->data)); - - opData.controls.resize(data->num_lists); - for (unsigned int i = 0; i < data->num_lists; ++i) { - const struct ipa_control_list *c_list = &data->lists[i]; - ByteStreamBuffer byteStream(c_list->data, c_list->size); - opData.controls[i] = ctx->serializer_.deserialize<ControlList>(byteStream); - } - - ctx->ipa_->processEvent(opData); -} - -void IPAInterfaceWrapper::queueFrameAction(unsigned int frame, - const IPAOperationData &data) -{ - if (!callbacks_) - return; - - struct ipa_operation_data c_data; - c_data.operation = data.operation; - c_data.data = data.data.data(); - c_data.num_data = data.data.size(); - - struct ipa_control_list control_lists[data.controls.size()]; - c_data.lists = control_lists; - c_data.num_lists = data.controls.size(); - - std::size_t listsSize = 0; - for (const auto &list : data.controls) - listsSize += serializer_.binarySize(list); - - std::vector<uint8_t> binaryData(listsSize); - ByteStreamBuffer byteStreamBuffer(binaryData.data(), listsSize); - - unsigned int i = 0; - for (const auto &list : data.controls) { - struct ipa_control_list &c_list = control_lists[i]; - c_list.size = serializer_.binarySize(list); - - ByteStreamBuffer b = byteStreamBuffer.carveOut(c_list.size); - serializer_.serialize(list, b); - - c_list.data = b.base(); - } - - callbacks_->queue_frame_action(cb_ctx_, frame, c_data); -} - -#ifndef __DOXYGEN__ -/* - * This construct confuses Doygen and makes it believe that all members of the - * operations is a member of IPAInterfaceWrapper. It must thus be hidden. - */ -const struct ipa_context_ops IPAInterfaceWrapper::operations_ = { - .destroy = &IPAInterfaceWrapper::destroy, - .get_interface = &IPAInterfaceWrapper::get_interface, - .init = &IPAInterfaceWrapper::init, - .register_callbacks = &IPAInterfaceWrapper::register_callbacks, - .configure = &IPAInterfaceWrapper::configure, - .map_buffers = &IPAInterfaceWrapper::map_buffers, - .unmap_buffers = &IPAInterfaceWrapper::unmap_buffers, - .process_event = &IPAInterfaceWrapper::process_event, -}; -#endif - -} /* namespace libcamera */ diff --git a/src/ipa/libipa/ipa_interface_wrapper.h b/src/ipa/libipa/ipa_interface_wrapper.h deleted file mode 100644 index 3fb7b447..00000000 --- a/src/ipa/libipa/ipa_interface_wrapper.h +++ /dev/null @@ -1,57 +0,0 @@ -/* SPDX-License-Identifier: LGPL-2.1-or-later */ -/* - * Copyright (C) 2019, Google Inc. - * - * ipa_interface_wrapper.h - Image Processing Algorithm interface wrapper - */ -#ifndef __LIBCAMERA_IPA_INTERFACE_WRAPPER_H__ -#define __LIBCAMERA_IPA_INTERFACE_WRAPPER_H__ - -#include <memory> - -#include <ipa/ipa_interface.h> - -#include "control_serializer.h" - -namespace libcamera { - -class IPAInterfaceWrapper : public ipa_context -{ -public: - IPAInterfaceWrapper(std::unique_ptr<IPAInterface> interface); - -private: - static void destroy(struct ipa_context *ctx); - static void *get_interface(struct ipa_context *ctx); - static void init(struct ipa_context *ctx); - static void register_callbacks(struct ipa_context *ctx, - const struct ipa_callback_ops *callbacks, - void *cb_ctx); - static void configure(struct ipa_context *ctx, - const struct ipa_stream *streams, - unsigned int num_streams, - const struct ipa_control_info_map *maps, - unsigned int num_maps); - static void map_buffers(struct ipa_context *ctx, - const struct ipa_buffer *c_buffers, - size_t num_buffers); - static void unmap_buffers(struct ipa_context *ctx, - const unsigned int *ids, - size_t num_buffers); - static void process_event(struct ipa_context *ctx, - const struct ipa_operation_data *data); - - static const struct ipa_context_ops operations_; - - void queueFrameAction(unsigned int frame, const IPAOperationData &data); - - std::unique_ptr<IPAInterface> ipa_; - const struct ipa_callback_ops *callbacks_; - void *cb_ctx_; - - ControlSerializer serializer_; -}; - -} /* namespace libcamera */ - -#endif /* __LIBCAMERA_IPA_INTERFACE_WRAPPER_H__ */ diff --git a/src/ipa/libipa/lsc_polynomial.cpp b/src/ipa/libipa/lsc_polynomial.cpp new file mode 100644 index 00000000..f607d86c --- /dev/null +++ b/src/ipa/libipa/lsc_polynomial.cpp @@ -0,0 +1,81 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * Polynomial class to represent lens shading correction + */ + +#include "lsc_polynomial.h" + +#include <libcamera/base/log.h> + +/** + * \file lsc_polynomial.h + * \brief LscPolynomial class + */ + +namespace libcamera { + +LOG_DEFINE_CATEGORY(LscPolynomial) + +namespace ipa { + +/** + * \class LscPolynomial + * \brief Class for handling even polynomials used in lens shading correction + * + * Shading artifacts of camera lenses can be modeled using even radial + * polynomials. This class implements a polynomial with 5 coefficients which + * follows the definition of the FixVignetteRadial opcode in the Adobe DNG + * specification. + */ + +/** + * \fn LscPolynomial::LscPolynomial(double cx = 0.0, double cy = 0.0, double k0 = 0.0, + double k1 = 0.0, double k2 = 0.0, double k3 = 0.0, + double k4 = 0.0) + * \brief Construct a polynomial using the given coefficients + * \param cx Center-x relative to the image in normalized coordinates (0..1) + * \param cy Center-y relative to the image in normalized coordinates (0..1) + * \param k0 Coefficient of the polynomial + * \param k1 Coefficient of the polynomial + * \param k2 Coefficient of the polynomial + * \param k3 Coefficient of the polynomial + * \param k4 Coefficient of the polynomial + */ + +/** + * \fn LscPolynomial::sampleAtNormalizedPixelPos(double x, double y) + * \brief Sample the polynomial at the given normalized pixel position + * + * This functions samples the polynomial at the given pixel position divided by + * the value returned by getM(). + * + * \param x x position in normalized coordinates + * \param y y position in normalized coordinates + * \return The sampled value + */ + +/** + * \fn LscPolynomial::getM() + * \brief Get the value m as described in the dng specification + * + * Returns m according to dng spec. m represents the Euclidean distance + * (in pixels) from the optical center to the farthest pixel in the + * image. + * + * \return The sampled value + */ + +/** + * \fn LscPolynomial::setReferenceImageSize(const Size &size) + * \brief Set the reference image size + * + * Set the reference image size that is used for subsequent calls to getM() and + * sampleAtNormalizedPixelPos() + * + * \param size The size of the reference image + */ + +} // namespace ipa +} // namespace libcamera diff --git a/src/ipa/libipa/lsc_polynomial.h b/src/ipa/libipa/lsc_polynomial.h new file mode 100644 index 00000000..c898faeb --- /dev/null +++ b/src/ipa/libipa/lsc_polynomial.h @@ -0,0 +1,105 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * Helper for radial polynomial used in lens shading correction. + */ +#pragma once + +#include <algorithm> +#include <array> +#include <assert.h> +#include <cmath> + +#include <libcamera/base/log.h> +#include <libcamera/base/span.h> + +#include "libcamera/internal/yaml_parser.h" + +namespace libcamera { + +LOG_DECLARE_CATEGORY(LscPolynomial) + +namespace ipa { + +class LscPolynomial +{ +public: + LscPolynomial(double cx = 0.0, double cy = 0.0, double k0 = 0.0, + double k1 = 0.0, double k2 = 0.0, double k3 = 0.0, + double k4 = 0.0) + : cx_(cx), cy_(cy), cnx_(0), cny_(0), + coefficients_({ k0, k1, k2, k3, k4 }) + { + } + + double sampleAtNormalizedPixelPos(double x, double y) const + { + double dx = x - cnx_; + double dy = y - cny_; + double r = sqrt(dx * dx + dy * dy); + double res = 1.0; + for (unsigned int i = 0; i < coefficients_.size(); i++) { + res += coefficients_[i] * std::pow(r, (i + 1) * 2); + } + return res; + } + + double getM() const + { + double cpx = imageSize_.width * cx_; + double cpy = imageSize_.height * cy_; + double mx = std::max(cpx, std::fabs(imageSize_.width - cpx)); + double my = std::max(cpy, std::fabs(imageSize_.height - cpy)); + + return sqrt(mx * mx + my * my); + } + + void setReferenceImageSize(const Size &size) + { + assert(!size.isNull()); + imageSize_ = size; + + /* Calculate normalized centers */ + double m = getM(); + cnx_ = (size.width * cx_) / m; + cny_ = (size.height * cy_) / m; + } + +private: + double cx_; + double cy_; + double cnx_; + double cny_; + std::array<double, 5> coefficients_; + + Size imageSize_; +}; + +} /* namespace ipa */ + +#ifndef __DOXYGEN__ + +template<> +struct YamlObject::Getter<ipa::LscPolynomial> { + std::optional<ipa::LscPolynomial> get(const YamlObject &obj) const + { + std::optional<double> cx = obj["cx"].get<double>(); + std::optional<double> cy = obj["cy"].get<double>(); + std::optional<double> k0 = obj["k0"].get<double>(); + std::optional<double> k1 = obj["k1"].get<double>(); + std::optional<double> k2 = obj["k2"].get<double>(); + std::optional<double> k3 = obj["k3"].get<double>(); + std::optional<double> k4 = obj["k4"].get<double>(); + + if (!(cx && cy && k0 && k1 && k2 && k3 && k4)) + LOG(LscPolynomial, Error) + << "Polynomial is missing a parameter"; + + return ipa::LscPolynomial(*cx, *cy, *k0, *k1, *k2, *k3, *k4); + } +}; + +#endif + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/lux.cpp b/src/ipa/libipa/lux.cpp new file mode 100644 index 00000000..bae8198f --- /dev/null +++ b/src/ipa/libipa/lux.cpp @@ -0,0 +1,181 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Helper class that implements lux estimation + */ +#include "lux.h" + +#include <algorithm> +#include <chrono> + +#include <libcamera/base/log.h> + +#include "libcamera/internal/yaml_parser.h" + +#include "histogram.h" + +/** + * \file lux.h + * \brief Helper class that implements lux estimation + * + * Estimating the lux level of an image is a common operation that can for + * instance be used to adjust the target Y value in AGC or for Bayesian AWB + * estimation. + */ + +namespace libcamera { + +using namespace std::literals::chrono_literals; + +LOG_DEFINE_CATEGORY(Lux) + +namespace ipa { + +/** + * \class Lux + * \brief Class that implements lux estimation + * + * IPAs that wish to use lux estimation should create a Lux algorithm module + * that lightly wraps this module by providing the platform-specific luminance + * histogram. The Lux entry in the tuning file must then precede the algorithms + * that depend on the estimated lux value. + */ + +/** + * \var Lux::binSize_ + * \brief The maximum count of each bin + */ + +/** + * \var Lux::referenceExposureTime_ + * \brief The exposure time of the reference image, in microseconds + */ + +/** + * \var Lux::referenceAnalogueGain_ + * \brief The analogue gain of the reference image + */ + +/** + * \var Lux::referenceDigitalGain_ + * \brief The analogue gain of the reference image + */ + +/** + * \var Lux::referenceY_ + * \brief The measured luminance of the reference image, out of the bin size + * + * \sa binSize_ + */ + +/** + * \var Lux::referenceLux_ + * \brief The estimated lux level of the reference image + */ + +/** + * \brief Construct the Lux helper module + * \param[in] binSize The maximum count of each bin + */ +Lux::Lux(unsigned int binSize) + : binSize_(binSize) +{ +} + +/** + * \brief Parse tuning data + * \param[in] tuningData The YamlObject representing the tuning data + * + * This function parses yaml tuning data for the common Lux module. It requires + * reference exposure time, analogue gain, digital gain, and lux values. + * + * \code{.unparsed} + * algorithms: + * - Lux: + * referenceExposureTime: 10000 + * referenceAnalogueGain: 4.0 + * referenceDigitalGain: 1.0 + * referenceY: 12000 + * referenceLux: 1000 + * \endcode + * + * \return 0 on success or a negative error code + */ +int Lux::parseTuningData(const YamlObject &tuningData) +{ + auto value = tuningData["referenceExposureTime"].get<double>(); + if (!value) { + LOG(Lux, Error) << "Missing tuning parameter: " + << "'referenceExposureTime'"; + return -EINVAL; + } + referenceExposureTime_ = *value * 1.0us; + + value = tuningData["referenceAnalogueGain"].get<double>(); + if (!value) { + LOG(Lux, Error) << "Missing tuning parameter: " + << "'referenceAnalogueGain'"; + return -EINVAL; + } + referenceAnalogueGain_ = *value; + + value = tuningData["referenceDigitalGain"].get<double>(); + if (!value) { + LOG(Lux, Error) << "Missing tuning parameter: " + << "'referenceDigitalGain'"; + return -EINVAL; + } + referenceDigitalGain_ = *value; + + value = tuningData["referenceY"].get<double>(); + if (!value) { + LOG(Lux, Error) << "Missing tuning parameter: " + << "'referenceY'"; + return -EINVAL; + } + referenceY_ = *value; + + value = tuningData["referenceLux"].get<double>(); + if (!value) { + LOG(Lux, Error) << "Missing tuning parameter: " + << "'referenceLux'"; + return -EINVAL; + } + referenceLux_ = *value; + + return 0; +} + +/** + * \brief Estimate lux given runtime values + * \param[in] exposureTime Exposure time applied to the frame + * \param[in] aGain Analogue gain applied to the frame + * \param[in] dGain Digital gain applied to the frame + * \param[in] yHist Histogram from the ISP statistics + * + * Estimate the lux given the exposure time, gain, and histogram. + * + * \return Estimated lux value + */ +double Lux::estimateLux(utils::Duration exposureTime, + double aGain, double dGain, + const Histogram &yHist) const +{ + double currentY = yHist.interQuantileMean(0, 1); + double exposureTimeRatio = referenceExposureTime_ / exposureTime; + double aGainRatio = referenceAnalogueGain_ / aGain; + double dGainRatio = referenceDigitalGain_ / dGain; + double yRatio = currentY * (binSize_ / yHist.bins()) / referenceY_; + + double estimatedLux = exposureTimeRatio * aGainRatio * dGainRatio * + yRatio * referenceLux_; + + LOG(Lux, Debug) << "Estimated lux " << estimatedLux; + return estimatedLux; +} + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/lux.h b/src/ipa/libipa/lux.h new file mode 100644 index 00000000..93ca6479 --- /dev/null +++ b/src/ipa/libipa/lux.h @@ -0,0 +1,42 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Helper class that implements lux estimation + */ + +#pragma once + +#include <libcamera/base/utils.h> + +namespace libcamera { + +class YamlObject; + +namespace ipa { + +class Histogram; + +class Lux +{ +public: + Lux(unsigned int binSize); + + int parseTuningData(const YamlObject &tuningData); + double estimateLux(utils::Duration exposureTime, + double aGain, double dGain, + const Histogram &yHist) const; + +private: + unsigned int binSize_; + utils::Duration referenceExposureTime_; + double referenceAnalogueGain_; + double referenceDigitalGain_; + double referenceY_; + double referenceLux_; +}; + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/meson.build b/src/ipa/libipa/meson.build index 6f3cd486..f2b2f4be 100644 --- a/src/ipa/libipa/meson.build +++ b/src/ipa/libipa/meson.build @@ -1,13 +1,45 @@ +# SPDX-License-Identifier: CC0-1.0 + libipa_headers = files([ - 'ipa_interface_wrapper.h', + 'agc_mean_luminance.h', + 'algorithm.h', + 'camera_sensor_helper.h', + 'colours.h', + 'exposure_mode_helper.h', + 'fc_queue.h', + 'fixedpoint.h', + 'histogram.h', + 'interpolator.h', + 'lsc_polynomial.h', + 'lux.h', + 'module.h', + 'pwl.h', + 'vector.h', ]) libipa_sources = files([ - 'ipa_interface_wrapper.cpp', + 'agc_mean_luminance.cpp', + 'algorithm.cpp', + 'camera_sensor_helper.cpp', + 'colours.cpp', + 'exposure_mode_helper.cpp', + 'fc_queue.cpp', + 'fixedpoint.cpp', + 'histogram.cpp', + 'interpolator.cpp', + 'lsc_polynomial.cpp', + 'lux.cpp', + 'module.cpp', + 'pwl.cpp', + 'vector.cpp', ]) libipa_includes = include_directories('..') -libipa = static_library('ipa', libipa_sources, +libipa = static_library('ipa', [libipa_sources, libipa_headers], include_directories : ipa_includes, - dependencies : libcamera_dep) + dependencies : libcamera_private) + +libipa_dep = declare_dependency(sources : libipa_headers, + include_directories : libipa_includes, + link_with : libipa) diff --git a/src/ipa/libipa/module.cpp b/src/ipa/libipa/module.cpp new file mode 100644 index 00000000..64ca9141 --- /dev/null +++ b/src/ipa/libipa/module.cpp @@ -0,0 +1,126 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022, Ideas On Board + * + * IPA Module + */ + +#include "module.h" + +/** + * \file module.h + * \brief IPA Module common interface + */ + +namespace libcamera { + +LOG_DEFINE_CATEGORY(IPAModuleAlgo) + +/** + * \brief The IPA (Image Processing Algorithm) namespace + * + * The IPA namespace groups all types specific to IPA modules. It serves as the + * top-level namespace for the IPA library libipa, and also contains + * module-specific namespaces for IPA modules. + */ +namespace ipa { + +/** + * \class Module + * \brief The base class for all IPA modules + * \tparam Context The type of the shared IPA context + * \tparam FrameContext The type of the frame context + * \tparam Config The type of the IPA configuration data + * \tparam Params The type of the ISP specific parameters + * \tparam Stats The type of the IPA statistics and ISP results + * + * The Module class template defines a standard internal interface between IPA + * modules and libipa. + * + * While IPA modules are platform-specific, many of their internal functions are + * conceptually similar, even if they take different types of platform-specifc + * parameters. For instance, IPA modules could share code that instantiates, + * initializes and run algorithms if it wasn't for the fact that the the format + * of ISP parameters or statistics passed to the related functions is + * device-dependent. + * + * To enable a shared implementation of those common tasks in libipa, the Module + * class template defines a standard internal interface between IPA modules and + * libipa. The template parameters specify the types of module-dependent data. + * IPA modules shall create a specialization of the Module class template in + * their namespace, and use it to specialize other classes of libipa, such as + * the Algorithm class. + */ + +/** + * \typedef Module::Context + * \brief The type of the shared IPA context + */ + +/** + * \typedef Module::FrameContext + * \brief The type of the frame context + */ + +/** + * \typedef Module::Config + * \brief The type of the IPA configuration data + */ + +/** + * \typedef Module::Params + * \brief The type of the ISP specific parameters + */ + +/** + * \typedef Module::Stats + * \brief The type of the IPA statistics and ISP results + */ + +/** + * \fn Module::algorithms() + * \brief Retrieve the list of instantiated algorithms + * \return The list of instantiated algorithms + */ + +/** + * \fn Module::createAlgorithms() + * \brief Create algorithms from YAML configuration data + * \param[in] context The IPA context + * \param[in] algorithms Algorithms configuration data as a parsed YamlObject + * + * This function iterates over the list of \a algorithms parsed from the YAML + * configuration file, and instantiates and initializes the corresponding + * algorithms. The configuration data is expected to be correct, any error + * causes the function to fail and return immediately. + * + * \return 0 on success, or a negative error code on failure + */ + +/** + * \fn Module::registerAlgorithm() + * \brief Add an algorithm factory class to the list of available algorithms + * \param[in] factory Factory to use to construct the algorithm + * + * This function registers an algorithm factory. It is meant to be called by the + * AlgorithmFactory constructor only. + */ + +/** + * \fn Module::createAlgorithm(const std::string &name) + * \brief Create an instance of an Algorithm by name + * \param[in] name The algorithm name + * + * This function is the entry point to algorithm instantiation for the IPA + * module. It creates and returns an instance of an algorithm identified by its + * \a name. If no such algorithm exists, the function returns nullptr. + * + * To make an algorithm available to the IPA module, it shall be registered with + * the REGISTER_IPA_ALGORITHM() macro. + * + * \return A new instance of the Algorithm subclass corresponding to the \a name + */ + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/module.h b/src/ipa/libipa/module.h new file mode 100644 index 00000000..0fb51916 --- /dev/null +++ b/src/ipa/libipa/module.h @@ -0,0 +1,124 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022, Ideas On Board + * + * IPA module + */ + +#pragma once + +#include <list> +#include <memory> +#include <string> +#include <vector> + +#include <libcamera/base/log.h> +#include <libcamera/base/utils.h> + +#include "libcamera/internal/yaml_parser.h" + +#include "algorithm.h" + +namespace libcamera { + +LOG_DECLARE_CATEGORY(IPAModuleAlgo) + +namespace ipa { + +template<typename _Context, typename _FrameContext, typename _Config, + typename _Params, typename _Stats> +class Module : public Loggable +{ +public: + using Context = _Context; + using FrameContext = _FrameContext; + using Config = _Config; + using Params = _Params; + using Stats = _Stats; + + virtual ~Module() {} + + const std::list<std::unique_ptr<Algorithm<Module>>> &algorithms() const + { + return algorithms_; + } + + int createAlgorithms(Context &context, const YamlObject &algorithms) + { + const auto &list = algorithms.asList(); + + for (const auto &[i, algo] : utils::enumerate(list)) { + if (!algo.isDictionary()) { + LOG(IPAModuleAlgo, Error) + << "Invalid YAML syntax for algorithm " << i; + algorithms_.clear(); + return -EINVAL; + } + + int ret = createAlgorithm(context, algo); + if (ret) { + algorithms_.clear(); + return ret; + } + } + + return 0; + } + + static void registerAlgorithm(AlgorithmFactoryBase<Module> *factory) + { + factories().push_back(factory); + } + +private: + int createAlgorithm(Context &context, const YamlObject &data) + { + const auto &[name, algoData] = *data.asDict().begin(); + std::unique_ptr<Algorithm<Module>> algo = createAlgorithm(name); + if (!algo) { + LOG(IPAModuleAlgo, Error) + << "Algorithm '" << name << "' not found"; + return -EINVAL; + } + + int ret = algo->init(context, algoData); + if (ret) { + LOG(IPAModuleAlgo, Error) + << "Algorithm '" << name << "' failed to initialize"; + return ret; + } + + LOG(IPAModuleAlgo, Debug) + << "Instantiated algorithm '" << name << "'"; + + algorithms_.push_back(std::move(algo)); + return 0; + } + + static std::unique_ptr<Algorithm<Module>> createAlgorithm(const std::string &name) + { + for (const AlgorithmFactoryBase<Module> *factory : factories()) { + if (factory->name() == name) + return factory->create(); + } + + return nullptr; + } + + static std::vector<AlgorithmFactoryBase<Module> *> &factories() + { + /* + * The static factories map is defined inside the function to ensure + * it gets initialized on first use, without any dependency on + * link order. + */ + static std::vector<AlgorithmFactoryBase<Module> *> factories; + return factories; + } + + std::list<std::unique_ptr<Algorithm<Module>>> algorithms_; +}; + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/pwl.cpp b/src/ipa/libipa/pwl.cpp new file mode 100644 index 00000000..88fe2022 --- /dev/null +++ b/src/ipa/libipa/pwl.cpp @@ -0,0 +1,457 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * Copyright (C) 2024, Ideas on Board Oy + * + * Piecewise linear functions + */ + +#include "pwl.h" + +#include <cmath> +#include <sstream> + +/** + * \file pwl.h + * \brief Piecewise linear functions + */ + +namespace libcamera { + +namespace ipa { + +/** + * \class Pwl + * \brief Describe a univariate piecewise linear function in two-dimensional + * real space + * + * A piecewise linear function is a univariate function that maps reals to + * reals, and it is composed of multiple straight-line segments. + * + * While a mathematical piecewise linear function would usually be defined by + * a list of linear functions and for which values of the domain they apply, + * this Pwl class is instead defined by a list of points at which these line + * segments intersect. These intersecting points are known as knots. + * + * https://en.wikipedia.org/wiki/Piecewise_linear_function + * + * A consequence of the Pwl class being defined by knots instead of linear + * functions is that the values of the piecewise linear function past the ends + * of the function are constants as opposed to linear functions. In a + * mathematical piecewise linear function that is defined by multiple linear + * functions, the ends of the function are also linear functions and hence grow + * to infinity (or negative infinity). However, since this Pwl class is defined + * by knots, the y-value of the leftmost and rightmost knots will hold for all + * x values to negative infinity and positive infinity, respectively. + */ + +/** + * \typedef Pwl::Point + * \brief Describe a point in two-dimensional real space + */ + +/** + * \class Pwl::Interval + * \brief Describe an interval in one-dimensional real space + */ + +/** + * \fn Pwl::Interval::Interval(double _start, double _end) + * \brief Construct an interval + * \param[in] _start Start of the interval + * \param[in] _end End of the interval + */ + +/** + * \fn Pwl::Interval::contains + * \brief Check if a given value falls within the interval + * \param[in] value Value to check + * \return True if the value falls within the interval, including its bounds, + * or false otherwise + */ + +/** + * \fn Pwl::Interval::clamp + * \brief Clamp a value such that it is within the interval + * \param[in] value Value to clamp + * \return The clamped value + */ + +/** + * \fn Pwl::Interval::length + * \brief Compute the length of the interval + * \return The length of the interval + */ + +/** + * \var Pwl::Interval::start + * \brief Start of the interval + */ + +/** + * \var Pwl::Interval::end + * \brief End of the interval + */ + +/** + * \brief Construct an empty piecewise linear function + */ +Pwl::Pwl() +{ +} + +/** + * \brief Construct a piecewise linear function from a list of 2D points + * \param[in] points Vector of points from which to construct the piecewise + * linear function + * + * \a points must be in ascending order of x-value. + */ +Pwl::Pwl(const std::vector<Point> &points) + : points_(points) +{ +} + +/** + * \copydoc Pwl::Pwl(const std::vector<Point> &points) + * + * The contents of the \a points vector is moved to the newly constructed Pwl + * instance. + */ +Pwl::Pwl(std::vector<Point> &&points) + : points_(std::move(points)) +{ +} + +/** + * \brief Append a point to the end of the piecewise linear function + * \param[in] x x-coordinate of the point to add to the piecewise linear function + * \param[in] y y-coordinate of the point to add to the piecewise linear function + * \param[in] eps Epsilon for the minimum x distance between points (optional) + * + * The point's x-coordinate must be greater than the x-coordinate of the last + * (= greatest) point already in the piecewise linear function. + */ +void Pwl::append(double x, double y, const double eps) +{ + if (points_.empty() || points_.back().x() + eps < x) + points_.push_back(Point({ x, y })); +} + +/** + * \brief Prepend a point to the beginning of the piecewise linear function + * \param[in] x x-coordinate of the point to add to the piecewise linear function + * \param[in] y y-coordinate of the point to add to the piecewise linear function + * \param[in] eps Epsilon for the minimum x distance between points (optional) + * + * The point's x-coordinate must be less than the x-coordinate of the first + * (= smallest) point already in the piecewise linear function. + */ +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 })); +} + +/** + * \fn Pwl::empty() const + * \brief Check if the piecewise linear function is empty + * \return True if there are no points in the function, false otherwise + */ + +/** + * \fn Pwl::size() const + * \brief Retrieve the number of points in the piecewise linear function + * \return The number of points in the piecewise linear function + */ + +/** + * \brief Get the domain of the piecewise linear function + * \return An interval representing the domain + */ +Pwl::Interval Pwl::domain() const +{ + return Interval(points_[0].x(), points_[points_.size() - 1].x()); +} + +/** + * \brief Get the range of the piecewise linear function + * \return An interval representing the range + */ +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); +} + +/** + * \brief Evaluate the piecewise linear function + * \param[in] x The x value to input into the function + * \param[inout] span Initial guess for span + * \param[in] updateSpan Set to true to update span + * + * 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. + * + * \return The result of evaluating the piecewise linear function at position \a x + */ +double Pwl::eval(double x, int *span, bool updateSpan) const +{ + int index = findSpan(x, span && *span != -1 + ? *span + : points_.size() / 2 - 1); + if (span && updateSpan) + *span = index; + return points_[index].y() + + (x - points_[index].x()) * (points_[index + 1].y() - points_[index].y()) / + (points_[index + 1].x() - points_[index].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; +} + +/** + * \brief Compute the inverse function + * \param[in] eps Epsilon for the minimum x distance between points (optional) + * + * The output includes whether the resulting inverse function is a proper + * (true) inverse, or only a best effort (e.g. input was non-monotonic). + * + * \return A pair of the inverse piecewise linear function, and whether or not + * the result is a proper/true inverse + */ +std::pair<Pwl, bool> Pwl::inverse(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. + */ + bool trueInverse = !(neither || (appended && prepended)); + + return { inverse, trueInverse }; +} + +/** + * \brief Compose two piecewise linear functions together + * \param[in] other The "other" piecewise linear function + * \param[in] eps Epsilon for the minimum x distance between points (optional) + * + * The "this" function is done first, and "other" after. + * + * \return The composed piecewise linear function + */ +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({ Point({ 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; +} + +/** + * \brief Apply function to (x, y) values at every control point + * \param[in] f Function to be applied + */ +void Pwl::map(std::function<void(double x, double y)> f) const +{ + for (auto &pt : points_) + f(pt.x(), pt.y()); +} + +/** + * \brief Apply function to (x, y0, y1) values wherever either Pwl has a + * control point. + * \param[in] pwl0 First piecewise linear function + * \param[in] pwl1 Second piecewise linear function + * \param[in] f Function to be applied + * + * This applies the function \a f to every parameter (x, y0, y1), where x is + * the combined list of x-values from \a pwl0 and \a pwl1, y0 is the y-value + * for the given x in \a pwl0, and y1 is the y-value for the same x in \a pwl1. + */ +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)); + } +} + +/** + * \brief Combine two Pwls + * \param[in] pwl0 First piecewise linear function + * \param[in] pwl1 Second piecewise linear function + * \param[in] f Function to be applied + * \param[in] eps Epsilon for the minimum x distance between points (optional) + * + * Create a new Pwl where the y values are given by running \a f wherever + * either pwl has a knot. + * + * \return The combined pwl + */ +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; +} + +/** + * \brief Multiply the piecewise linear function + * \param[in] d Scalar multiplier to multiply the function by + * \return This function, after it has been multiplied by \a d + */ +Pwl &Pwl::operator*=(double d) +{ + for (auto &pt : points_) + pt[1] *= d; + return *this; +} + +/** + * \brief Assemble and return a string describing the piecewise linear function + * \return A string describing the piecewise linear function + */ +std::string Pwl::toString() const +{ + std::stringstream ss; + ss << "Pwl { "; + for (auto &p : points_) + ss << "(" << p.x() << ", " << p.y() << ") "; + ss << "}"; + return ss.str(); +} + +} /* namespace ipa */ + +#ifndef __DOXYGEN__ +/* + * The YAML data shall be a list of numerical values with an even number of + * elements. They are parsed in pairs into x and y points in the piecewise + * linear function, and added in order. x must be monotonically increasing. + */ +template<> +std::optional<ipa::Pwl> +YamlObject::Getter<ipa::Pwl>::get(const YamlObject &obj) const +{ + if (!obj.size() || obj.size() % 2) + return std::nullopt; + + ipa::Pwl pwl; + + const auto &list = obj.asList(); + + for (auto it = list.begin(); it != list.end(); it++) { + auto x = it->get<double>(); + if (!x) + return std::nullopt; + auto y = (++it)->get<double>(); + if (!y) + return std::nullopt; + + pwl.append(*x, *y); + } + + if (pwl.size() != obj.size() / 2) + return std::nullopt; + + return pwl; +} +#endif /* __DOXYGEN__ */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/pwl.h b/src/ipa/libipa/pwl.h new file mode 100644 index 00000000..d4ec9f4f --- /dev/null +++ b/src/ipa/libipa/pwl.h @@ -0,0 +1,85 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * Piecewise linear functions interface + */ +#pragma once + +#include <algorithm> +#include <functional> +#include <string> +#include <utility> +#include <vector> + +#include "vector.h" + +namespace libcamera { + +namespace ipa { + +class Pwl +{ +public: + using Point = Vector<double, 2>; + + struct Interval { + Interval(double _start, double _end) + : start(_start), end(_end) {} + + bool contains(double value) + { + return value >= start && value <= end; + } + + double clamp(double value) + { + return std::clamp(value, start, end); + } + + double length() const { return end - start; } + + double start, end; + }; + + Pwl(); + Pwl(const std::vector<Point> &points); + Pwl(std::vector<Point> &&points); + + void append(double x, double y, double eps = 1e-6); + + bool empty() const { return points_.empty(); } + size_t size() const { return points_.size(); } + + Interval domain() const; + Interval range() const; + + double eval(double x, int *span = nullptr, + bool updateSpan = true) const; + + std::pair<Pwl, bool> inverse(double eps = 1e-6) const; + Pwl compose(const Pwl &other, double eps = 1e-6) const; + + void map(std::function<void(double x, double y)> f) const; + + static Pwl + combine(const Pwl &pwl0, const Pwl &pwl1, + std::function<double(double x, double y0, double y1)> f, + double eps = 1e-6); + + Pwl &operator*=(double d); + + std::string toString() const; + +private: + static void map2(const Pwl &pwl0, const Pwl &pwl1, + std::function<void(double x, double y0, double y1)> f); + void prepend(double x, double y, double eps = 1e-6); + int findSpan(double x, int span) const; + + std::vector<Point> points_; +}; + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/vector.cpp b/src/ipa/libipa/vector.cpp new file mode 100644 index 00000000..8019f8cf --- /dev/null +++ b/src/ipa/libipa/vector.cpp @@ -0,0 +1,351 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Vector and related operations + */ + +#include "vector.h" + +#include <libcamera/base/log.h> + +/** + * \file vector.h + * \brief Vector class + */ + +namespace libcamera { + +LOG_DEFINE_CATEGORY(Vector) + +namespace ipa { + +/** + * \class Vector + * \brief Vector class + * \tparam T Type of numerical values to be stored in the vector + * \tparam Rows Number of dimension of the vector (= number of elements) + */ + +/** + * \fn Vector::Vector() + * \brief Construct an uninitialized vector + */ + +/** + * \fn Vector::Vector(T scalar) + * \brief Construct a vector filled with a \a scalar value + * \param[in] scalar The scalar value + */ + +/** + * \fn Vector::Vector(const std::array<T, Rows> &data) + * \brief Construct vector from supplied data + * \param data Data from which to construct a vector + * + * The size of \a data must be equal to the dimension size Rows of the vector. + */ + +/** + * \fn T Vector::operator[](size_t i) const + * \brief Index to an element in the vector + * \param i Index of element to retrieve + * \return Element at index \a i from the vector + */ + +/** + * \fn T &Vector::operator[](size_t i) + * \copydoc Vector::operator[](size_t i) const + */ + +/** + * \fn Vector::operator-() const + * \brief Negate a Vector by negating both all of its coordinates + * \return The negated vector + */ + +/** + * \fn Vector::operator+(Vector const &other) const + * \brief Calculate the sum of this vector and \a other element-wise + * \param[in] other The other vector + * \return The element-wise sum of this vector and \a other + */ + +/** + * \fn Vector::operator+(T scalar) const + * \brief Calculate the sum of this vector and \a scalar element-wise + * \param[in] scalar The scalar + * \return The element-wise sum of this vector and \a other + */ + +/** + * \fn Vector::operator-(Vector const &other) const + * \brief Calculate the difference of this vector and \a other element-wise + * \param[in] other The other vector + * \return The element-wise subtraction of \a other from this vector + */ + +/** + * \fn Vector::operator-(T scalar) const + * \brief Calculate the difference of this vector and \a scalar element-wise + * \param[in] scalar The scalar + * \return The element-wise subtraction of \a scalar from this vector + */ + +/** + * \fn Vector::operator*(const Vector &other) const + * \brief Calculate the product of this vector and \a other element-wise + * \param[in] other The other vector + * \return The element-wise product of this vector and \a other + */ + +/** + * \fn Vector::operator*(T scalar) const + * \brief Calculate the product of this vector and \a scalar element-wise + * \param[in] scalar The scalar + * \return The element-wise product of this vector and \a scalar + */ + +/** + * \fn Vector::operator/(const Vector &other) const + * \brief Calculate the quotient of this vector and \a other element-wise + * \param[in] other The other vector + * \return The element-wise division of this vector by \a other + */ + +/** + * \fn Vector::operator/(T scalar) const + * \brief Calculate the quotient of this vector and \a scalar element-wise + * \param[in] scalar The scalar + * \return The element-wise division of this vector by \a scalar + */ + +/** + * \fn Vector::operator+=(Vector const &other) + * \brief Add \a other element-wise to this vector + * \param[in] other The other vector + * \return This vector + */ + +/** + * \fn Vector::operator+=(T scalar) + * \brief Add \a scalar element-wise to this vector + * \param[in] scalar The scalar + * \return This vector + */ + +/** + * \fn Vector::operator-=(Vector const &other) + * \brief Subtract \a other element-wise from this vector + * \param[in] other The other vector + * \return This vector + */ + +/** + * \fn Vector::operator-=(T scalar) + * \brief Subtract \a scalar element-wise from this vector + * \param[in] scalar The scalar + * \return This vector + */ + +/** + * \fn Vector::operator*=(const Vector &other) + * \brief Multiply this vector by \a other element-wise + * \param[in] other The other vector + * \return This vector + */ + +/** + * \fn Vector::operator*=(T scalar) + * \brief Multiply this vector by \a scalar element-wise + * \param[in] scalar The scalar + * \return This vector + */ + +/** + * \fn Vector::operator/=(const Vector &other) + * \brief Divide this vector by \a other element-wise + * \param[in] other The other vector + * \return This vector + */ + +/** + * \fn Vector::operator/=(T scalar) + * \brief Divide this vector by \a scalar element-wise + * \param[in] scalar The scalar + * \return This vector + */ + +/** + * \fn Vector::min(const Vector &other) const + * \brief Calculate the minimum of this vector and \a other element-wise + * \param[in] other The other vector + * \return The element-wise minimum of this vector and \a other + */ + +/** + * \fn Vector::min(T scalar) const + * \brief Calculate the minimum of this vector and \a scalar element-wise + * \param[in] scalar The scalar + * \return The element-wise minimum of this vector and \a scalar + */ + +/** + * \fn Vector::max(const Vector &other) const + * \brief Calculate the maximum of this vector and \a other element-wise + * \param[in] other The other vector + * \return The element-wise maximum of this vector and \a other + */ + +/** + * \fn Vector::max(T scalar) const + * \brief Calculate the maximum of this vector and \a scalar element-wise + * \param[in] scalar The scalar + * \return The element-wise maximum of this vector and \a scalar + */ + +/** + * \fn Vector::dot(const Vector<T, Rows> &other) const + * \brief Compute the dot product + * \param[in] other The other vector + * \return The dot product of the two vectors + */ + +/** + * \fn constexpr T &Vector::x() + * \brief Convenience function to access the first element of the vector + * \return The first element of the vector + */ + +/** + * \fn constexpr T &Vector::y() + * \brief Convenience function to access the second element of the vector + * \return The second element of the vector + */ + +/** + * \fn constexpr T &Vector::z() + * \brief Convenience function to access the third element of the vector + * \return The third element of the vector + */ + +/** + * \fn constexpr const T &Vector::x() const + * \copydoc Vector::x() + */ + +/** + * \fn constexpr const T &Vector::y() const + * \copydoc Vector::y() + */ + +/** + * \fn constexpr const T &Vector::z() const + * \copydoc Vector::z() + */ + +/** + * \fn constexpr T &Vector::r() + * \brief Convenience function to access the first element of the vector + * \return The first element of the vector + */ + +/** + * \fn constexpr T &Vector::g() + * \brief Convenience function to access the second element of the vector + * \return The second element of the vector + */ + +/** + * \fn constexpr T &Vector::b() + * \brief Convenience function to access the third element of the vector + * \return The third element of the vector + */ + +/** + * \fn constexpr const T &Vector::r() const + * \copydoc Vector::r() + */ + +/** + * \fn constexpr const T &Vector::g() const + * \copydoc Vector::g() + */ + +/** + * \fn constexpr const T &Vector::b() const + * \copydoc Vector::b() + */ + +/** + * \fn Vector::length2() + * \brief Get the squared length of the vector + * \return The squared length of the vector + */ + +/** + * \fn Vector::length() + * \brief Get the length of the vector + * \return The length of the vector + */ + +/** + * \fn Vector::sum() const + * \brief Calculate the sum of all the vector elements + * \tparam R The type of the sum + * + * The type R of the sum defaults to the type T of the elements, but can be set + * explicitly to use a different type in case the type T would risk + * overflowing. + * + * \return The sum of all the vector elements + */ + +/** + * \fn Vector<T, Rows> operator*(const Matrix<T, Rows, Cols> &m, const Vector<T, Cols> &v) + * \brief Multiply a matrix by a vector + * \tparam T Numerical type of the contents of the matrix and vector + * \tparam Rows The number of rows in the matrix + * \tparam Cols The number of columns in the matrix (= rows in the vector) + * \param m The matrix + * \param v The vector + * \return Product of matrix \a m and vector \a v + */ + +/** + * \typedef RGB + * \brief A Vector of 3 elements representing an RGB pixel value + */ + +/** + * \fn bool operator==(const Vector<T, Rows> &lhs, const Vector<T, Rows> &rhs) + * \brief Compare vectors for equality + * \return True if the two vectors are equal, false otherwise + */ + +/** + * \fn bool operator!=(const Vector<T, Rows> &lhs, const Vector<T, Rows> &rhs) + * \brief Compare vectors for inequality + * \return True if the two vectors are not equal, false otherwise + */ + +#ifndef __DOXYGEN__ +bool vectorValidateYaml(const YamlObject &obj, unsigned int size) +{ + if (!obj.isList()) + return false; + + if (obj.size() != size) { + LOG(Vector, Error) + << "Wrong number of values in YAML vector: expected " + << size << ", got " << obj.size(); + return false; + } + + return true; +} +#endif /* __DOXYGEN__ */ + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/vector.h b/src/ipa/libipa/vector.h new file mode 100644 index 00000000..fe33c9d6 --- /dev/null +++ b/src/ipa/libipa/vector.h @@ -0,0 +1,370 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Vector and related operations + */ +#pragma once + +#include <algorithm> +#include <array> +#include <cmath> +#include <functional> +#include <numeric> +#include <optional> +#include <ostream> + +#include <libcamera/base/log.h> +#include <libcamera/base/span.h> + +#include "libcamera/internal/matrix.h" +#include "libcamera/internal/yaml_parser.h" + +namespace libcamera { + +LOG_DECLARE_CATEGORY(Vector) + +namespace ipa { + +#ifndef __DOXYGEN__ +template<typename T, unsigned int Rows, + std::enable_if_t<std::is_arithmetic_v<T>> * = nullptr> +#else +template<typename T, unsigned int Rows> +#endif /* __DOXYGEN__ */ +class Vector +{ +public: + constexpr Vector() = default; + + constexpr explicit Vector(T scalar) + { + data_.fill(scalar); + } + + constexpr Vector(const std::array<T, Rows> &data) + { + for (unsigned int i = 0; i < Rows; i++) + data_[i] = data[i]; + } + + const T &operator[](size_t i) const + { + ASSERT(i < data_.size()); + return data_[i]; + } + + T &operator[](size_t i) + { + ASSERT(i < data_.size()); + return data_[i]; + } + + constexpr Vector<T, Rows> operator-() const + { + Vector<T, Rows> ret; + for (unsigned int i = 0; i < Rows; i++) + ret[i] = -data_[i]; + return ret; + } + + constexpr Vector operator+(const Vector &other) const + { + return apply(*this, other, std::plus<>{}); + } + + constexpr Vector operator+(T scalar) const + { + return apply(*this, scalar, std::plus<>{}); + } + + constexpr Vector operator-(const Vector &other) const + { + return apply(*this, other, std::minus<>{}); + } + + constexpr Vector operator-(T scalar) const + { + return apply(*this, scalar, std::minus<>{}); + } + + constexpr Vector operator*(const Vector &other) const + { + return apply(*this, other, std::multiplies<>{}); + } + + constexpr Vector operator*(T scalar) const + { + return apply(*this, scalar, std::multiplies<>{}); + } + + constexpr Vector operator/(const Vector &other) const + { + return apply(*this, other, std::divides<>{}); + } + + constexpr Vector operator/(T scalar) const + { + return apply(*this, scalar, std::divides<>{}); + } + + Vector &operator+=(const Vector &other) + { + return apply(other, [](T a, T b) { return a + b; }); + } + + Vector &operator+=(T scalar) + { + return apply(scalar, [](T a, T b) { return a + b; }); + } + + Vector &operator-=(const Vector &other) + { + return apply(other, [](T a, T b) { return a - b; }); + } + + Vector &operator-=(T scalar) + { + return apply(scalar, [](T a, T b) { return a - b; }); + } + + Vector &operator*=(const Vector &other) + { + return apply(other, [](T a, T b) { return a * b; }); + } + + Vector &operator*=(T scalar) + { + return apply(scalar, [](T a, T b) { return a * b; }); + } + + Vector &operator/=(const Vector &other) + { + return apply(other, [](T a, T b) { return a / b; }); + } + + Vector &operator/=(T scalar) + { + return apply(scalar, [](T a, T b) { return a / b; }); + } + + constexpr Vector min(const Vector &other) const + { + return apply(*this, other, [](T a, T b) { return std::min(a, b); }); + } + + constexpr Vector min(T scalar) const + { + return apply(*this, scalar, [](T a, T b) { return std::min(a, b); }); + } + + constexpr Vector max(const Vector &other) const + { + return apply(*this, other, [](T a, T b) { return std::max(a, b); }); + } + + constexpr Vector max(T scalar) const + { + return apply(*this, scalar, [](T a, T b) -> T { return std::max(a, b); }); + } + + constexpr T dot(const Vector<T, Rows> &other) const + { + T ret = 0; + for (unsigned int i = 0; i < Rows; i++) + ret += data_[i] * other[i]; + return ret; + } + +#ifndef __DOXYGEN__ + template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 1>> +#endif /* __DOXYGEN__ */ + constexpr const T &x() const { return data_[0]; } +#ifndef __DOXYGEN__ + template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 2>> +#endif /* __DOXYGEN__ */ + constexpr const T &y() const { return data_[1]; } +#ifndef __DOXYGEN__ + template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 3>> +#endif /* __DOXYGEN__ */ + constexpr const T &z() const { return data_[2]; } +#ifndef __DOXYGEN__ + template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 1>> +#endif /* __DOXYGEN__ */ + constexpr T &x() { return data_[0]; } +#ifndef __DOXYGEN__ + template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 2>> +#endif /* __DOXYGEN__ */ + constexpr T &y() { return data_[1]; } +#ifndef __DOXYGEN__ + template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 3>> +#endif /* __DOXYGEN__ */ + constexpr T &z() { return data_[2]; } + +#ifndef __DOXYGEN__ + template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 1>> +#endif /* __DOXYGEN__ */ + constexpr const T &r() const { return data_[0]; } +#ifndef __DOXYGEN__ + template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 2>> +#endif /* __DOXYGEN__ */ + constexpr const T &g() const { return data_[1]; } +#ifndef __DOXYGEN__ + template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 3>> +#endif /* __DOXYGEN__ */ + constexpr const T &b() const { return data_[2]; } +#ifndef __DOXYGEN__ + template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 1>> +#endif /* __DOXYGEN__ */ + constexpr T &r() { return data_[0]; } +#ifndef __DOXYGEN__ + template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 2>> +#endif /* __DOXYGEN__ */ + constexpr T &g() { return data_[1]; } +#ifndef __DOXYGEN__ + template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 3>> +#endif /* __DOXYGEN__ */ + constexpr T &b() { return data_[2]; } + + constexpr double length2() const + { + double ret = 0; + for (unsigned int i = 0; i < Rows; i++) + ret += data_[i] * data_[i]; + return ret; + } + + constexpr double length() const + { + return std::sqrt(length2()); + } + + template<typename R = T> + constexpr R sum() const + { + return std::accumulate(data_.begin(), data_.end(), R{}); + } + +private: + template<class BinaryOp> + static constexpr Vector apply(const Vector &lhs, const Vector &rhs, BinaryOp op) + { + Vector result; + std::transform(lhs.data_.begin(), lhs.data_.end(), + rhs.data_.begin(), result.data_.begin(), + op); + + return result; + } + + template<class BinaryOp> + static constexpr Vector apply(const Vector &lhs, T rhs, BinaryOp op) + { + Vector result; + std::transform(lhs.data_.begin(), lhs.data_.end(), + result.data_.begin(), + [&op, rhs](T v) { return op(v, rhs); }); + + return result; + } + + template<class BinaryOp> + Vector &apply(const Vector &other, BinaryOp op) + { + auto itOther = other.data_.begin(); + std::for_each(data_.begin(), data_.end(), + [&op, &itOther](T &v) { v = op(v, *itOther++); }); + + return *this; + } + + template<class BinaryOp> + Vector &apply(T scalar, BinaryOp op) + { + std::for_each(data_.begin(), data_.end(), + [&op, scalar](T &v) { v = op(v, scalar); }); + + return *this; + } + + std::array<T, Rows> data_; +}; + +template<typename T> +using RGB = Vector<T, 3>; + +template<typename T, unsigned int Rows, unsigned int Cols> +Vector<T, Rows> operator*(const Matrix<T, Rows, Cols> &m, const Vector<T, Cols> &v) +{ + Vector<T, Rows> result; + + for (unsigned int i = 0; i < Rows; i++) { + T sum = 0; + for (unsigned int j = 0; j < Cols; j++) + sum += m[i][j] * v[j]; + result[i] = sum; + } + + return result; +} + +template<typename T, unsigned int Rows> +bool operator==(const Vector<T, Rows> &lhs, const Vector<T, Rows> &rhs) +{ + for (unsigned int i = 0; i < Rows; i++) { + if (lhs[i] != rhs[i]) + return false; + } + + return true; +} + +template<typename T, unsigned int Rows> +bool operator!=(const Vector<T, Rows> &lhs, const Vector<T, Rows> &rhs) +{ + return !(lhs == rhs); +} + +#ifndef __DOXYGEN__ +bool vectorValidateYaml(const YamlObject &obj, unsigned int size); +#endif /* __DOXYGEN__ */ + +} /* namespace ipa */ + +#ifndef __DOXYGEN__ +template<typename T, unsigned int Rows> +std::ostream &operator<<(std::ostream &out, const ipa::Vector<T, Rows> &v) +{ + out << "Vector { "; + for (unsigned int i = 0; i < Rows; i++) { + out << v[i]; + out << ((i + 1 < Rows) ? ", " : " "); + } + out << " }"; + + return out; +} + +template<typename T, unsigned int Rows> +struct YamlObject::Getter<ipa::Vector<T, Rows>> { + std::optional<ipa::Vector<T, Rows>> get(const YamlObject &obj) const + { + if (!ipa::vectorValidateYaml(obj, Rows)) + return std::nullopt; + + ipa::Vector<T, Rows> vector; + + unsigned int i = 0; + for (const YamlObject &entry : obj.asList()) { + const auto value = entry.get<T>(); + if (!value) + return std::nullopt; + vector[i++] = *value; + } + + return vector; + } +}; +#endif /* __DOXYGEN__ */ + +} /* namespace libcamera */ diff --git a/src/ipa/mali-c55/algorithms/agc.cpp b/src/ipa/mali-c55/algorithms/agc.cpp new file mode 100644 index 00000000..70667db3 --- /dev/null +++ b/src/ipa/mali-c55/algorithms/agc.cpp @@ -0,0 +1,410 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board Oy + * + * agc.cpp - AGC/AEC mean-based control algorithm + */ + +#include "agc.h" + +#include <cmath> + +#include <libcamera/base/log.h> +#include <libcamera/base/utils.h> + +#include <libcamera/control_ids.h> +#include <libcamera/property_ids.h> + +#include "libipa/colours.h" +#include "libipa/fixedpoint.h" + +namespace libcamera { + +using namespace std::literals::chrono_literals; + +namespace ipa::mali_c55::algorithms { + +LOG_DEFINE_CATEGORY(MaliC55Agc) + +/* + * Number of histogram bins. This is only true for the specific configuration we + * set to the ISP; 4 separate histograms of 256 bins each. If that configuration + * ever changes then this constant will need updating. + */ +static constexpr unsigned int kNumHistogramBins = 256; + +/* + * The Mali-C55 ISP has a digital gain block which allows setting gain in Q5.8 + * format, a range of 0.0 to (very nearly) 32.0. We clamp from 1.0 to the actual + * max value which is 8191 * 2^-8. + */ +static constexpr double kMinDigitalGain = 1.0; +static constexpr double kMaxDigitalGain = 31.99609375; + +uint32_t AgcStatistics::decodeBinValue(uint16_t binVal) +{ + int exponent = (binVal & 0xf000) >> 12; + int mantissa = binVal & 0xfff; + + if (!exponent) + return mantissa * 2; + else + return (mantissa + 4096) * std::pow(2, exponent); +} + +/* + * We configure the ISP to give us 4 histograms of 256 bins each, with + * a single histogram per colour channel (R/Gr/Gb/B). The memory space + * containing the data is a single block containing all 4 histograms + * with the position of each colour's histogram within it dependent on + * the bayer pattern of the data input to the ISP. + * + * NOTE: The validity of this function depends on the parameters we have + * configured. With different skip/offset x, y values not all of the + * colour channels would be populated, and they may not be in the same + * planes as calculated here. + */ +int AgcStatistics::setBayerOrderIndices(BayerFormat::Order bayerOrder) +{ + switch (bayerOrder) { + case BayerFormat::Order::RGGB: + rIndex_ = 0; + grIndex_ = 1; + gbIndex_ = 2; + bIndex_ = 3; + break; + case BayerFormat::Order::GRBG: + grIndex_ = 0; + rIndex_ = 1; + bIndex_ = 2; + gbIndex_ = 3; + break; + case BayerFormat::Order::GBRG: + gbIndex_ = 0; + bIndex_ = 1; + rIndex_ = 2; + grIndex_ = 3; + break; + case BayerFormat::Order::BGGR: + bIndex_ = 0; + gbIndex_ = 1; + grIndex_ = 2; + rIndex_ = 3; + break; + default: + LOG(MaliC55Agc, Error) + << "Invalid bayer format " << bayerOrder; + return -EINVAL; + } + + return 0; +} + +void AgcStatistics::parseStatistics(const mali_c55_stats_buffer *stats) +{ + uint32_t r[256], g[256], b[256], y[256]; + + /* + * We need to decode the bin values for each histogram from their 16-bit + * compressed values to a 32-bit value. We also take the average of the + * Gr/Gb values into a single green histogram. + */ + for (unsigned int i = 0; i < 256; i++) { + r[i] = decodeBinValue(stats->ae_1024bin_hist.bins[i + (256 * rIndex_)]); + g[i] = (decodeBinValue(stats->ae_1024bin_hist.bins[i + (256 * grIndex_)]) + + decodeBinValue(stats->ae_1024bin_hist.bins[i + (256 * gbIndex_)])) / 2; + b[i] = decodeBinValue(stats->ae_1024bin_hist.bins[i + (256 * bIndex_)]); + + y[i] = rec601LuminanceFromRGB({ { static_cast<double>(r[i]), + static_cast<double>(g[i]), + static_cast<double>(b[i]) } }); + } + + rHist = Histogram(Span<uint32_t>(r, kNumHistogramBins)); + gHist = Histogram(Span<uint32_t>(g, kNumHistogramBins)); + bHist = Histogram(Span<uint32_t>(b, kNumHistogramBins)); + yHist = Histogram(Span<uint32_t>(y, kNumHistogramBins)); +} + +Agc::Agc() + : AgcMeanLuminance() +{ +} + +int Agc::init(IPAContext &context, const YamlObject &tuningData) +{ + int ret = parseTuningData(tuningData); + if (ret) + return ret; + + context.ctrlMap[&controls::AeEnable] = ControlInfo(false, true); + context.ctrlMap[&controls::DigitalGain] = ControlInfo( + static_cast<float>(kMinDigitalGain), + static_cast<float>(kMaxDigitalGain), + static_cast<float>(kMinDigitalGain) + ); + context.ctrlMap.merge(controls()); + + return 0; +} + +int Agc::configure(IPAContext &context, + [[maybe_unused]] const IPACameraSensorInfo &configInfo) +{ + int ret = statistics_.setBayerOrderIndices(context.configuration.sensor.bayerOrder); + if (ret) + return ret; + + /* + * Defaults; we use whatever the sensor's default exposure is and the + * minimum analogue gain. AEGC is _active_ by default. + */ + context.activeState.agc.autoEnabled = true; + context.activeState.agc.automatic.sensorGain = context.configuration.agc.minAnalogueGain; + context.activeState.agc.automatic.exposure = context.configuration.agc.defaultExposure; + context.activeState.agc.automatic.ispGain = kMinDigitalGain; + context.activeState.agc.manual.sensorGain = context.configuration.agc.minAnalogueGain; + context.activeState.agc.manual.exposure = context.configuration.agc.defaultExposure; + context.activeState.agc.manual.ispGain = kMinDigitalGain; + context.activeState.agc.constraintMode = constraintModes().begin()->first; + context.activeState.agc.exposureMode = exposureModeHelpers().begin()->first; + + /* \todo Run this again when FrameDurationLimits is passed in */ + setLimits(context.configuration.agc.minShutterSpeed, + context.configuration.agc.maxShutterSpeed, + context.configuration.agc.minAnalogueGain, + context.configuration.agc.maxAnalogueGain); + + resetFrameCount(); + + return 0; +} + +void Agc::queueRequest(IPAContext &context, const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + const ControlList &controls) +{ + auto &agc = context.activeState.agc; + + const auto &constraintMode = controls.get(controls::AeConstraintMode); + agc.constraintMode = constraintMode.value_or(agc.constraintMode); + + const auto &exposureMode = controls.get(controls::AeExposureMode); + agc.exposureMode = exposureMode.value_or(agc.exposureMode); + + const auto &agcEnable = controls.get(controls::AeEnable); + if (agcEnable && *agcEnable != agc.autoEnabled) { + agc.autoEnabled = *agcEnable; + + LOG(MaliC55Agc, Info) + << (agc.autoEnabled ? "Enabling" : "Disabling") + << " AGC"; + } + + /* + * If the automatic exposure and gain is enabled we have no further work + * to do here... + */ + if (agc.autoEnabled) + return; + + /* + * ...otherwise we need to look for exposure and gain controls and use + * those to set the activeState. + */ + const auto &exposure = controls.get(controls::ExposureTime); + if (exposure) { + agc.manual.exposure = *exposure * 1.0us / context.configuration.sensor.lineDuration; + + LOG(MaliC55Agc, Debug) + << "Exposure set to " << agc.manual.exposure + << " on request sequence " << frame; + } + + const auto &analogueGain = controls.get(controls::AnalogueGain); + if (analogueGain) { + agc.manual.sensorGain = *analogueGain; + + LOG(MaliC55Agc, Debug) + << "Analogue gain set to " << agc.manual.sensorGain + << " on request sequence " << frame; + } + + const auto &digitalGain = controls.get(controls::DigitalGain); + if (digitalGain) { + agc.manual.ispGain = *digitalGain; + + LOG(MaliC55Agc, Debug) + << "Digital gain set to " << agc.manual.ispGain + << " on request sequence " << frame; + } +} + +size_t Agc::fillGainParamBlock(IPAContext &context, IPAFrameContext &frameContext, + mali_c55_params_block block) +{ + IPAActiveState &activeState = context.activeState; + double gain; + + if (activeState.agc.autoEnabled) + gain = activeState.agc.automatic.ispGain; + else + gain = activeState.agc.manual.ispGain; + + block.header->type = MALI_C55_PARAM_BLOCK_DIGITAL_GAIN; + block.header->flags = MALI_C55_PARAM_BLOCK_FL_NONE; + block.header->size = sizeof(struct mali_c55_params_digital_gain); + + block.digital_gain->gain = floatingToFixedPoint<5, 8, uint16_t, double>(gain); + frameContext.agc.ispGain = gain; + + return block.header->size; +} + +size_t Agc::fillParamsBuffer(mali_c55_params_block block, + enum mali_c55_param_block_type type) +{ + block.header->type = type; + block.header->flags = MALI_C55_PARAM_BLOCK_FL_NONE; + block.header->size = sizeof(struct mali_c55_params_aexp_hist); + + /* Collect every 3rd pixel horizontally */ + block.aexp_hist->skip_x = 1; + /* Start from first column */ + block.aexp_hist->offset_x = 0; + /* Collect every pixel vertically */ + block.aexp_hist->skip_y = 0; + /* Start from the first row */ + block.aexp_hist->offset_y = 0; + /* 1x scaling (i.e. none) */ + block.aexp_hist->scale_bottom = 0; + block.aexp_hist->scale_top = 0; + /* Collect all Bayer planes into 4 separate histograms */ + block.aexp_hist->plane_mode = 1; + /* Tap the data immediately after the digital gain block */ + block.aexp_hist->tap_point = MALI_C55_AEXP_HIST_TAP_FS; + + return block.header->size; +} + +size_t Agc::fillWeightsArrayBuffer(mali_c55_params_block block, + enum mali_c55_param_block_type type) +{ + block.header->type = type; + block.header->flags = MALI_C55_PARAM_BLOCK_FL_NONE; + block.header->size = sizeof(struct mali_c55_params_aexp_weights); + + /* We use every zone - a 15x15 grid */ + block.aexp_weights->nodes_used_horiz = 15; + block.aexp_weights->nodes_used_vert = 15; + + /* + * We uniformly weight the zones to 1 - this results in the collected + * histograms containing a true pixel count, which we can then use to + * approximate colour channel averages for the image. + */ + Span<uint8_t> weights{ + block.aexp_weights->zone_weights, + MALI_C55_MAX_ZONES + }; + std::fill(weights.begin(), weights.end(), 1); + + return block.header->size; +} + +void Agc::prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, mali_c55_params_buffer *params) +{ + mali_c55_params_block block; + + block.data = ¶ms->data[params->total_size]; + params->total_size += fillGainParamBlock(context, frameContext, block); + + if (frame > 0) + return; + + block.data = ¶ms->data[params->total_size]; + params->total_size += fillParamsBuffer(block, + MALI_C55_PARAM_BLOCK_AEXP_HIST); + + block.data = ¶ms->data[params->total_size]; + params->total_size += fillWeightsArrayBuffer(block, + MALI_C55_PARAM_BLOCK_AEXP_HIST_WEIGHTS); + + block.data = ¶ms->data[params->total_size]; + params->total_size += fillParamsBuffer(block, + MALI_C55_PARAM_BLOCK_AEXP_IHIST); + + block.data = ¶ms->data[params->total_size]; + params->total_size += fillWeightsArrayBuffer(block, + MALI_C55_PARAM_BLOCK_AEXP_IHIST_WEIGHTS); +} + +double Agc::estimateLuminance(const double gain) const +{ + double rAvg = statistics_.rHist.interQuantileMean(0, 1) * gain; + double gAvg = statistics_.gHist.interQuantileMean(0, 1) * gain; + double bAvg = statistics_.bHist.interQuantileMean(0, 1) * gain; + double yAvg = rec601LuminanceFromRGB({ { rAvg, gAvg, bAvg } }); + + return yAvg / kNumHistogramBins; +} + +void Agc::process(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + const mali_c55_stats_buffer *stats, + [[maybe_unused]] ControlList &metadata) +{ + IPASessionConfiguration &configuration = context.configuration; + IPAActiveState &activeState = context.activeState; + + if (!stats) { + LOG(MaliC55Agc, Error) << "No statistics buffer passed to Agc"; + return; + } + + statistics_.parseStatistics(stats); + context.activeState.agc.temperatureK = estimateCCT({ { statistics_.rHist.interQuantileMean(0, 1), + statistics_.gHist.interQuantileMean(0, 1), + statistics_.bHist.interQuantileMean(0, 1) } }); + + /* + * The Agc algorithm needs to know the effective exposure value that was + * applied to the sensor when the statistics were collected. + */ + uint32_t exposure = frameContext.agc.exposure; + double analogueGain = frameContext.agc.sensorGain; + double digitalGain = frameContext.agc.ispGain; + double totalGain = analogueGain * digitalGain; + utils::Duration currentShutter = exposure * configuration.sensor.lineDuration; + utils::Duration effectiveExposureValue = currentShutter * totalGain; + + utils::Duration shutterTime; + double aGain, dGain; + std::tie(shutterTime, aGain, dGain) = + calculateNewEv(activeState.agc.constraintMode, + activeState.agc.exposureMode, statistics_.yHist, + effectiveExposureValue); + + dGain = std::clamp(dGain, kMinDigitalGain, kMaxDigitalGain); + + LOG(MaliC55Agc, Debug) + << "Divided up shutter, analogue gain and digital gain are " + << shutterTime << ", " << aGain << " and " << dGain; + + activeState.agc.automatic.exposure = shutterTime / configuration.sensor.lineDuration; + activeState.agc.automatic.sensorGain = aGain; + activeState.agc.automatic.ispGain = dGain; + + metadata.set(controls::ExposureTime, currentShutter.get<std::micro>()); + metadata.set(controls::AnalogueGain, frameContext.agc.sensorGain); + metadata.set(controls::DigitalGain, frameContext.agc.ispGain); + metadata.set(controls::ColourTemperature, context.activeState.agc.temperatureK); +} + +REGISTER_IPA_ALGORITHM(Agc, "Agc") + +} /* namespace ipa::mali_c55::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/mali-c55/algorithms/agc.h b/src/ipa/mali-c55/algorithms/agc.h new file mode 100644 index 00000000..c5c574e5 --- /dev/null +++ b/src/ipa/mali-c55/algorithms/agc.h @@ -0,0 +1,81 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2023, Ideas on Board Oy + * + * agc.h - Mali C55 AGC/AEC mean-based control algorithm + */ + +#pragma once + +#include <libcamera/base/utils.h> + +#include "libcamera/internal/bayer_format.h" + +#include "libipa/agc_mean_luminance.h" +#include "libipa/histogram.h" + +#include "algorithm.h" +#include "ipa_context.h" + +namespace libcamera { + +namespace ipa::mali_c55::algorithms { + +class AgcStatistics +{ +public: + AgcStatistics() + { + } + + int setBayerOrderIndices(BayerFormat::Order bayerOrder); + uint32_t decodeBinValue(uint16_t binVal); + void parseStatistics(const mali_c55_stats_buffer *stats); + + Histogram rHist; + Histogram gHist; + Histogram bHist; + Histogram yHist; +private: + unsigned int rIndex_; + unsigned int grIndex_; + unsigned int gbIndex_; + unsigned int bIndex_; +}; + +class Agc : public Algorithm, public AgcMeanLuminance +{ +public: + Agc(); + ~Agc() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + int configure(IPAContext &context, + const IPACameraSensorInfo &configInfo) override; + void queueRequest(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + mali_c55_params_buffer *params) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const mali_c55_stats_buffer *stats, + ControlList &metadata) override; + +private: + double estimateLuminance(const double gain) const override; + size_t fillGainParamBlock(IPAContext &context, + IPAFrameContext &frameContext, + mali_c55_params_block block); + size_t fillParamsBuffer(mali_c55_params_block block, + enum mali_c55_param_block_type type); + size_t fillWeightsArrayBuffer(mali_c55_params_block block, + enum mali_c55_param_block_type type); + + AgcStatistics statistics_; +}; + +} /* namespace ipa::mali_c55::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/mali-c55/algorithms/algorithm.h b/src/ipa/mali-c55/algorithms/algorithm.h new file mode 100644 index 00000000..36a3bff0 --- /dev/null +++ b/src/ipa/mali-c55/algorithms/algorithm.h @@ -0,0 +1,39 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * algorithm.h - Mali-C55 control algorithm interface + */ + +#pragma once + +#include <linux/mali-c55-config.h> + +#include <libipa/algorithm.h> + +#include "module.h" + +namespace libcamera { + +namespace ipa::mali_c55 { + +class Algorithm : public libcamera::ipa::Algorithm<Module> +{ +}; + +union mali_c55_params_block { + struct mali_c55_params_block_header *header; + struct mali_c55_params_sensor_off_preshading *sensor_offs; + struct mali_c55_params_aexp_hist *aexp_hist; + struct mali_c55_params_aexp_weights *aexp_weights; + struct mali_c55_params_digital_gain *digital_gain; + struct mali_c55_params_awb_gains *awb_gains; + struct mali_c55_params_awb_config *awb_config; + struct mali_c55_params_mesh_shading_config *shading_config; + struct mali_c55_params_mesh_shading_selection *shading_selection; + __u8 *data; +}; + +} /* namespace ipa::mali_c55 */ + +} /* namespace libcamera */ diff --git a/src/ipa/mali-c55/algorithms/awb.cpp b/src/ipa/mali-c55/algorithms/awb.cpp new file mode 100644 index 00000000..050b191b --- /dev/null +++ b/src/ipa/mali-c55/algorithms/awb.cpp @@ -0,0 +1,230 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board Oy + * + * awb.cpp - Mali C55 grey world auto white balance algorithm + */ + +#include "awb.h" + +#include <cmath> + +#include <libcamera/base/log.h> +#include <libcamera/base/utils.h> + +#include <libcamera/control_ids.h> + +#include "libipa/fixedpoint.h" + +namespace libcamera { + +namespace ipa::mali_c55::algorithms { + +LOG_DEFINE_CATEGORY(MaliC55Awb) + +/* Number of frames at which we should run AWB at full speed */ +static constexpr uint32_t kNumStartupFrames = 4; + +Awb::Awb() +{ +} + +int Awb::configure([[maybe_unused]] IPAContext &context, + [[maybe_unused]] const IPACameraSensorInfo &configInfo) +{ + /* + * Initially we have no idea what the colour balance will be like, so + * for the first frame we will make no assumptions and leave the R/B + * channels unmodified. + */ + context.activeState.awb.rGain = 1.0; + context.activeState.awb.bGain = 1.0; + + return 0; +} + +size_t Awb::fillGainsParamBlock(mali_c55_params_block block, IPAContext &context, + IPAFrameContext &frameContext) +{ + block.header->type = MALI_C55_PARAM_BLOCK_AWB_GAINS; + block.header->flags = MALI_C55_PARAM_BLOCK_FL_NONE; + block.header->size = sizeof(struct mali_c55_params_awb_gains); + + double rGain = context.activeState.awb.rGain; + double bGain = context.activeState.awb.bGain; + + /* + * The gains here map as follows: + * gain00 = R + * gain01 = Gr + * gain10 = Gb + * gain11 = B + * + * This holds true regardless of the bayer order of the input data, as + * the mapping is done internally in the ISP. + */ + block.awb_gains->gain00 = floatingToFixedPoint<4, 8, uint16_t, double>(rGain); + block.awb_gains->gain01 = floatingToFixedPoint<4, 8, uint16_t, double>(1.0); + block.awb_gains->gain10 = floatingToFixedPoint<4, 8, uint16_t, double>(1.0); + block.awb_gains->gain11 = floatingToFixedPoint<4, 8, uint16_t, double>(bGain); + + frameContext.awb.rGain = rGain; + frameContext.awb.bGain = bGain; + + return sizeof(struct mali_c55_params_awb_gains); +} + +size_t Awb::fillConfigParamBlock(mali_c55_params_block block) +{ + block.header->type = MALI_C55_PARAM_BLOCK_AWB_CONFIG; + block.header->flags = MALI_C55_PARAM_BLOCK_FL_NONE; + block.header->size = sizeof(struct mali_c55_params_awb_config); + + /* Tap the stats after the purple fringe block */ + block.awb_config->tap_point = MALI_C55_AWB_STATS_TAP_PF; + + /* Get R/G and B/G ratios as statistics */ + block.awb_config->stats_mode = MALI_C55_AWB_MODE_RGBG; + + /* Default white level */ + block.awb_config->white_level = 1023; + + /* Default black level */ + block.awb_config->black_level = 0; + + /* + * By default pixels are included who's colour ratios are bounded in a + * region (on a cr ratio x cb ratio graph) defined by four points: + * (0.25, 0.25) + * (0.25, 1.99609375) + * (1.99609375, 1.99609375) + * (1.99609375, 0.25) + * + * The ratios themselves are stored in Q4.8 format. + * + * \todo should these perhaps be tunable? + */ + block.awb_config->cr_max = 511; + block.awb_config->cr_min = 64; + block.awb_config->cb_max = 511; + block.awb_config->cb_min = 64; + + /* We use the full 15x15 zoning scheme */ + block.awb_config->nodes_used_horiz = 15; + block.awb_config->nodes_used_vert = 15; + + /* + * We set the trimming boundaries equivalent to the main boundaries. In + * other words; no trimming. + */ + block.awb_config->cr_high = 511; + block.awb_config->cr_low = 64; + block.awb_config->cb_high = 511; + block.awb_config->cb_low = 64; + + return sizeof(struct mali_c55_params_awb_config); +} + +void Awb::prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, mali_c55_params_buffer *params) +{ + mali_c55_params_block block; + block.data = ¶ms->data[params->total_size]; + + params->total_size += fillGainsParamBlock(block, context, frameContext); + + if (frame > 0) + return; + + block.data = ¶ms->data[params->total_size]; + params->total_size += fillConfigParamBlock(block); +} + +void Awb::process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, const mali_c55_stats_buffer *stats, + [[maybe_unused]] ControlList &metadata) +{ + const struct mali_c55_awb_average_ratios *awb_ratios = stats->awb_ratios; + + /* + * The ISP produces average R:G and B:G ratios for zones. We take the + * average of all the zones with data and simply invert them to provide + * gain figures that we can apply to approximate a grey world. + */ + unsigned int counted_zones = 0; + double rgSum = 0, bgSum = 0; + + for (unsigned int i = 0; i < 225; i++) { + if (!awb_ratios[i].num_pixels) + continue; + + /* + * The statistics are in Q4.8 format, so we convert to double + * here. + */ + rgSum += fixedToFloatingPoint<4, 8, double, uint16_t>(awb_ratios[i].avg_rg_gr); + bgSum += fixedToFloatingPoint<4, 8, double, uint16_t>(awb_ratios[i].avg_bg_br); + counted_zones++; + } + + /* + * Sometimes the first frame's statistics have no valid pixels, in which + * case we'll just assume a grey world until they say otherwise. + */ + double rgAvg, bgAvg; + if (!counted_zones) { + rgAvg = 1.0; + bgAvg = 1.0; + } else { + rgAvg = rgSum / counted_zones; + bgAvg = bgSum / counted_zones; + } + + /* + * The statistics are generated _after_ white balancing is performed in + * the ISP. To get the true ratio we therefore have to adjust the stats + * figure by the gains that were applied when the statistics for this + * frame were generated. + */ + double rRatio = rgAvg / frameContext.awb.rGain; + double bRatio = bgAvg / frameContext.awb.bGain; + + /* + * And then we can simply invert the ratio to find the gain we should + * apply. + */ + double rGain = 1 / rRatio; + double bGain = 1 / bRatio; + + /* + * Running at full speed, this algorithm results in oscillations in the + * colour balance. To remove those we dampen the speed at which it makes + * changes in gain, unless we're in the startup phase in which case we + * want to fix the miscolouring as quickly as possible. + */ + double speed = frame < kNumStartupFrames ? 1.0 : 0.2; + rGain = speed * rGain + context.activeState.awb.rGain * (1.0 - speed); + bGain = speed * bGain + context.activeState.awb.bGain * (1.0 - speed); + + context.activeState.awb.rGain = rGain; + context.activeState.awb.bGain = bGain; + + metadata.set(controls::ColourGains, { + static_cast<float>(frameContext.awb.rGain), + static_cast<float>(frameContext.awb.bGain), + }); + + LOG(MaliC55Awb, Debug) << "For frame number " << frame << ": " + << "Average R/G Ratio: " << rgAvg + << ", Average B/G Ratio: " << bgAvg + << "\nrGain applied to this frame: " << frameContext.awb.rGain + << ", bGain applied to this frame: " << frameContext.awb.bGain + << "\nrGain to apply: " << context.activeState.awb.rGain + << ", bGain to apply: " << context.activeState.awb.bGain; +} + +REGISTER_IPA_ALGORITHM(Awb, "Awb") + +} /* namespace ipa::mali_c55::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/mali-c55/algorithms/awb.h b/src/ipa/mali-c55/algorithms/awb.h new file mode 100644 index 00000000..800c2e83 --- /dev/null +++ b/src/ipa/mali-c55/algorithms/awb.h @@ -0,0 +1,40 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas on Board Oy + * + * awb.h - Mali C55 grey world auto white balance algorithm + */ + +#include "algorithm.h" +#include "ipa_context.h" + +namespace libcamera { + +namespace ipa::mali_c55::algorithms { + +class Awb : public Algorithm +{ +public: + Awb(); + ~Awb() = default; + + int configure(IPAContext &context, + const IPACameraSensorInfo &configInfo) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + mali_c55_params_buffer *params) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const mali_c55_stats_buffer *stats, + ControlList &metadata) override; + +private: + size_t fillGainsParamBlock(mali_c55_params_block block, + IPAContext &context, + IPAFrameContext &frameContext); + size_t fillConfigParamBlock(mali_c55_params_block block); +}; + +} /* namespace ipa::mali_c55::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/mali-c55/algorithms/blc.cpp b/src/ipa/mali-c55/algorithms/blc.cpp new file mode 100644 index 00000000..2a54c86a --- /dev/null +++ b/src/ipa/mali-c55/algorithms/blc.cpp @@ -0,0 +1,140 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * Mali-C55 sensor offset (black level) correction + */ + +#include "blc.h" + +#include <libcamera/base/log.h> +#include <libcamera/control_ids.h> + +#include "libcamera/internal/yaml_parser.h" + +/** + * \file blc.h + */ + +namespace libcamera { + +namespace ipa::mali_c55::algorithms { + +/** + * \class BlackLevelCorrection + * \brief MaliC55 Black Level Correction control + */ + +LOG_DEFINE_CATEGORY(MaliC55Blc) + +BlackLevelCorrection::BlackLevelCorrection() + : tuningParameters_(false) +{ +} + +/** + * \copydoc libcamera::ipa::Algorithm::init + */ +int BlackLevelCorrection::init([[maybe_unused]] IPAContext &context, + const YamlObject &tuningData) +{ + offset00 = tuningData["offset00"].get<uint32_t>(0); + offset01 = tuningData["offset01"].get<uint32_t>(0); + offset10 = tuningData["offset10"].get<uint32_t>(0); + offset11 = tuningData["offset11"].get<uint32_t>(0); + + if (offset00 > kMaxOffset || offset01 > kMaxOffset || + offset10 > kMaxOffset || offset11 > kMaxOffset) { + LOG(MaliC55Blc, Error) << "Invalid black level offsets"; + return -EINVAL; + } + + tuningParameters_ = true; + + LOG(MaliC55Blc, Debug) + << "Black levels: 00 " << offset00 << ", 01 " << offset01 + << ", 10 " << offset10 << ", 11 " << offset11; + + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::configure + */ +int BlackLevelCorrection::configure(IPAContext &context, + [[maybe_unused]] const IPACameraSensorInfo &configInfo) +{ + /* + * If no Black Levels were passed in through tuning data then we could + * use the value from the CameraSensorHelper if one is available. + */ + if (context.configuration.sensor.blackLevel && + !(offset00 + offset01 + offset10 + offset11)) { + offset00 = context.configuration.sensor.blackLevel; + offset01 = context.configuration.sensor.blackLevel; + offset10 = context.configuration.sensor.blackLevel; + offset11 = context.configuration.sensor.blackLevel; + } + + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void BlackLevelCorrection::prepare([[maybe_unused]] IPAContext &context, + const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + mali_c55_params_buffer *params) +{ + mali_c55_params_block block; + block.data = ¶ms->data[params->total_size]; + + if (frame > 0) + return; + + if (!tuningParameters_) + return; + + block.header->type = MALI_C55_PARAM_BLOCK_SENSOR_OFFS; + block.header->flags = MALI_C55_PARAM_BLOCK_FL_NONE; + block.header->size = sizeof(mali_c55_params_sensor_off_preshading); + + block.sensor_offs->chan00 = offset00; + block.sensor_offs->chan01 = offset01; + block.sensor_offs->chan10 = offset10; + block.sensor_offs->chan11 = offset11; + + params->total_size += block.header->size; +} + +void BlackLevelCorrection::process([[maybe_unused]] IPAContext &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + [[maybe_unused]] const mali_c55_stats_buffer *stats, + ControlList &metadata) +{ + /* + * Black Level Offsets in tuning data need to be 20-bit, whereas the + * metadata expects values from a 16-bit range. Right-shift to remove + * the 4 least significant bits. + * + * The black levels should be reported in the order R, Gr, Gb, B. We + * ignore that here given we're using matching values so far, but it + * would be safer to check the sensor's bayer order. + * + * \todo Account for bayer order. + */ + metadata.set(controls::SensorBlackLevels, { + static_cast<int32_t>(offset00 >> 4), + static_cast<int32_t>(offset01 >> 4), + static_cast<int32_t>(offset10 >> 4), + static_cast<int32_t>(offset11 >> 4), + }); +} + +REGISTER_IPA_ALGORITHM(BlackLevelCorrection, "BlackLevelCorrection") + +} /* namespace ipa::mali_c55::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/mali-c55/algorithms/blc.h b/src/ipa/mali-c55/algorithms/blc.h new file mode 100644 index 00000000..9696e8e9 --- /dev/null +++ b/src/ipa/mali-c55/algorithms/blc.h @@ -0,0 +1,42 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * Mali-C55 sensor offset (black level) correction + */ + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::mali_c55::algorithms { + +class BlackLevelCorrection : public Algorithm +{ +public: + BlackLevelCorrection(); + ~BlackLevelCorrection() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + int configure(IPAContext &context, + const IPACameraSensorInfo &configInfo) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + mali_c55_params_buffer *params) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const mali_c55_stats_buffer *stats, + ControlList &metadata) override; + +private: + static constexpr uint32_t kMaxOffset = 0xfffff; + + bool tuningParameters_; + uint32_t offset00; + uint32_t offset01; + uint32_t offset10; + uint32_t offset11; +}; + +} /* namespace ipa::mali_c55::algorithms */ +} /* namespace libcamera */ diff --git a/src/ipa/mali-c55/algorithms/lsc.cpp b/src/ipa/mali-c55/algorithms/lsc.cpp new file mode 100644 index 00000000..c5afc04d --- /dev/null +++ b/src/ipa/mali-c55/algorithms/lsc.cpp @@ -0,0 +1,216 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board Oy + * + * lsc.cpp - Mali-C55 Lens shading correction algorithm + */ + +#include "lsc.h" + +#include "libcamera/internal/yaml_parser.h" + +namespace libcamera { + +namespace ipa::mali_c55::algorithms { + +LOG_DEFINE_CATEGORY(MaliC55Lsc) + +int Lsc::init([[maybe_unused]] IPAContext &context, const YamlObject &tuningData) +{ + if (!tuningData.contains("meshScale")) { + LOG(MaliC55Lsc, Error) << "meshScale missing from tuningData"; + return -EINVAL; + } + + meshScale_ = tuningData["meshScale"].get<uint32_t>(0); + + const YamlObject &yamlSets = tuningData["sets"]; + if (!yamlSets.isList()) { + LOG(MaliC55Lsc, Error) << "LSC tables missing or invalid"; + return -EINVAL; + } + + size_t tableSize = 0; + const auto &sets = yamlSets.asList(); + for (const auto &yamlSet : sets) { + uint32_t ct = yamlSet["ct"].get<uint32_t>(0); + + if (!ct) { + LOG(MaliC55Lsc, Error) << "Invalid colour temperature"; + return -EINVAL; + } + + if (std::count(colourTemperatures_.begin(), + colourTemperatures_.end(), ct)) { + LOG(MaliC55Lsc, Error) + << "Multiple sets found for colour temperature"; + return -EINVAL; + } + + std::vector<uint8_t> rTable = + yamlSet["r"].getList<uint8_t>().value_or(std::vector<uint8_t>{}); + std::vector<uint8_t> gTable = + yamlSet["g"].getList<uint8_t>().value_or(std::vector<uint8_t>{}); + std::vector<uint8_t> bTable = + yamlSet["b"].getList<uint8_t>().value_or(std::vector<uint8_t>{}); + + /* + * Some validation to do; only 16x16 and 32x32 tables of + * coefficients are acceptable, and all tables across all of the + * sets must be the same size. The first time we encounter a + * table we check that it is an acceptable size and if so make + * sure all other tables are of equal size. + */ + if (!tableSize) { + if (rTable.size() != 256 && rTable.size() != 1024) { + LOG(MaliC55Lsc, Error) + << "Invalid table size for colour temperature " << ct; + return -EINVAL; + } + tableSize = rTable.size(); + } + + if (rTable.size() != tableSize || + gTable.size() != tableSize || + bTable.size() != tableSize) { + LOG(MaliC55Lsc, Error) + << "Invalid or mismatched table size for colour temperature " << ct; + return -EINVAL; + } + + if (colourTemperatures_.size() >= 3) { + LOG(MaliC55Lsc, Error) + << "A maximum of 3 colour temperatures are supported"; + return -EINVAL; + } + + for (unsigned int i = 0; i < tableSize; i++) { + mesh_[kRedOffset + i] |= + (rTable[i] << (colourTemperatures_.size() * 8)); + mesh_[kGreenOffset + i] |= + (gTable[i] << (colourTemperatures_.size() * 8)); + mesh_[kBlueOffset + i] |= + (bTable[i] << (colourTemperatures_.size() * 8)); + } + + colourTemperatures_.push_back(ct); + } + + /* + * The mesh has either 16x16 or 32x32 nodes, we tell the driver which it + * is based on the number of values in the tuning data's table. + */ + if (tableSize == 256) + meshSize_ = 15; + else + meshSize_ = 31; + + return 0; +} + +size_t Lsc::fillConfigParamsBlock(mali_c55_params_block block) const +{ + block.header->type = MALI_C55_PARAM_MESH_SHADING_CONFIG; + block.header->flags = MALI_C55_PARAM_BLOCK_FL_NONE; + block.header->size = sizeof(struct mali_c55_params_mesh_shading_config); + + block.shading_config->mesh_show = false; + block.shading_config->mesh_scale = meshScale_; + block.shading_config->mesh_page_r = 0; + block.shading_config->mesh_page_g = 1; + block.shading_config->mesh_page_b = 2; + block.shading_config->mesh_width = meshSize_; + block.shading_config->mesh_height = meshSize_; + + std::copy(mesh_.begin(), mesh_.end(), block.shading_config->mesh); + + return block.header->size; +} + +size_t Lsc::fillSelectionParamsBlock(mali_c55_params_block block, uint8_t bank, + uint8_t alpha) const +{ + block.header->type = MALI_C55_PARAM_MESH_SHADING_SELECTION; + block.header->flags = MALI_C55_PARAM_BLOCK_FL_NONE; + block.header->size = sizeof(struct mali_c55_params_mesh_shading_selection); + + block.shading_selection->mesh_alpha_bank_r = bank; + block.shading_selection->mesh_alpha_bank_g = bank; + block.shading_selection->mesh_alpha_bank_b = bank; + block.shading_selection->mesh_alpha_r = alpha; + block.shading_selection->mesh_alpha_g = alpha; + block.shading_selection->mesh_alpha_b = alpha; + block.shading_selection->mesh_strength = 0x1000; /* Otherwise known as 1.0 */ + + return block.header->size; +} + +std::tuple<uint8_t, uint8_t> Lsc::findBankAndAlpha(uint32_t ct) const +{ + unsigned int i; + + ct = std::clamp<uint32_t>(ct, colourTemperatures_.front(), + colourTemperatures_.back()); + + for (i = 0; i < colourTemperatures_.size() - 1; i++) { + if (ct >= colourTemperatures_[i] && + ct <= colourTemperatures_[i + 1]) + break; + } + + /* + * With the clamping, we're guaranteed an index into colourTemperatures_ + * that's <= colourTemperatures_.size() - 1. + */ + uint8_t alpha = (255 * (ct - colourTemperatures_[i])) / + (colourTemperatures_[i + 1] - colourTemperatures_[i]); + + return { i, alpha }; +} + +void Lsc::prepare(IPAContext &context, [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + mali_c55_params_buffer *params) +{ + /* + * For each frame we assess the colour temperature of the **last** frame + * and then select an appropriately blended table of coefficients based + * on that ct. As a bit of a shortcut, if we've only a single table the + * handling is somewhat simpler; if it's the first frame we just select + * that table and if we're past the first frame then we can just do + * nothing - the config will never change. + */ + uint32_t temperatureK = context.activeState.agc.temperatureK; + uint8_t bank, alpha; + + if (colourTemperatures_.size() == 1) { + if (frame > 0) + return; + + bank = 0; + alpha = 0; + } else { + std::tie(bank, alpha) = findBankAndAlpha(temperatureK); + } + + mali_c55_params_block block; + block.data = ¶ms->data[params->total_size]; + + params->total_size += fillSelectionParamsBlock(block, bank, alpha); + + if (frame > 0) + return; + + /* + * If this is the first frame, we need to load the parsed coefficient + * tables from tuning data to the ISP. + */ + block.data = ¶ms->data[params->total_size]; + params->total_size += fillConfigParamsBlock(block); +} + +REGISTER_IPA_ALGORITHM(Lsc, "Lsc") + +} /* namespace ipa::mali_c55::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/mali-c55/algorithms/lsc.h b/src/ipa/mali-c55/algorithms/lsc.h new file mode 100644 index 00000000..e613277a --- /dev/null +++ b/src/ipa/mali-c55/algorithms/lsc.h @@ -0,0 +1,45 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board Oy + * + * lsc.h - Mali-C55 Lens shading correction algorithm + */ + +#include <map> +#include <tuple> + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::mali_c55::algorithms { + +class Lsc : public Algorithm +{ +public: + Lsc() = default; + ~Lsc() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + mali_c55_params_buffer *params) override; +private: + static constexpr unsigned int kRedOffset = 0; + static constexpr unsigned int kGreenOffset = 1024; + static constexpr unsigned int kBlueOffset = 2048; + + size_t fillConfigParamsBlock(mali_c55_params_block block) const; + size_t fillSelectionParamsBlock(mali_c55_params_block block, + uint8_t bank, uint8_t alpha) const; + std::tuple<uint8_t, uint8_t> findBankAndAlpha(uint32_t ct) const; + + std::vector<uint32_t> mesh_ = std::vector<uint32_t>(3072); + std::vector<uint32_t> colourTemperatures_; + uint32_t meshScale_; + uint32_t meshSize_; +}; + +} /* namespace ipa::mali_c55::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/mali-c55/algorithms/meson.build b/src/ipa/mali-c55/algorithms/meson.build new file mode 100644 index 00000000..1665da07 --- /dev/null +++ b/src/ipa/mali-c55/algorithms/meson.build @@ -0,0 +1,8 @@ +# SPDX-License-Identifier: CC0-1.0 + +mali_c55_ipa_algorithms = files([ + 'agc.cpp', + 'awb.cpp', + 'blc.cpp', + 'lsc.cpp', +]) diff --git a/src/ipa/mali-c55/data/imx415.yaml b/src/ipa/mali-c55/data/imx415.yaml new file mode 100644 index 00000000..126b427a --- /dev/null +++ b/src/ipa/mali-c55/data/imx415.yaml @@ -0,0 +1,325 @@ +# SPDX-License-Identifier: CC0-1.0 +%YAML 1.1 +--- +version: 1 +algorithms: + - Agc: + - Awb: + - BlackLevelCorrection: + offset00: 51200 + offset01: 51200 + offset10: 51200 + offset11: 51200 + - Lsc: + meshScale: 4 # 1.0 - 2.0 Gain + sets: + - ct: 2500 + r: [ + 21, 20, 19, 17, 15, 14, 12, 11, 9, 9, 9, 9, 8, 8, 9, 9, 9, 9, 9, 9, 9, 9, 13, 13, 10, 10, 13, 16, 17, 18, 21, 22, + 21, 20, 18, 16, 14, 13, 12, 11, 10, 9, 9, 8, 8, 8, 8, 8, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 12, 15, 17, 18, 21, 21, + 20, 19, 17, 16, 14, 13, 12, 11, 10, 9, 8, 8, 8, 7, 7, 7, 8, 8, 8, 8, 8, 9, 9, 8, 8, 8, 11, 15, 17, 18, 21, 21, + 19, 19, 17, 15, 14, 13, 12, 11, 10, 8, 8, 7, 7, 7, 6, 6, 7, 7, 8, 8, 8, 8, 8, 7, 7, 8, 10, 14, 17, 18, 20, 22, + 19, 18, 17, 15, 14, 13, 11, 11, 9, 8, 8, 7, 7, 6, 5, 5, 5, 5, 6, 7, 8, 7, 7, 6, 7, 7, 10, 12, 16, 18, 20, 22, + 18, 18, 16, 15, 14, 12, 11, 10, 9, 8, 6, 6, 5, 5, 4, 4, 5, 5, 5, 5, 6, 6, 6, 6, 6, 7, 8, 12, 16, 18, 19, 20, + 18, 18, 16, 14, 13, 12, 11, 9, 9, 7, 6, 5, 5, 5, 4, 4, 4, 5, 5, 4, 4, 5, 5, 5, 5, 6, 8, 11, 15, 18, 18, 19, + 18, 17, 15, 14, 13, 12, 11, 9, 8, 7, 6, 5, 5, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 5, 5, 6, 7, 9, 14, 17, 18, 18, + 18, 17, 15, 14, 13, 12, 11, 9, 8, 7, 5, 5, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 5, 5, 6, 8, 12, 17, 18, 18, + 18, 16, 15, 13, 12, 11, 10, 9, 8, 7, 5, 4, 4, 4, 4, 3, 3, 4, 4, 4, 3, 3, 4, 4, 4, 5, 6, 8, 12, 16, 19, 19, + 17, 16, 15, 13, 12, 11, 10, 8, 7, 6, 4, 4, 3, 3, 3, 3, 3, 3, 4, 4, 3, 3, 3, 4, 4, 5, 6, 9, 12, 16, 19, 20, + 17, 15, 15, 13, 12, 11, 10, 8, 6, 6, 5, 4, 3, 3, 3, 2, 3, 3, 4, 4, 3, 3, 2, 3, 4, 5, 6, 9, 11, 16, 19, 20, + 17, 15, 15, 14, 11, 11, 10, 8, 6, 5, 5, 4, 3, 3, 2, 2, 2, 3, 3, 3, 3, 3, 2, 3, 4, 5, 6, 8, 11, 16, 18, 19, + 16, 16, 15, 13, 11, 11, 10, 7, 6, 5, 4, 4, 3, 2, 2, 2, 2, 3, 3, 3, 3, 2, 2, 2, 3, 4, 6, 8, 11, 14, 17, 18, + 16, 16, 14, 13, 11, 10, 9, 7, 6, 5, 4, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 3, 4, 6, 8, 10, 14, 17, 18, + 16, 15, 14, 13, 13, 10, 9, 7, 6, 4, 4, 2, 2, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 3, 4, 4, 6, 8, 11, 17, 18, 19, + 16, 15, 14, 14, 13, 12, 9, 8, 7, 5, 4, 2, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 3, 4, 5, 6, 8, 12, 17, 19, 20, + 17, 15, 15, 14, 13, 12, 9, 8, 7, 5, 3, 2, 1, 0, 1, 1, 1, 1, 2, 2, 2, 2, 3, 3, 4, 5, 6, 8, 13, 16, 19, 21, + 17, 16, 15, 13, 13, 12, 9, 8, 7, 5, 3, 2, 0, 0, 0, 0, 1, 1, 1, 2, 2, 3, 3, 4, 5, 5, 7, 8, 13, 16, 19, 20, + 17, 16, 15, 14, 13, 12, 9, 8, 7, 5, 3, 2, 0, 0, 0, 0, 1, 1, 1, 2, 3, 3, 3, 4, 5, 6, 7, 9, 13, 17, 19, 20, + 18, 16, 15, 14, 13, 12, 9, 8, 7, 5, 4, 2, 1, 0, 0, 0, 0, 1, 2, 2, 3, 3, 3, 4, 5, 6, 8, 9, 13, 17, 20, 20, + 18, 16, 16, 15, 14, 12, 10, 9, 7, 6, 5, 3, 2, 1, 0, 0, 0, 1, 2, 3, 3, 3, 4, 5, 6, 7, 9, 10, 14, 18, 20, 20, + 18, 17, 16, 15, 14, 12, 10, 9, 8, 7, 6, 5, 3, 3, 1, 0, 0, 1, 2, 3, 4, 4, 5, 6, 6, 7, 9, 12, 15, 19, 20, 20, + 18, 18, 17, 16, 14, 13, 11, 10, 9, 8, 7, 6, 5, 5, 3, 1, 1, 1, 2, 3, 5, 5, 5, 6, 7, 9, 12, 15, 17, 19, 20, 20, + 18, 18, 17, 16, 15, 13, 12, 10, 10, 9, 8, 7, 6, 5, 4, 2, 1, 2, 3, 4, 5, 5, 6, 6, 8, 10, 13, 16, 18, 20, 20, 21, + 19, 18, 17, 16, 15, 14, 13, 11, 10, 10, 9, 8, 7, 6, 5, 4, 3, 2, 3, 3, 5, 5, 6, 7, 10, 11, 14, 17, 19, 20, 21, 22, + 20, 19, 18, 17, 16, 15, 13, 12, 11, 10, 10, 9, 8, 7, 6, 5, 4, 3, 3, 3, 5, 6, 6, 7, 10, 12, 14, 18, 20, 21, 22, 23, + 21, 20, 19, 18, 17, 16, 14, 13, 12, 11, 10, 10, 9, 7, 7, 5, 5, 4, 4, 5, 6, 6, 7, 8, 11, 13, 16, 19, 21, 22, 22, 22, + 22, 21, 20, 19, 18, 17, 16, 14, 13, 12, 12, 10, 9, 8, 7, 6, 6, 5, 5, 6, 7, 7, 8, 9, 12, 14, 18, 20, 21, 22, 22, 22, + 23, 22, 21, 20, 19, 17, 16, 15, 14, 14, 13, 12, 10, 9, 8, 7, 6, 5, 5, 6, 7, 8, 8, 10, 12, 15, 18, 20, 21, 22, 22, 22, + 24, 23, 22, 21, 20, 18, 17, 16, 15, 15, 14, 14, 13, 11, 9, 8, 6, 6, 6, 6, 7, 8, 9, 11, 14, 17, 19, 20, 21, 21, 21, 21, + 24, 24, 23, 21, 20, 19, 17, 16, 15, 15, 15, 14, 14, 14, 11, 9, 6, 5, 5, 6, 8, 8, 10, 12, 15, 17, 20, 20, 21, 21, 21, 21, + ] + g: [ + 19, 18, 17, 15, 13, 12, 10, 9, 8, 8, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 12, 12, 9, 9, 11, 15, 15, 16, 19, 20, + 19, 18, 16, 15, 12, 12, 10, 10, 8, 7, 7, 7, 7, 6, 7, 7, 7, 7, 7, 7, 7, 7, 8, 8, 7, 7, 11, 14, 15, 16, 19, 19, + 18, 17, 16, 14, 12, 12, 10, 10, 8, 7, 7, 6, 6, 5, 6, 6, 7, 7, 7, 7, 7, 7, 7, 7, 6, 6, 10, 14, 15, 17, 19, 19, + 17, 17, 16, 14, 12, 12, 10, 10, 8, 7, 6, 6, 6, 5, 5, 4, 5, 5, 6, 6, 6, 7, 7, 5, 6, 6, 9, 13, 15, 17, 18, 20, + 17, 17, 15, 14, 12, 11, 10, 9, 8, 7, 6, 5, 5, 4, 4, 4, 4, 4, 5, 6, 6, 6, 5, 5, 5, 6, 8, 11, 15, 17, 18, 20, + 17, 17, 15, 13, 12, 11, 9, 9, 8, 7, 5, 5, 4, 4, 3, 3, 4, 4, 4, 4, 4, 4, 4, 4, 4, 5, 7, 11, 15, 17, 18, 18, + 17, 16, 15, 13, 12, 11, 9, 8, 8, 6, 5, 4, 4, 4, 3, 3, 4, 4, 3, 3, 3, 4, 4, 4, 4, 5, 6, 9, 14, 17, 17, 18, + 17, 16, 14, 13, 12, 11, 9, 8, 7, 6, 5, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 6, 8, 13, 16, 17, 17, + 17, 15, 14, 13, 12, 11, 9, 8, 7, 6, 5, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 4, 4, 5, 7, 12, 16, 17, 17, + 17, 15, 14, 12, 11, 10, 9, 8, 7, 6, 4, 4, 3, 3, 3, 2, 2, 3, 3, 3, 2, 2, 3, 3, 3, 4, 5, 7, 11, 15, 18, 18, + 16, 14, 13, 12, 11, 10, 9, 7, 7, 5, 4, 3, 3, 3, 2, 2, 2, 3, 3, 3, 2, 2, 2, 3, 3, 4, 5, 8, 11, 15, 18, 19, + 16, 14, 13, 12, 11, 10, 9, 7, 5, 5, 4, 3, 3, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 3, 4, 5, 8, 10, 15, 18, 19, + 16, 14, 14, 13, 11, 10, 9, 7, 5, 5, 4, 3, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 3, 3, 5, 7, 10, 15, 17, 18, + 16, 15, 14, 12, 11, 10, 9, 7, 5, 5, 4, 3, 2, 2, 1, 1, 2, 2, 2, 2, 2, 2, 1, 2, 2, 3, 5, 6, 10, 14, 17, 17, + 15, 15, 13, 12, 11, 10, 9, 7, 5, 4, 3, 2, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 2, 2, 3, 5, 7, 10, 14, 17, 18, + 15, 14, 13, 12, 12, 10, 9, 7, 6, 4, 3, 2, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 3, 4, 5, 7, 10, 17, 18, 18, + 15, 14, 14, 13, 12, 11, 9, 7, 6, 4, 3, 2, 1, 0, 1, 1, 1, 2, 2, 2, 2, 2, 2, 3, 3, 4, 5, 7, 12, 17, 19, 19, + 16, 14, 14, 13, 12, 12, 9, 7, 6, 4, 3, 2, 0, 0, 0, 1, 1, 1, 2, 2, 2, 2, 2, 3, 4, 4, 5, 8, 12, 17, 19, 20, + 16, 15, 14, 13, 12, 12, 9, 7, 7, 4, 3, 1, 0, 0, 0, 0, 1, 1, 1, 2, 2, 2, 3, 3, 4, 4, 6, 8, 12, 17, 19, 20, + 17, 15, 14, 13, 12, 12, 9, 7, 7, 5, 3, 1, 0, 0, 0, 0, 1, 1, 1, 2, 2, 3, 3, 4, 4, 5, 6, 8, 12, 17, 19, 20, + 18, 15, 15, 14, 13, 12, 9, 8, 7, 5, 4, 2, 1, 0, 0, 0, 0, 1, 2, 2, 3, 3, 3, 4, 5, 6, 7, 9, 13, 17, 19, 20, + 18, 16, 15, 14, 13, 12, 9, 9, 7, 6, 5, 3, 2, 1, 0, 0, 0, 1, 2, 3, 3, 3, 4, 5, 6, 7, 9, 10, 14, 18, 20, 20, + 18, 16, 16, 15, 13, 12, 10, 9, 8, 7, 6, 5, 3, 3, 1, 0, 0, 1, 2, 3, 4, 4, 5, 5, 6, 7, 9, 12, 15, 19, 20, 20, + 18, 18, 16, 16, 14, 13, 10, 10, 9, 8, 7, 6, 5, 5, 3, 1, 1, 1, 2, 3, 5, 5, 5, 6, 6, 8, 11, 15, 17, 19, 20, 20, + 18, 18, 16, 16, 14, 13, 12, 10, 9, 9, 8, 7, 6, 5, 4, 3, 1, 2, 3, 5, 5, 5, 5, 6, 7, 10, 12, 15, 18, 20, 20, 20, + 18, 18, 17, 16, 15, 14, 12, 11, 10, 10, 9, 8, 7, 6, 5, 4, 3, 2, 3, 3, 5, 5, 5, 6, 9, 11, 14, 16, 19, 20, 20, 21, + 19, 19, 18, 17, 16, 15, 13, 12, 11, 10, 10, 9, 8, 7, 5, 4, 4, 3, 3, 3, 5, 5, 6, 7, 10, 12, 14, 18, 20, 20, 21, 22, + 21, 20, 18, 18, 17, 16, 14, 12, 11, 11, 10, 10, 8, 7, 7, 5, 4, 4, 4, 5, 6, 6, 6, 7, 11, 13, 16, 19, 20, 21, 21, 22, + 22, 21, 20, 19, 18, 16, 15, 14, 12, 12, 12, 10, 9, 8, 7, 6, 5, 4, 5, 6, 6, 7, 7, 8, 12, 13, 17, 19, 21, 21, 21, 21, + 23, 22, 21, 20, 18, 17, 16, 16, 14, 14, 13, 12, 10, 10, 8, 7, 6, 5, 5, 6, 7, 7, 8, 9, 12, 15, 18, 19, 21, 21, 21, 20, + 23, 22, 22, 21, 20, 18, 17, 16, 15, 15, 15, 14, 13, 11, 9, 8, 6, 6, 6, 6, 7, 8, 9, 10, 13, 16, 19, 20, 20, 21, 21, 20, + 24, 23, 22, 21, 20, 19, 17, 17, 16, 16, 15, 15, 14, 14, 11, 9, 6, 6, 6, 6, 8, 8, 10, 12, 15, 17, 19, 20, 20, 21, 21, 20, + ] + b: [ + 11, 9, 9, 7, 6, 5, 4, 4, 3, 3, 3, 3, 3, 4, 5, 5, 5, 4, 5, 4, 4, 4, 7, 7, 3, 3, 5, 8, 8, 9, 11, 11, + 11, 10, 8, 7, 5, 5, 5, 4, 3, 3, 3, 3, 3, 3, 4, 4, 5, 4, 5, 4, 4, 4, 4, 4, 2, 2, 5, 8, 8, 9, 11, 11, + 10, 10, 7, 7, 5, 5, 5, 4, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 4, 4, 4, 3, 1, 1, 5, 7, 9, 9, 11, 11, + 10, 9, 8, 7, 6, 5, 5, 5, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 3, 2, 1, 1, 4, 7, 9, 10, 12, 13, + 9, 9, 8, 7, 6, 5, 5, 5, 4, 3, 3, 3, 3, 2, 2, 3, 3, 3, 3, 3, 4, 3, 2, 1, 1, 1, 4, 6, 9, 10, 12, 13, + 9, 9, 9, 7, 6, 6, 5, 4, 4, 3, 3, 3, 2, 2, 2, 2, 3, 3, 2, 1, 2, 2, 2, 1, 1, 1, 2, 6, 9, 10, 11, 12, + 8, 9, 9, 7, 7, 6, 5, 4, 4, 3, 3, 2, 2, 2, 2, 2, 3, 3, 2, 1, 1, 1, 1, 0, 0, 1, 2, 5, 9, 11, 11, 11, + 8, 9, 9, 7, 7, 6, 5, 4, 4, 3, 3, 2, 2, 2, 2, 2, 3, 3, 2, 1, 1, 1, 1, 0, 0, 0, 1, 3, 8, 11, 11, 11, + 9, 9, 8, 7, 7, 7, 6, 4, 4, 3, 3, 2, 2, 2, 2, 2, 3, 3, 2, 1, 1, 1, 1, 0, 0, 0, 1, 3, 7, 11, 11, 11, + 9, 9, 8, 7, 7, 7, 6, 5, 4, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 1, 1, 0, 0, 0, 0, 0, 1, 3, 7, 10, 12, 13, + 9, 9, 8, 8, 7, 7, 6, 5, 4, 3, 2, 1, 2, 1, 2, 2, 2, 3, 2, 1, 0, 0, 0, 0, 0, 0, 1, 4, 7, 10, 13, 13, + 9, 8, 8, 8, 7, 7, 6, 5, 3, 3, 2, 1, 1, 1, 1, 1, 2, 3, 3, 2, 1, 0, 0, 0, 0, 1, 2, 4, 7, 11, 13, 13, + 9, 8, 8, 7, 7, 6, 6, 5, 3, 3, 2, 2, 2, 1, 1, 1, 2, 3, 3, 2, 1, 0, 0, 0, 0, 1, 2, 4, 6, 11, 13, 13, + 9, 8, 8, 7, 7, 6, 6, 4, 3, 3, 2, 2, 1, 1, 1, 1, 2, 3, 3, 3, 1, 1, 0, 0, 1, 1, 2, 3, 6, 10, 12, 13, + 9, 8, 8, 7, 7, 6, 6, 4, 3, 3, 2, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 2, 2, 4, 6, 10, 13, 13, + 9, 9, 8, 8, 8, 6, 6, 4, 4, 3, 2, 1, 1, 1, 1, 1, 2, 2, 3, 3, 1, 1, 1, 1, 2, 2, 3, 4, 6, 13, 14, 14, + 9, 9, 8, 8, 8, 8, 6, 5, 4, 3, 2, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 2, 2, 3, 3, 5, 9, 13, 15, 15, + 10, 9, 9, 9, 10, 10, 6, 6, 5, 3, 2, 1, 0, 0, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 4, 5, 9, 13, 15, 16, + 10, 10, 9, 9, 10, 10, 7, 6, 5, 3, 2, 1, 0, 0, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 3, 3, 4, 5, 9, 13, 15, 16, + 11, 10, 9, 9, 10, 10, 7, 6, 6, 3, 2, 1, 0, 0, 1, 1, 1, 2, 2, 2, 2, 2, 2, 3, 3, 4, 5, 6, 9, 13, 15, 16, + 12, 10, 10, 10, 10, 10, 7, 6, 6, 4, 3, 1, 1, 1, 1, 1, 1, 2, 2, 3, 3, 3, 3, 3, 5, 5, 6, 7, 10, 14, 15, 16, + 12, 11, 10, 10, 10, 10, 8, 7, 6, 6, 4, 3, 2, 1, 1, 1, 1, 2, 2, 3, 4, 4, 4, 4, 5, 5, 6, 8, 11, 15, 16, 16, + 12, 12, 11, 11, 10, 10, 9, 8, 7, 6, 6, 4, 4, 3, 2, 2, 2, 2, 3, 4, 4, 4, 5, 5, 5, 6, 7, 10, 13, 15, 16, 15, + 12, 12, 12, 12, 11, 10, 10, 8, 8, 7, 7, 6, 5, 5, 3, 2, 2, 2, 3, 4, 5, 5, 5, 5, 6, 7, 10, 13, 14, 16, 16, 16, + 12, 12, 13, 12, 12, 11, 11, 9, 8, 8, 8, 7, 6, 6, 5, 4, 3, 3, 3, 5, 6, 6, 6, 6, 7, 9, 11, 14, 15, 17, 17, 16, + 13, 13, 13, 13, 12, 12, 11, 11, 10, 10, 9, 8, 7, 7, 6, 5, 5, 4, 4, 4, 5, 6, 6, 6, 9, 10, 12, 14, 16, 17, 17, 18, + 13, 13, 14, 13, 13, 13, 12, 12, 11, 10, 10, 9, 8, 7, 6, 6, 6, 5, 4, 4, 6, 6, 6, 7, 9, 11, 12, 16, 17, 17, 17, 18, + 15, 15, 15, 15, 14, 13, 13, 13, 12, 11, 11, 10, 9, 9, 8, 7, 6, 5, 5, 5, 6, 7, 7, 8, 10, 12, 14, 17, 17, 18, 17, 17, + 16, 16, 16, 16, 15, 14, 14, 14, 13, 13, 12, 11, 11, 9, 8, 7, 7, 6, 6, 6, 7, 7, 8, 8, 10, 12, 16, 17, 18, 18, 17, 17, + 18, 17, 17, 16, 16, 15, 14, 14, 14, 14, 14, 13, 11, 11, 9, 8, 7, 7, 6, 6, 7, 7, 8, 9, 10, 13, 16, 17, 17, 18, 17, 16, + 18, 17, 17, 17, 16, 15, 15, 15, 15, 15, 15, 14, 14, 12, 10, 9, 7, 7, 6, 6, 7, 7, 8, 9, 11, 14, 16, 16, 17, 17, 16, 15, + 18, 18, 17, 17, 17, 16, 15, 15, 15, 16, 15, 15, 14, 14, 12, 9, 7, 6, 6, 6, 7, 7, 9, 10, 12, 14, 15, 16, 16, 16, 15, 15, + ] + - ct: 5500 + r: [ + 19, 18, 17, 16, 15, 13, 11, 10, 9, 9, 9, 8, 8, 8, 8, 8, 8, 9, 10, 10, 8, 8, 9, 9, 9, 11, 14, 15, 16, 16, 18, 18, + 18, 18, 17, 15, 14, 13, 11, 11, 9, 9, 8, 8, 7, 7, 7, 7, 7, 8, 9, 8, 8, 8, 9, 9, 8, 8, 11, 14, 16, 17, 17, 18, + 18, 17, 17, 15, 14, 13, 12, 11, 9, 9, 8, 7, 7, 6, 6, 6, 6, 8, 8, 8, 8, 8, 8, 8, 7, 7, 10, 13, 16, 17, 18, 18, + 17, 17, 16, 15, 14, 12, 11, 11, 9, 8, 7, 7, 6, 5, 5, 5, 5, 6, 8, 7, 8, 8, 8, 6, 6, 6, 9, 12, 16, 16, 18, 19, + 17, 17, 16, 14, 13, 12, 11, 10, 10, 8, 7, 7, 5, 5, 5, 5, 5, 5, 6, 7, 7, 7, 6, 6, 6, 6, 8, 11, 15, 16, 17, 19, + 18, 17, 16, 14, 13, 12, 11, 10, 10, 8, 7, 6, 5, 5, 4, 4, 5, 5, 5, 5, 5, 5, 5, 5, 5, 6, 7, 10, 14, 16, 17, 18, + 18, 17, 16, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 4, 4, 4, 4, 4, 3, 4, 5, 5, 5, 5, 5, 6, 10, 13, 16, 16, 17, + 18, 16, 15, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 4, 4, 4, 4, 4, 3, 3, 3, 4, 4, 4, 4, 5, 6, 8, 12, 16, 16, 16, + 17, 16, 15, 13, 12, 11, 10, 9, 8, 7, 5, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 4, 4, 5, 7, 11, 16, 16, 16, + 17, 16, 15, 12, 12, 12, 10, 8, 7, 7, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 4, 5, 7, 10, 16, 16, 16, + 16, 16, 14, 12, 12, 11, 10, 8, 7, 6, 4, 4, 3, 3, 3, 3, 3, 4, 3, 3, 2, 2, 2, 3, 3, 4, 4, 7, 10, 14, 16, 16, + 16, 15, 14, 13, 12, 11, 10, 8, 7, 6, 5, 4, 3, 3, 3, 3, 3, 4, 3, 3, 3, 2, 2, 3, 3, 3, 5, 7, 10, 14, 15, 16, + 16, 15, 15, 13, 11, 11, 11, 9, 7, 5, 5, 4, 3, 2, 2, 2, 3, 3, 3, 3, 2, 2, 2, 2, 3, 3, 5, 6, 9, 14, 15, 16, + 16, 15, 15, 13, 11, 11, 11, 10, 7, 5, 4, 4, 2, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 3, 3, 5, 6, 10, 13, 15, 17, + 15, 15, 14, 12, 11, 11, 11, 10, 7, 4, 4, 3, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 3, 3, 3, 5, 6, 9, 13, 16, 17, + 15, 15, 14, 12, 11, 11, 10, 9, 7, 4, 4, 3, 1, 1, 1, 1, 2, 2, 3, 3, 2, 2, 3, 3, 3, 3, 5, 7, 10, 15, 17, 17, + 15, 15, 14, 12, 11, 11, 10, 9, 7, 4, 4, 3, 1, 1, 1, 1, 1, 2, 2, 2, 2, 3, 3, 3, 3, 4, 5, 7, 11, 16, 17, 18, + 16, 15, 15, 12, 12, 11, 10, 9, 6, 4, 4, 3, 1, 0, 0, 1, 1, 2, 2, 2, 2, 3, 3, 3, 4, 4, 5, 7, 12, 15, 17, 18, + 16, 16, 15, 12, 12, 11, 10, 8, 6, 5, 4, 3, 1, 0, 0, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 5, 6, 8, 12, 15, 17, 18, + 15, 15, 15, 13, 12, 12, 10, 8, 7, 5, 4, 3, 2, 0, 0, 0, 1, 1, 2, 2, 3, 3, 3, 3, 4, 5, 7, 9, 12, 16, 17, 18, + 15, 15, 15, 13, 13, 12, 10, 8, 7, 5, 5, 3, 2, 1, 0, 0, 1, 1, 1, 2, 3, 3, 3, 4, 5, 5, 7, 9, 13, 16, 18, 18, + 15, 15, 15, 14, 13, 12, 10, 8, 7, 6, 5, 5, 3, 2, 1, 0, 1, 1, 1, 2, 3, 3, 3, 5, 5, 6, 8, 10, 14, 17, 18, 19, + 16, 16, 16, 15, 13, 12, 10, 9, 8, 7, 6, 6, 5, 4, 2, 1, 1, 1, 1, 2, 3, 3, 5, 5, 6, 7, 9, 12, 15, 18, 18, 19, + 17, 16, 16, 16, 13, 12, 11, 10, 9, 8, 7, 7, 6, 5, 4, 2, 1, 1, 2, 3, 4, 4, 5, 5, 6, 8, 11, 14, 16, 18, 19, 19, + 18, 18, 17, 16, 14, 13, 12, 10, 9, 8, 8, 7, 7, 5, 5, 3, 2, 2, 4, 4, 5, 5, 5, 5, 7, 10, 12, 16, 17, 19, 19, 20, + 18, 18, 17, 16, 15, 13, 12, 10, 10, 9, 9, 9, 7, 6, 5, 4, 3, 3, 4, 4, 5, 5, 5, 6, 7, 11, 15, 17, 18, 19, 19, 20, + 19, 18, 18, 17, 16, 14, 13, 11, 10, 10, 9, 9, 8, 6, 5, 5, 4, 4, 4, 4, 6, 6, 6, 7, 9, 11, 15, 17, 19, 19, 20, 21, + 20, 19, 19, 19, 17, 16, 13, 12, 11, 11, 10, 9, 9, 7, 6, 5, 5, 4, 4, 5, 6, 7, 7, 8, 9, 12, 15, 18, 19, 19, 20, 20, + 21, 20, 20, 19, 19, 16, 16, 13, 12, 12, 11, 11, 9, 8, 7, 6, 6, 5, 5, 6, 7, 7, 8, 8, 10, 13, 17, 19, 19, 20, 20, 20, + 22, 21, 20, 20, 19, 17, 16, 14, 13, 13, 14, 12, 11, 9, 8, 7, 6, 5, 5, 6, 7, 7, 8, 9, 11, 15, 17, 19, 19, 20, 20, 20, + 22, 22, 21, 20, 19, 18, 16, 15, 14, 14, 15, 15, 13, 11, 9, 8, 7, 5, 5, 6, 7, 8, 9, 10, 13, 16, 18, 18, 19, 20, 19, 19, + 22, 22, 21, 20, 19, 19, 16, 16, 15, 15, 15, 15, 15, 13, 10, 9, 7, 5, 5, 6, 8, 8, 10, 11, 14, 16, 18, 18, 19, 19, 19, 19, + ] + g: [ + 16, 16, 15, 14, 13, 11, 10, 9, 8, 7, 7, 7, 6, 6, 6, 6, 6, 7, 8, 8, 6, 6, 7, 7, 7, 9, 12, 13, 13, 14, 14, 14, + 16, 16, 15, 14, 13, 11, 10, 9, 8, 7, 7, 6, 6, 6, 6, 6, 6, 6, 7, 7, 6, 6, 7, 7, 6, 6, 10, 12, 13, 14, 14, 14, + 16, 15, 15, 13, 13, 11, 10, 9, 8, 7, 7, 6, 5, 5, 5, 5, 5, 6, 6, 6, 6, 6, 6, 6, 5, 5, 8, 12, 14, 15, 15, 16, + 15, 15, 14, 13, 12, 11, 10, 10, 8, 7, 6, 6, 5, 4, 4, 4, 4, 5, 6, 6, 6, 6, 6, 5, 5, 5, 7, 11, 14, 15, 15, 17, + 16, 15, 14, 13, 12, 11, 10, 10, 9, 7, 6, 6, 4, 4, 4, 3, 3, 4, 4, 6, 6, 5, 5, 4, 4, 5, 6, 10, 14, 14, 16, 16, + 16, 15, 15, 13, 12, 11, 10, 10, 9, 7, 6, 6, 4, 4, 3, 3, 3, 4, 4, 4, 4, 4, 4, 4, 4, 4, 5, 9, 13, 14, 15, 16, + 16, 15, 15, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 4, 3, 3, 3, 3, 3, 3, 3, 4, 3, 3, 3, 4, 5, 8, 13, 14, 15, 15, + 16, 15, 14, 12, 11, 10, 9, 8, 7, 6, 6, 5, 4, 3, 3, 3, 3, 3, 2, 2, 2, 3, 3, 3, 3, 4, 5, 7, 11, 14, 15, 15, + 16, 15, 14, 12, 11, 10, 9, 8, 7, 6, 5, 3, 3, 3, 3, 3, 3, 3, 3, 2, 2, 2, 2, 2, 3, 3, 4, 6, 10, 14, 15, 14, + 16, 15, 14, 12, 11, 11, 9, 8, 7, 6, 4, 3, 3, 3, 3, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 3, 4, 6, 10, 15, 15, 15, + 15, 15, 13, 12, 11, 11, 10, 8, 7, 5, 4, 3, 3, 3, 3, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 3, 3, 6, 9, 13, 15, 15, + 15, 14, 13, 12, 11, 11, 10, 8, 7, 5, 5, 3, 2, 2, 2, 2, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 4, 6, 9, 13, 14, 15, + 15, 14, 14, 13, 11, 11, 10, 8, 7, 5, 5, 3, 2, 2, 2, 2, 2, 3, 3, 3, 2, 2, 1, 2, 2, 2, 4, 5, 8, 13, 14, 15, + 15, 14, 14, 13, 11, 11, 11, 10, 7, 5, 4, 3, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 1, 2, 2, 2, 4, 5, 8, 13, 14, 15, + 15, 14, 13, 12, 11, 11, 10, 9, 7, 4, 4, 3, 2, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 4, 5, 8, 13, 15, 16, + 15, 15, 13, 12, 11, 11, 10, 9, 7, 4, 4, 2, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 3, 4, 6, 8, 15, 16, 16, + 15, 15, 14, 12, 11, 11, 10, 9, 7, 4, 4, 2, 1, 0, 1, 1, 1, 2, 2, 2, 2, 2, 2, 3, 3, 3, 4, 6, 11, 15, 16, 17, + 15, 15, 15, 12, 12, 11, 10, 10, 7, 4, 4, 2, 1, 0, 0, 1, 1, 1, 2, 2, 2, 2, 3, 3, 3, 4, 4, 6, 11, 15, 17, 17, + 15, 15, 15, 12, 12, 12, 10, 9, 7, 5, 4, 2, 1, 0, 0, 1, 1, 1, 2, 2, 2, 3, 3, 3, 3, 4, 5, 7, 11, 15, 17, 17, + 15, 15, 15, 13, 12, 12, 10, 9, 7, 5, 4, 3, 2, 0, 0, 0, 1, 1, 1, 2, 3, 3, 3, 3, 4, 4, 6, 8, 12, 15, 17, 17, + 15, 15, 15, 13, 13, 12, 10, 9, 7, 6, 5, 3, 2, 1, 0, 0, 1, 1, 1, 2, 3, 3, 3, 3, 4, 5, 6, 9, 13, 16, 17, 18, + 15, 15, 15, 14, 13, 13, 10, 9, 8, 6, 6, 5, 3, 2, 1, 1, 1, 1, 2, 2, 3, 3, 4, 4, 5, 6, 7, 10, 14, 17, 18, 18, + 15, 16, 16, 15, 13, 13, 11, 9, 8, 7, 6, 6, 5, 4, 2, 1, 1, 1, 2, 2, 3, 4, 5, 5, 6, 7, 8, 12, 15, 17, 18, 18, + 16, 16, 16, 16, 13, 13, 11, 10, 9, 8, 7, 7, 6, 6, 4, 2, 2, 2, 2, 3, 5, 5, 5, 5, 6, 8, 11, 14, 16, 18, 18, 18, + 17, 17, 17, 16, 14, 13, 13, 11, 10, 9, 8, 8, 7, 6, 5, 4, 2, 2, 4, 5, 5, 5, 5, 5, 7, 9, 12, 15, 17, 18, 18, 18, + 18, 18, 17, 16, 15, 14, 13, 11, 10, 10, 9, 9, 7, 6, 5, 5, 4, 3, 4, 4, 5, 5, 5, 6, 7, 10, 15, 16, 18, 18, 18, 19, + 19, 18, 18, 17, 16, 14, 13, 12, 11, 10, 10, 9, 9, 7, 6, 5, 5, 4, 4, 4, 6, 6, 6, 6, 8, 10, 15, 16, 18, 18, 18, 19, + 20, 19, 19, 19, 17, 16, 14, 13, 12, 11, 11, 10, 9, 7, 7, 6, 5, 4, 4, 5, 6, 6, 6, 7, 9, 11, 15, 17, 18, 18, 18, 18, + 22, 20, 20, 20, 19, 17, 16, 14, 13, 13, 12, 11, 10, 9, 7, 6, 6, 5, 5, 6, 7, 7, 7, 8, 9, 12, 16, 18, 18, 19, 18, 18, + 22, 22, 21, 20, 19, 18, 17, 16, 14, 14, 15, 13, 11, 10, 9, 8, 7, 6, 5, 6, 7, 8, 8, 9, 10, 14, 17, 18, 18, 19, 18, 17, + 22, 22, 22, 21, 20, 19, 17, 17, 16, 16, 16, 16, 14, 12, 10, 8, 7, 6, 6, 7, 8, 8, 8, 10, 13, 16, 18, 18, 18, 18, 18, 17, + 22, 22, 22, 21, 20, 20, 18, 17, 16, 16, 17, 17, 16, 14, 11, 10, 8, 6, 6, 7, 8, 8, 10, 11, 14, 17, 18, 18, 18, 18, 18, 17, + ] + b: [ + 13, 12, 12, 12, 11, 9, 8, 7, 7, 7, 7, 6, 6, 6, 6, 5, 5, 6, 7, 7, 6, 6, 5, 5, 5, 6, 9, 9, 9, 10, 9, 8, + 13, 13, 12, 11, 11, 9, 9, 8, 7, 7, 7, 6, 5, 5, 5, 5, 5, 6, 6, 6, 6, 6, 5, 5, 4, 4, 7, 9, 9, 10, 10, 9, + 13, 13, 12, 11, 11, 9, 9, 8, 7, 7, 6, 6, 5, 4, 4, 4, 4, 5, 6, 6, 6, 5, 5, 5, 3, 3, 6, 9, 10, 11, 10, 11, + 13, 13, 12, 11, 11, 10, 9, 9, 7, 7, 6, 5, 4, 4, 4, 4, 4, 4, 5, 5, 5, 5, 5, 4, 3, 3, 5, 8, 10, 11, 11, 12, + 13, 13, 12, 11, 11, 10, 9, 9, 8, 7, 6, 6, 4, 4, 3, 3, 3, 4, 4, 5, 5, 5, 4, 3, 2, 3, 4, 8, 11, 11, 11, 12, + 13, 13, 13, 11, 11, 10, 9, 9, 8, 7, 6, 6, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 2, 2, 2, 3, 7, 11, 11, 11, 12, + 14, 14, 13, 11, 11, 10, 9, 8, 8, 7, 6, 6, 4, 3, 3, 3, 3, 3, 2, 2, 2, 3, 2, 2, 2, 2, 3, 6, 11, 11, 11, 11, + 14, 14, 13, 11, 11, 10, 9, 8, 7, 7, 6, 5, 3, 3, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 4, 9, 11, 11, 11, + 14, 14, 13, 12, 11, 11, 9, 8, 7, 6, 5, 4, 3, 3, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 4, 8, 12, 12, 11, + 14, 13, 13, 12, 12, 11, 10, 8, 7, 6, 4, 3, 3, 3, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 4, 8, 12, 12, 13, + 13, 13, 13, 12, 12, 12, 11, 9, 7, 6, 4, 3, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 4, 8, 12, 12, 13, + 14, 13, 13, 12, 12, 11, 11, 9, 7, 6, 5, 3, 2, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 2, 2, 3, 4, 8, 12, 13, 13, + 14, 13, 13, 13, 12, 11, 11, 9, 7, 6, 5, 4, 2, 1, 1, 1, 2, 3, 3, 3, 2, 2, 2, 2, 2, 2, 3, 4, 7, 12, 13, 13, + 14, 13, 13, 13, 12, 12, 12, 11, 7, 5, 5, 4, 2, 1, 1, 1, 1, 3, 3, 3, 2, 2, 2, 2, 2, 3, 3, 4, 7, 12, 13, 13, + 14, 14, 13, 13, 12, 12, 11, 11, 7, 5, 4, 3, 1, 1, 1, 1, 1, 2, 3, 3, 2, 2, 2, 3, 3, 3, 4, 4, 7, 12, 13, 14, + 14, 14, 13, 13, 12, 12, 11, 11, 8, 5, 4, 3, 1, 1, 0, 0, 1, 1, 3, 3, 3, 3, 3, 3, 3, 4, 4, 5, 8, 13, 15, 15, + 14, 15, 14, 13, 13, 12, 11, 11, 8, 5, 4, 3, 1, 0, 0, 0, 0, 1, 2, 2, 3, 3, 3, 4, 4, 4, 5, 6, 10, 15, 15, 16, + 15, 15, 15, 14, 13, 13, 12, 11, 8, 5, 4, 3, 1, 0, 0, 0, 1, 1, 2, 2, 3, 3, 4, 4, 4, 4, 5, 6, 11, 15, 16, 16, + 15, 15, 15, 14, 14, 14, 12, 11, 8, 6, 5, 3, 1, 0, 0, 0, 1, 1, 2, 2, 3, 3, 4, 4, 4, 5, 6, 7, 11, 15, 16, 16, + 15, 15, 15, 15, 14, 14, 12, 11, 9, 7, 5, 3, 2, 1, 0, 1, 1, 1, 2, 3, 3, 4, 4, 4, 4, 5, 6, 8, 12, 15, 16, 16, + 15, 16, 15, 15, 15, 14, 13, 11, 9, 7, 6, 5, 3, 2, 1, 1, 1, 1, 2, 3, 3, 4, 4, 4, 5, 6, 7, 9, 12, 16, 16, 16, + 15, 16, 16, 15, 15, 15, 13, 11, 10, 8, 7, 6, 4, 3, 2, 1, 1, 2, 2, 3, 4, 4, 5, 5, 6, 7, 8, 10, 14, 16, 16, 16, + 16, 16, 17, 16, 15, 15, 14, 12, 11, 9, 8, 8, 6, 5, 3, 2, 2, 2, 3, 3, 5, 5, 6, 6, 7, 8, 9, 12, 15, 16, 16, 16, + 16, 17, 18, 17, 16, 15, 14, 13, 11, 10, 9, 9, 8, 6, 5, 3, 3, 3, 3, 4, 6, 6, 6, 6, 7, 8, 11, 14, 16, 16, 16, 16, + 17, 18, 18, 18, 17, 16, 16, 14, 12, 11, 10, 9, 8, 7, 6, 5, 3, 3, 5, 6, 6, 6, 6, 6, 8, 10, 12, 16, 17, 17, 17, 16, + 18, 18, 18, 18, 18, 17, 16, 14, 13, 12, 11, 11, 8, 8, 6, 6, 5, 4, 5, 5, 6, 6, 6, 7, 8, 11, 15, 16, 17, 17, 16, 16, + 18, 19, 19, 19, 19, 17, 17, 15, 14, 13, 12, 11, 11, 8, 7, 6, 6, 5, 5, 5, 7, 7, 7, 8, 9, 11, 15, 17, 17, 17, 16, 16, + 20, 20, 20, 20, 19, 19, 17, 17, 15, 14, 14, 12, 11, 9, 8, 7, 7, 6, 6, 6, 8, 8, 8, 8, 9, 12, 15, 18, 18, 16, 16, 16, + 22, 22, 22, 22, 21, 20, 19, 18, 17, 16, 15, 14, 12, 11, 10, 8, 8, 7, 7, 7, 8, 8, 8, 9, 10, 13, 17, 18, 18, 16, 16, 15, + 23, 22, 22, 22, 22, 21, 20, 20, 18, 18, 19, 16, 14, 13, 11, 10, 9, 8, 7, 7, 8, 9, 9, 10, 11, 15, 17, 18, 17, 17, 16, 14, + 23, 23, 23, 23, 23, 22, 21, 21, 20, 20, 20, 19, 18, 15, 12, 11, 10, 8, 8, 8, 9, 9, 10, 11, 13, 17, 17, 17, 17, 16, 15, 13, + 23, 23, 24, 24, 23, 23, 22, 21, 21, 21, 20, 20, 19, 17, 14, 12, 11, 9, 8, 9, 9, 10, 10, 12, 15, 17, 17, 17, 16, 16, 15, 13, + ] + - ct: 8500 + r: [ + 18, 17, 16, 15, 13, 12, 10, 9, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 12, 12, 8, 8, 10, 13, 14, 15, 17, 18, + 17, 17, 16, 14, 12, 11, 10, 10, 8, 8, 8, 7, 7, 7, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 7, 7, 10, 13, 14, 15, 17, 17, + 17, 16, 15, 13, 12, 11, 10, 10, 8, 8, 7, 7, 7, 6, 7, 7, 8, 8, 8, 7, 7, 7, 7, 7, 6, 6, 9, 12, 14, 15, 17, 17, + 16, 16, 15, 13, 12, 11, 10, 10, 9, 7, 7, 7, 6, 6, 5, 5, 6, 6, 7, 7, 7, 7, 7, 5, 5, 5, 8, 11, 14, 15, 17, 19, + 16, 15, 14, 13, 12, 11, 10, 9, 8, 7, 7, 6, 6, 5, 5, 5, 5, 5, 5, 6, 6, 6, 5, 5, 5, 5, 7, 10, 13, 15, 17, 19, + 15, 15, 14, 13, 12, 11, 9, 9, 8, 7, 6, 5, 5, 5, 4, 4, 5, 5, 5, 4, 4, 4, 4, 4, 4, 5, 6, 9, 13, 15, 16, 17, + 15, 15, 13, 12, 11, 11, 9, 8, 8, 6, 5, 5, 4, 4, 4, 4, 4, 4, 4, 3, 3, 4, 4, 4, 4, 4, 5, 8, 13, 15, 15, 16, + 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 4, 5, 7, 11, 14, 15, 15, + 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 4, 4, 4, 3, 3, 4, 3, 3, 3, 2, 3, 3, 3, 3, 4, 6, 10, 14, 15, 15, + 15, 13, 13, 11, 11, 10, 9, 8, 7, 6, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 2, 2, 2, 2, 2, 3, 4, 6, 10, 13, 16, 16, + 14, 13, 12, 11, 10, 10, 9, 7, 7, 5, 4, 3, 3, 3, 3, 2, 2, 3, 3, 3, 2, 2, 2, 2, 2, 3, 4, 6, 9, 13, 16, 17, + 14, 13, 12, 11, 10, 10, 9, 7, 6, 5, 4, 3, 3, 3, 2, 2, 2, 3, 3, 3, 2, 2, 1, 2, 2, 3, 4, 6, 9, 13, 16, 17, + 14, 13, 12, 12, 10, 10, 9, 7, 5, 5, 4, 3, 3, 2, 2, 2, 2, 3, 3, 3, 2, 2, 1, 1, 2, 3, 4, 6, 9, 13, 15, 17, + 14, 13, 12, 11, 10, 9, 9, 7, 5, 5, 4, 3, 2, 2, 2, 2, 2, 3, 3, 3, 2, 2, 1, 1, 2, 3, 4, 6, 9, 12, 15, 16, + 13, 13, 12, 11, 10, 9, 8, 7, 5, 4, 4, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 2, 2, 3, 4, 6, 8, 12, 15, 16, + 13, 13, 12, 11, 11, 9, 8, 7, 6, 4, 3, 2, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 2, 3, 3, 4, 6, 9, 15, 16, 16, + 13, 13, 12, 12, 11, 10, 9, 7, 6, 4, 3, 2, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 3, 4, 4, 6, 10, 15, 17, 18, + 14, 13, 13, 12, 12, 11, 9, 7, 6, 4, 3, 2, 1, 0, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 3, 4, 5, 7, 11, 15, 17, 18, + 14, 13, 13, 12, 12, 11, 9, 7, 7, 4, 3, 1, 0, 0, 0, 1, 1, 1, 1, 2, 2, 2, 2, 3, 4, 4, 5, 7, 11, 15, 17, 18, + 15, 13, 13, 12, 12, 11, 8, 7, 6, 4, 3, 1, 0, 0, 0, 0, 1, 1, 1, 2, 2, 2, 2, 3, 4, 5, 6, 7, 11, 15, 17, 18, + 15, 14, 13, 13, 12, 11, 8, 8, 7, 5, 4, 2, 1, 0, 0, 0, 0, 1, 2, 2, 2, 2, 3, 3, 5, 5, 7, 8, 11, 15, 17, 18, + 15, 14, 14, 13, 12, 11, 9, 8, 7, 6, 5, 3, 2, 1, 0, 0, 0, 1, 2, 2, 3, 3, 3, 5, 5, 6, 8, 9, 13, 16, 18, 18, + 15, 14, 14, 13, 12, 11, 9, 9, 8, 7, 6, 5, 3, 3, 1, 0, 0, 1, 2, 2, 3, 4, 4, 5, 5, 6, 8, 11, 14, 17, 18, 18, + 16, 16, 15, 14, 13, 12, 10, 9, 8, 8, 7, 6, 5, 5, 3, 1, 1, 1, 2, 3, 4, 4, 5, 5, 6, 8, 10, 13, 15, 17, 18, 18, + 16, 16, 15, 14, 14, 12, 11, 10, 9, 9, 8, 7, 6, 5, 4, 3, 1, 1, 2, 4, 4, 5, 5, 5, 7, 9, 11, 14, 16, 18, 18, 19, + 16, 16, 15, 15, 14, 13, 12, 11, 10, 10, 9, 8, 7, 6, 5, 4, 3, 2, 3, 3, 4, 5, 5, 6, 9, 10, 13, 15, 18, 18, 19, 19, + 17, 17, 16, 15, 15, 14, 12, 11, 11, 10, 10, 9, 8, 7, 6, 5, 4, 3, 3, 3, 5, 5, 6, 6, 9, 11, 13, 17, 18, 19, 19, 20, + 19, 18, 17, 17, 15, 15, 13, 12, 11, 11, 10, 10, 9, 8, 7, 5, 5, 4, 4, 5, 6, 6, 6, 7, 10, 12, 15, 18, 19, 19, 19, 20, + 19, 19, 18, 17, 17, 16, 14, 13, 12, 12, 11, 10, 9, 8, 7, 6, 6, 5, 5, 6, 6, 6, 7, 8, 11, 12, 16, 18, 19, 19, 19, 19, + 20, 19, 19, 18, 17, 16, 15, 14, 13, 13, 12, 12, 10, 9, 8, 7, 6, 5, 5, 6, 6, 7, 8, 9, 11, 14, 17, 18, 19, 19, 19, 19, + 20, 20, 19, 18, 18, 17, 15, 15, 14, 14, 14, 13, 12, 11, 9, 7, 6, 5, 5, 6, 7, 7, 8, 9, 12, 15, 17, 18, 18, 19, 18, 18, + 21, 20, 20, 19, 18, 18, 15, 15, 14, 14, 14, 14, 13, 13, 11, 9, 6, 5, 5, 6, 7, 7, 9, 10, 13, 15, 18, 18, 18, 18, 18, 18, + ] + g: [ + 16, 16, 15, 13, 12, 10, 9, 8, 7, 7, 7, 6, 6, 6, 7, 7, 7, 6, 6, 6, 6, 6, 11, 11, 6, 6, 9, 12, 12, 13, 15, 15, + 16, 15, 14, 13, 11, 10, 9, 9, 8, 7, 7, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 5, 5, 9, 12, 12, 13, 15, 15, + 15, 15, 14, 12, 11, 11, 9, 9, 8, 7, 6, 6, 6, 5, 5, 5, 6, 6, 6, 6, 6, 6, 6, 5, 4, 5, 8, 11, 13, 14, 15, 15, + 15, 15, 14, 12, 11, 10, 9, 9, 8, 6, 6, 6, 5, 5, 4, 4, 4, 4, 6, 6, 6, 6, 6, 4, 4, 4, 7, 11, 13, 14, 15, 17, + 15, 15, 13, 12, 11, 10, 9, 9, 8, 6, 6, 5, 5, 4, 4, 3, 3, 4, 4, 5, 5, 5, 4, 4, 3, 4, 6, 9, 13, 14, 15, 17, + 15, 14, 13, 12, 11, 10, 9, 8, 8, 6, 5, 5, 4, 4, 3, 3, 3, 3, 3, 3, 3, 4, 3, 3, 3, 4, 5, 8, 13, 14, 14, 15, + 14, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 4, 3, 3, 3, 3, 3, 3, 3, 2, 3, 3, 3, 3, 3, 4, 7, 12, 14, 14, 14, + 14, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 3, 3, 3, 3, 3, 3, 2, 2, 2, 2, 2, 3, 3, 4, 6, 11, 14, 14, 14, + 14, 13, 12, 11, 11, 10, 9, 8, 7, 6, 4, 4, 3, 3, 3, 2, 3, 3, 3, 3, 2, 2, 2, 2, 2, 3, 3, 5, 10, 14, 14, 14, + 15, 13, 12, 11, 11, 10, 9, 8, 7, 6, 4, 4, 3, 3, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 2, 2, 3, 5, 10, 13, 15, 16, + 14, 13, 12, 11, 11, 10, 9, 7, 7, 5, 4, 3, 2, 2, 2, 2, 2, 2, 3, 2, 2, 1, 2, 2, 2, 2, 3, 6, 9, 13, 16, 16, + 14, 13, 12, 11, 10, 10, 9, 7, 5, 5, 4, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 2, 2, 2, 4, 6, 8, 13, 16, 16, + 14, 13, 13, 12, 10, 10, 9, 7, 5, 5, 4, 3, 2, 2, 1, 1, 1, 2, 2, 2, 2, 1, 1, 1, 2, 2, 4, 5, 8, 13, 15, 16, + 14, 13, 13, 12, 10, 10, 9, 7, 5, 5, 4, 3, 2, 1, 1, 1, 1, 2, 2, 2, 2, 1, 1, 1, 1, 2, 3, 5, 8, 12, 14, 15, + 14, 13, 12, 11, 10, 10, 9, 7, 6, 4, 3, 2, 1, 1, 1, 1, 1, 2, 2, 2, 2, 1, 1, 1, 2, 3, 3, 5, 8, 12, 15, 15, + 14, 13, 12, 11, 11, 10, 9, 7, 6, 4, 3, 2, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 2, 2, 3, 4, 5, 8, 14, 16, 16, + 14, 13, 13, 12, 12, 10, 9, 7, 6, 4, 3, 2, 1, 0, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 3, 3, 4, 5, 10, 15, 16, 17, + 14, 13, 13, 13, 12, 12, 9, 7, 7, 4, 3, 2, 0, 0, 0, 1, 1, 1, 1, 2, 2, 2, 2, 2, 3, 3, 4, 6, 11, 15, 17, 17, + 14, 14, 13, 12, 12, 12, 9, 8, 7, 5, 3, 2, 0, 0, 0, 0, 1, 1, 1, 2, 2, 2, 2, 3, 3, 4, 5, 7, 11, 15, 17, 17, + 15, 14, 13, 13, 12, 12, 9, 8, 7, 5, 3, 2, 0, 0, 0, 0, 1, 1, 1, 2, 2, 2, 3, 3, 4, 5, 5, 7, 11, 15, 17, 17, + 16, 14, 14, 13, 13, 12, 9, 8, 7, 5, 4, 2, 1, 0, 0, 0, 0, 1, 2, 2, 3, 3, 3, 3, 5, 5, 6, 8, 12, 16, 17, 17, + 16, 15, 14, 14, 13, 12, 10, 9, 7, 6, 5, 4, 2, 1, 0, 0, 0, 1, 2, 3, 3, 3, 3, 5, 5, 6, 8, 9, 13, 17, 17, 17, + 16, 15, 15, 14, 13, 12, 10, 10, 8, 7, 6, 5, 4, 3, 2, 0, 1, 1, 2, 3, 3, 4, 5, 5, 5, 6, 8, 11, 14, 17, 17, 17, + 16, 16, 15, 15, 14, 13, 11, 10, 9, 8, 7, 6, 5, 5, 3, 2, 1, 1, 2, 3, 5, 5, 5, 5, 6, 7, 10, 13, 16, 17, 17, 17, + 17, 17, 15, 15, 14, 13, 12, 11, 10, 9, 9, 7, 6, 6, 5, 3, 2, 2, 3, 4, 5, 5, 5, 6, 6, 9, 11, 14, 16, 18, 18, 18, + 17, 17, 16, 15, 15, 14, 13, 12, 11, 10, 10, 9, 7, 7, 5, 4, 3, 2, 3, 4, 5, 5, 5, 6, 9, 10, 13, 15, 18, 18, 18, 18, + 18, 17, 17, 16, 15, 15, 14, 12, 11, 11, 11, 9, 8, 7, 6, 5, 4, 3, 3, 4, 5, 5, 6, 6, 9, 11, 13, 17, 18, 18, 18, 18, + 20, 19, 18, 18, 16, 16, 14, 13, 12, 11, 11, 10, 9, 8, 7, 5, 5, 4, 4, 5, 6, 6, 6, 7, 10, 11, 15, 18, 18, 18, 18, 18, + 20, 20, 19, 18, 18, 17, 15, 14, 13, 13, 12, 11, 10, 9, 8, 6, 6, 5, 5, 6, 6, 7, 7, 8, 11, 12, 16, 18, 18, 18, 18, 18, + 22, 21, 20, 19, 18, 17, 17, 17, 15, 15, 14, 13, 11, 10, 8, 7, 6, 6, 6, 6, 7, 7, 8, 8, 11, 14, 17, 18, 18, 18, 18, 17, + 22, 22, 21, 20, 19, 18, 17, 17, 17, 16, 16, 15, 14, 12, 10, 8, 7, 6, 6, 7, 7, 8, 8, 10, 13, 16, 18, 18, 18, 18, 18, 16, + 22, 22, 22, 21, 20, 19, 18, 17, 17, 17, 16, 16, 15, 15, 12, 10, 7, 6, 6, 7, 8, 8, 9, 11, 14, 16, 18, 18, 18, 18, 17, 16, + ] + b: [ + 13, 13, 13, 11, 10, 9, 9, 8, 7, 7, 7, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 9, 9, 4, 4, 7, 9, 9, 9, 10, 10, + 13, 13, 12, 11, 10, 9, 9, 8, 7, 7, 7, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 3, 3, 7, 9, 9, 10, 10, 10, + 13, 13, 12, 11, 10, 10, 9, 9, 7, 7, 6, 6, 6, 5, 5, 5, 5, 6, 6, 6, 5, 5, 5, 4, 3, 3, 6, 9, 10, 11, 11, 11, + 13, 13, 12, 11, 10, 10, 9, 9, 8, 7, 6, 6, 5, 5, 4, 4, 4, 4, 5, 5, 5, 5, 5, 3, 2, 3, 5, 9, 10, 11, 11, 13, + 13, 13, 12, 11, 11, 10, 9, 9, 8, 7, 6, 5, 5, 4, 4, 3, 3, 4, 4, 5, 5, 5, 3, 2, 2, 3, 5, 8, 11, 11, 12, 13, + 13, 12, 12, 11, 11, 10, 9, 8, 8, 7, 5, 5, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 2, 2, 2, 3, 7, 11, 11, 11, 11, + 13, 13, 12, 11, 11, 10, 9, 8, 8, 7, 5, 4, 4, 3, 3, 3, 3, 3, 3, 2, 2, 3, 2, 2, 2, 2, 3, 6, 11, 11, 11, 11, + 13, 13, 12, 11, 11, 11, 9, 8, 7, 6, 5, 4, 3, 3, 3, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 5, 10, 12, 12, 11, + 13, 13, 13, 11, 11, 11, 10, 8, 7, 6, 5, 4, 3, 3, 3, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 4, 9, 12, 12, 12, + 14, 13, 13, 12, 11, 11, 10, 8, 7, 6, 4, 4, 3, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 4, 9, 12, 13, 14, + 13, 13, 12, 12, 11, 11, 10, 8, 7, 6, 4, 3, 2, 2, 2, 1, 2, 3, 3, 2, 2, 1, 2, 2, 2, 2, 2, 4, 8, 12, 14, 14, + 13, 13, 12, 12, 11, 11, 11, 8, 7, 6, 5, 3, 2, 2, 1, 1, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 3, 4, 8, 12, 14, 14, + 13, 13, 12, 12, 12, 11, 11, 8, 7, 6, 5, 3, 2, 1, 1, 1, 1, 2, 3, 3, 2, 2, 2, 2, 2, 3, 3, 4, 8, 12, 14, 14, + 13, 13, 13, 12, 12, 11, 11, 8, 6, 6, 5, 3, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 4, 7, 12, 13, 14, + 13, 13, 13, 12, 12, 11, 10, 8, 6, 5, 4, 2, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 3, 3, 4, 5, 7, 12, 14, 14, + 14, 14, 13, 13, 13, 11, 10, 8, 7, 5, 4, 2, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 3, 3, 4, 4, 5, 8, 14, 16, 16, + 14, 14, 13, 13, 13, 12, 11, 9, 7, 5, 4, 2, 1, 0, 0, 0, 1, 1, 2, 2, 2, 2, 3, 3, 4, 4, 4, 6, 10, 15, 16, 16, + 15, 14, 14, 14, 15, 15, 11, 9, 8, 5, 4, 2, 1, 0, 0, 0, 1, 1, 1, 2, 2, 3, 3, 4, 4, 5, 5, 7, 11, 15, 16, 17, + 15, 15, 14, 14, 15, 15, 12, 10, 9, 6, 4, 2, 1, 0, 0, 0, 1, 1, 1, 2, 3, 3, 3, 4, 5, 5, 6, 7, 11, 15, 16, 16, + 15, 15, 15, 15, 15, 15, 12, 10, 9, 6, 5, 2, 1, 0, 0, 0, 1, 1, 1, 3, 3, 3, 4, 4, 5, 6, 6, 7, 11, 15, 16, 17, + 16, 16, 15, 16, 15, 15, 12, 11, 10, 7, 5, 3, 2, 1, 0, 0, 1, 1, 2, 3, 4, 4, 4, 5, 6, 6, 7, 9, 12, 16, 16, 16, + 16, 16, 16, 16, 16, 15, 13, 12, 10, 9, 6, 5, 3, 2, 1, 1, 1, 2, 3, 4, 4, 4, 5, 6, 6, 7, 8, 9, 14, 16, 17, 16, + 16, 16, 16, 16, 16, 15, 14, 12, 11, 10, 8, 6, 5, 4, 2, 1, 1, 2, 3, 4, 5, 5, 6, 6, 6, 7, 9, 12, 15, 16, 16, 16, + 17, 17, 18, 17, 16, 16, 14, 13, 12, 11, 9, 8, 6, 5, 4, 2, 2, 2, 3, 4, 6, 6, 6, 6, 7, 8, 11, 14, 16, 17, 16, 16, + 17, 17, 18, 18, 17, 16, 16, 14, 13, 12, 11, 9, 8, 7, 5, 4, 2, 3, 4, 6, 6, 6, 6, 7, 8, 10, 12, 15, 17, 17, 17, 16, + 18, 18, 18, 18, 18, 17, 16, 15, 14, 13, 12, 11, 9, 8, 6, 5, 4, 4, 4, 5, 6, 6, 7, 7, 10, 11, 14, 16, 17, 17, 17, 17, + 18, 18, 19, 19, 19, 18, 17, 16, 15, 14, 14, 11, 10, 9, 7, 6, 6, 5, 5, 5, 6, 7, 7, 7, 10, 12, 14, 17, 17, 17, 17, 17, + 20, 20, 20, 20, 20, 19, 18, 17, 16, 15, 14, 13, 11, 10, 9, 7, 6, 6, 6, 6, 7, 7, 7, 8, 11, 12, 15, 18, 18, 17, 17, 16, + 22, 21, 21, 21, 21, 21, 20, 19, 17, 16, 16, 14, 13, 11, 10, 8, 7, 7, 7, 7, 8, 8, 8, 9, 11, 13, 17, 18, 18, 17, 16, 15, + 23, 22, 22, 22, 22, 21, 21, 20, 19, 19, 18, 16, 14, 13, 11, 9, 8, 8, 8, 8, 8, 8, 9, 10, 12, 15, 18, 18, 18, 17, 16, 14, + 23, 24, 24, 23, 23, 22, 22, 21, 21, 20, 20, 19, 18, 15, 13, 11, 9, 8, 8, 8, 9, 9, 10, 11, 13, 16, 18, 18, 17, 17, 15, 14, + 24, 24, 24, 24, 24, 23, 22, 22, 22, 22, 20, 20, 19, 18, 15, 13, 10, 9, 9, 9, 9, 10, 11, 12, 15, 17, 18, 18, 17, 16, 15, 13, + ] +... diff --git a/src/ipa/mali-c55/data/meson.build b/src/ipa/mali-c55/data/meson.build new file mode 100644 index 00000000..8a5fdd36 --- /dev/null +++ b/src/ipa/mali-c55/data/meson.build @@ -0,0 +1,9 @@ +# SPDX-License-Identifier: CC0-1.0 + +conf_files = files([ + 'imx415.yaml', + 'uncalibrated.yaml' +]) + +install_data(conf_files, + install_dir : ipa_data_dir / 'mali-c55') diff --git a/src/ipa/mali-c55/data/uncalibrated.yaml b/src/ipa/mali-c55/data/uncalibrated.yaml new file mode 100644 index 00000000..6dcc0295 --- /dev/null +++ b/src/ipa/mali-c55/data/uncalibrated.yaml @@ -0,0 +1,7 @@ +# SPDX-License-Identifier: CC0-1.0 +%YAML 1.1 +--- +version: 1 +algorithms: + - Agc: +... diff --git a/src/ipa/mali-c55/ipa_context.cpp b/src/ipa/mali-c55/ipa_context.cpp new file mode 100644 index 00000000..99f76ecd --- /dev/null +++ b/src/ipa/mali-c55/ipa_context.cpp @@ -0,0 +1,101 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * ipa_context.cpp - MaliC55 IPA Context + */ + +#include "ipa_context.h" + +/** + * \file ipa_context.h + * \brief Context and state information shared between the algorithms + */ + +namespace libcamera::ipa::mali_c55 { + +/** + * \struct IPASessionConfiguration + * \brief Session configuration for the IPA module + * + * The session configuration contains all IPA configuration parameters that + * remain constant during the capture session, from IPA module start to stop. + * It is typically set during the configure() operation of the IPA module, but + * may also be updated in the start() operation. + */ + +/** + * \struct IPAActiveState + * \brief Active state for algorithms + * + * The active state contains all algorithm-specific data that needs to be + * maintained by algorithms across frames. Unlike the session configuration, + * the active state is mutable and constantly updated by algorithms. The active + * state is accessible through the IPAContext structure. + * + * The active state stores two distinct categories of information: + * + * - The consolidated value of all algorithm controls. Requests passed to + * the queueRequest() function store values for controls that the + * application wants to modify for that particular frame, and the + * queueRequest() function updates the active state with those values. + * The active state thus contains a consolidated view of the value of all + * controls handled by the algorithm. + * + * - The value of parameters computed by the algorithm when running in auto + * mode. Algorithms running in auto mode compute new parameters every + * time statistics buffers are received (either synchronously, or + * possibly in a background thread). The latest computed value of those + * parameters is stored in the active state in the process() function. + * + * Each of the members in the active state belongs to a specific algorithm. A + * member may be read by any algorithm, but shall only be written by its owner. + */ + +/** + * \struct IPAFrameContext + * \brief Per-frame context for algorithms + * + * The frame context stores two distinct categories of information: + * + * - The value of the controls to be applied to the frame. These values are + * typically set in the queueRequest() function, from the consolidated + * control values stored in the active state. The frame context thus stores + * values for all controls related to the algorithm, not limited to the + * controls specified in the corresponding request, but consolidated from all + * requests that have been queued so far. + * + * For controls that can be set manually or computed by an algorithm + * (depending on the algorithm operation mode), such as for instance the + * colour gains for the AWB algorithm, the control value will be stored in + * the frame context in the queueRequest() function only when operating in + * manual mode. When operating in auto mode, the values are computed by the + * algorithm in process(), stored in the active state, and copied to the + * frame context in prepare(), just before being stored in the ISP parameters + * buffer. + * + * The queueRequest() function can also store ancillary data in the frame + * context, such as flags to indicate if (and what) control values have + * changed compared to the previous request. + * + * - Status information computed by the algorithm for a frame. For instance, + * the colour temperature estimated by the AWB algorithm from ISP statistics + * calculated on a frame is stored in the frame context for that frame in + * the process() function. + */ + +/** + * \struct IPAContext + * \brief Global IPA context data shared between all algorithms + * + * \var IPAContext::configuration + * \brief The IPA session configuration, immutable during the session + * + * \var IPAContext::activeState + * \brief The IPA active state, storing the latest state for all algorithms + * + * \var IPAContext::frameContexts + * \brief Ring buffer of per-frame contexts + */ + +} /* namespace libcamera::ipa::mali_c55 */ diff --git a/src/ipa/mali-c55/ipa_context.h b/src/ipa/mali-c55/ipa_context.h new file mode 100644 index 00000000..5e3e2fbd --- /dev/null +++ b/src/ipa/mali-c55/ipa_context.h @@ -0,0 +1,90 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * ipa_context.h - Mali-C55 IPA Context + */ + +#pragma once + +#include <libcamera/base/utils.h> +#include <libcamera/controls.h> + +#include "libcamera/internal/bayer_format.h" + +#include <libipa/fc_queue.h> + +namespace libcamera { + +namespace ipa::mali_c55 { + +struct IPASessionConfiguration { + struct { + utils::Duration minShutterSpeed; + utils::Duration maxShutterSpeed; + uint32_t defaultExposure; + double minAnalogueGain; + double maxAnalogueGain; + } agc; + + struct { + BayerFormat::Order bayerOrder; + utils::Duration lineDuration; + uint32_t blackLevel; + } sensor; +}; + +struct IPAActiveState { + struct { + struct { + uint32_t exposure; + double sensorGain; + double ispGain; + } automatic; + struct { + uint32_t exposure; + double sensorGain; + double ispGain; + } manual; + bool autoEnabled; + uint32_t constraintMode; + uint32_t exposureMode; + uint32_t temperatureK; + } agc; + + struct { + double rGain; + double bGain; + } awb; +}; + +struct IPAFrameContext : public FrameContext { + struct { + uint32_t exposure; + double sensorGain; + double ispGain; + } agc; + + struct { + double rGain; + double bGain; + } awb; +}; + +struct IPAContext { + IPAContext(unsigned int frameContextSize) + : frameContexts(frameContextSize) + { + } + + IPASessionConfiguration configuration; + IPAActiveState activeState; + + FCQueue<IPAFrameContext> frameContexts; + + ControlInfoMap::Map ctrlMap; +}; + +} /* namespace ipa::mali_c55 */ + +} /* namespace libcamera*/ diff --git a/src/ipa/mali-c55/mali-c55.cpp b/src/ipa/mali-c55/mali-c55.cpp new file mode 100644 index 00000000..c6941a95 --- /dev/null +++ b/src/ipa/mali-c55/mali-c55.cpp @@ -0,0 +1,399 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2023, Ideas on Board Oy + * + * mali-c55.cpp - Mali-C55 ISP image processing algorithms + */ + +#include <map> +#include <string.h> +#include <vector> + +#include <linux/mali-c55-config.h> +#include <linux/v4l2-controls.h> + +#include <libcamera/base/file.h> +#include <libcamera/base/log.h> + +#include <libcamera/control_ids.h> +#include <libcamera/ipa/ipa_interface.h> +#include <libcamera/ipa/ipa_module_info.h> +#include <libcamera/ipa/mali-c55_ipa_interface.h> + +#include "libcamera/internal/bayer_format.h" +#include "libcamera/internal/mapped_framebuffer.h" +#include "libcamera/internal/yaml_parser.h" + +#include "algorithms/algorithm.h" +#include "libipa/camera_sensor_helper.h" + +#include "ipa_context.h" + +namespace libcamera { + +LOG_DEFINE_CATEGORY(IPAMaliC55) + +using namespace std::literals::chrono_literals; + +namespace ipa::mali_c55 { + +/* Maximum number of frame contexts to be held */ +static constexpr uint32_t kMaxFrameContexts = 16; + +class IPAMaliC55 : public IPAMaliC55Interface, public Module +{ +public: + IPAMaliC55(); + + int init(const IPASettings &settings, const IPAConfigInfo &ipaConfig, + ControlInfoMap *ipaControls) override; + int start() override; + void stop() override; + int configure(const IPAConfigInfo &ipaConfig, uint8_t bayerOrder, + ControlInfoMap *ipaControls) override; + void mapBuffers(const std::vector<IPABuffer> &buffers, bool readOnly) override; + void unmapBuffers(const std::vector<IPABuffer> &buffers) override; + void queueRequest(const uint32_t request, const ControlList &controls) override; + void fillParams(unsigned int request, uint32_t bufferId) override; + void processStats(unsigned int request, unsigned int bufferId, + const ControlList &sensorControls) override; + +protected: + std::string logPrefix() const override; + +private: + void updateSessionConfiguration(const IPACameraSensorInfo &info, + const ControlInfoMap &sensorControls, + BayerFormat::Order bayerOrder); + void updateControls(const IPACameraSensorInfo &sensorInfo, + const ControlInfoMap &sensorControls, + ControlInfoMap *ipaControls); + void setControls(); + + std::map<unsigned int, MappedFrameBuffer> buffers_; + + ControlInfoMap sensorControls_; + + /* Interface to the Camera Helper */ + std::unique_ptr<CameraSensorHelper> camHelper_; + + /* Local parameter storage */ + struct IPAContext context_; +}; + +namespace { + +} /* namespace */ + +IPAMaliC55::IPAMaliC55() + : context_(kMaxFrameContexts) +{ +} + +std::string IPAMaliC55::logPrefix() const +{ + return "mali-c55"; +} + +int IPAMaliC55::init(const IPASettings &settings, const IPAConfigInfo &ipaConfig, + ControlInfoMap *ipaControls) +{ + camHelper_ = CameraSensorHelperFactoryBase::create(settings.sensorModel); + if (!camHelper_) { + LOG(IPAMaliC55, Error) + << "Failed to create camera sensor helper for " + << settings.sensorModel; + return -ENODEV; + } + + File file(settings.configurationFile); + if (!file.open(File::OpenModeFlag::ReadOnly)) { + int ret = file.error(); + LOG(IPAMaliC55, Error) + << "Failed to open configuration file " + << settings.configurationFile << ": " << strerror(-ret); + return ret; + } + + std::unique_ptr<libcamera::YamlObject> data = YamlParser::parse(file); + if (!data) + return -EINVAL; + + if (!data->contains("algorithms")) { + LOG(IPAMaliC55, Error) + << "Tuning file doesn't contain any algorithm"; + return -EINVAL; + } + + int ret = createAlgorithms(context_, (*data)["algorithms"]); + if (ret) + return ret; + + updateControls(ipaConfig.sensorInfo, ipaConfig.sensorControls, ipaControls); + + return 0; +} + +void IPAMaliC55::setControls() +{ + IPAActiveState &activeState = context_.activeState; + uint32_t exposure; + uint32_t gain; + + if (activeState.agc.autoEnabled) { + exposure = activeState.agc.automatic.exposure; + gain = camHelper_->gainCode(activeState.agc.automatic.sensorGain); + } else { + exposure = activeState.agc.manual.exposure; + gain = camHelper_->gainCode(activeState.agc.manual.sensorGain); + } + + ControlList ctrls(sensorControls_); + ctrls.set(V4L2_CID_EXPOSURE, static_cast<int32_t>(exposure)); + ctrls.set(V4L2_CID_ANALOGUE_GAIN, static_cast<int32_t>(gain)); + + setSensorControls.emit(ctrls); +} + +int IPAMaliC55::start() +{ + return 0; +} + +void IPAMaliC55::stop() +{ + context_.frameContexts.clear(); +} + +void IPAMaliC55::updateSessionConfiguration(const IPACameraSensorInfo &info, + const ControlInfoMap &sensorControls, + BayerFormat::Order bayerOrder) +{ + context_.configuration.sensor.bayerOrder = bayerOrder; + + const ControlInfo &v4l2Exposure = sensorControls.find(V4L2_CID_EXPOSURE)->second; + int32_t minExposure = v4l2Exposure.min().get<int32_t>(); + int32_t maxExposure = v4l2Exposure.max().get<int32_t>(); + int32_t defExposure = v4l2Exposure.def().get<int32_t>(); + + const ControlInfo &v4l2Gain = sensorControls.find(V4L2_CID_ANALOGUE_GAIN)->second; + int32_t minGain = v4l2Gain.min().get<int32_t>(); + int32_t maxGain = v4l2Gain.max().get<int32_t>(); + + /* + * When the AGC computes the new exposure values for a frame, it needs + * to know the limits for shutter speed and analogue gain. + * As it depends on the sensor, update it with the controls. + * + * \todo take VBLANK into account for maximum shutter speed + */ + context_.configuration.sensor.lineDuration = info.minLineLength * 1.0s / info.pixelRate; + context_.configuration.agc.minShutterSpeed = minExposure * context_.configuration.sensor.lineDuration; + context_.configuration.agc.maxShutterSpeed = maxExposure * context_.configuration.sensor.lineDuration; + context_.configuration.agc.defaultExposure = defExposure; + context_.configuration.agc.minAnalogueGain = camHelper_->gain(minGain); + context_.configuration.agc.maxAnalogueGain = camHelper_->gain(maxGain); + + if (camHelper_->blackLevel().has_value()) { + /* + * The black level from CameraSensorHelper is a 16-bit value. + * The Mali-C55 ISP expects 20-bit settings, so we shift it to + * the appropriate width + */ + context_.configuration.sensor.blackLevel = + camHelper_->blackLevel().value() << 4; + } +} + +void IPAMaliC55::updateControls(const IPACameraSensorInfo &sensorInfo, + const ControlInfoMap &sensorControls, + ControlInfoMap *ipaControls) +{ + ControlInfoMap::Map ctrlMap; + + /* + * Compute the frame duration limits. + * + * The frame length is computed assuming a fixed line length combined + * with the vertical frame sizes. + */ + const ControlInfo &v4l2HBlank = sensorControls.find(V4L2_CID_HBLANK)->second; + uint32_t hblank = v4l2HBlank.def().get<int32_t>(); + uint32_t lineLength = sensorInfo.outputSize.width + hblank; + + const ControlInfo &v4l2VBlank = sensorControls.find(V4L2_CID_VBLANK)->second; + std::array<uint32_t, 3> frameHeights{ + v4l2VBlank.min().get<int32_t>() + sensorInfo.outputSize.height, + v4l2VBlank.max().get<int32_t>() + sensorInfo.outputSize.height, + v4l2VBlank.def().get<int32_t>() + sensorInfo.outputSize.height, + }; + + std::array<int64_t, 3> frameDurations; + for (unsigned int i = 0; i < frameHeights.size(); ++i) { + uint64_t frameSize = lineLength * frameHeights[i]; + frameDurations[i] = frameSize / (sensorInfo.pixelRate / 1000000U); + } + + ctrlMap[&controls::FrameDurationLimits] = ControlInfo(frameDurations[0], + frameDurations[1], + frameDurations[2]); + + /* + * Compute exposure time limits from the V4L2_CID_EXPOSURE control + * limits and the line duration. + */ + double lineDuration = sensorInfo.minLineLength / sensorInfo.pixelRate; + + const ControlInfo &v4l2Exposure = sensorControls.find(V4L2_CID_EXPOSURE)->second; + int32_t minExposure = v4l2Exposure.min().get<int32_t>() * lineDuration; + int32_t maxExposure = v4l2Exposure.max().get<int32_t>() * lineDuration; + int32_t defExposure = v4l2Exposure.def().get<int32_t>() * lineDuration; + ctrlMap[&controls::ExposureTime] = ControlInfo(minExposure, maxExposure, defExposure); + + /* Compute the analogue gain limits. */ + const ControlInfo &v4l2Gain = sensorControls.find(V4L2_CID_ANALOGUE_GAIN)->second; + float minGain = camHelper_->gain(v4l2Gain.min().get<int32_t>()); + float maxGain = camHelper_->gain(v4l2Gain.max().get<int32_t>()); + float defGain = camHelper_->gain(v4l2Gain.def().get<int32_t>()); + ctrlMap[&controls::AnalogueGain] = ControlInfo(minGain, maxGain, defGain); + + /* + * Merge in any controls that we support either statically or from the + * algorithms. + */ + ctrlMap.merge(context_.ctrlMap); + + *ipaControls = ControlInfoMap(std::move(ctrlMap), controls::controls); +} + +int IPAMaliC55::configure(const IPAConfigInfo &ipaConfig, uint8_t bayerOrder, + ControlInfoMap *ipaControls) +{ + sensorControls_ = ipaConfig.sensorControls; + + /* Clear the IPA context before the streaming session. */ + context_.configuration = {}; + context_.activeState = {}; + context_.frameContexts.clear(); + + const IPACameraSensorInfo &info = ipaConfig.sensorInfo; + + updateSessionConfiguration(info, ipaConfig.sensorControls, + static_cast<BayerFormat::Order>(bayerOrder)); + updateControls(info, ipaConfig.sensorControls, ipaControls); + + for (auto const &a : algorithms()) { + Algorithm *algo = static_cast<Algorithm *>(a.get()); + + int ret = algo->configure(context_, info); + if (ret) + return ret; + } + + return 0; +} + +void IPAMaliC55::mapBuffers(const std::vector<IPABuffer> &buffers, bool readOnly) +{ + for (const IPABuffer &buffer : buffers) { + const FrameBuffer fb(buffer.planes); + buffers_.emplace( + buffer.id, + MappedFrameBuffer( + &fb, + readOnly ? MappedFrameBuffer::MapFlag::Read + : MappedFrameBuffer::MapFlag::ReadWrite)); + } +} + +void IPAMaliC55::unmapBuffers(const std::vector<IPABuffer> &buffers) +{ + for (const IPABuffer &buffer : buffers) { + auto it = buffers_.find(buffer.id); + if (it == buffers_.end()) + continue; + + buffers_.erase(buffer.id); + } +} + +void IPAMaliC55::queueRequest(const uint32_t request, const ControlList &controls) +{ + IPAFrameContext &frameContext = context_.frameContexts.alloc(request); + + for (auto const &a : algorithms()) { + Algorithm *algo = static_cast<Algorithm *>(a.get()); + + algo->queueRequest(context_, request, frameContext, controls); + } +} + +void IPAMaliC55::fillParams(unsigned int request, + [[maybe_unused]] uint32_t bufferId) +{ + struct mali_c55_params_buffer *params; + IPAFrameContext &frameContext = context_.frameContexts.get(request); + + params = reinterpret_cast<mali_c55_params_buffer *>( + buffers_.at(bufferId).planes()[0].data()); + memset(params, 0, sizeof(mali_c55_params_buffer)); + + params->version = MALI_C55_PARAM_BUFFER_V1; + + for (auto const &algo : algorithms()) { + algo->prepare(context_, request, frameContext, params); + + ASSERT(params->total_size <= MALI_C55_PARAMS_MAX_SIZE); + } + + paramsComputed.emit(request); +} + +void IPAMaliC55::processStats(unsigned int request, unsigned int bufferId, + const ControlList &sensorControls) +{ + IPAFrameContext &frameContext = context_.frameContexts.get(request); + const mali_c55_stats_buffer *stats = nullptr; + + stats = reinterpret_cast<mali_c55_stats_buffer *>( + buffers_.at(bufferId).planes()[0].data()); + + frameContext.agc.exposure = + sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>(); + frameContext.agc.sensorGain = + camHelper_->gain(sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>()); + + ControlList metadata(controls::controls); + + for (auto const &a : algorithms()) { + Algorithm *algo = static_cast<Algorithm *>(a.get()); + + algo->process(context_, request, frameContext, stats, metadata); + } + + setControls(); + + statsProcessed.emit(request, metadata); +} + +} /* namespace ipa::mali_c55 */ + +/* + * External IPA module interface + */ +extern "C" { +const struct IPAModuleInfo ipaModuleInfo = { + IPA_MODULE_API_VERSION, + 1, + "mali-c55", + "mali-c55", +}; + +IPAInterface *ipaCreate() +{ + return new ipa::mali_c55::IPAMaliC55(); +} + +} /* extern "C" */ + +} /* namespace libcamera */ diff --git a/src/ipa/mali-c55/meson.build b/src/ipa/mali-c55/meson.build new file mode 100644 index 00000000..864d90ec --- /dev/null +++ b/src/ipa/mali-c55/meson.build @@ -0,0 +1,33 @@ +# SPDX-License-Identifier: CC0-1.0 + +subdir('algorithms') +subdir('data') + +ipa_name = 'ipa_mali_c55' + +mali_c55_ipa_sources = files([ + 'ipa_context.cpp', + 'mali-c55.cpp' +]) + +mali_c55_ipa_sources += mali_c55_ipa_algorithms + +mod = shared_module(ipa_name, + mali_c55_ipa_sources, + name_prefix : '', + include_directories : [ipa_includes, libipa_includes], + dependencies : libcamera_private, + link_with : libipa, + 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 + +ipa_names += ipa_name diff --git a/src/ipa/mali-c55/module.h b/src/ipa/mali-c55/module.h new file mode 100644 index 00000000..1d85ec1f --- /dev/null +++ b/src/ipa/mali-c55/module.h @@ -0,0 +1,27 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * module.h - Mali-C55 IPA Module + */ + +#pragma once + +#include <linux/mali-c55-config.h> + +#include <libcamera/ipa/mali-c55_ipa_interface.h> + +#include <libipa/module.h> + +#include "ipa_context.h" + +namespace libcamera { + +namespace ipa::mali_c55 { + +using Module = ipa::Module<IPAContext, IPAFrameContext, IPACameraSensorInfo, + mali_c55_params_buffer, mali_c55_stats_buffer>; + +} /* namespace ipa::mali_c55 */ + +} /* namespace libcamera*/ diff --git a/src/ipa/meson.build b/src/ipa/meson.build index 73278a60..0ad4631d 100644 --- a/src/ipa/meson.build +++ b/src/ipa/meson.build @@ -1,19 +1,80 @@ -ipa_install_dir = join_paths(get_option('libdir'), 'libcamera') +# SPDX-License-Identifier: CC0-1.0 ipa_includes = [ libcamera_includes, - libcamera_internal_includes, ] +ipa_install_dir = libcamera_libdir +ipa_data_dir = libcamera_datadir / 'ipa' +ipa_sysconf_dir = libcamera_sysconfdir / 'ipa' + +config_h.set('IPA_CONFIG_DIR', + '"' + get_option('prefix') / ipa_sysconf_dir + + ':' + get_option('prefix') / ipa_data_dir + '"') + config_h.set('IPA_MODULE_DIR', - '"' + join_paths(get_option('prefix'), ipa_install_dir) + '"') + '"' + get_option('prefix') / ipa_install_dir + '"') + +summary({ + 'IPA_CONFIG_DIR' : config_h.get('IPA_CONFIG_DIR'), + 'IPA_MODULE_DIR' : config_h.get('IPA_MODULE_DIR'), + }, section : 'Paths') subdir('libipa') -ipas = ['rkisp1', 'vimc'] +ipa_sign = files('ipa-sign.sh') + +ipa_names = [] + +ipa_modules = get_option('ipas') + +# Tests require the vimc IPA, similar to vimc pipline-handler for their +# execution. Include it automatically when tests are enabled. +if get_option('test') and 'vimc' not in ipa_modules + message('Enabling vimc IPA to support tests') + ipa_modules += ['vimc'] +endif + +enabled_ipa_modules = [] +enabled_ipa_names = [] +ipa_names = [] -foreach pipeline : get_option('pipelines') - if ipas.contains(pipeline) - subdir(pipeline) +subdirs = [] +foreach pipeline : pipelines + # The current implementation expects the IPA module name to match the + # pipeline name. + # \todo Make the IPA naming scheme more flexible. + if not ipa_modules.contains(pipeline) + continue endif + enabled_ipa_names += pipeline + + # Allow multi-level directory structuring for the IPAs if needed. + pipeline = pipeline.split('/')[0] + if pipeline in subdirs + continue + endif + + subdirs += pipeline + subdir(pipeline) + + # Don't reuse the pipeline variable below, the subdirectory may have + # overwritten it. endforeach + +# The ipa-sign-install.sh script which uses the enabled_ipa_modules variable +# will itself prepend MESON_INSTALL_DESTDIR_PREFIX to each ipa module name, +# therefore we must not include the prefix string here. +foreach ipa_name : ipa_names + enabled_ipa_modules += ipa_install_dir / ipa_name + '.so' +endforeach + +if ipa_sign_module + # Regenerate the signatures for all IPA modules. We can't simply install the + # .sign files, as meson strips the DT_RPATH and DT_RUNPATH from binaries at + # install time, which invalidates the signatures. + meson.add_install_script('ipa-sign-install.sh', + ipa_priv_key.full_path(), + enabled_ipa_modules, + install_tag : 'runtime') +endif diff --git a/src/ipa/rkisp1/algorithms/agc.cpp b/src/ipa/rkisp1/algorithms/agc.cpp new file mode 100644 index 00000000..40e5a8f4 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/agc.cpp @@ -0,0 +1,470 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * AGC/AEC mean-based control algorithm + */ + +#include "agc.h" + +#include <algorithm> +#include <chrono> +#include <cmath> +#include <tuple> +#include <vector> + +#include <libcamera/base/log.h> +#include <libcamera/base/utils.h> + +#include <libcamera/control_ids.h> +#include <libcamera/ipa/core_ipa_interface.h> + +#include "libcamera/internal/yaml_parser.h" + +#include "libipa/histogram.h" + +/** + * \file agc.h + */ + +namespace libcamera { + +using namespace std::literals::chrono_literals; + +namespace ipa::rkisp1::algorithms { + +/** + * \class Agc + * \brief A mean-based auto-exposure algorithm + */ + +LOG_DEFINE_CATEGORY(RkISP1Agc) + +int Agc::parseMeteringModes(IPAContext &context, const YamlObject &tuningData) +{ + if (!tuningData.isDictionary()) + LOG(RkISP1Agc, Warning) + << "'AeMeteringMode' parameter not found in tuning file"; + + for (const auto &[key, value] : tuningData.asDict()) { + if (controls::AeMeteringModeNameValueMap.find(key) == + controls::AeMeteringModeNameValueMap.end()) { + LOG(RkISP1Agc, Warning) + << "Skipping unknown metering mode '" << key << "'"; + continue; + } + + std::vector<uint8_t> weights = + value.getList<uint8_t>().value_or(std::vector<uint8_t>{}); + if (weights.size() != context.hw->numHistogramWeights) { + LOG(RkISP1Agc, Warning) + << "Failed to read metering mode'" << key << "'"; + continue; + } + + meteringModes_[controls::AeMeteringModeNameValueMap.at(key)] = weights; + } + + if (meteringModes_.empty()) { + LOG(RkISP1Agc, Warning) + << "No metering modes read from tuning file; defaulting to matrix"; + int32_t meteringModeId = controls::AeMeteringModeNameValueMap.at("MeteringMatrix"); + std::vector<uint8_t> weights(context.hw->numHistogramWeights, 1); + + meteringModes_[meteringModeId] = weights; + } + + std::vector<ControlValue> meteringModes; + std::vector<int> meteringModeKeys = utils::map_keys(meteringModes_); + std::transform(meteringModeKeys.begin(), meteringModeKeys.end(), + std::back_inserter(meteringModes), + [](int x) { return ControlValue(x); }); + context.ctrlMap[&controls::AeMeteringMode] = ControlInfo(meteringModes); + + return 0; +} + +uint8_t Agc::computeHistogramPredivider(const Size &size, + enum rkisp1_cif_isp_histogram_mode mode) +{ + /* + * The maximum number of pixels that could potentially be in one bin is + * if all the pixels of the image are in it, multiplied by 3 for the + * three color channels. The counter for each bin is 16 bits wide, so + * `factor` thus contains the number of times we'd wrap around. This is + * obviously the number of pixels that we need to skip to make sure + * that we don't wrap around, but we compute the square root of it + * instead, as the skip that we need to program is for both the x and y + * directions. + * + * Even though it looks like dividing into a counter of 65536 would + * overflow by 1, this is apparently fine according to the hardware + * documentation, and this successfully gets the expected documented + * predivider size for cases where: + * (width / predivider) * (height / predivider) * 3 == 65536. + * + * There's a bit of extra rounding math to make sure the rounding goes + * the correct direction so that the square of the step is big enough + * to encompass the `factor` number of pixels that we need to skip. + * + * \todo Take into account weights. That is, if the weights are low + * enough we can potentially reduce the predivider to increase + * precision. This needs some investigation however, as this hardware + * behavior is undocumented and is only an educated guess. + */ + int count = mode == RKISP1_CIF_ISP_HISTOGRAM_MODE_RGB_COMBINED ? 3 : 1; + double factor = size.width * size.height * count / 65536.0; + double root = std::sqrt(factor); + uint8_t predivider = static_cast<uint8_t>(std::ceil(root)); + + return std::clamp<uint8_t>(predivider, 3, 127); +} + +Agc::Agc() +{ + supportsRaw_ = true; +} + +/** + * \brief Initialise the AGC algorithm from tuning files + * \param[in] context The shared IPA context + * \param[in] tuningData The YamlObject containing Agc tuning data + * + * This function calls the base class' tuningData parsers to discover which + * control values are supported. + * + * \return 0 on success or errors from the base class + */ +int Agc::init(IPAContext &context, const YamlObject &tuningData) +{ + int ret; + + ret = parseTuningData(tuningData); + if (ret) + return ret; + + const YamlObject &yamlMeteringModes = tuningData["AeMeteringMode"]; + ret = parseMeteringModes(context, yamlMeteringModes); + if (ret) + return ret; + + context.ctrlMap[&controls::AeEnable] = ControlInfo(false, true); + context.ctrlMap.merge(controls()); + + return 0; +} + +/** + * \brief Configure the AGC given a configInfo + * \param[in] context The shared IPA context + * \param[in] configInfo The IPA configuration data + * + * \return 0 + */ +int Agc::configure(IPAContext &context, const IPACameraSensorInfo &configInfo) +{ + /* Configure the default exposure and gain. */ + context.activeState.agc.automatic.gain = context.configuration.sensor.minAnalogueGain; + context.activeState.agc.automatic.exposure = + 10ms / context.configuration.sensor.lineDuration; + context.activeState.agc.manual.gain = context.activeState.agc.automatic.gain; + context.activeState.agc.manual.exposure = context.activeState.agc.automatic.exposure; + context.activeState.agc.autoEnabled = !context.configuration.raw; + + context.activeState.agc.constraintMode = + static_cast<controls::AeConstraintModeEnum>(constraintModes().begin()->first); + context.activeState.agc.exposureMode = + static_cast<controls::AeExposureModeEnum>(exposureModeHelpers().begin()->first); + context.activeState.agc.meteringMode = + static_cast<controls::AeMeteringModeEnum>(meteringModes_.begin()->first); + + /* + * \todo This should probably come from FrameDurationLimits instead, + * except it's computed in the IPA and not here so we'd have to + * recompute it. + */ + context.activeState.agc.maxFrameDuration = context.configuration.sensor.maxExposureTime; + + /* + * Define the measurement window for AGC as a centered rectangle + * covering 3/4 of the image width and height. + */ + context.configuration.agc.measureWindow.h_offs = configInfo.outputSize.width / 8; + context.configuration.agc.measureWindow.v_offs = configInfo.outputSize.height / 8; + context.configuration.agc.measureWindow.h_size = 3 * configInfo.outputSize.width / 4; + context.configuration.agc.measureWindow.v_size = 3 * configInfo.outputSize.height / 4; + + setLimits(context.configuration.sensor.minExposureTime, + context.configuration.sensor.maxExposureTime, + context.configuration.sensor.minAnalogueGain, + context.configuration.sensor.maxAnalogueGain); + + resetFrameCount(); + + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::queueRequest + */ +void Agc::queueRequest(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) +{ + auto &agc = context.activeState.agc; + + if (!context.configuration.raw) { + const auto &agcEnable = controls.get(controls::AeEnable); + if (agcEnable && *agcEnable != agc.autoEnabled) { + agc.autoEnabled = *agcEnable; + + LOG(RkISP1Agc, Debug) + << (agc.autoEnabled ? "Enabling" : "Disabling") + << " AGC"; + } + } + + const auto &exposure = controls.get(controls::ExposureTime); + if (exposure && !agc.autoEnabled) { + agc.manual.exposure = *exposure * 1.0us + / context.configuration.sensor.lineDuration; + + LOG(RkISP1Agc, Debug) + << "Set exposure to " << agc.manual.exposure; + } + + const auto &gain = controls.get(controls::AnalogueGain); + if (gain && !agc.autoEnabled) { + agc.manual.gain = *gain; + + LOG(RkISP1Agc, Debug) << "Set gain to " << agc.manual.gain; + } + + frameContext.agc.autoEnabled = agc.autoEnabled; + + if (!frameContext.agc.autoEnabled) { + frameContext.agc.exposure = agc.manual.exposure; + frameContext.agc.gain = agc.manual.gain; + } + + const auto &meteringMode = controls.get(controls::AeMeteringMode); + if (meteringMode) { + frameContext.agc.updateMetering = agc.meteringMode != *meteringMode; + agc.meteringMode = + static_cast<controls::AeMeteringModeEnum>(*meteringMode); + } + frameContext.agc.meteringMode = agc.meteringMode; + + const auto &exposureMode = controls.get(controls::AeExposureMode); + if (exposureMode) + agc.exposureMode = + static_cast<controls::AeExposureModeEnum>(*exposureMode); + frameContext.agc.exposureMode = agc.exposureMode; + + const auto &constraintMode = controls.get(controls::AeConstraintMode); + if (constraintMode) + agc.constraintMode = + static_cast<controls::AeConstraintModeEnum>(*constraintMode); + frameContext.agc.constraintMode = agc.constraintMode; + + const auto &frameDurationLimits = controls.get(controls::FrameDurationLimits); + if (frameDurationLimits) { + utils::Duration maxFrameDuration = + std::chrono::milliseconds((*frameDurationLimits).back()); + agc.maxFrameDuration = maxFrameDuration; + } + frameContext.agc.maxFrameDuration = agc.maxFrameDuration; +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void Agc::prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, RkISP1Params *params) +{ + if (frameContext.agc.autoEnabled) { + frameContext.agc.exposure = context.activeState.agc.automatic.exposure; + frameContext.agc.gain = context.activeState.agc.automatic.gain; + } + + if (frame > 0 && !frameContext.agc.updateMetering) + return; + + /* + * Configure the AEC measurements. Set the window, measure + * continuously, and estimate Y as (R + G + B) x (85/256). + */ + auto aecConfig = params->block<BlockType::Aec>(); + aecConfig.setEnabled(true); + + aecConfig->meas_window = context.configuration.agc.measureWindow; + aecConfig->autostop = RKISP1_CIF_ISP_EXP_CTRL_AUTOSTOP_0; + aecConfig->mode = RKISP1_CIF_ISP_EXP_MEASURING_MODE_1; + + /* + * Configure the histogram measurement. Set the window, produce a + * luminance histogram, and set the weights and predivider. + */ + auto hstConfig = params->block<BlockType::Hst>(); + hstConfig.setEnabled(true); + + hstConfig->meas_window = context.configuration.agc.measureWindow; + hstConfig->mode = RKISP1_CIF_ISP_HISTOGRAM_MODE_Y_HISTOGRAM; + + Span<uint8_t> weights{ + hstConfig->hist_weight, + context.hw->numHistogramWeights + }; + std::vector<uint8_t> &modeWeights = meteringModes_.at(frameContext.agc.meteringMode); + std::copy(modeWeights.begin(), modeWeights.end(), weights.begin()); + + struct rkisp1_cif_isp_window window = hstConfig->meas_window; + Size windowSize = { window.h_size, window.v_size }; + hstConfig->histogram_predivider = + computeHistogramPredivider(windowSize, + static_cast<rkisp1_cif_isp_histogram_mode>(hstConfig->mode)); +} + +void Agc::fillMetadata(IPAContext &context, IPAFrameContext &frameContext, + ControlList &metadata) +{ + utils::Duration exposureTime = context.configuration.sensor.lineDuration + * frameContext.sensor.exposure; + metadata.set(controls::AnalogueGain, frameContext.sensor.gain); + metadata.set(controls::ExposureTime, exposureTime.get<std::micro>()); + metadata.set(controls::AeEnable, frameContext.agc.autoEnabled); + + /* \todo Use VBlank value calculated from each frame exposure. */ + uint32_t vTotal = context.configuration.sensor.size.height + + context.configuration.sensor.defVBlank; + utils::Duration frameDuration = context.configuration.sensor.lineDuration + * vTotal; + metadata.set(controls::FrameDuration, frameDuration.get<std::micro>()); + + metadata.set(controls::AeMeteringMode, frameContext.agc.meteringMode); + metadata.set(controls::AeExposureMode, frameContext.agc.exposureMode); + metadata.set(controls::AeConstraintMode, frameContext.agc.constraintMode); +} + +/** + * \brief Estimate the relative luminance of the frame with a given gain + * \param[in] gain The gain to apply to the frame + * + * This function estimates the average relative luminance of the frame that + * would be output by the sensor if an additional \a gain was applied. + * + * The estimation is based on the AE statistics for the current frame. Y + * averages for all cells are first multiplied by the gain, and then saturated + * to approximate the sensor behaviour at high brightness values. The + * approximation is quite rough, as it doesn't take into account non-linearities + * when approaching saturation. In this case, saturating after the conversion to + * YUV doesn't take into account the fact that the R, G and B components + * contribute differently to the relative luminance. + * + * The values are normalized to the [0.0, 1.0] range, where 1.0 corresponds to a + * theoretical perfect reflector of 100% reference white. + * + * More detailed information can be found in: + * https://en.wikipedia.org/wiki/Relative_luminance + * + * \return The relative luminance + */ +double Agc::estimateLuminance(double gain) const +{ + double ySum = 0.0; + + /* Sum the averages, saturated to 255. */ + for (uint8_t expMean : expMeans_) + ySum += std::min(expMean * gain, 255.0); + + /* \todo Weight with the AWB gains */ + + return ySum / expMeans_.size() / 255; +} + +/** + * \brief Process RkISP1 statistics, and run AGC operations + * \param[in] context The shared IPA context + * \param[in] frame The frame context sequence number + * \param[in] frameContext The current frame context + * \param[in] stats The RKISP1 statistics and ISP results + * \param[out] metadata Metadata for the frame, to be filled by the algorithm + * + * Identify the current image brightness, and use that to estimate the optimal + * new exposure and gain for the scene. + */ +void Agc::process(IPAContext &context, [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, const rkisp1_stat_buffer *stats, + ControlList &metadata) +{ + if (!stats) { + fillMetadata(context, frameContext, metadata); + return; + } + + if (!(stats->meas_type & RKISP1_CIF_ISP_STAT_AUTOEXP)) { + fillMetadata(context, frameContext, metadata); + LOG(RkISP1Agc, Error) << "AUTOEXP data is missing in statistics"; + return; + } + + /* + * \todo Verify that the exposure and gain applied by the sensor for + * this frame match what has been requested. This isn't a hard + * requirement for stability of the AGC (the guarantee we need in + * automatic mode is a perfect match between the frame and the values + * we receive), but is important in manual mode. + */ + + const rkisp1_cif_isp_stat *params = &stats->params; + + /* The lower 4 bits are fractional and meant to be discarded. */ + Histogram hist({ params->hist.hist_bins, context.hw->numHistogramBins }, + [](uint32_t x) { return x >> 4; }); + expMeans_ = { params->ae.exp_mean, context.hw->numAeCells }; + + utils::Duration maxExposureTime = + std::clamp(frameContext.agc.maxFrameDuration, + context.configuration.sensor.minExposureTime, + context.configuration.sensor.maxExposureTime); + setLimits(context.configuration.sensor.minExposureTime, + maxExposureTime, + context.configuration.sensor.minAnalogueGain, + context.configuration.sensor.maxAnalogueGain); + + /* + * The Agc algorithm needs to know the effective exposure value that was + * applied to the sensor when the statistics were collected. + */ + utils::Duration exposureTime = context.configuration.sensor.lineDuration + * frameContext.sensor.exposure; + double analogueGain = frameContext.sensor.gain; + utils::Duration effectiveExposureValue = exposureTime * analogueGain; + + utils::Duration newExposureTime; + double aGain, dGain; + std::tie(newExposureTime, aGain, dGain) = + calculateNewEv(frameContext.agc.constraintMode, + frameContext.agc.exposureMode, + hist, effectiveExposureValue); + + LOG(RkISP1Agc, Debug) + << "Divided up exposure time, analogue gain and digital gain are " + << newExposureTime << ", " << aGain << " and " << dGain; + + IPAActiveState &activeState = context.activeState; + /* Update the estimated exposure and gain. */ + activeState.agc.automatic.exposure = newExposureTime + / context.configuration.sensor.lineDuration; + activeState.agc.automatic.gain = aGain; + + fillMetadata(context, frameContext, metadata); + expMeans_ = {}; +} + +REGISTER_IPA_ALGORITHM(Agc, "Agc") + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/agc.h b/src/ipa/rkisp1/algorithms/agc.h new file mode 100644 index 00000000..aa86f2c5 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/agc.h @@ -0,0 +1,60 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 AGC/AEC mean-based control algorithm + */ + +#pragma once + +#include <linux/rkisp1-config.h> + +#include <libcamera/base/span.h> +#include <libcamera/base/utils.h> + +#include <libcamera/geometry.h> + +#include "libipa/agc_mean_luminance.h" + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +class Agc : public Algorithm, public AgcMeanLuminance +{ +public: + Agc(); + ~Agc() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + int configure(IPAContext &context, const IPACameraSensorInfo &configInfo) override; + void queueRequest(IPAContext &context, + const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + RkISP1Params *params) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const rkisp1_stat_buffer *stats, + ControlList &metadata) override; + +private: + int parseMeteringModes(IPAContext &context, const YamlObject &tuningData); + uint8_t computeHistogramPredivider(const Size &size, + enum rkisp1_cif_isp_histogram_mode mode); + + void fillMetadata(IPAContext &context, IPAFrameContext &frameContext, + ControlList &metadata); + double estimateLuminance(double gain) const override; + + Span<const uint8_t> expMeans_; + + std::map<int32_t, std::vector<uint8_t>> meteringModes_; +}; + +} /* namespace ipa::rkisp1::algorithms */ +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/algorithm.h b/src/ipa/rkisp1/algorithms/algorithm.h new file mode 100644 index 00000000..715cfcd8 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/algorithm.h @@ -0,0 +1,32 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Ideas On Board + * + * RkISP1 control algorithm interface + */ + +#pragma once + +#include <libipa/algorithm.h> + +#include "module.h" + +namespace libcamera { + +namespace ipa::rkisp1 { + +class Algorithm : public libcamera::ipa::Algorithm<Module> +{ +public: + Algorithm() + : disabled_(false), supportsRaw_(false) + { + } + + bool disabled_; + bool supportsRaw_; +}; + +} /* namespace ipa::rkisp1 */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/awb.cpp b/src/ipa/rkisp1/algorithms/awb.cpp new file mode 100644 index 00000000..cffaa06a --- /dev/null +++ b/src/ipa/rkisp1/algorithms/awb.cpp @@ -0,0 +1,350 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * AWB control algorithm + */ + +#include "awb.h" + +#include <algorithm> +#include <ios> + +#include <libcamera/base/log.h> + +#include <libcamera/control_ids.h> + +#include <libcamera/ipa/core_ipa_interface.h> + +#include "libipa/colours.h" + +/** + * \file awb.h + */ + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +/** + * \class Awb + * \brief A Grey world white balance correction algorithm + */ + +LOG_DEFINE_CATEGORY(RkISP1Awb) + +constexpr int32_t kMinColourTemperature = 2500; +constexpr int32_t kMaxColourTemperature = 10000; +constexpr int32_t kDefaultColourTemperature = 5000; + +/* Minimum mean value below which AWB can't operate. */ +constexpr double kMeanMinThreshold = 2.0; + +Awb::Awb() + : rgbMode_(false) +{ +} + +/** + * \copydoc libcamera::ipa::Algorithm::init + */ +int Awb::init(IPAContext &context, const YamlObject &tuningData) +{ + auto &cmap = context.ctrlMap; + cmap[&controls::ColourTemperature] = ControlInfo(kMinColourTemperature, + kMaxColourTemperature, + kDefaultColourTemperature); + + Interpolator<Vector<double, 2>> gainCurve; + int ret = gainCurve.readYaml(tuningData["colourGains"], "ct", "gains"); + if (ret < 0) + LOG(RkISP1Awb, Warning) + << "Failed to parse 'colourGains' " + << "parameter from tuning file; " + << "manual colour temperature will not work properly"; + else + colourGainCurve_ = gainCurve; + + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::configure + */ +int Awb::configure(IPAContext &context, + const IPACameraSensorInfo &configInfo) +{ + context.activeState.awb.gains.manual = RGB<double>{ 1.0 }; + context.activeState.awb.gains.automatic = RGB<double>{ 1.0 }; + context.activeState.awb.autoEnabled = true; + context.activeState.awb.temperatureK = kDefaultColourTemperature; + + /* + * Define the measurement window for AWB as a centered rectangle + * covering 3/4 of the image width and height. + */ + context.configuration.awb.measureWindow.h_offs = configInfo.outputSize.width / 8; + context.configuration.awb.measureWindow.v_offs = configInfo.outputSize.height / 8; + context.configuration.awb.measureWindow.h_size = 3 * configInfo.outputSize.width / 4; + context.configuration.awb.measureWindow.v_size = 3 * configInfo.outputSize.height / 4; + + context.configuration.awb.enabled = true; + + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::queueRequest + */ +void Awb::queueRequest(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) +{ + auto &awb = context.activeState.awb; + + const auto &awbEnable = controls.get(controls::AwbEnable); + if (awbEnable && *awbEnable != awb.autoEnabled) { + awb.autoEnabled = *awbEnable; + + LOG(RkISP1Awb, Debug) + << (*awbEnable ? "Enabling" : "Disabling") << " AWB"; + } + + frameContext.awb.autoEnabled = awb.autoEnabled; + + if (awb.autoEnabled) + return; + + const auto &colourGains = controls.get(controls::ColourGains); + const auto &colourTemperature = controls.get(controls::ColourTemperature); + bool update = false; + if (colourGains) { + awb.gains.manual.r() = (*colourGains)[0]; + awb.gains.manual.b() = (*colourGains)[1]; + /* + * \todo: Colour temperature reported in metadata is now + * incorrect, as we can't deduce the temperature from the gains. + * This will be fixed with the bayes AWB algorithm. + */ + update = true; + } else if (colourTemperature && colourGainCurve_) { + const auto &gains = colourGainCurve_->getInterpolated(*colourTemperature); + awb.gains.manual.r() = gains[0]; + awb.gains.manual.b() = gains[1]; + awb.temperatureK = *colourTemperature; + update = true; + } + + if (update) + LOG(RkISP1Awb, Debug) + << "Set colour gains to " << awb.gains.manual; + + frameContext.awb.gains = awb.gains.manual; + frameContext.awb.temperatureK = awb.temperatureK; +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void Awb::prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, RkISP1Params *params) +{ + /* + * This is the latest time we can read the active state. This is the + * most up-to-date automatic values we can read. + */ + if (frameContext.awb.autoEnabled) { + frameContext.awb.gains = context.activeState.awb.gains.automatic; + frameContext.awb.temperatureK = context.activeState.awb.temperatureK; + } + + auto gainConfig = params->block<BlockType::AwbGain>(); + gainConfig.setEnabled(true); + + gainConfig->gain_green_b = std::clamp<int>(256 * frameContext.awb.gains.g(), 0, 0x3ff); + gainConfig->gain_blue = std::clamp<int>(256 * frameContext.awb.gains.b(), 0, 0x3ff); + gainConfig->gain_red = std::clamp<int>(256 * frameContext.awb.gains.r(), 0, 0x3ff); + gainConfig->gain_green_r = std::clamp<int>(256 * frameContext.awb.gains.g(), 0, 0x3ff); + + /* If we have already set the AWB measurement parameters, return. */ + if (frame > 0) + return; + + auto awbConfig = params->block<BlockType::Awb>(); + awbConfig.setEnabled(true); + + /* Configure the measure window for AWB. */ + awbConfig->awb_wnd = context.configuration.awb.measureWindow; + + /* Number of frames to use to estimate the means (0 means 1 frame). */ + awbConfig->frames = 0; + + /* Select RGB or YCbCr means measurement. */ + if (rgbMode_) { + awbConfig->awb_mode = RKISP1_CIF_ISP_AWB_MODE_RGB; + + /* + * For RGB-based measurements, pixels are selected with maximum + * red, green and blue thresholds that are set in the + * awb_ref_cr, awb_min_y and awb_ref_cb respectively. The other + * values are not used, set them to 0. + */ + awbConfig->awb_ref_cr = 250; + awbConfig->min_y = 250; + awbConfig->awb_ref_cb = 250; + + awbConfig->max_y = 0; + awbConfig->min_c = 0; + awbConfig->max_csum = 0; + } else { + awbConfig->awb_mode = RKISP1_CIF_ISP_AWB_MODE_YCBCR; + + /* Set the reference Cr and Cb (AWB target) to white. */ + awbConfig->awb_ref_cb = 128; + awbConfig->awb_ref_cr = 128; + + /* + * Filter out pixels based on luminance and chrominance values. + * The acceptable luma values are specified as a [16, 250] + * range, while the acceptable chroma values are specified with + * a minimum of 16 and a maximum Cb+Cr sum of 250. + */ + awbConfig->min_y = 16; + awbConfig->max_y = 250; + awbConfig->min_c = 16; + awbConfig->max_csum = 250; + } +} + +/** + * \copydoc libcamera::ipa::Algorithm::process + */ +void Awb::process(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + const rkisp1_stat_buffer *stats, + ControlList &metadata) +{ + const rkisp1_cif_isp_stat *params = &stats->params; + const rkisp1_cif_isp_awb_stat *awb = ¶ms->awb; + IPAActiveState &activeState = context.activeState; + RGB<double> rgbMeans; + + metadata.set(controls::AwbEnable, frameContext.awb.autoEnabled); + metadata.set(controls::ColourGains, { + static_cast<float>(frameContext.awb.gains.r()), + static_cast<float>(frameContext.awb.gains.b()) + }); + metadata.set(controls::ColourTemperature, frameContext.awb.temperatureK); + + if (!stats || !(stats->meas_type & RKISP1_CIF_ISP_STAT_AWB)) { + LOG(RkISP1Awb, Error) << "AWB data is missing in statistics"; + return; + } + + if (rgbMode_) { + rgbMeans = {{ + static_cast<double>(awb->awb_mean[0].mean_y_or_g), + static_cast<double>(awb->awb_mean[0].mean_cr_or_r), + static_cast<double>(awb->awb_mean[0].mean_cb_or_b) + }}; + } else { + /* Get the YCbCr mean values */ + Vector<double, 3> yuvMeans({ + static_cast<double>(awb->awb_mean[0].mean_y_or_g), + static_cast<double>(awb->awb_mean[0].mean_cb_or_b), + static_cast<double>(awb->awb_mean[0].mean_cr_or_r) + }); + + /* + * Convert from YCbCr to RGB. The hardware uses the following + * formulas: + * + * Y = 16 + 0.2500 R + 0.5000 G + 0.1094 B + * Cb = 128 - 0.1406 R - 0.2969 G + 0.4375 B + * Cr = 128 + 0.4375 R - 0.3750 G - 0.0625 B + * + * This seems to be based on limited range BT.601 with Q1.6 + * precision. + * + * The inverse matrix is: + * + * [[1,1636, -0,0623, 1,6008] + * [1,1636, -0,4045, -0,7949] + * [1,1636, 1,9912, -0,0250]] + */ + static const Matrix<double, 3, 3> yuv2rgbMatrix({ + 1.1636, -0.0623, 1.6008, + 1.1636, -0.4045, -0.7949, + 1.1636, 1.9912, -0.0250 + }); + static const Vector<double, 3> yuv2rgbOffset({ + 16, 128, 128 + }); + + rgbMeans = yuv2rgbMatrix * (yuvMeans - yuv2rgbOffset); + + /* + * Due to hardware rounding errors in the YCbCr means, the + * calculated RGB means may be negative. This would lead to + * negative gains, messing up calculation. Prevent this by + * clamping the means to positive values. + */ + rgbMeans = rgbMeans.max(0.0); + } + + /* + * The ISP computes the AWB means after applying the colour gains, + * divide by the gains that were used to get the raw means from the + * sensor. + */ + rgbMeans /= frameContext.awb.gains; + + /* + * If the means are too small we don't have enough information to + * meaningfully calculate gains. Freeze the algorithm in that case. + */ + if (rgbMeans.r() < kMeanMinThreshold && rgbMeans.g() < kMeanMinThreshold && + rgbMeans.b() < kMeanMinThreshold) + return; + + activeState.awb.temperatureK = estimateCCT(rgbMeans); + + /* + * Estimate the red and blue gains to apply in a grey world. The green + * gain is hardcoded to 1.0. Avoid divisions by zero by clamping the + * divisor to a minimum value of 1.0. + */ + RGB<double> gains({ + rgbMeans.g() / std::max(rgbMeans.r(), 1.0), + 1.0, + rgbMeans.g() / std::max(rgbMeans.b(), 1.0) + }); + + /* + * Clamp the gain values to the hardware, which expresses gains as Q2.8 + * unsigned integer values. Set the minimum just above zero to avoid + * divisions by zero when computing the raw means in subsequent + * iterations. + */ + gains = gains.max(1.0 / 256).min(1023.0 / 256); + + /* Filter the values to avoid oscillations. */ + double speed = 0.2; + gains = gains * speed + activeState.awb.gains.automatic * (1 - speed); + + activeState.awb.gains.automatic = gains; + + LOG(RkISP1Awb, Debug) + << std::showpoint + << "Means " << rgbMeans << ", gains " + << activeState.awb.gains.automatic << ", temp " + << activeState.awb.temperatureK << "K"; +} + +REGISTER_IPA_ALGORITHM(Awb, "Awb") + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/awb.h b/src/ipa/rkisp1/algorithms/awb.h new file mode 100644 index 00000000..e4248048 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/awb.h @@ -0,0 +1,46 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * AWB control algorithm + */ + +#pragma once + +#include <optional> + +#include "libipa/interpolator.h" +#include "libipa/vector.h" + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +class Awb : public Algorithm +{ +public: + Awb(); + ~Awb() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + int configure(IPAContext &context, const IPACameraSensorInfo &configInfo) override; + void queueRequest(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + RkISP1Params *params) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const rkisp1_stat_buffer *stats, + ControlList &metadata) override; + +private: + std::optional<Interpolator<Vector<double, 2>>> colourGainCurve_; + bool rgbMode_; +}; + +} /* namespace ipa::rkisp1::algorithms */ +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/blc.cpp b/src/ipa/rkisp1/algorithms/blc.cpp new file mode 100644 index 00000000..98cb7145 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/blc.cpp @@ -0,0 +1,189 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Black Level Correction control + */ + +#include "blc.h" + +#include <linux/videodev2.h> + +#include <libcamera/base/log.h> + +#include <libcamera/control_ids.h> + +#include "libcamera/internal/yaml_parser.h" + +/** + * \file blc.h + */ + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +/** + * \class BlackLevelCorrection + * \brief RkISP1 Black Level Correction control + * + * The pixels output by the camera normally include a black level, because + * sensors do not always report a signal level of '0' for black. Pixels at or + * below this level should be considered black. To achieve that, the RkISP BLC + * algorithm subtracts a configurable offset from all pixels. + * + * The black level can be measured at runtime from an optical dark region of the + * camera sensor, or measured during the camera tuning process. The first option + * isn't currently supported. + */ + +LOG_DEFINE_CATEGORY(RkISP1Blc) + +BlackLevelCorrection::BlackLevelCorrection() +{ + /* + * This is a bit of a hack. In raw mode no black level correction + * happens. This flag is used to ensure the metadata gets populated with + * the black level which is needed to capture proper raw images for + * tuning. + */ + supportsRaw_ = true; +} + +/** + * \copydoc libcamera::ipa::Algorithm::init + */ +int BlackLevelCorrection::init(IPAContext &context, const YamlObject &tuningData) +{ + std::optional<int16_t> levelRed = tuningData["R"].get<int16_t>(); + std::optional<int16_t> levelGreenR = tuningData["Gr"].get<int16_t>(); + std::optional<int16_t> levelGreenB = tuningData["Gb"].get<int16_t>(); + std::optional<int16_t> levelBlue = tuningData["B"].get<int16_t>(); + bool tuningHasLevels = levelRed && levelGreenR && levelGreenB && levelBlue; + + auto blackLevel = context.camHelper->blackLevel(); + if (!blackLevel) { + /* + * Not all camera sensor helpers have been updated with black + * levels. Print a warning and fall back to the levels from the + * tuning data to preserve backward compatibility. This should + * be removed once all helpers provide the data. + */ + LOG(RkISP1Blc, Warning) + << "No black levels provided by camera sensor helper" + << ", please fix"; + + blackLevelRed_ = levelRed.value_or(4096); + blackLevelGreenR_ = levelGreenR.value_or(4096); + blackLevelGreenB_ = levelGreenB.value_or(4096); + blackLevelBlue_ = levelBlue.value_or(4096); + } else if (tuningHasLevels) { + /* + * If black levels are provided in the tuning file, use them to + * avoid breaking existing camera tuning. This is deprecated and + * will be removed. + */ + LOG(RkISP1Blc, Warning) + << "Deprecated: black levels overwritten by tuning file"; + + blackLevelRed_ = *levelRed; + blackLevelGreenR_ = *levelGreenR; + blackLevelGreenB_ = *levelGreenB; + blackLevelBlue_ = *levelBlue; + } else { + blackLevelRed_ = *blackLevel; + blackLevelGreenR_ = *blackLevel; + blackLevelGreenB_ = *blackLevel; + blackLevelBlue_ = *blackLevel; + } + + LOG(RkISP1Blc, Debug) + << "Black levels: red " << blackLevelRed_ + << ", green (red) " << blackLevelGreenR_ + << ", green (blue) " << blackLevelGreenB_ + << ", blue " << blackLevelBlue_; + + return 0; +} + +int BlackLevelCorrection::configure(IPAContext &context, + [[maybe_unused]] const IPACameraSensorInfo &configInfo) +{ + /* + * BLC on ISP versions that include the companding block requires usage + * of the extensible parameters format. + */ + supported_ = context.configuration.paramFormat == V4L2_META_FMT_RK_ISP1_EXT_PARAMS || + !context.hw->compand; + + if (!supported_) + LOG(RkISP1Blc, Warning) + << "BLC in companding block requires extensible parameters"; + + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void BlackLevelCorrection::prepare(IPAContext &context, + const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + RkISP1Params *params) +{ + if (context.configuration.raw) + return; + + if (frame > 0) + return; + + if (!supported_) + return; + + if (context.hw->compand) { + auto config = params->block<BlockType::CompandBls>(); + config.setEnabled(true); + + /* + * Scale up to the 20-bit black levels used by the companding + * block. + */ + config->r = blackLevelRed_ << 4; + config->gr = blackLevelGreenR_ << 4; + config->gb = blackLevelGreenB_ << 4; + config->b = blackLevelBlue_ << 4; + } else { + auto config = params->block<BlockType::Bls>(); + config.setEnabled(true); + + config->enable_auto = 0; + + /* Scale down to the 12-bit black levels used by the BLS block. */ + config->fixed_val.r = blackLevelRed_ >> 4; + config->fixed_val.gr = blackLevelGreenR_ >> 4; + config->fixed_val.gb = blackLevelGreenB_ >> 4; + config->fixed_val.b = blackLevelBlue_ >> 4; + } +} + +/** + * \copydoc libcamera::ipa::Algorithm::process + */ +void BlackLevelCorrection::process([[maybe_unused]] IPAContext &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + [[maybe_unused]] const rkisp1_stat_buffer *stats, + ControlList &metadata) +{ + metadata.set(controls::SensorBlackLevels, + { static_cast<int32_t>(blackLevelRed_), + static_cast<int32_t>(blackLevelGreenR_), + static_cast<int32_t>(blackLevelGreenB_), + static_cast<int32_t>(blackLevelBlue_) }); +} + +REGISTER_IPA_ALGORITHM(BlackLevelCorrection, "BlackLevelCorrection") + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/blc.h b/src/ipa/rkisp1/algorithms/blc.h new file mode 100644 index 00000000..f797ae44 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/blc.h @@ -0,0 +1,43 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Black Level Correction control + */ + +#pragma once + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +class BlackLevelCorrection : public Algorithm +{ +public: + BlackLevelCorrection(); + ~BlackLevelCorrection() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + int configure(IPAContext &context, + const IPACameraSensorInfo &configInfo) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + RkISP1Params *params) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const rkisp1_stat_buffer *stats, + ControlList &metadata) override; + +private: + bool supported_; + + int16_t blackLevelRed_; + int16_t blackLevelGreenR_; + int16_t blackLevelGreenB_; + int16_t blackLevelBlue_; +}; + +} /* namespace ipa::rkisp1::algorithms */ +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/ccm.cpp b/src/ipa/rkisp1/algorithms/ccm.cpp new file mode 100644 index 00000000..e2b5cf4d --- /dev/null +++ b/src/ipa/rkisp1/algorithms/ccm.cpp @@ -0,0 +1,135 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * RkISP1 Color Correction Matrix control algorithm + */ + +#include "ccm.h" + +#include <map> + +#include <libcamera/base/log.h> +#include <libcamera/base/utils.h> + +#include <libcamera/control_ids.h> + +#include <libcamera/ipa/core_ipa_interface.h> + +#include "libcamera/internal/yaml_parser.h" + +#include "libipa/fixedpoint.h" +#include "libipa/interpolator.h" + +/** + * \file ccm.h + */ + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +/** + * \class Ccm + * \brief A color correction matrix algorithm + */ + +LOG_DEFINE_CATEGORY(RkISP1Ccm) + +/** + * \copydoc libcamera::ipa::Algorithm::init + */ +int Ccm::init([[maybe_unused]] IPAContext &context, const YamlObject &tuningData) +{ + int ret = ccm_.readYaml(tuningData["ccms"], "ct", "ccm"); + if (ret < 0) { + LOG(RkISP1Ccm, Warning) + << "Failed to parse 'ccm' " + << "parameter from tuning file; falling back to unit matrix"; + ccm_.setData({ { 0, Matrix<float, 3, 3>::identity() } }); + } + + ret = offsets_.readYaml(tuningData["ccms"], "ct", "offsets"); + if (ret < 0) { + LOG(RkISP1Ccm, Warning) + << "Failed to parse 'offsets' " + << "parameter from tuning file; falling back to zero offsets"; + + offsets_.setData({ { 0, Matrix<int16_t, 3, 1>({ 0, 0, 0 }) } }); + } + + return 0; +} + +void Ccm::setParameters(struct rkisp1_cif_isp_ctk_config &config, + const Matrix<float, 3, 3> &matrix, + const Matrix<int16_t, 3, 1> &offsets) +{ + /* + * 4 bit integer and 7 bit fractional, ranging from -8 (0x400) to + * +7.992 (0x3ff) + */ + for (unsigned int i = 0; i < 3; i++) { + for (unsigned int j = 0; j < 3; j++) + config.coeff[i][j] = + floatingToFixedPoint<4, 7, uint16_t, double>(matrix[i][j]); + } + + for (unsigned int i = 0; i < 3; i++) + config.ct_offset[i] = offsets[i][0] & 0xfff; + + LOG(RkISP1Ccm, Debug) << "Setting matrix " << matrix; + LOG(RkISP1Ccm, Debug) << "Setting offsets " << offsets; +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void Ccm::prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, RkISP1Params *params) +{ + uint32_t ct = context.activeState.awb.temperatureK; + + /* + * \todo The colour temperature will likely be noisy, add filtering to + * avoid updating the CCM matrix all the time. + */ + if (frame > 0 && ct == ct_) { + frameContext.ccm.ccm = context.activeState.ccm.ccm; + return; + } + + ct_ = ct; + Matrix<float, 3, 3> ccm = ccm_.getInterpolated(ct); + Matrix<int16_t, 3, 1> offsets = offsets_.getInterpolated(ct); + + context.activeState.ccm.ccm = ccm; + frameContext.ccm.ccm = ccm; + + auto config = params->block<BlockType::Ctk>(); + config.setEnabled(true); + setParameters(*config, ccm, offsets); +} + +/** + * \copydoc libcamera::ipa::Algorithm::process + */ +void Ccm::process([[maybe_unused]] IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + [[maybe_unused]] const rkisp1_stat_buffer *stats, + ControlList &metadata) +{ + float m[9]; + for (unsigned int i = 0; i < 3; i++) { + for (unsigned int j = 0; j < 3; j++) + m[i * 3 + j] = frameContext.ccm.ccm[i][j]; + } + metadata.set(controls::ColourCorrectionMatrix, m); +} + +REGISTER_IPA_ALGORITHM(Ccm, "Ccm") + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/ccm.h b/src/ipa/rkisp1/algorithms/ccm.h new file mode 100644 index 00000000..a5d9a9a4 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/ccm.h @@ -0,0 +1,50 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * RkISP1 Color Correction Matrix control algorithm + */ + +#pragma once + +#include <linux/rkisp1-config.h> + +#include "libcamera/internal/matrix.h" + +#include "libipa/interpolator.h" + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +class Ccm : public Algorithm +{ +public: + Ccm() {} + ~Ccm() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + RkISP1Params *params) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const rkisp1_stat_buffer *stats, + ControlList &metadata) override; + +private: + void parseYaml(const YamlObject &tuningData); + void setParameters(struct rkisp1_cif_isp_ctk_config &config, + const Matrix<float, 3, 3> &matrix, + const Matrix<int16_t, 3, 1> &offsets); + + unsigned int ct_; + Interpolator<Matrix<float, 3, 3>> ccm_; + Interpolator<Matrix<int16_t, 3, 1>> offsets_; +}; + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/cproc.cpp b/src/ipa/rkisp1/algorithms/cproc.cpp new file mode 100644 index 00000000..d1fff699 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/cproc.cpp @@ -0,0 +1,160 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Color Processing control + */ + +#include "cproc.h" + +#include <algorithm> +#include <cmath> + +#include <libcamera/base/log.h> + +#include <libcamera/control_ids.h> + +/** + * \file cproc.h + */ + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +/** + * \class ColorProcessing + * \brief RkISP1 Color Processing control + * + * The ColorProcessing algorithm is responsible for applying brightness, + * contrast and saturation corrections. The values are directly provided + * through requests by the corresponding controls. + */ + +LOG_DEFINE_CATEGORY(RkISP1CProc) + +namespace { + +constexpr float kDefaultBrightness = 0.0f; +constexpr float kDefaultContrast = 1.0f; +constexpr float kDefaultSaturation = 1.0f; + +int convertBrightness(const float v) +{ + return std::clamp<int>(std::lround(v * 128), -128, 127); +} + +int convertContrastOrSaturation(const float v) +{ + return std::clamp<int>(std::lround(v * 128), 0, 255); +} + +} /* namespace */ + +/** + * \copydoc libcamera::ipa::Algorithm::init + */ +int ColorProcessing::init(IPAContext &context, + [[maybe_unused]] const YamlObject &tuningData) +{ + auto &cmap = context.ctrlMap; + + cmap[&controls::Brightness] = ControlInfo(-1.0f, 0.993f, kDefaultBrightness); + cmap[&controls::Contrast] = ControlInfo(0.0f, 1.993f, kDefaultContrast); + cmap[&controls::Saturation] = ControlInfo(0.0f, 1.993f, kDefaultSaturation); + + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::configure + */ +int ColorProcessing::configure(IPAContext &context, + [[maybe_unused]] const IPACameraSensorInfo &configInfo) +{ + auto &cproc = context.activeState.cproc; + + cproc.brightness = convertBrightness(kDefaultBrightness); + cproc.contrast = convertContrastOrSaturation(kDefaultContrast); + cproc.saturation = convertContrastOrSaturation(kDefaultSaturation); + + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::queueRequest + */ +void ColorProcessing::queueRequest(IPAContext &context, + const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) +{ + auto &cproc = context.activeState.cproc; + bool update = false; + + if (frame == 0) + update = true; + + const auto &brightness = controls.get(controls::Brightness); + if (brightness) { + int value = convertBrightness(*brightness); + if (cproc.brightness != value) { + cproc.brightness = value; + update = true; + } + + LOG(RkISP1CProc, Debug) << "Set brightness to " << value; + } + + const auto &contrast = controls.get(controls::Contrast); + if (contrast) { + int value = convertContrastOrSaturation(*contrast); + if (cproc.contrast != value) { + cproc.contrast = value; + update = true; + } + + LOG(RkISP1CProc, Debug) << "Set contrast to " << value; + } + + const auto saturation = controls.get(controls::Saturation); + if (saturation) { + int value = convertContrastOrSaturation(*saturation); + if (cproc.saturation != value) { + cproc.saturation = value; + update = true; + } + + LOG(RkISP1CProc, Debug) << "Set saturation to " << value; + } + + frameContext.cproc.brightness = cproc.brightness; + frameContext.cproc.contrast = cproc.contrast; + frameContext.cproc.saturation = cproc.saturation; + frameContext.cproc.update = update; +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void ColorProcessing::prepare([[maybe_unused]] IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + RkISP1Params *params) +{ + /* Check if the algorithm configuration has been updated. */ + if (!frameContext.cproc.update) + return; + + auto config = params->block<BlockType::Cproc>(); + config.setEnabled(true); + config->brightness = frameContext.cproc.brightness; + config->contrast = frameContext.cproc.contrast; + config->sat = frameContext.cproc.saturation; +} + +REGISTER_IPA_ALGORITHM(ColorProcessing, "ColorProcessing") + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/cproc.h b/src/ipa/rkisp1/algorithms/cproc.h new file mode 100644 index 00000000..fd38fd17 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/cproc.h @@ -0,0 +1,36 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Color Processing control + */ + +#pragma once + +#include <sys/types.h> + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +class ColorProcessing : public Algorithm +{ +public: + ColorProcessing() = default; + ~ColorProcessing() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + int configure(IPAContext &context, + const IPACameraSensorInfo &configInfo) override; + void queueRequest(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + RkISP1Params *params) override; +}; + +} /* namespace ipa::rkisp1::algorithms */ +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/dpcc.cpp b/src/ipa/rkisp1/algorithms/dpcc.cpp new file mode 100644 index 00000000..78946281 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/dpcc.cpp @@ -0,0 +1,249 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Defect Pixel Cluster Correction control + */ + +#include "dpcc.h" + +#include <libcamera/base/log.h> + +#include "libcamera/internal/yaml_parser.h" + +#include "linux/rkisp1-config.h" + +/** + * \file dpcc.h + */ + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +/** + * \class DefectPixelClusterCorrection + * \brief RkISP1 Defect Pixel Cluster Correction control + * + * Depending of the sensor quality, some pixels can be defective and then + * appear significantly brighter or darker than the other pixels. + * + * The Defect Pixel Cluster Correction algorithms is responsible to minimize + * the impact of the pixels. This can be done with algorithms applied at run + * time (on-the-fly method) or with a table of defective pixels. Only the first + * method is supported for the moment. + */ + +LOG_DEFINE_CATEGORY(RkISP1Dpcc) + +DefectPixelClusterCorrection::DefectPixelClusterCorrection() + : config_({}) +{ +} + +/** + * \copydoc libcamera::ipa::Algorithm::init + */ +int DefectPixelClusterCorrection::init([[maybe_unused]] IPAContext &context, + const YamlObject &tuningData) +{ + config_.mode = RKISP1_CIF_ISP_DPCC_MODE_STAGE1_ENABLE; + config_.output_mode = RKISP1_CIF_ISP_DPCC_OUTPUT_MODE_STAGE1_INCL_G_CENTER + | RKISP1_CIF_ISP_DPCC_OUTPUT_MODE_STAGE1_INCL_RB_CENTER; + + config_.set_use = tuningData["fixed-set"].get<bool>(false) + ? RKISP1_CIF_ISP_DPCC_SET_USE_STAGE1_USE_FIX_SET : 0; + + /* Get all defined sets to apply (up to 3). */ + const YamlObject &setsObject = tuningData["sets"]; + if (!setsObject.isList()) { + LOG(RkISP1Dpcc, Error) + << "'sets' parameter not found in tuning file"; + return -EINVAL; + } + + if (setsObject.size() > RKISP1_CIF_ISP_DPCC_METHODS_MAX) { + LOG(RkISP1Dpcc, Error) + << "'sets' size in tuning file (" << setsObject.size() + << ") exceeds the maximum hardware capacity (3)"; + return -EINVAL; + } + + for (std::size_t i = 0; i < setsObject.size(); ++i) { + struct rkisp1_cif_isp_dpcc_methods_config &method = config_.methods[i]; + const YamlObject &set = setsObject[i]; + uint16_t value; + + /* Enable set if described in YAML tuning file. */ + config_.set_use |= 1 << i; + + /* PG Method */ + const YamlObject &pgObject = set["pg-factor"]; + + if (pgObject.contains("green")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_PG_GREEN_ENABLE; + + value = pgObject["green"].get<uint16_t>(0); + method.pg_fac |= RKISP1_CIF_ISP_DPCC_PG_FAC_G(value); + } + + if (pgObject.contains("red-blue")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_PG_RED_BLUE_ENABLE; + + value = pgObject["red-blue"].get<uint16_t>(0); + method.pg_fac |= RKISP1_CIF_ISP_DPCC_PG_FAC_RB(value); + } + + /* RO Method */ + const YamlObject &roObject = set["ro-limits"]; + + if (roObject.contains("green")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_RO_GREEN_ENABLE; + + value = roObject["green"].get<uint16_t>(0); + config_.ro_limits |= + RKISP1_CIF_ISP_DPCC_RO_LIMITS_n_G(i, value); + } + + if (roObject.contains("red-blue")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_RO_RED_BLUE_ENABLE; + + value = roObject["red-blue"].get<uint16_t>(0); + config_.ro_limits |= + RKISP1_CIF_ISP_DPCC_RO_LIMITS_n_RB(i, value); + } + + /* RG Method */ + const YamlObject &rgObject = set["rg-factor"]; + method.rg_fac = 0; + + if (rgObject.contains("green")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_RG_GREEN_ENABLE; + + value = rgObject["green"].get<uint16_t>(0); + method.rg_fac |= RKISP1_CIF_ISP_DPCC_RG_FAC_G(value); + } + + if (rgObject.contains("red-blue")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_RG_RED_BLUE_ENABLE; + + value = rgObject["red-blue"].get<uint16_t>(0); + method.rg_fac |= RKISP1_CIF_ISP_DPCC_RG_FAC_RB(value); + } + + /* RND Method */ + const YamlObject &rndOffsetsObject = set["rnd-offsets"]; + + if (rndOffsetsObject.contains("green")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_RND_GREEN_ENABLE; + + value = rndOffsetsObject["green"].get<uint16_t>(0); + config_.rnd_offs |= + RKISP1_CIF_ISP_DPCC_RND_OFFS_n_G(i, value); + } + + if (rndOffsetsObject.contains("red-blue")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_RND_RED_BLUE_ENABLE; + + value = rndOffsetsObject["red-blue"].get<uint16_t>(0); + config_.rnd_offs |= + RKISP1_CIF_ISP_DPCC_RND_OFFS_n_RB(i, value); + } + + const YamlObject &rndThresholdObject = set["rnd-threshold"]; + method.rnd_thresh = 0; + + if (rndThresholdObject.contains("green")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_RND_GREEN_ENABLE; + + value = rndThresholdObject["green"].get<uint16_t>(0); + method.rnd_thresh |= + RKISP1_CIF_ISP_DPCC_RND_THRESH_G(value); + } + + if (rndThresholdObject.contains("red-blue")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_RND_RED_BLUE_ENABLE; + + value = rndThresholdObject["red-blue"].get<uint16_t>(0); + method.rnd_thresh |= + RKISP1_CIF_ISP_DPCC_RND_THRESH_RB(value); + } + + /* LC Method */ + const YamlObject &lcThresholdObject = set["line-threshold"]; + method.line_thresh = 0; + + if (lcThresholdObject.contains("green")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_LC_GREEN_ENABLE; + + value = lcThresholdObject["green"].get<uint16_t>(0); + method.line_thresh |= + RKISP1_CIF_ISP_DPCC_LINE_THRESH_G(value); + } + + if (lcThresholdObject.contains("red-blue")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_LC_RED_BLUE_ENABLE; + + value = lcThresholdObject["red-blue"].get<uint16_t>(0); + method.line_thresh |= + RKISP1_CIF_ISP_DPCC_LINE_THRESH_RB(value); + } + + const YamlObject &lcTMadFactorObject = set["line-mad-factor"]; + method.line_mad_fac = 0; + + if (lcTMadFactorObject.contains("green")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_LC_GREEN_ENABLE; + + value = lcTMadFactorObject["green"].get<uint16_t>(0); + method.line_mad_fac |= + RKISP1_CIF_ISP_DPCC_LINE_MAD_FAC_G(value); + } + + if (lcTMadFactorObject.contains("red-blue")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_LC_RED_BLUE_ENABLE; + + value = lcTMadFactorObject["red-blue"].get<uint16_t>(0); + method.line_mad_fac |= + RKISP1_CIF_ISP_DPCC_LINE_MAD_FAC_RB(value); + } + } + + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void DefectPixelClusterCorrection::prepare([[maybe_unused]] IPAContext &context, + const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + RkISP1Params *params) +{ + if (frame > 0) + return; + + auto config = params->block<BlockType::Dpcc>(); + config.setEnabled(true); + *config = config_; +} + +REGISTER_IPA_ALGORITHM(DefectPixelClusterCorrection, "DefectPixelClusterCorrection") + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/dpcc.h b/src/ipa/rkisp1/algorithms/dpcc.h new file mode 100644 index 00000000..b77766c3 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/dpcc.h @@ -0,0 +1,32 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Defect Pixel Cluster Correction control + */ + +#pragma once + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +class DefectPixelClusterCorrection : public Algorithm +{ +public: + DefectPixelClusterCorrection(); + ~DefectPixelClusterCorrection() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + RkISP1Params *params) override; + +private: + rkisp1_cif_isp_dpcc_config config_; +}; + +} /* namespace ipa::rkisp1::algorithms */ +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/dpf.cpp b/src/ipa/rkisp1/algorithms/dpf.cpp new file mode 100644 index 00000000..cb6095da --- /dev/null +++ b/src/ipa/rkisp1/algorithms/dpf.cpp @@ -0,0 +1,265 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Denoise Pre-Filter control + */ + +#include "dpf.h" + +#include <algorithm> +#include <string> +#include <vector> + +#include <libcamera/base/log.h> + +#include <libcamera/control_ids.h> + +#include "linux/rkisp1-config.h" + +/** + * \file dpf.h + */ + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +/** + * \class Dpf + * \brief RkISP1 Denoise Pre-Filter control + * + * The denoise pre-filter algorithm is a bilateral filter which combines a + * range filter and a domain filter. The denoise pre-filter is applied before + * demosaicing. + */ + +LOG_DEFINE_CATEGORY(RkISP1Dpf) + +Dpf::Dpf() + : config_({}), strengthConfig_({}) +{ +} + +/** + * \copydoc libcamera::ipa::Algorithm::init + */ +int Dpf::init([[maybe_unused]] IPAContext &context, + const YamlObject &tuningData) +{ + std::vector<uint8_t> values; + + /* + * The domain kernel is configured with a 9x9 kernel for the green + * pixels, and a 13x9 or 9x9 kernel for red and blue pixels. + */ + const YamlObject &dFObject = tuningData["DomainFilter"]; + + /* + * For the green component, we have the 9x9 kernel specified + * as 6 coefficients: + * Y + * ^ + * 4 | 6 5 4 5 6 + * 3 | 5 3 3 5 + * 2 | 5 3 2 3 5 + * 1 | 3 1 1 3 + * 0 - 4 2 0 2 4 + * -1 | 3 1 1 3 + * -2 | 5 3 2 3 5 + * -3 | 5 3 3 5 + * -4 | 6 5 4 5 6 + * +---------|--------> X + * -4....-1 0 1 2 3 4 + */ + values = dFObject["g"].getList<uint8_t>().value_or(std::vector<uint8_t>{}); + if (values.size() != RKISP1_CIF_ISP_DPF_MAX_SPATIAL_COEFFS) { + LOG(RkISP1Dpf, Error) + << "Invalid 'DomainFilter:g': expected " + << RKISP1_CIF_ISP_DPF_MAX_SPATIAL_COEFFS + << " elements, got " << values.size(); + return -EINVAL; + } + + std::copy_n(values.begin(), values.size(), + std::begin(config_.g_flt.spatial_coeff)); + + config_.g_flt.gr_enable = true; + config_.g_flt.gb_enable = true; + + /* + * For the red and blue components, we have the 13x9 kernel specified + * as 6 coefficients: + * + * Y + * ^ + * 4 | 6 5 4 3 4 5 6 + * | + * 2 | 5 4 2 1 2 4 5 + * | + * 0 - 5 3 1 0 1 3 5 + * | + * -2 | 5 4 2 1 2 4 5 + * | + * -4 | 6 5 4 3 4 5 6 + * +-------------|------------> X + * -6 -4 -2 0 2 4 6 + * + * For a 9x9 kernel, columns -6 and 6 are dropped, so coefficient + * number 6 is not used. + */ + values = dFObject["rb"].getList<uint8_t>().value_or(std::vector<uint8_t>{}); + if (values.size() != RKISP1_CIF_ISP_DPF_MAX_SPATIAL_COEFFS && + values.size() != RKISP1_CIF_ISP_DPF_MAX_SPATIAL_COEFFS - 1) { + LOG(RkISP1Dpf, Error) + << "Invalid 'DomainFilter:rb': expected " + << RKISP1_CIF_ISP_DPF_MAX_SPATIAL_COEFFS - 1 + << " or " << RKISP1_CIF_ISP_DPF_MAX_SPATIAL_COEFFS + << " elements, got " << values.size(); + return -EINVAL; + } + + config_.rb_flt.fltsize = values.size() == RKISP1_CIF_ISP_DPF_MAX_SPATIAL_COEFFS + ? RKISP1_CIF_ISP_DPF_RB_FILTERSIZE_13x9 + : RKISP1_CIF_ISP_DPF_RB_FILTERSIZE_9x9; + + std::copy_n(values.begin(), values.size(), + std::begin(config_.rb_flt.spatial_coeff)); + + config_.rb_flt.r_enable = true; + config_.rb_flt.b_enable = true; + + /* + * The range kernel is configured with a noise level lookup table (NLL) + * which stores a piecewise linear function that characterizes the + * sensor noise profile as a noise level function curve (NLF). + */ + const YamlObject &rFObject = tuningData["NoiseLevelFunction"]; + + std::vector<uint16_t> nllValues; + nllValues = rFObject["coeff"].getList<uint16_t>().value_or(std::vector<uint16_t>{}); + if (nllValues.size() != RKISP1_CIF_ISP_DPF_MAX_NLF_COEFFS) { + LOG(RkISP1Dpf, Error) + << "Invalid 'RangeFilter:coeff': expected " + << RKISP1_CIF_ISP_DPF_MAX_NLF_COEFFS + << " elements, got " << nllValues.size(); + return -EINVAL; + } + + std::copy_n(nllValues.begin(), nllValues.size(), + std::begin(config_.nll.coeff)); + + std::string scaleMode = rFObject["scale-mode"].get<std::string>(""); + if (scaleMode == "linear") { + config_.nll.scale_mode = RKISP1_CIF_ISP_NLL_SCALE_LINEAR; + } else if (scaleMode == "logarithmic") { + config_.nll.scale_mode = RKISP1_CIF_ISP_NLL_SCALE_LOGARITHMIC; + } else { + LOG(RkISP1Dpf, Error) + << "Invalid 'RangeFilter:scale-mode': expected " + << "'linear' or 'logarithmic' value, got " + << scaleMode; + return -EINVAL; + } + + const YamlObject &fSObject = tuningData["FilterStrength"]; + + strengthConfig_.r = fSObject["r"].get<uint16_t>(64); + strengthConfig_.g = fSObject["g"].get<uint16_t>(64); + strengthConfig_.b = fSObject["b"].get<uint16_t>(64); + + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::queueRequest + */ +void Dpf::queueRequest(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) +{ + auto &dpf = context.activeState.dpf; + bool update = false; + + const auto &denoise = controls.get(controls::draft::NoiseReductionMode); + if (denoise) { + LOG(RkISP1Dpf, Debug) << "Set denoise to " << *denoise; + + switch (*denoise) { + case controls::draft::NoiseReductionModeOff: + if (dpf.denoise) { + dpf.denoise = false; + update = true; + } + break; + case controls::draft::NoiseReductionModeMinimal: + case controls::draft::NoiseReductionModeHighQuality: + case controls::draft::NoiseReductionModeFast: + if (!dpf.denoise) { + dpf.denoise = true; + update = true; + } + break; + default: + LOG(RkISP1Dpf, Error) + << "Unsupported denoise value " + << *denoise; + break; + } + } + + frameContext.dpf.denoise = dpf.denoise; + frameContext.dpf.update = update; +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void Dpf::prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, RkISP1Params *params) +{ + if (!frameContext.dpf.update && frame > 0) + return; + + auto config = params->block<BlockType::Dpf>(); + config.setEnabled(frameContext.dpf.denoise); + + if (frameContext.dpf.denoise) { + *config = config_; + + const auto &awb = context.configuration.awb; + const auto &lsc = context.configuration.lsc; + + auto &mode = config->gain.mode; + + /* + * The DPF needs to take into account the total amount of + * digital gain, which comes from the AWB and LSC modules. The + * DPF hardware can be programmed with a digital gain value + * manually, but can also use the gains supplied by the AWB and + * LSC modules automatically when they are enabled. Use that + * mode of operation as it simplifies control of the DPF. + */ + if (awb.enabled && lsc.enabled) + mode = RKISP1_CIF_ISP_DPF_GAIN_USAGE_AWB_LSC_GAINS; + else if (awb.enabled) + mode = RKISP1_CIF_ISP_DPF_GAIN_USAGE_AWB_GAINS; + else if (lsc.enabled) + mode = RKISP1_CIF_ISP_DPF_GAIN_USAGE_LSC_GAINS; + else + mode = RKISP1_CIF_ISP_DPF_GAIN_USAGE_DISABLED; + } + + if (frame == 0) { + auto strengthConfig = params->block<BlockType::DpfStrength>(); + strengthConfig.setEnabled(true); + *strengthConfig = strengthConfig_; + } +} + +REGISTER_IPA_ALGORITHM(Dpf, "Dpf") + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/dpf.h b/src/ipa/rkisp1/algorithms/dpf.h new file mode 100644 index 00000000..2dd8cd36 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/dpf.h @@ -0,0 +1,38 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Denoise Pre-Filter control + */ + +#pragma once + +#include <sys/types.h> + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +class Dpf : public Algorithm +{ +public: + Dpf(); + ~Dpf() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + void queueRequest(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + RkISP1Params *params) override; + +private: + struct rkisp1_cif_isp_dpf_config config_; + struct rkisp1_cif_isp_dpf_strength_config strengthConfig_; +}; + +} /* namespace ipa::rkisp1::algorithms */ +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/filter.cpp b/src/ipa/rkisp1/algorithms/filter.cpp new file mode 100644 index 00000000..7598ef8a --- /dev/null +++ b/src/ipa/rkisp1/algorithms/filter.cpp @@ -0,0 +1,214 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Filter control + */ + +#include "filter.h" + +#include <cmath> + +#include <libcamera/base/log.h> + +#include <libcamera/control_ids.h> + +/** + * \file filter.h + */ + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +/** + * \class Filter + * \brief RkISP1 Filter control + * + * Denoise and Sharpness filters will be applied by RkISP1 during the + * demosaicing step. The denoise filter is responsible for removing noise from + * the image, while the sharpness filter will enhance its acutance. + * + * \todo In current version the denoise and sharpness control is based on user + * controls. In a future version it should be controlled automatically by the + * algorithm. + */ + +LOG_DEFINE_CATEGORY(RkISP1Filter) + +static constexpr uint32_t kFiltLumWeightDefault = 0x00022040; +static constexpr uint32_t kFiltModeDefault = 0x000004f2; + +/** + * \copydoc libcamera::ipa::Algorithm::queueRequest + */ +void Filter::queueRequest(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) +{ + auto &filter = context.activeState.filter; + bool update = false; + + const auto &sharpness = controls.get(controls::Sharpness); + if (sharpness) { + unsigned int value = std::round(std::clamp(*sharpness, 0.0f, 10.0f)); + + if (filter.sharpness != value) { + filter.sharpness = value; + update = true; + } + + LOG(RkISP1Filter, Debug) << "Set sharpness to " << *sharpness; + } + + const auto &denoise = controls.get(controls::draft::NoiseReductionMode); + if (denoise) { + LOG(RkISP1Filter, Debug) << "Set denoise to " << *denoise; + + switch (*denoise) { + case controls::draft::NoiseReductionModeOff: + if (filter.denoise != 0) { + filter.denoise = 0; + update = true; + } + break; + case controls::draft::NoiseReductionModeMinimal: + if (filter.denoise != 1) { + filter.denoise = 1; + update = true; + } + break; + case controls::draft::NoiseReductionModeHighQuality: + case controls::draft::NoiseReductionModeFast: + if (filter.denoise != 3) { + filter.denoise = 3; + update = true; + } + break; + default: + LOG(RkISP1Filter, Error) + << "Unsupported denoise value " + << *denoise; + break; + } + } + + frameContext.filter.denoise = filter.denoise; + frameContext.filter.sharpness = filter.sharpness; + frameContext.filter.update = update; +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void Filter::prepare([[maybe_unused]] IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, RkISP1Params *params) +{ + /* Check if the algorithm configuration has been updated. */ + if (!frameContext.filter.update) + return; + + static constexpr uint16_t filt_fac_sh0[] = { + 0x04, 0x07, 0x0a, 0x0c, 0x10, 0x14, 0x1a, 0x1e, 0x24, 0x2a, 0x30 + }; + + static constexpr uint16_t filt_fac_sh1[] = { + 0x04, 0x08, 0x0c, 0x10, 0x16, 0x1b, 0x20, 0x26, 0x2c, 0x30, 0x3f + }; + + static constexpr uint16_t filt_fac_mid[] = { + 0x04, 0x06, 0x08, 0x0a, 0x0c, 0x10, 0x13, 0x17, 0x1d, 0x22, 0x28 + }; + + static constexpr uint16_t filt_fac_bl0[] = { + 0x02, 0x02, 0x04, 0x06, 0x08, 0x0a, 0x0c, 0x10, 0x15, 0x1a, 0x24 + }; + + static constexpr uint16_t filt_fac_bl1[] = { + 0x00, 0x00, 0x00, 0x02, 0x04, 0x04, 0x06, 0x08, 0x0d, 0x14, 0x20 + }; + + static constexpr uint16_t filt_thresh_sh0[] = { + 0, 18, 26, 36, 41, 75, 90, 120, 170, 250, 1023 + }; + + static constexpr uint16_t filt_thresh_sh1[] = { + 0, 33, 44, 51, 67, 100, 120, 150, 200, 300, 1023 + }; + + static constexpr uint16_t filt_thresh_bl0[] = { + 0, 8, 13, 23, 26, 50, 60, 80, 140, 180, 1023 + }; + + static constexpr uint16_t filt_thresh_bl1[] = { + 0, 2, 5, 10, 15, 20, 26, 51, 100, 150, 1023 + }; + + static constexpr uint16_t stage1_select[] = { + 6, 6, 4, 4, 3, 3, 2, 2, 2, 1, 0 + }; + + static constexpr uint16_t filt_chr_v_mode[] = { + 1, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3 + }; + + static constexpr uint16_t filt_chr_h_mode[] = { + 0, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3 + }; + + uint8_t denoise = frameContext.filter.denoise; + uint8_t sharpness = frameContext.filter.sharpness; + + auto config = params->block<BlockType::Flt>(); + config.setEnabled(true); + + config->fac_sh0 = filt_fac_sh0[sharpness]; + config->fac_sh1 = filt_fac_sh1[sharpness]; + config->fac_mid = filt_fac_mid[sharpness]; + config->fac_bl0 = filt_fac_bl0[sharpness]; + config->fac_bl1 = filt_fac_bl1[sharpness]; + + config->lum_weight = kFiltLumWeightDefault; + config->mode = kFiltModeDefault; + config->thresh_sh0 = filt_thresh_sh0[denoise]; + config->thresh_sh1 = filt_thresh_sh1[denoise]; + config->thresh_bl0 = filt_thresh_bl0[denoise]; + config->thresh_bl1 = filt_thresh_bl1[denoise]; + config->grn_stage1 = stage1_select[denoise]; + config->chr_v_mode = filt_chr_v_mode[denoise]; + config->chr_h_mode = filt_chr_h_mode[denoise]; + + /* + * Combined high denoising and high sharpening requires some + * adjustments to the configuration of the filters. A first stage + * filter with a lower strength must be selected, and the blur factors + * must be decreased. + */ + if (denoise == 9) { + if (sharpness > 3) + config->grn_stage1 = 2; + } else if (denoise == 10) { + if (sharpness > 5) + config->grn_stage1 = 2; + else if (sharpness > 3) + config->grn_stage1 = 1; + } + + if (denoise > 7) { + if (sharpness > 7) { + config->fac_bl0 /= 2; + config->fac_bl1 /= 4; + } else if (sharpness > 4) { + config->fac_bl0 = config->fac_bl0 * 3 / 4; + config->fac_bl1 /= 2; + } + } +} + +REGISTER_IPA_ALGORITHM(Filter, "Filter") + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/filter.h b/src/ipa/rkisp1/algorithms/filter.h new file mode 100644 index 00000000..8f858e57 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/filter.h @@ -0,0 +1,33 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Filter control + */ + +#pragma once + +#include <sys/types.h> + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +class Filter : public Algorithm +{ +public: + Filter() = default; + ~Filter() = default; + + void queueRequest(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + RkISP1Params *params) override; +}; + +} /* namespace ipa::rkisp1::algorithms */ +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/goc.cpp b/src/ipa/rkisp1/algorithms/goc.cpp new file mode 100644 index 00000000..a9493678 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/goc.cpp @@ -0,0 +1,149 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * RkISP1 Gamma out control + */ +#include "goc.h" + +#include <cmath> + +#include <libcamera/base/log.h> +#include <libcamera/base/utils.h> + +#include <libcamera/control_ids.h> + +#include "libcamera/internal/yaml_parser.h" + +#include "linux/rkisp1-config.h" + +/** + * \file goc.h + */ + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +/** + * \class GammaOutCorrection + * \brief RkISP1 Gamma out correction + * + * This algorithm implements the gamma out curve for the RkISP1. It defaults to + * a gamma value of 2.2. + * + * As gamma is internally represented as a piecewise linear function with only + * 17 knots, the difference between gamma=2.2 and sRGB gamma is minimal. + * Therefore sRGB gamma was not implemented as special case. + * + * Useful links: + * - https://www.cambridgeincolour.com/tutorials/gamma-correction.htm + * - https://en.wikipedia.org/wiki/SRGB + */ + +LOG_DEFINE_CATEGORY(RkISP1Gamma) + +const float kDefaultGamma = 2.2f; + +/** + * \copydoc libcamera::ipa::Algorithm::init + */ +int GammaOutCorrection::init(IPAContext &context, const YamlObject &tuningData) +{ + if (context.hw->numGammaOutSamples != + RKISP1_CIF_ISP_GAMMA_OUT_MAX_SAMPLES_V10) { + LOG(RkISP1Gamma, Error) + << "Gamma is not implemented for RkISP1 V12"; + return -EINVAL; + } + + defaultGamma_ = tuningData["gamma"].get<double>(kDefaultGamma); + context.ctrlMap[&controls::Gamma] = ControlInfo(0.1f, 10.0f, defaultGamma_); + + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::configure + */ +int GammaOutCorrection::configure(IPAContext &context, + [[maybe_unused]] const IPACameraSensorInfo &configInfo) +{ + context.activeState.goc.gamma = defaultGamma_; + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::queueRequest + */ +void GammaOutCorrection::queueRequest(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) +{ + if (frame == 0) + frameContext.goc.update = true; + + const auto &gamma = controls.get(controls::Gamma); + if (gamma) { + context.activeState.goc.gamma = *gamma; + frameContext.goc.update = true; + LOG(RkISP1Gamma, Debug) << "Set gamma to " << *gamma; + } + + frameContext.goc.gamma = context.activeState.goc.gamma; +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void GammaOutCorrection::prepare(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + RkISP1Params *params) +{ + ASSERT(context.hw->numGammaOutSamples == + RKISP1_CIF_ISP_GAMMA_OUT_MAX_SAMPLES_V10); + + if (!frameContext.goc.update) + return; + + /* + * The logarithmic segments as specified in the reference. + * Plus an additional 0 to make the loop easier + */ + static constexpr std::array<unsigned int, RKISP1_CIF_ISP_GAMMA_OUT_MAX_SAMPLES_V10> segments = { + 64, 64, 64, 64, 128, 128, 128, 128, 256, + 256, 256, 512, 512, 512, 512, 512, 0 + }; + + auto config = params->block<BlockType::Goc>(); + config.setEnabled(true); + + __u16 *gamma_y = config->gamma_y; + + unsigned x = 0; + for (const auto [i, size] : utils::enumerate(segments)) { + gamma_y[i] = std::pow(x / 4096.0, 1.0 / frameContext.goc.gamma) * 1023.0; + x += size; + } + + config->mode = RKISP1_CIF_ISP_GOC_MODE_LOGARITHMIC; +} + +/** + * \copydoc libcamera::ipa::Algorithm::process + */ +void GammaOutCorrection::process([[maybe_unused]] IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + [[maybe_unused]] const rkisp1_stat_buffer *stats, + ControlList &metadata) +{ + metadata.set(controls::Gamma, frameContext.goc.gamma); +} + +REGISTER_IPA_ALGORITHM(GammaOutCorrection, "GammaOutCorrection") + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/goc.h b/src/ipa/rkisp1/algorithms/goc.h new file mode 100644 index 00000000..bb2ddfc9 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/goc.h @@ -0,0 +1,42 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * RkISP1 Gamma out control + */ + +#pragma once + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +class GammaOutCorrection : public Algorithm +{ +public: + GammaOutCorrection() = default; + ~GammaOutCorrection() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + int configure(IPAContext &context, + const IPACameraSensorInfo &configInfo) override; + void queueRequest(IPAContext &context, + const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + RkISP1Params *params) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const rkisp1_stat_buffer *stats, + ControlList &metadata) override; + +private: + float defaultGamma_; +}; + +} /* namespace ipa::rkisp1::algorithms */ +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/gsl.cpp b/src/ipa/rkisp1/algorithms/gsl.cpp new file mode 100644 index 00000000..9604c0ac --- /dev/null +++ b/src/ipa/rkisp1/algorithms/gsl.cpp @@ -0,0 +1,142 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Gamma Sensor Linearization control + */ + +#include "gsl.h" + +#include <libcamera/base/log.h> +#include <libcamera/base/utils.h> + +#include "libcamera/internal/yaml_parser.h" + +#include "linux/rkisp1-config.h" + +/** + * \file gsl.h + */ + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +/** + * \class GammaSensorLinearization + * \brief RkISP1 Gamma Sensor Linearization control + * + * This algorithm linearizes the sensor output to compensate the sensor + * non-linearities by applying piecewise linear functions to the red, green and + * blue channels. + * + * The curves are specified in the tuning data and defined using 17 points. + * + * - The X coordinates are expressed using 16 intervals, with the first point + * at X coordinate 0. Each interval is expressed as a 2-bit value DX (from + * GAMMA_DX_1 to GAMMA_DX_16), stored in the RKISP1_CIF_ISP_GAMMA_DX_LO and + * RKISP1_CIF_ISP_GAMMA_DX_HI registers. The real interval is equal to + * \f$2^{dx+4}\f$. X coordinates are shared between the red, green and blue + * curves. + * + * - The Y coordinates are specified as 17 values separately for the + * red, green and blue channels, with a 12-bit resolution. Each value must be + * in the [-2048, 2047] range compared to the previous value. + */ + +LOG_DEFINE_CATEGORY(RkISP1Gsl) + +static constexpr unsigned int kDegammaXIntervals = 16; + +GammaSensorLinearization::GammaSensorLinearization() +{ +} + +/** + * \copydoc libcamera::ipa::Algorithm::init + */ +int GammaSensorLinearization::init([[maybe_unused]] IPAContext &context, + const YamlObject &tuningData) +{ + std::vector<uint16_t> xIntervals = + tuningData["x-intervals"].getList<uint16_t>().value_or(std::vector<uint16_t>{}); + if (xIntervals.size() != kDegammaXIntervals) { + LOG(RkISP1Gsl, Error) + << "Invalid 'x' coordinates: expected " + << kDegammaXIntervals << " elements, got " + << xIntervals.size(); + + return -EINVAL; + } + + /* Compute gammaDx_ intervals from xIntervals values */ + gammaDx_[0] = 0; + gammaDx_[1] = 0; + for (unsigned int i = 0; i < kDegammaXIntervals; ++i) + gammaDx_[i / 8] |= (xIntervals[i] & 0x07) << ((i % 8) * 4); + + const YamlObject &yObject = tuningData["y"]; + if (!yObject.isDictionary()) { + LOG(RkISP1Gsl, Error) + << "Issue while parsing 'y' in tuning file: " + << "entry must be a dictionary"; + return -EINVAL; + } + + curveYr_ = yObject["red"].getList<uint16_t>().value_or(std::vector<uint16_t>{}); + if (curveYr_.size() != RKISP1_CIF_ISP_DEGAMMA_CURVE_SIZE) { + LOG(RkISP1Gsl, Error) + << "Invalid 'y:red' coordinates: expected " + << RKISP1_CIF_ISP_DEGAMMA_CURVE_SIZE + << " elements, got " << curveYr_.size(); + return -EINVAL; + } + + curveYg_ = yObject["green"].getList<uint16_t>().value_or(std::vector<uint16_t>{}); + if (curveYg_.size() != RKISP1_CIF_ISP_DEGAMMA_CURVE_SIZE) { + LOG(RkISP1Gsl, Error) + << "Invalid 'y:green' coordinates: expected " + << RKISP1_CIF_ISP_DEGAMMA_CURVE_SIZE + << " elements, got " << curveYg_.size(); + return -EINVAL; + } + + curveYb_ = yObject["blue"].getList<uint16_t>().value_or(std::vector<uint16_t>{}); + if (curveYb_.size() != RKISP1_CIF_ISP_DEGAMMA_CURVE_SIZE) { + LOG(RkISP1Gsl, Error) + << "Invalid 'y:blue' coordinates: expected " + << RKISP1_CIF_ISP_DEGAMMA_CURVE_SIZE + << " elements, got " << curveYb_.size(); + return -EINVAL; + } + + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void GammaSensorLinearization::prepare([[maybe_unused]] IPAContext &context, + const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + RkISP1Params *params) +{ + if (frame > 0) + return; + + auto config = params->block<BlockType::Sdg>(); + config.setEnabled(true); + + config->xa_pnts.gamma_dx0 = gammaDx_[0]; + config->xa_pnts.gamma_dx1 = gammaDx_[1]; + + std::copy(curveYr_.begin(), curveYr_.end(), config->curve_r.gamma_y); + std::copy(curveYg_.begin(), curveYg_.end(), config->curve_g.gamma_y); + std::copy(curveYb_.begin(), curveYb_.end(), config->curve_b.gamma_y); +} + +REGISTER_IPA_ALGORITHM(GammaSensorLinearization, "GammaSensorLinearization") + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/gsl.h b/src/ipa/rkisp1/algorithms/gsl.h new file mode 100644 index 00000000..91cf6efa --- /dev/null +++ b/src/ipa/rkisp1/algorithms/gsl.h @@ -0,0 +1,35 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Gamma Sensor Linearization control + */ + +#pragma once + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +class GammaSensorLinearization : public Algorithm +{ +public: + GammaSensorLinearization(); + ~GammaSensorLinearization() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + RkISP1Params *params) override; + +private: + uint32_t gammaDx_[2]; + std::vector<uint16_t> curveYr_; + std::vector<uint16_t> curveYg_; + std::vector<uint16_t> curveYb_; +}; + +} /* namespace ipa::rkisp1::algorithms */ +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/lsc.cpp b/src/ipa/rkisp1/algorithms/lsc.cpp new file mode 100644 index 00000000..e47aa2f0 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/lsc.cpp @@ -0,0 +1,438 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Lens Shading Correction control + */ + +#include "lsc.h" + +#include <algorithm> +#include <cmath> +#include <numeric> + +#include <libcamera/base/log.h> +#include <libcamera/base/utils.h> + +#include "libcamera/internal/yaml_parser.h" + +#include "libipa/lsc_polynomial.h" +#include "linux/rkisp1-config.h" + +/** + * \file lsc.h + */ + +namespace libcamera { + +namespace ipa { + +constexpr int kColourTemperatureChangeThreshhold = 10; + +template<typename T> +void interpolateVector(const std::vector<T> &a, const std::vector<T> &b, + std::vector<T> &dest, double lambda) +{ + assert(a.size() == b.size()); + dest.resize(a.size()); + for (size_t i = 0; i < a.size(); i++) { + dest[i] = a[i] * (1.0 - lambda) + b[i] * lambda; + } +} + +template<> +void Interpolator<rkisp1::algorithms::LensShadingCorrection::Components>:: + interpolate(const rkisp1::algorithms::LensShadingCorrection::Components &a, + const rkisp1::algorithms::LensShadingCorrection::Components &b, + rkisp1::algorithms::LensShadingCorrection::Components &dest, + double lambda) +{ + interpolateVector(a.r, b.r, dest.r, lambda); + interpolateVector(a.gr, b.gr, dest.gr, lambda); + interpolateVector(a.gb, b.gb, dest.gb, lambda); + interpolateVector(a.b, b.b, dest.b, lambda); +} + +} /* namespace ipa */ + +namespace ipa::rkisp1::algorithms { + +/** + * \class LensShadingCorrection + * \brief RkISP1 Lens Shading Correction control + * + * Due to the optical characteristics of the lens, the light intensity received + * by the sensor is not uniform. + * + * The Lens Shading Correction algorithm applies multipliers to all pixels + * to compensate for the lens shading effect. The coefficients are + * specified in a downscaled table in the YAML tuning file. + */ + +LOG_DEFINE_CATEGORY(RkISP1Lsc) + +class LscPolynomialLoader +{ +public: + LscPolynomialLoader(const Size &sensorSize, + const Rectangle &cropRectangle, + const std::vector<double> &xSizes, + const std::vector<double> &ySizes) + : sensorSize_(sensorSize), + cropRectangle_(cropRectangle), + xSizes_(xSizes), + ySizes_(ySizes) + { + } + + int parseLscData(const YamlObject &yamlSets, + std::map<unsigned int, LensShadingCorrection::Components> &lscData) + { + const auto &sets = yamlSets.asList(); + for (const auto &yamlSet : sets) { + std::optional<LscPolynomial> pr, pgr, pgb, pb; + uint32_t ct = yamlSet["ct"].get<uint32_t>(0); + + if (lscData.count(ct)) { + LOG(RkISP1Lsc, Error) + << "Multiple sets found for " + << "color temperature " << ct; + return -EINVAL; + } + + LensShadingCorrection::Components &set = lscData[ct]; + pr = yamlSet["r"].get<LscPolynomial>(); + pgr = yamlSet["gr"].get<LscPolynomial>(); + pgb = yamlSet["gb"].get<LscPolynomial>(); + pb = yamlSet["b"].get<LscPolynomial>(); + + if (!(pr || pgr || pgb || pb)) { + LOG(RkISP1Lsc, Error) + << "Failed to parse polynomial for " + << "colour temperature " << ct; + return -EINVAL; + } + + set.ct = ct; + pr->setReferenceImageSize(sensorSize_); + pgr->setReferenceImageSize(sensorSize_); + pgb->setReferenceImageSize(sensorSize_); + pb->setReferenceImageSize(sensorSize_); + set.r = samplePolynomial(*pr); + set.gr = samplePolynomial(*pgr); + set.gb = samplePolynomial(*pgb); + set.b = samplePolynomial(*pb); + } + + if (lscData.empty()) { + LOG(RkISP1Lsc, Error) << "Failed to load any sets"; + return -EINVAL; + } + + return 0; + } + +private: + /* + * The lsc grid has custom spacing defined on half the range (see + * parseSizes() for details). For easier handling this function converts + * the spaces vector to positions and mirrors them. E.g.: + * + * input: | 0.2 | 0.3 | + * output: 0.0 0.2 0.5 0.8 1.0 + */ + std::vector<double> sizesListToPositions(const std::vector<double> &sizes) + { + const int half = sizes.size(); + std::vector<double> res(half * 2 + 1); + double x = 0.0; + + res[half] = 0.5; + for (int i = 1; i <= half; i++) { + x += sizes[half - i]; + res[half - i] = 0.5 - x; + res[half + i] = 0.5 + x; + } + + return res; + } + + std::vector<uint16_t> samplePolynomial(const LscPolynomial &poly) + { + constexpr int k = RKISP1_CIF_ISP_LSC_SAMPLES_MAX; + + double m = poly.getM(); + double x0 = cropRectangle_.x / m; + double y0 = cropRectangle_.y / m; + double w = cropRectangle_.width / m; + double h = cropRectangle_.height / m; + std::vector<uint16_t> res; + + assert(xSizes_.size() * 2 + 1 == k); + assert(ySizes_.size() * 2 + 1 == k); + + res.reserve(k * k); + + std::vector<double> xPos(sizesListToPositions(xSizes_)); + std::vector<double> yPos(sizesListToPositions(ySizes_)); + + for (int y = 0; y < k; y++) { + for (int x = 0; x < k; x++) { + double xp = x0 + xPos[x] * w; + double yp = y0 + yPos[y] * h; + /* + * The hardware uses 2.10 fixed point format and + * limits the legal values to [1..3.999]. Scale + * and clamp the sampled value accordingly. + */ + int v = static_cast<int>( + poly.sampleAtNormalizedPixelPos(xp, yp) * + 1024); + v = std::min(std::max(v, 1024), 4095); + res.push_back(v); + } + } + return res; + } + + Size sensorSize_; + Rectangle cropRectangle_; + const std::vector<double> &xSizes_; + const std::vector<double> &ySizes_; +}; + +class LscTableLoader +{ +public: + int parseLscData(const YamlObject &yamlSets, + std::map<unsigned int, LensShadingCorrection::Components> &lscData) + { + const auto &sets = yamlSets.asList(); + + for (const auto &yamlSet : sets) { + uint32_t ct = yamlSet["ct"].get<uint32_t>(0); + + if (lscData.count(ct)) { + LOG(RkISP1Lsc, Error) + << "Multiple sets found for color temperature " + << ct; + return -EINVAL; + } + + LensShadingCorrection::Components &set = lscData[ct]; + + set.ct = ct; + set.r = parseTable(yamlSet, "r"); + set.gr = parseTable(yamlSet, "gr"); + set.gb = parseTable(yamlSet, "gb"); + set.b = parseTable(yamlSet, "b"); + + if (set.r.empty() || set.gr.empty() || + set.gb.empty() || set.b.empty()) { + LOG(RkISP1Lsc, Error) + << "Set for color temperature " << ct + << " is missing tables"; + return -EINVAL; + } + } + + if (lscData.empty()) { + LOG(RkISP1Lsc, Error) << "Failed to load any sets"; + return -EINVAL; + } + + return 0; + } + +private: + std::vector<uint16_t> parseTable(const YamlObject &tuningData, + const char *prop) + { + static constexpr unsigned int kLscNumSamples = + RKISP1_CIF_ISP_LSC_SAMPLES_MAX * RKISP1_CIF_ISP_LSC_SAMPLES_MAX; + + std::vector<uint16_t> table = + tuningData[prop].getList<uint16_t>().value_or(std::vector<uint16_t>{}); + if (table.size() != kLscNumSamples) { + LOG(RkISP1Lsc, Error) + << "Invalid '" << prop << "' values: expected " + << kLscNumSamples + << " elements, got " << table.size(); + return {}; + } + + return table; + } +}; + +static std::vector<double> parseSizes(const YamlObject &tuningData, + const char *prop) +{ + std::vector<double> sizes = + tuningData[prop].getList<double>().value_or(std::vector<double>{}); + if (sizes.size() != RKISP1_CIF_ISP_LSC_SECTORS_TBL_SIZE) { + LOG(RkISP1Lsc, Error) + << "Invalid '" << prop << "' values: expected " + << RKISP1_CIF_ISP_LSC_SECTORS_TBL_SIZE + << " elements, got " << sizes.size(); + return {}; + } + + /* + * The sum of all elements must be 0.5 to satisfy hardware constraints. + * Validate it here, allowing a 1% tolerance as rounding errors may + * prevent an exact match (further adjustments will be performed in + * LensShadingCorrection::prepare()). + */ + double sum = std::accumulate(sizes.begin(), sizes.end(), 0.0); + if (sum < 0.495 || sum > 0.505) { + LOG(RkISP1Lsc, Error) + << "Invalid '" << prop << "' values: sum of the elements" + << " should be 0.5, got " << sum; + return {}; + } + + return sizes; +} + +LensShadingCorrection::LensShadingCorrection() + : lastAppliedCt_(0), lastAppliedQuantizedCt_(0) +{ + sets_.setQuantization(kColourTemperatureChangeThreshhold); +} + +/** + * \copydoc libcamera::ipa::Algorithm::init + */ +int LensShadingCorrection::init([[maybe_unused]] IPAContext &context, + const YamlObject &tuningData) +{ + xSize_ = parseSizes(tuningData, "x-size"); + ySize_ = parseSizes(tuningData, "y-size"); + + if (xSize_.empty() || ySize_.empty()) + return -EINVAL; + + /* Get all defined sets to apply. */ + const YamlObject &yamlSets = tuningData["sets"]; + if (!yamlSets.isList()) { + LOG(RkISP1Lsc, Error) + << "'sets' parameter not found in tuning file"; + return -EINVAL; + } + + std::map<unsigned int, Components> lscData; + int res = 0; + std::string type = tuningData["type"].get<std::string>("table"); + if (type == "table") { + LOG(RkISP1Lsc, Debug) << "Loading tabular LSC data."; + auto loader = LscTableLoader(); + res = loader.parseLscData(yamlSets, lscData); + } else if (type == "polynomial") { + LOG(RkISP1Lsc, Debug) << "Loading polynomial LSC data."; + auto loader = LscPolynomialLoader(context.sensorInfo.activeAreaSize, + context.sensorInfo.analogCrop, + xSize_, + ySize_); + res = loader.parseLscData(yamlSets, lscData); + } else { + LOG(RkISP1Lsc, Error) << "Unsupported LSC data type '" + << type << "'"; + res = -EINVAL; + } + + if (res) + return res; + + sets_.setData(std::move(lscData)); + + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::configure + */ +int LensShadingCorrection::configure(IPAContext &context, + [[maybe_unused]] const IPACameraSensorInfo &configInfo) +{ + const Size &size = context.configuration.sensor.size; + Size totalSize{}; + + for (unsigned int i = 0; i < RKISP1_CIF_ISP_LSC_SECTORS_TBL_SIZE; ++i) { + xSizes_[i] = xSize_[i] * size.width; + ySizes_[i] = ySize_[i] * size.height; + + /* + * To prevent unexpected behavior of the ISP, the sum of x_size_tbl and + * y_size_tbl items shall be equal to respectively size.width/2 and + * size.height/2. Enforce it by computing the last tables value to avoid + * rounding-induced errors. + */ + if (i == RKISP1_CIF_ISP_LSC_SECTORS_TBL_SIZE - 1) { + xSizes_[i] = size.width / 2 - totalSize.width; + ySizes_[i] = size.height / 2 - totalSize.height; + } + + totalSize.width += xSizes_[i]; + totalSize.height += ySizes_[i]; + + xGrad_[i] = std::round(32768 / xSizes_[i]); + yGrad_[i] = std::round(32768 / ySizes_[i]); + } + + context.configuration.lsc.enabled = true; + return 0; +} + +void LensShadingCorrection::setParameters(rkisp1_cif_isp_lsc_config &config) +{ + memcpy(config.x_grad_tbl, xGrad_, sizeof(config.x_grad_tbl)); + memcpy(config.y_grad_tbl, yGrad_, sizeof(config.y_grad_tbl)); + memcpy(config.x_size_tbl, xSizes_, sizeof(config.x_size_tbl)); + memcpy(config.y_size_tbl, ySizes_, sizeof(config.y_size_tbl)); +} + +void LensShadingCorrection::copyTable(rkisp1_cif_isp_lsc_config &config, + const Components &set) +{ + std::copy(set.r.begin(), set.r.end(), &config.r_data_tbl[0][0]); + std::copy(set.gr.begin(), set.gr.end(), &config.gr_data_tbl[0][0]); + std::copy(set.gb.begin(), set.gb.end(), &config.gb_data_tbl[0][0]); + std::copy(set.b.begin(), set.b.end(), &config.b_data_tbl[0][0]); +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void LensShadingCorrection::prepare(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + RkISP1Params *params) +{ + uint32_t ct = context.activeState.awb.temperatureK; + if (std::abs(static_cast<int>(ct) - static_cast<int>(lastAppliedCt_)) < + kColourTemperatureChangeThreshhold) + return; + unsigned int quantizedCt; + const Components &set = sets_.getInterpolated(ct, &quantizedCt); + if (lastAppliedQuantizedCt_ == quantizedCt) + return; + + auto config = params->block<BlockType::Lsc>(); + config.setEnabled(true); + setParameters(*config); + copyTable(*config, set); + + lastAppliedCt_ = ct; + lastAppliedQuantizedCt_ = quantizedCt; + + LOG(RkISP1Lsc, Debug) + << "ct is " << ct << ", quantized to " + << quantizedCt; +} + +REGISTER_IPA_ALGORITHM(LensShadingCorrection, "LensShadingCorrection") + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/lsc.h b/src/ipa/rkisp1/algorithms/lsc.h new file mode 100644 index 00000000..5a0824e3 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/lsc.h @@ -0,0 +1,60 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Lens Shading Correction control + */ + +#pragma once + +#include <map> + +#include "libipa/interpolator.h" + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +class LensShadingCorrection : public Algorithm +{ +public: + LensShadingCorrection(); + ~LensShadingCorrection() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + int configure(IPAContext &context, const IPACameraSensorInfo &configInfo) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + RkISP1Params *params) override; + + struct Components { + uint32_t ct; + std::vector<uint16_t> r; + std::vector<uint16_t> gr; + std::vector<uint16_t> gb; + std::vector<uint16_t> b; + }; + +private: + void setParameters(rkisp1_cif_isp_lsc_config &config); + void copyTable(rkisp1_cif_isp_lsc_config &config, const Components &set0); + void interpolateTable(rkisp1_cif_isp_lsc_config &config, + const Components &set0, const Components &set1, + const uint32_t ct); + + ipa::Interpolator<Components> sets_; + std::vector<double> xSize_; + std::vector<double> ySize_; + uint16_t xGrad_[RKISP1_CIF_ISP_LSC_SECTORS_TBL_SIZE]; + uint16_t yGrad_[RKISP1_CIF_ISP_LSC_SECTORS_TBL_SIZE]; + uint16_t xSizes_[RKISP1_CIF_ISP_LSC_SECTORS_TBL_SIZE]; + uint16_t ySizes_[RKISP1_CIF_ISP_LSC_SECTORS_TBL_SIZE]; + + unsigned int lastAppliedCt_; + unsigned int lastAppliedQuantizedCt_; +}; + +} /* namespace ipa::rkisp1::algorithms */ +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/lux.cpp b/src/ipa/rkisp1/algorithms/lux.cpp new file mode 100644 index 00000000..b0f74963 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/lux.cpp @@ -0,0 +1,80 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * lux.cpp - RkISP1 Lux control + */ + +#include "lux.h" + +#include <libcamera/base/log.h> + +#include <libcamera/control_ids.h> + +#include "libipa/histogram.h" +#include "libipa/lux.h" + +/** + * \file lux.h + */ + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +/** + * \class Lux + * \brief RkISP1 Lux control + * + * The Lux algorithm is responsible for estimating the lux level of the image. + * It doesn't take or generate any controls, but it provides a lux level for + * other algorithms (such as AGC) to use. + */ + +/** + * \brief Construct an rkisp1 Lux algo module + * + * The Lux helper is initialized to 65535 as that is the max bin count on the + * rkisp1. + */ +Lux::Lux() + : lux_(65535) +{ +} + +/** + * \copydoc libcamera::ipa::Algorithm::init + */ +int Lux::init([[maybe_unused]] IPAContext &context, const YamlObject &tuningData) +{ + return lux_.parseTuningData(tuningData); +} + +/** + * \copydoc libcamera::ipa::Algorithm::process + */ +void Lux::process(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + const rkisp1_stat_buffer *stats, + ControlList &metadata) +{ + utils::Duration exposureTime = context.configuration.sensor.lineDuration + * frameContext.sensor.exposure; + double gain = frameContext.sensor.gain; + + /* \todo Deduplicate the histogram calculation from AGC */ + const rkisp1_cif_isp_stat *params = &stats->params; + Histogram yHist({ params->hist.hist_bins, context.hw->numHistogramBins }, + [](uint32_t x) { return x >> 4; }); + + double lux = lux_.estimateLux(exposureTime, gain, 1.0, yHist); + frameContext.lux.lux = lux; + metadata.set(controls::Lux, lux); +} + +REGISTER_IPA_ALGORITHM(Lux, "Lux") + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/lux.h b/src/ipa/rkisp1/algorithms/lux.h new file mode 100644 index 00000000..8a90de55 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/lux.h @@ -0,0 +1,36 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * lux.h - RkISP1 Lux control + */ + +#pragma once + +#include <sys/types.h> + +#include "libipa/lux.h" + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +class Lux : public Algorithm +{ +public: + Lux(); + + int init(IPAContext &context, const YamlObject &tuningData) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const rkisp1_stat_buffer *stats, + ControlList &metadata) override; + +private: + ipa::Lux lux_; +}; + +} /* namespace ipa::rkisp1::algorithms */ +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/meson.build b/src/ipa/rkisp1/algorithms/meson.build new file mode 100644 index 00000000..c66b0b70 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/meson.build @@ -0,0 +1,16 @@ +# SPDX-License-Identifier: CC0-1.0 + +rkisp1_ipa_algorithms = files([ + 'agc.cpp', + 'awb.cpp', + 'blc.cpp', + 'ccm.cpp', + 'cproc.cpp', + 'dpcc.cpp', + 'dpf.cpp', + 'filter.cpp', + 'goc.cpp', + 'gsl.cpp', + 'lsc.cpp', + 'lux.cpp', +]) diff --git a/src/ipa/rkisp1/data/imx219.yaml b/src/ipa/rkisp1/data/imx219.yaml new file mode 100644 index 00000000..0d99cb52 --- /dev/null +++ b/src/ipa/rkisp1/data/imx219.yaml @@ -0,0 +1,114 @@ +# SPDX-License-Identifier: CC0-1.0 +%YAML 1.1 +--- +version: 1 +algorithms: + - Agc: + - Awb: + - BlackLevelCorrection: + - LensShadingCorrection: + x-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + y-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + sets: + - ct: 5800 + r: [ + 1501, 1480, 1478, 1362, 1179, 1056, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1030, 1053, 1134, 1185, 1520, 1480, 1463, 1179, 1056, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1027, 1046, 1134, 1533, 1471, 1179, 1056, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1025, 1039, 1471, + 1314, 1068, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1025, 1314, 1150, 1028, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1150, 1050, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1076, 1026, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1052, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1050, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1050, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1050, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1025, 1086, 1037, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1025, 1057, 1182, 1071, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1057, 1161, + 1345, 1146, 1027, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1036, 1161, 1298, 1612, 1328, 1089, 1025, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1025, 1036, 1161, 1324, 1463, 1884, 1651, 1339, 1103, 1032, + 1025, 1024, 1024, 1024, 1024, 1025, 1038, 1101, 1204, 1324, 1463, 1497, 1933, + 1884, 1587, 1275, 1079, 1052, 1046, 1046, 1046, 1046, 1055, 1101, 1204, 1336, + 1487, 1493, 1476, + ] + gr: [ + 1262, 1250, 1094, 1027, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1250, 1095, 1028, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1095, 1030, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1030, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1025, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1041, 1051, 1025, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1051, 1165, 1088, + 1051, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1051, 1165, 1261, + ] + gb: [ + 1259, 1248, 1092, 1027, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1248, 1092, 1027, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1092, 1029, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1029, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1025, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1041, 1051, 1025, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1052, 1166, 1090, + 1051, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1052, 1166, 1266, + ] + b: [ + 1380, 1378, 1377, 1247, 1080, 1025, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1030, 1406, 1378, 1284, 1092, 1027, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1406, 1338, 1129, 1029, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1338, + 1205, 1043, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1205, 1094, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1116, 1039, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1070, 1025, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1052, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1052, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1052, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1052, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1070, 1025, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1025, 1109, 1036, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1025, 1057, + 1175, 1082, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1057, 1176, 1293, 1172, 1036, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1054, 1185, 1334, 1438, 1294, 1099, 1025, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1054, 1185, 1334, 1334, 1462, + 1438, 1226, 1059, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1025, 1054, 1185, + 1326, 1334, 1334, + ] +... diff --git a/src/ipa/rkisp1/data/imx258.yaml b/src/ipa/rkisp1/data/imx258.yaml new file mode 100644 index 00000000..202af36a --- /dev/null +++ b/src/ipa/rkisp1/data/imx258.yaml @@ -0,0 +1,55 @@ +# SPDX-License-Identifier: CC0-1.0 +%YAML 1.1 +--- +version: 1 +algorithms: + - Agc: + - Awb: + - BlackLevelCorrection: + - LensShadingCorrection: + x-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + y-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + sets: + #4208x3120_A_70 - A + - ct: 2856 + resolution: 4208x3120 + r: [1483, 1423, 1410, 1414, 1417, 1384, 1356, 1348, 1349, 1348, 1393, 1392, 1409, 1444, 1460, 1475, 1568, 1462, 1409, 1398, 1391, 1361, 1343, 1328, 1312, 1316, 1325, 1328, 1372, 1395, 1427, 1410, 1440, 1525, 1441, 1366, 1373, 1364, 1338, 1312, 1287, 1270, 1262, 1267, 1305, 1339, 1380, 1402, 1425, 1424, 1510, 1423, 1376, 1375, 1353, 1309, 1253, 1220, 1201, 1192, 1203, 1243, 1286, 1338, 1375, 1427, 1438, 1499, 1405, 1353, 1354, 1331, 1269, 1207, 1169, 1140, 1137, 1145, 1186, 1246, 1309, 1373, 1399, 1438, 1512, 1391, 1349, 1351, 1306, 1236, 1174, 1121, 1089, 1083, 1098, 1139, 1202, 1276, 1349, 1384, 1428, 1494, 1401, 1337, 1336, 1277, 1211, 1138, 1082, 1057, 1053, 1067, 1110, 1166, 1253, 1331, 1375, 1417, 1485, 1401, 1341, 1316, 1269, 1184, 1115, 1063, 1037, 1029, 1042, 1082, 1144, 1234, 1322, 1368, 1405, 1480, 1387, 1329, 1305, 1257, 1179, 1104, 1049, 1028, 1024, 1037, 1078, 1144, 1231, 1312, 1363, 1404, 1456, 1401, 1341, 1313, 1254, 1177, 1104, 1053, 1041, 1026, 1042, 1082, 1149, 1229, 1322, 1372, 1397, 1457, 1397, 1344, 1312, 1271, 1191, 1122, 1070, 1052, 1044, 1061, 1097, 1166, 1245, 1334, 1382, 1405, 1476, 1400, 1342, 1333, 1293, 1213, 1146, 1099, 1073, 1061, 1081, 1134, 1202, 1273, 1332, 1380, 1411, 1484, 1414, 1350, 1344, 1301, 1251, 1181, 1133, 1109, 1100, 1118, 1164, 1218, 1299, 1338, 1373, 1408, 1459, 1397, 1360, 1342, 1339, 1293, 1231, 1181, 1149, 1155, 1161, 1202, 1256, 1315, 1364, 1383, 1396, 1479, 1382, 1342, 1358, 1346, 1314, 1284, 1231, 1210, 1198, 1224, 1251, 1303, 1338, 1361, 1381, 1394, 1455, 1386, 1338, 1342, 1341, 1326, 1296, 1274, 1254, 1249, 1262, 1280, 1319, 1357, 1367, 1373, 1379, 1462, 1426, 1340, 1356, 1354, 1330, 1344, 1291, 1275, 1255, 1272, 1298, 1333, 1374, 1390, 1393, 1418, 1580, ] + gr: [1274, 1203, 1200, 1184, 1165, 1167, 1155, 1160, 1155, 1158, 1164, 1181, 1196, 1223, 1219, 1220, 1369, 1233, 1172, 1161, 1158, 1146, 1149, 1142, 1129, 1133, 1137, 1144, 1155, 1173, 1189, 1204, 1205, 1268, 1215, 1172, 1148, 1137, 1135, 1124, 1123, 1114, 1110, 1116, 1131, 1149, 1161, 1175, 1191, 1220, 1263, 1185, 1153, 1140, 1137, 1119, 1106, 1094, 1088, 1086, 1099, 1107, 1125, 1152, 1154, 1187, 1209, 1255, 1195, 1141, 1133, 1133, 1112, 1083, 1081, 1066, 1057, 1067, 1088, 1103, 1134, 1154, 1172, 1199, 1255, 1186, 1136, 1127, 1121, 1094, 1077, 1055, 1044, 1040, 1048, 1067, 1086, 1121, 1146, 1155, 1185, 1258, 1177, 1127, 1117, 1104, 1082, 1063, 1044, 1038, 1027, 1036, 1057, 1070, 1101, 1138, 1151, 1177, 1245, 1184, 1116, 1119, 1098, 1070, 1045, 1037, 1030, 1027, 1026, 1045, 1062, 1099, 1132, 1149, 1179, 1238, 1172, 1120, 1113, 1100, 1070, 1042, 1029, 1027, 1029, 1027, 1042, 1066, 1088, 1126, 1149, 1174, 1223, 1162, 1118, 1117, 1093, 1065, 1039, 1030, 1028, 1022, 1028, 1045, 1060, 1101, 1134, 1146, 1165, 1246, 1172, 1116, 1119, 1102, 1075, 1046, 1029, 1032, 1030, 1038, 1049, 1073, 1097, 1132, 1146, 1168, 1231, 1178, 1118, 1123, 1111, 1083, 1062, 1041, 1038, 1033, 1041, 1054, 1074, 1109, 1135, 1144, 1175, 1244, 1193, 1136, 1123, 1118, 1100, 1070, 1045, 1036, 1044, 1047, 1067, 1090, 1116, 1135, 1158, 1174, 1232, 1198, 1142, 1127, 1130, 1107, 1085, 1068, 1060, 1057, 1069, 1079, 1102, 1115, 1124, 1154, 1178, 1241, 1192, 1136, 1125, 1113, 1116, 1096, 1081, 1075, 1075, 1088, 1097, 1116, 1124, 1135, 1155, 1177, 1232, 1183, 1142, 1119, 1113, 1099, 1101, 1088, 1084, 1085, 1089, 1103, 1109, 1122, 1133, 1147, 1175, 1258, 1238, 1162, 1161, 1143, 1124, 1131, 1108, 1111, 1107, 1115, 1116, 1138, 1137, 1150, 1163, 1186, 1381, ] + gb: [1277, 1217, 1179, 1179, 1163, 1158, 1151, 1150, 1149, 1143, 1151, 1172, 1184, 1207, 1216, 1246, 1375, 1242, 1194, 1166, 1151, 1144, 1145, 1135, 1130, 1129, 1132, 1137, 1154, 1166, 1189, 1207, 1210, 1290, 1229, 1177, 1153, 1144, 1140, 1135, 1124, 1110, 1104, 1115, 1126, 1148, 1162, 1171, 1199, 1220, 1268, 1226, 1163, 1152, 1138, 1130, 1111, 1091, 1088, 1086, 1089, 1097, 1126, 1147, 1164, 1187, 1206, 1273, 1212, 1151, 1141, 1132, 1117, 1093, 1075, 1060, 1059, 1062, 1088, 1108, 1133, 1162, 1168, 1204, 1278, 1207, 1141, 1130, 1126, 1095, 1075, 1063, 1046, 1044, 1054, 1069, 1084, 1120, 1153, 1167, 1195, 1269, 1200, 1141, 1126, 1113, 1092, 1063, 1045, 1033, 1036, 1038, 1055, 1080, 1117, 1139, 1165, 1182, 1262, 1195, 1130, 1128, 1115, 1079, 1052, 1041, 1031, 1024, 1028, 1046, 1072, 1110, 1141, 1160, 1175, 1258, 1189, 1136, 1124, 1105, 1077, 1049, 1029, 1021, 1029, 1033, 1040, 1074, 1108, 1143, 1152, 1173, 1237, 1200, 1130, 1126, 1109, 1080, 1050, 1030, 1031, 1027, 1031, 1043, 1069, 1099, 1141, 1152, 1168, 1249, 1203, 1132, 1124, 1113, 1082, 1058, 1032, 1030, 1024, 1033, 1050, 1083, 1109, 1151, 1156, 1178, 1253, 1204, 1130, 1128, 1112, 1088, 1060, 1045, 1030, 1027, 1036, 1058, 1082, 1120, 1145, 1160, 1176, 1246, 1195, 1137, 1123, 1121, 1102, 1072, 1046, 1037, 1037, 1047, 1072, 1090, 1125, 1140, 1158, 1177, 1252, 1209, 1147, 1128, 1125, 1114, 1088, 1063, 1053, 1051, 1058, 1084, 1101, 1128, 1140, 1159, 1176, 1243, 1195, 1138, 1130, 1127, 1113, 1101, 1076, 1071, 1067, 1082, 1087, 1111, 1125, 1140, 1151, 1183, 1235, 1189, 1137, 1126, 1122, 1112, 1104, 1091, 1089, 1081, 1085, 1103, 1112, 1125, 1140, 1157, 1175, 1242, 1234, 1181, 1161, 1150, 1127, 1117, 1101, 1094, 1094, 1102, 1117, 1130, 1138, 1155, 1171, 1192, 1399, ] + b: [1309, 1209, 1169, 1157, 1149, 1136, 1116, 1117, 1126, 1128, 1127, 1141, 1143, 1182, 1196, 1209, 1398, 1231, 1176, 1140, 1123, 1119, 1113, 1111, 1122, 1105, 1117, 1116, 1135, 1130, 1135, 1171, 1169, 1271, 1251, 1154, 1132, 1118, 1104, 1109, 1103, 1094, 1088, 1104, 1093, 1120, 1130, 1135, 1151, 1180, 1267, 1219, 1136, 1111, 1125, 1106, 1107, 1082, 1074, 1077, 1074, 1101, 1112, 1117, 1136, 1139, 1173, 1256, 1205, 1125, 1108, 1118, 1110, 1091, 1081, 1065, 1068, 1065, 1086, 1087, 1105, 1123, 1119, 1156, 1249, 1195, 1106, 1112, 1101, 1085, 1068, 1064, 1053, 1043, 1048, 1068, 1073, 1095, 1117, 1118, 1123, 1251, 1193, 1101, 1091, 1097, 1081, 1052, 1043, 1045, 1041, 1045, 1052, 1065, 1100, 1112, 1112, 1123, 1200, 1180, 1096, 1103, 1083, 1069, 1053, 1045, 1035, 1034, 1035, 1045, 1062, 1087, 1108, 1113, 1113, 1228, 1176, 1093, 1095, 1080, 1062, 1055, 1035, 1033, 1028, 1037, 1039, 1064, 1080, 1115, 1121, 1120, 1202, 1174, 1086, 1087, 1078, 1064, 1049, 1037, 1027, 1022, 1031, 1045, 1058, 1087, 1113, 1108, 1113, 1207, 1200, 1095, 1102, 1092, 1072, 1052, 1043, 1033, 1024, 1033, 1043, 1069, 1095, 1112, 1128, 1123, 1220, 1215, 1101, 1091, 1096, 1080, 1059, 1051, 1040, 1031, 1040, 1064, 1064, 1095, 1111, 1112, 1141, 1222, 1198, 1119, 1108, 1097, 1080, 1059, 1050, 1043, 1034, 1043, 1063, 1073, 1100, 1107, 1114, 1131, 1212, 1197, 1136, 1094, 1109, 1096, 1078, 1054, 1052, 1051, 1060, 1063, 1078, 1101, 1109, 1116, 1142, 1256, 1212, 1112, 1098, 1097, 1094, 1084, 1074, 1061, 1051, 1057, 1064, 1080, 1089, 1102, 1115, 1136, 1227, 1185, 1118, 1081, 1059, 1072, 1068, 1057, 1049, 1048, 1054, 1066, 1058, 1067, 1096, 1109, 1143, 1223, 1291, 1173, 1131, 1113, 1087, 1077, 1090, 1081, 1090, 1086, 1090, 1092, 1103, 1144, 1149, 1216, 1387, ] + #4208x3120_D50_70 - D50 + - ct: 5003 + resolution: 4208x3120 + r: [1240, 1212, 1218, 1191, 1191, 1171, 1136, 1144, 1113, 1148, 1182, 1166, 1210, 1211, 1213, 1240, 1336, 1236, 1193, 1176, 1158, 1147, 1126, 1107, 1122, 1107, 1107, 1110, 1146, 1176, 1194, 1195, 1219, 1259, 1210, 1157, 1156, 1153, 1123, 1115, 1094, 1074, 1078, 1081, 1098, 1130, 1163, 1170, 1179, 1220, 1284, 1228, 1146, 1159, 1132, 1101, 1074, 1059, 1053, 1044, 1060, 1072, 1102, 1131, 1156, 1186, 1227, 1272, 1219, 1176, 1150, 1124, 1091, 1043, 1036, 1025, 1025, 1031, 1042, 1076, 1095, 1155, 1188, 1209, 1296, 1206, 1161, 1128, 1101, 1065, 1032, 1019, 1018, 1027, 1018, 1034, 1057, 1102, 1139, 1161, 1211, 1274, 1184, 1133, 1119, 1097, 1042, 1018, 1020, 1027, 1034, 1030, 1032, 1042, 1075, 1119, 1164, 1199, 1270, 1205, 1124, 1114, 1086, 1033, 1015, 1023, 1039, 1039, 1033, 1026, 1041, 1074, 1111, 1142, 1206, 1278, 1193, 1118, 1098, 1084, 1023, 1003, 1016, 1047, 1059, 1038, 1025, 1046, 1063, 1124, 1148, 1190, 1238, 1191, 1124, 1107, 1069, 1027, 1009, 1012, 1036, 1045, 1036, 1020, 1024, 1058, 1118, 1158, 1183, 1262, 1213, 1121, 1112, 1076, 1030, 1012, 1003, 1019, 1028, 1013, 1020, 1036, 1078, 1123, 1155, 1176, 1228, 1221, 1135, 1117, 1105, 1055, 1020, 1005, 1007, 1007, 1004, 1017, 1048, 1088, 1131, 1169, 1183, 1280, 1209, 1141, 1125, 1105, 1074, 1025, 1012, 1008, 1000, 1011, 1024, 1050, 1113, 1128, 1154, 1199, 1290, 1217, 1142, 1134, 1120, 1101, 1054, 1028, 1014, 1006, 1017, 1040, 1078, 1105, 1136, 1164, 1188, 1250, 1195, 1130, 1148, 1120, 1108, 1083, 1053, 1041, 1032, 1061, 1067, 1097, 1127, 1136, 1152, 1181, 1227, 1166, 1145, 1140, 1141, 1119, 1092, 1075, 1072, 1052, 1065, 1089, 1107, 1147, 1154, 1158, 1183, 1230, 1136, 1147, 1150, 1168, 1139, 1113, 1098, 1055, 1048, 1072, 1079, 1129, 1147, 1173, 1188, 1181, 1283, ] + gr: [1246, 1183, 1160, 1143, 1145, 1138, 1113, 1111, 1117, 1116, 1132, 1145, 1167, 1167, 1196, 1197, 1335, 1205, 1152, 1123, 1122, 1123, 1103, 1107, 1102, 1097, 1102, 1099, 1128, 1141, 1157, 1152, 1184, 1242, 1204, 1141, 1112, 1106, 1102, 1093, 1096, 1085, 1076, 1085, 1094, 1107, 1123, 1146, 1162, 1178, 1218, 1169, 1130, 1114, 1100, 1096, 1083, 1072, 1059, 1065, 1070, 1087, 1096, 1116, 1134, 1155, 1174, 1238, 1159, 1126, 1105, 1102, 1083, 1062, 1060, 1049, 1047, 1054, 1063, 1084, 1111, 1131, 1140, 1164, 1243, 1167, 1114, 1105, 1088, 1067, 1047, 1034, 1034, 1028, 1042, 1042, 1059, 1096, 1114, 1135, 1170, 1200, 1156, 1101, 1098, 1089, 1068, 1048, 1027, 1034, 1029, 1032, 1047, 1043, 1088, 1111, 1130, 1160, 1201, 1143, 1100, 1086, 1087, 1051, 1034, 1029, 1028, 1030, 1019, 1033, 1044, 1087, 1109, 1124, 1155, 1211, 1148, 1098, 1088, 1077, 1058, 1037, 1026, 1025, 1034, 1033, 1031, 1054, 1074, 1107, 1134, 1159, 1211, 1150, 1090, 1084, 1074, 1056, 1029, 1020, 1028, 1025, 1027, 1031, 1044, 1080, 1109, 1126, 1152, 1208, 1131, 1101, 1088, 1073, 1048, 1035, 1030, 1026, 1024, 1034, 1038, 1053, 1083, 1104, 1124, 1160, 1206, 1147, 1103, 1082, 1082, 1060, 1035, 1026, 1023, 1018, 1031, 1044, 1058, 1096, 1114, 1128, 1153, 1208, 1170, 1112, 1098, 1088, 1070, 1049, 1027, 1027, 1023, 1031, 1046, 1071, 1085, 1106, 1129, 1150, 1228, 1164, 1111, 1101, 1089, 1078, 1058, 1040, 1030, 1032, 1037, 1060, 1073, 1102, 1097, 1125, 1156, 1223, 1181, 1115, 1097, 1093, 1083, 1072, 1056, 1047, 1041, 1057, 1071, 1079, 1081, 1102, 1124, 1141, 1195, 1170, 1109, 1091, 1089, 1061, 1074, 1049, 1054, 1052, 1057, 1067, 1076, 1097, 1106, 1121, 1141, 1211, 1173, 1129, 1108, 1099, 1093, 1092, 1076, 1063, 1057, 1065, 1090, 1107, 1117, 1140, 1123, 1175, 1343, ] + gb: [1238, 1183, 1160, 1160, 1134, 1134, 1124, 1108, 1131, 1127, 1124, 1145, 1172, 1188, 1201, 1217, 1349, 1216, 1160, 1128, 1120, 1117, 1110, 1108, 1105, 1102, 1111, 1114, 1125, 1144, 1160, 1162, 1192, 1260, 1212, 1141, 1127, 1118, 1101, 1104, 1103, 1086, 1077, 1086, 1105, 1116, 1126, 1147, 1167, 1191, 1242, 1191, 1130, 1126, 1103, 1093, 1082, 1074, 1070, 1064, 1064, 1079, 1099, 1113, 1132, 1156, 1185, 1247, 1175, 1117, 1114, 1109, 1081, 1067, 1061, 1047, 1044, 1051, 1066, 1083, 1108, 1134, 1141, 1180, 1248, 1187, 1108, 1106, 1095, 1076, 1052, 1044, 1036, 1034, 1042, 1052, 1070, 1105, 1124, 1140, 1161, 1228, 1171, 1091, 1095, 1088, 1069, 1041, 1035, 1034, 1034, 1037, 1048, 1062, 1090, 1120, 1129, 1165, 1223, 1158, 1108, 1093, 1080, 1052, 1030, 1034, 1027, 1030, 1028, 1034, 1054, 1083, 1112, 1133, 1141, 1208, 1158, 1099, 1091, 1075, 1047, 1031, 1017, 1021, 1035, 1027, 1033, 1054, 1088, 1110, 1120, 1146, 1211, 1171, 1099, 1093, 1079, 1056, 1029, 1021, 1030, 1025, 1031, 1037, 1047, 1077, 1116, 1122, 1132, 1203, 1179, 1093, 1087, 1076, 1053, 1038, 1028, 1024, 1024, 1024, 1040, 1058, 1082, 1108, 1114, 1144, 1198, 1167, 1091, 1091, 1087, 1059, 1047, 1029, 1016, 1021, 1036, 1045, 1066, 1093, 1113, 1116, 1144, 1205, 1159, 1113, 1099, 1091, 1069, 1047, 1029, 1029, 1024, 1037, 1054, 1072, 1088, 1109, 1125, 1150, 1200, 1186, 1114, 1097, 1098, 1087, 1065, 1035, 1033, 1043, 1042, 1054, 1076, 1089, 1111, 1126, 1130, 1214, 1153, 1106, 1100, 1090, 1086, 1082, 1057, 1059, 1053, 1059, 1066, 1077, 1088, 1113, 1117, 1144, 1203, 1147, 1107, 1110, 1090, 1088, 1072, 1070, 1060, 1062, 1058, 1074, 1087, 1096, 1109, 1126, 1150, 1216, 1170, 1145, 1128, 1108, 1088, 1110, 1085, 1070, 1064, 1078, 1077, 1101, 1107, 1136, 1148, 1163, 1345, ] + b: [1252, 1185, 1146, 1139, 1147, 1130, 1114, 1111, 1122, 1111, 1121, 1123, 1144, 1150, 1171, 1167, 1303, 1187, 1152, 1125, 1101, 1104, 1096, 1101, 1099, 1093, 1096, 1098, 1103, 1118, 1141, 1160, 1156, 1226, 1222, 1125, 1112, 1118, 1104, 1094, 1083, 1073, 1073, 1094, 1099, 1103, 1114, 1133, 1146, 1174, 1212, 1162, 1123, 1104, 1110, 1100, 1081, 1066, 1065, 1057, 1053, 1072, 1094, 1107, 1117, 1136, 1162, 1226, 1197, 1124, 1088, 1092, 1084, 1066, 1055, 1051, 1044, 1049, 1061, 1081, 1096, 1102, 1134, 1143, 1234, 1171, 1110, 1099, 1075, 1070, 1051, 1052, 1030, 1030, 1035, 1055, 1071, 1092, 1100, 1113, 1128, 1214, 1174, 1099, 1080, 1069, 1054, 1047, 1032, 1031, 1027, 1034, 1042, 1061, 1086, 1091, 1113, 1139, 1222, 1156, 1088, 1089, 1072, 1051, 1036, 1032, 1026, 1030, 1024, 1040, 1047, 1074, 1091, 1109, 1131, 1198, 1158, 1090, 1079, 1071, 1047, 1038, 1031, 1028, 1027, 1028, 1029, 1046, 1068, 1087, 1105, 1122, 1196, 1173, 1098, 1080, 1060, 1040, 1036, 1022, 1019, 1022, 1029, 1029, 1045, 1077, 1094, 1103, 1109, 1189, 1170, 1096, 1070, 1063, 1048, 1033, 1026, 1023, 1016, 1021, 1037, 1053, 1068, 1098, 1107, 1128, 1195, 1166, 1099, 1086, 1066, 1061, 1040, 1022, 1022, 1028, 1027, 1041, 1057, 1086, 1094, 1103, 1124, 1188, 1202, 1113, 1081, 1083, 1071, 1040, 1025, 1024, 1025, 1019, 1055, 1055, 1081, 1099, 1112, 1128, 1202, 1171, 1108, 1083, 1084, 1078, 1051, 1043, 1020, 1037, 1037, 1049, 1072, 1069, 1100, 1107, 1115, 1176, 1180, 1106, 1094, 1077, 1068, 1053, 1050, 1035, 1041, 1038, 1062, 1068, 1068, 1084, 1098, 1125, 1184, 1164, 1104, 1077, 1057, 1064, 1049, 1039, 1041, 1036, 1041, 1042, 1058, 1064, 1087, 1099, 1111, 1173, 1209, 1137, 1099, 1083, 1076, 1072, 1077, 1065, 1066, 1065, 1061, 1081, 1096, 1135, 1126, 1150, 1333, ] + #4208x3120_D65_70 - D65 + - ct: 6504 + resolution: 4208x3120 + r: [1359, 1336, 1313, 1273, 1274, 1250, 1250, 1218, 1222, 1223, 1240, 1266, 1308, 1327, 1333, 1336, 1456, 1359, 1286, 1256, 1249, 1235, 1235, 1216, 1219, 1187, 1205, 1216, 1240, 1267, 1277, 1303, 1311, 1420, 1326, 1254, 1250, 1239, 1212, 1207, 1191, 1181, 1176, 1181, 1187, 1226, 1241, 1281, 1295, 1326, 1391, 1304, 1253, 1234, 1234, 1209, 1174, 1156, 1147, 1131, 1139, 1168, 1196, 1227, 1265, 1282, 1293, 1385, 1302, 1242, 1224, 1216, 1171, 1140, 1112, 1098, 1087, 1098, 1124, 1177, 1206, 1245, 1266, 1310, 1389, 1327, 1227, 1231, 1195, 1156, 1116, 1094, 1070, 1067, 1073, 1101, 1151, 1190, 1223, 1251, 1281, 1402, 1285, 1229, 1203, 1184, 1135, 1093, 1063, 1047, 1041, 1050, 1083, 1119, 1176, 1211, 1248, 1288, 1388, 1269, 1210, 1215, 1173, 1118, 1078, 1046, 1028, 1025, 1037, 1059, 1103, 1170, 1213, 1230, 1268, 1355, 1295, 1208, 1203, 1171, 1124, 1070, 1041, 1024, 1027, 1030, 1057, 1094, 1168, 1206, 1252, 1270, 1364, 1293, 1196, 1187, 1156, 1110, 1075, 1039, 1022, 1022, 1028, 1065, 1096, 1166, 1213, 1245, 1273, 1349, 1291, 1213, 1203, 1162, 1131, 1079, 1053, 1038, 1029, 1044, 1080, 1119, 1176, 1225, 1243, 1271, 1354, 1284, 1222, 1202, 1186, 1136, 1097, 1063, 1054, 1041, 1054, 1083, 1131, 1186, 1232, 1256, 1276, 1360, 1290, 1237, 1210, 1207, 1166, 1116, 1076, 1066, 1070, 1080, 1109, 1152, 1188, 1230, 1240, 1293, 1341, 1304, 1231, 1229, 1210, 1177, 1153, 1128, 1097, 1105, 1108, 1140, 1170, 1213, 1224, 1260, 1282, 1357, 1299, 1237, 1218, 1218, 1202, 1171, 1144, 1135, 1131, 1143, 1161, 1189, 1221, 1233, 1261, 1271, 1346, 1262, 1216, 1229, 1218, 1191, 1187, 1162, 1161, 1148, 1153, 1180, 1201, 1220, 1234, 1251, 1250, 1352, 1294, 1234, 1242, 1240, 1246, 1200, 1178, 1172, 1137, 1154, 1187, 1214, 1252, 1251, 1247, 1296, 1456, ] + gr: [1240, 1187, 1158, 1152, 1144, 1129, 1130, 1118, 1115, 1113, 1119, 1141, 1156, 1172, 1180, 1199, 1330, 1223, 1153, 1127, 1123, 1115, 1104, 1104, 1095, 1100, 1107, 1110, 1121, 1137, 1156, 1169, 1179, 1261, 1205, 1138, 1122, 1108, 1101, 1104, 1098, 1088, 1083, 1090, 1106, 1119, 1125, 1144, 1163, 1186, 1236, 1170, 1122, 1112, 1101, 1091, 1089, 1076, 1068, 1061, 1072, 1084, 1101, 1118, 1134, 1156, 1179, 1243, 1162, 1120, 1105, 1105, 1088, 1067, 1061, 1050, 1050, 1057, 1070, 1088, 1112, 1127, 1145, 1166, 1232, 1163, 1108, 1111, 1099, 1079, 1054, 1046, 1041, 1030, 1040, 1053, 1074, 1098, 1120, 1140, 1170, 1226, 1158, 1105, 1094, 1099, 1064, 1048, 1034, 1036, 1028, 1029, 1049, 1055, 1089, 1116, 1135, 1166, 1218, 1142, 1107, 1094, 1092, 1061, 1041, 1030, 1024, 1025, 1028, 1036, 1053, 1087, 1110, 1128, 1153, 1223, 1142, 1098, 1092, 1084, 1056, 1036, 1025, 1024, 1027, 1024, 1038, 1055, 1082, 1108, 1132, 1153, 1203, 1155, 1098, 1094, 1080, 1056, 1034, 1023, 1025, 1022, 1025, 1036, 1053, 1078, 1112, 1126, 1144, 1212, 1163, 1096, 1092, 1083, 1059, 1039, 1027, 1023, 1028, 1026, 1044, 1056, 1091, 1114, 1130, 1149, 1204, 1152, 1103, 1090, 1089, 1065, 1045, 1031, 1028, 1025, 1035, 1048, 1064, 1092, 1116, 1131, 1157, 1203, 1162, 1100, 1098, 1093, 1076, 1049, 1033, 1030, 1030, 1040, 1050, 1067, 1094, 1103, 1127, 1154, 1221, 1162, 1112, 1099, 1095, 1079, 1064, 1042, 1033, 1034, 1048, 1061, 1077, 1091, 1108, 1126, 1148, 1213, 1154, 1112, 1106, 1095, 1081, 1065, 1056, 1052, 1050, 1059, 1071, 1082, 1091, 1102, 1129, 1149, 1211, 1157, 1106, 1092, 1081, 1066, 1072, 1064, 1048, 1056, 1061, 1066, 1076, 1091, 1107, 1122, 1145, 1207, 1204, 1127, 1117, 1106, 1098, 1081, 1073, 1068, 1062, 1068, 1081, 1107, 1102, 1127, 1148, 1170, 1353, ] + gb: [1240, 1177, 1157, 1143, 1129, 1130, 1118, 1112, 1123, 1123, 1123, 1137, 1159, 1181, 1197, 1206, 1354, 1217, 1153, 1130, 1124, 1109, 1114, 1105, 1108, 1116, 1110, 1114, 1131, 1145, 1145, 1163, 1183, 1249, 1197, 1134, 1124, 1107, 1115, 1104, 1100, 1085, 1091, 1097, 1102, 1110, 1133, 1145, 1155, 1190, 1227, 1191, 1125, 1107, 1105, 1093, 1084, 1072, 1066, 1071, 1072, 1081, 1106, 1124, 1129, 1153, 1178, 1238, 1193, 1108, 1104, 1098, 1085, 1072, 1059, 1052, 1048, 1059, 1075, 1089, 1105, 1126, 1146, 1162, 1233, 1166, 1098, 1099, 1091, 1078, 1053, 1043, 1036, 1035, 1045, 1058, 1070, 1100, 1113, 1128, 1156, 1230, 1173, 1100, 1087, 1087, 1064, 1046, 1037, 1031, 1031, 1034, 1047, 1063, 1092, 1107, 1112, 1153, 1228, 1169, 1089, 1089, 1079, 1057, 1043, 1030, 1030, 1027, 1027, 1035, 1057, 1087, 1111, 1125, 1136, 1218, 1166, 1097, 1087, 1079, 1056, 1035, 1022, 1021, 1027, 1022, 1035, 1053, 1083, 1109, 1118, 1138, 1198, 1151, 1100, 1087, 1077, 1057, 1034, 1023, 1024, 1027, 1025, 1036, 1051, 1083, 1109, 1116, 1129, 1215, 1159, 1096, 1091, 1079, 1053, 1037, 1026, 1021, 1020, 1020, 1039, 1063, 1086, 1113, 1116, 1134, 1214, 1158, 1096, 1091, 1087, 1065, 1043, 1034, 1025, 1020, 1028, 1046, 1059, 1088, 1109, 1119, 1130, 1202, 1168, 1101, 1091, 1084, 1074, 1050, 1029, 1028, 1026, 1035, 1055, 1072, 1099, 1105, 1121, 1138, 1204, 1160, 1104, 1093, 1094, 1079, 1067, 1043, 1036, 1036, 1048, 1057, 1081, 1089, 1107, 1118, 1140, 1222, 1158, 1101, 1096, 1090, 1082, 1076, 1059, 1052, 1053, 1063, 1071, 1086, 1094, 1103, 1119, 1134, 1206, 1150, 1105, 1098, 1093, 1082, 1077, 1067, 1063, 1065, 1069, 1081, 1081, 1088, 1108, 1123, 1138, 1211, 1198, 1133, 1114, 1117, 1097, 1093, 1076, 1073, 1067, 1077, 1076, 1089, 1101, 1119, 1154, 1163, 1346, ] + b: [1241, 1188, 1165, 1151, 1131, 1127, 1134, 1115, 1122, 1127, 1131, 1136, 1154, 1165, 1173, 1161, 1319, 1210, 1153, 1138, 1120, 1111, 1114, 1118, 1124, 1108, 1118, 1121, 1123, 1132, 1151, 1161, 1150, 1244, 1224, 1149, 1118, 1108, 1107, 1107, 1103, 1098, 1091, 1103, 1103, 1121, 1124, 1135, 1167, 1177, 1224, 1195, 1130, 1099, 1108, 1101, 1083, 1081, 1078, 1074, 1084, 1086, 1097, 1115, 1128, 1145, 1181, 1211, 1191, 1111, 1109, 1098, 1087, 1081, 1071, 1059, 1053, 1064, 1078, 1091, 1109, 1127, 1139, 1167, 1226, 1192, 1111, 1097, 1098, 1072, 1064, 1050, 1042, 1040, 1046, 1053, 1077, 1099, 1113, 1130, 1152, 1215, 1179, 1106, 1093, 1084, 1070, 1055, 1039, 1037, 1034, 1033, 1046, 1067, 1088, 1112, 1120, 1150, 1220, 1178, 1092, 1097, 1085, 1066, 1049, 1033, 1032, 1026, 1028, 1038, 1058, 1081, 1112, 1120, 1137, 1208, 1170, 1103, 1096, 1082, 1063, 1038, 1035, 1025, 1026, 1027, 1035, 1060, 1075, 1109, 1122, 1133, 1214, 1175, 1095, 1097, 1074, 1061, 1039, 1029, 1028, 1022, 1025, 1033, 1049, 1083, 1107, 1117, 1125, 1212, 1179, 1097, 1091, 1076, 1062, 1045, 1030, 1031, 1027, 1031, 1039, 1055, 1082, 1109, 1114, 1144, 1204, 1178, 1102, 1080, 1087, 1060, 1052, 1027, 1028, 1025, 1028, 1043, 1067, 1093, 1113, 1121, 1123, 1189, 1191, 1117, 1100, 1092, 1079, 1058, 1037, 1037, 1020, 1037, 1058, 1065, 1092, 1101, 1115, 1140, 1194, 1173, 1120, 1096, 1085, 1085, 1065, 1048, 1039, 1036, 1046, 1053, 1076, 1096, 1099, 1114, 1140, 1195, 1180, 1105, 1090, 1079, 1073, 1066, 1056, 1049, 1043, 1057, 1061, 1077, 1081, 1090, 1115, 1131, 1180, 1154, 1095, 1084, 1061, 1055, 1056, 1045, 1043, 1039, 1041, 1051, 1067, 1077, 1092, 1108, 1122, 1197, 1210, 1139, 1117, 1112, 1088, 1097, 1084, 1073, 1074, 1065, 1079, 1091, 1103, 1131, 1144, 1154, 1356, ] + #4208x3120_D75_70 - D75 + - ct: 7504 + resolution: 4208x3120 + r: [2718, 2443, 2251, 2101, 1949, 1828, 1725, 1659, 1637, 1656, 1692, 1787, 1913, 2038, 2175, 2358, 2612, 2566, 2301, 2129, 1946, 1798, 1654, 1562, 1501, 1474, 1484, 1541, 1628, 1753, 1900, 2056, 2216, 2458, 2439, 2204, 2002, 1839, 1664, 1534, 1419, 1372, 1340, 1357, 1403, 1489, 1621, 1784, 1950, 2114, 2358, 2344, 2108, 1932, 1723, 1559, 1413, 1321, 1258, 1239, 1246, 1293, 1388, 1512, 1675, 1846, 2036, 2269, 2294, 2047, 1842, 1635, 1464, 1328, 1231, 1178, 1144, 1167, 1208, 1298, 1419, 1582, 1769, 1962, 2198, 2234, 1977, 1769, 1556, 1393, 1262, 1164, 1108, 1086, 1096, 1146, 1232, 1350, 1513, 1700, 1913, 2137, 2206, 1942, 1733, 1515, 1345, 1216, 1120, 1066, 1045, 1060, 1099, 1182, 1316, 1462, 1656, 1868, 2131, 2182, 1922, 1685, 1495, 1315, 1188, 1092, 1045, 1025, 1037, 1080, 1160, 1283, 1442, 1624, 1853, 2102, 2193, 1910, 1702, 1477, 1310, 1179, 1087, 1034, 1024, 1029, 1069, 1163, 1278, 1441, 1624, 1846, 2081, 2191, 1936, 1698, 1495, 1325, 1192, 1100, 1052, 1033, 1042, 1082, 1166, 1291, 1448, 1634, 1852, 2118, 2209, 1957, 1732, 1534, 1357, 1223, 1125, 1078, 1062, 1066, 1113, 1204, 1324, 1486, 1665, 1895, 2127, 2267, 2018, 1789, 1577, 1407, 1280, 1181, 1124, 1105, 1113, 1166, 1252, 1388, 1539, 1724, 1936, 2180, 2319, 2074, 1867, 1659, 1491, 1354, 1248, 1192, 1175, 1191, 1236, 1333, 1441, 1618, 1798, 2005, 2249, 2399, 2148, 1955, 1752, 1578, 1442, 1351, 1293, 1272, 1286, 1334, 1418, 1547, 1709, 1872, 2085, 2297, 2497, 2217, 2069, 1857, 1694, 1560, 1458, 1403, 1384, 1400, 1443, 1537, 1670, 1815, 1991, 2157, 2412, 2594, 2341, 2147, 2004, 1827, 1693, 1600, 1537, 1521, 1524, 1576, 1665, 1788, 1941, 2083, 2257, 2529, 2745, 2483, 2315, 2146, 2006, 1868, 1779, 1701, 1679, 1704, 1744, 1845, 1954, 2087, 2219, 2407, 2701, ] + gr: [2344, 2089, 1940, 1831, 1739, 1672, 1602, 1564, 1546, 1553, 1585, 1636, 1713, 1798, 1899, 2031, 2234, 2182, 1973, 1842, 1732, 1637, 1548, 1485, 1448, 1422, 1438, 1466, 1527, 1594, 1695, 1784, 1902, 2122, 2082, 1884, 1773, 1653, 1549, 1465, 1398, 1351, 1329, 1338, 1376, 1435, 1516, 1611, 1725, 1828, 2008, 1997, 1821, 1706, 1585, 1480, 1382, 1319, 1261, 1244, 1253, 1291, 1352, 1439, 1540, 1647, 1772, 1932, 1947, 1773, 1655, 1522, 1409, 1310, 1239, 1184, 1161, 1174, 1213, 1284, 1368, 1480, 1601, 1717, 1882, 1904, 1739, 1605, 1470, 1360, 1257, 1173, 1124, 1094, 1111, 1149, 1221, 1320, 1433, 1550, 1678, 1844, 1878, 1711, 1571, 1443, 1317, 1213, 1126, 1077, 1057, 1066, 1105, 1180, 1279, 1400, 1515, 1652, 1819, 1862, 1687, 1556, 1420, 1299, 1183, 1102, 1048, 1029, 1041, 1081, 1155, 1258, 1374, 1495, 1634, 1800, 1856, 1692, 1556, 1415, 1289, 1176, 1095, 1044, 1024, 1033, 1073, 1145, 1247, 1370, 1492, 1626, 1800, 1869, 1697, 1555, 1419, 1303, 1190, 1104, 1054, 1040, 1045, 1085, 1154, 1260, 1373, 1511, 1632, 1804, 1887, 1717, 1571, 1440, 1323, 1216, 1128, 1077, 1066, 1069, 1109, 1182, 1284, 1398, 1520, 1656, 1831, 1910, 1751, 1607, 1480, 1360, 1261, 1173, 1123, 1100, 1114, 1154, 1226, 1326, 1444, 1555, 1689, 1856, 1962, 1793, 1656, 1522, 1416, 1315, 1237, 1180, 1166, 1176, 1214, 1288, 1375, 1486, 1603, 1722, 1910, 2020, 1845, 1710, 1586, 1477, 1387, 1307, 1266, 1241, 1257, 1292, 1347, 1446, 1548, 1657, 1785, 1964, 2118, 1888, 1794, 1658, 1552, 1462, 1394, 1349, 1332, 1342, 1378, 1436, 1525, 1617, 1736, 1848, 2048, 2195, 1989, 1855, 1742, 1633, 1555, 1487, 1437, 1427, 1429, 1471, 1521, 1603, 1699, 1804, 1921, 2149, 2334, 2103, 1971, 1863, 1757, 1666, 1598, 1565, 1537, 1554, 1579, 1640, 1716, 1810, 1923, 2044, 2308, ] + gb: [2383, 2122, 1974, 1866, 1767, 1684, 1620, 1581, 1559, 1575, 1592, 1654, 1726, 1816, 1917, 2071, 2294, 2242, 2002, 1872, 1752, 1650, 1564, 1499, 1455, 1438, 1442, 1485, 1537, 1614, 1715, 1814, 1935, 2155, 2114, 1929, 1797, 1674, 1568, 1477, 1406, 1358, 1340, 1348, 1386, 1447, 1534, 1631, 1754, 1861, 2057, 2044, 1859, 1737, 1606, 1493, 1396, 1322, 1270, 1247, 1259, 1305, 1370, 1455, 1566, 1679, 1808, 1979, 1981, 1812, 1674, 1549, 1424, 1325, 1246, 1191, 1168, 1179, 1222, 1294, 1383, 1498, 1623, 1748, 1932, 1939, 1777, 1626, 1500, 1376, 1265, 1179, 1128, 1104, 1119, 1160, 1235, 1331, 1447, 1577, 1708, 1885, 1922, 1735, 1602, 1464, 1333, 1226, 1134, 1083, 1061, 1071, 1113, 1191, 1296, 1412, 1543, 1677, 1849, 1885, 1723, 1574, 1437, 1310, 1191, 1105, 1055, 1035, 1048, 1088, 1164, 1272, 1388, 1516, 1660, 1847, 1891, 1714, 1568, 1431, 1300, 1185, 1099, 1047, 1024, 1038, 1075, 1155, 1259, 1386, 1512, 1649, 1832, 1901, 1722, 1575, 1434, 1309, 1196, 1109, 1054, 1041, 1047, 1087, 1162, 1267, 1385, 1526, 1650, 1833, 1912, 1740, 1588, 1456, 1329, 1220, 1133, 1080, 1065, 1072, 1113, 1189, 1289, 1410, 1538, 1672, 1862, 1949, 1767, 1632, 1487, 1367, 1261, 1175, 1123, 1100, 1114, 1158, 1224, 1331, 1450, 1571, 1705, 1880, 1990, 1811, 1670, 1531, 1420, 1315, 1227, 1180, 1158, 1172, 1212, 1285, 1375, 1490, 1611, 1744, 1925, 2033, 1864, 1715, 1588, 1477, 1377, 1307, 1253, 1232, 1248, 1285, 1344, 1439, 1545, 1661, 1797, 1971, 2126, 1898, 1798, 1658, 1548, 1449, 1381, 1338, 1315, 1329, 1366, 1428, 1512, 1617, 1730, 1853, 2058, 2203, 1998, 1856, 1734, 1624, 1539, 1467, 1424, 1409, 1409, 1448, 1505, 1584, 1689, 1796, 1923, 2148, 2342, 2110, 1959, 1848, 1740, 1635, 1572, 1533, 1519, 1527, 1561, 1610, 1693, 1786, 1900, 2039, 2306, ] + b: [2199, 1976, 1828, 1725, 1640, 1549, 1510, 1473, 1457, 1462, 1485, 1529, 1603, 1690, 1796, 1922, 2111, 2048, 1861, 1735, 1618, 1532, 1462, 1400, 1360, 1346, 1355, 1384, 1433, 1501, 1589, 1680, 1793, 1982, 1975, 1801, 1672, 1564, 1465, 1387, 1326, 1294, 1272, 1284, 1310, 1363, 1440, 1518, 1627, 1730, 1888, 1903, 1736, 1617, 1500, 1405, 1325, 1260, 1219, 1198, 1208, 1239, 1296, 1365, 1465, 1557, 1664, 1833, 1837, 1684, 1556, 1449, 1345, 1261, 1200, 1151, 1132, 1137, 1175, 1238, 1307, 1402, 1517, 1627, 1775, 1806, 1650, 1518, 1407, 1306, 1216, 1144, 1099, 1078, 1092, 1120, 1185, 1270, 1360, 1472, 1596, 1740, 1778, 1621, 1499, 1381, 1270, 1180, 1110, 1066, 1046, 1057, 1087, 1150, 1236, 1335, 1447, 1560, 1703, 1764, 1612, 1479, 1367, 1255, 1158, 1089, 1045, 1031, 1038, 1071, 1128, 1218, 1312, 1430, 1544, 1702, 1773, 1604, 1480, 1359, 1252, 1148, 1082, 1041, 1024, 1036, 1061, 1124, 1210, 1314, 1432, 1542, 1693, 1782, 1617, 1485, 1366, 1253, 1162, 1092, 1046, 1038, 1043, 1068, 1130, 1215, 1322, 1431, 1549, 1700, 1786, 1634, 1499, 1378, 1276, 1184, 1108, 1067, 1060, 1062, 1094, 1153, 1235, 1346, 1450, 1556, 1722, 1813, 1667, 1535, 1411, 1306, 1220, 1148, 1103, 1089, 1091, 1132, 1189, 1277, 1372, 1474, 1593, 1740, 1852, 1712, 1569, 1449, 1354, 1263, 1195, 1156, 1137, 1149, 1180, 1239, 1319, 1413, 1516, 1627, 1798, 1910, 1741, 1617, 1509, 1403, 1324, 1267, 1221, 1205, 1213, 1244, 1296, 1377, 1459, 1565, 1679, 1826, 1984, 1788, 1696, 1556, 1473, 1386, 1333, 1296, 1280, 1282, 1316, 1361, 1442, 1519, 1624, 1732, 1905, 2059, 1881, 1746, 1642, 1533, 1467, 1400, 1370, 1354, 1357, 1389, 1438, 1500, 1587, 1688, 1800, 1995, 2190, 1971, 1845, 1743, 1643, 1562, 1515, 1468, 1453, 1454, 1501, 1532, 1608, 1692, 1782, 1904, 2117, ] + #4208x3120_F11_TL84_70 - F11_TL84 + - ct: 4000 + resolution: 4208x3120 + r: [1286, 1278, 1265, 1240, 1240, 1217, 1199, 1205, 1185, 1191, 1213, 1243, 1251, 1276, 1282, 1297, 1358, 1273, 1227, 1225, 1219, 1199, 1190, 1164, 1151, 1137, 1151, 1174, 1213, 1238, 1237, 1261, 1274, 1331, 1273, 1220, 1214, 1199, 1174, 1154, 1126, 1115, 1105, 1106, 1132, 1183, 1215, 1238, 1260, 1277, 1310, 1254, 1204, 1204, 1193, 1151, 1097, 1081, 1066, 1057, 1066, 1094, 1133, 1183, 1228, 1240, 1275, 1341, 1239, 1196, 1193, 1167, 1112, 1071, 1046, 1035, 1034, 1045, 1056, 1097, 1153, 1210, 1232, 1257, 1313, 1240, 1187, 1195, 1142, 1080, 1048, 1031, 1023, 1025, 1026, 1034, 1065, 1115, 1186, 1223, 1254, 1322, 1241, 1178, 1166, 1121, 1060, 1031, 1014, 1029, 1039, 1026, 1032, 1057, 1101, 1162, 1210, 1247, 1295, 1224, 1178, 1157, 1104, 1049, 1021, 1015, 1036, 1044, 1036, 1024, 1049, 1097, 1144, 1206, 1235, 1312, 1215, 1170, 1153, 1098, 1046, 1020, 1017, 1043, 1046, 1036, 1028, 1039, 1086, 1144, 1202, 1234, 1280, 1224, 1178, 1148, 1093, 1049, 1010, 1011, 1032, 1038, 1030, 1024, 1042, 1094, 1153, 1213, 1231, 1294, 1237, 1185, 1157, 1104, 1050, 1017, 1005, 1029, 1030, 1022, 1027, 1048, 1098, 1172, 1213, 1243, 1300, 1244, 1173, 1168, 1122, 1073, 1021, 1011, 1004, 1007, 1015, 1029, 1062, 1115, 1176, 1219, 1227, 1304, 1243, 1192, 1182, 1148, 1093, 1048, 1014, 1004, 1007, 1019, 1039, 1068, 1132, 1187, 1214, 1237, 1290, 1233, 1197, 1186, 1170, 1130, 1068, 1043, 1021, 1024, 1035, 1063, 1100, 1148, 1200, 1218, 1239, 1280, 1225, 1193, 1182, 1178, 1152, 1113, 1082, 1057, 1055, 1069, 1098, 1133, 1184, 1199, 1214, 1224, 1291, 1224, 1180, 1184, 1176, 1165, 1145, 1105, 1093, 1081, 1091, 1128, 1167, 1185, 1197, 1202, 1207, 1268, 1216, 1185, 1208, 1194, 1182, 1156, 1131, 1104, 1097, 1110, 1150, 1176, 1214, 1220, 1219, 1234, 1375, ] + gr: [1267, 1211, 1186, 1180, 1181, 1169, 1162, 1152, 1144, 1152, 1159, 1184, 1192, 1196, 1221, 1236, 1372, 1236, 1175, 1159, 1149, 1143, 1142, 1134, 1123, 1120, 1130, 1134, 1154, 1170, 1190, 1202, 1212, 1256, 1214, 1170, 1139, 1139, 1125, 1116, 1120, 1100, 1097, 1106, 1111, 1131, 1160, 1173, 1191, 1203, 1266, 1206, 1150, 1137, 1128, 1111, 1095, 1087, 1073, 1069, 1077, 1097, 1116, 1137, 1160, 1182, 1204, 1252, 1187, 1142, 1137, 1122, 1098, 1068, 1065, 1046, 1052, 1054, 1069, 1093, 1121, 1147, 1174, 1200, 1253, 1176, 1136, 1125, 1111, 1080, 1061, 1044, 1042, 1032, 1041, 1055, 1072, 1106, 1139, 1157, 1186, 1246, 1182, 1120, 1109, 1092, 1067, 1042, 1037, 1033, 1028, 1031, 1043, 1058, 1094, 1130, 1156, 1179, 1240, 1162, 1120, 1110, 1088, 1054, 1032, 1030, 1027, 1027, 1025, 1035, 1050, 1091, 1121, 1149, 1186, 1226, 1152, 1122, 1108, 1092, 1054, 1031, 1024, 1026, 1029, 1021, 1037, 1055, 1085, 1113, 1144, 1178, 1217, 1168, 1113, 1102, 1084, 1053, 1032, 1025, 1024, 1027, 1027, 1032, 1048, 1083, 1123, 1142, 1168, 1226, 1163, 1116, 1111, 1086, 1060, 1033, 1023, 1023, 1025, 1028, 1035, 1062, 1090, 1124, 1140, 1164, 1216, 1179, 1124, 1107, 1100, 1072, 1043, 1024, 1024, 1020, 1029, 1044, 1067, 1106, 1128, 1143, 1163, 1219, 1179, 1127, 1117, 1105, 1086, 1053, 1034, 1029, 1029, 1034, 1054, 1076, 1102, 1125, 1157, 1179, 1231, 1165, 1137, 1120, 1112, 1100, 1069, 1051, 1038, 1038, 1052, 1068, 1097, 1109, 1132, 1146, 1166, 1233, 1187, 1128, 1122, 1111, 1107, 1083, 1073, 1057, 1060, 1076, 1083, 1105, 1114, 1134, 1139, 1170, 1243, 1174, 1126, 1115, 1111, 1097, 1093, 1072, 1073, 1067, 1077, 1095, 1104, 1120, 1139, 1135, 1169, 1256, 1232, 1141, 1148, 1125, 1122, 1123, 1104, 1096, 1093, 1094, 1117, 1137, 1146, 1153, 1158, 1160, 1389, ] + gb: [1264, 1211, 1190, 1175, 1162, 1153, 1144, 1142, 1132, 1132, 1149, 1168, 1193, 1211, 1221, 1230, 1377, 1240, 1176, 1162, 1152, 1140, 1139, 1131, 1120, 1120, 1122, 1142, 1155, 1163, 1191, 1203, 1210, 1274, 1240, 1171, 1153, 1142, 1131, 1118, 1104, 1091, 1099, 1099, 1111, 1133, 1156, 1172, 1192, 1213, 1273, 1222, 1157, 1140, 1134, 1117, 1092, 1075, 1069, 1067, 1080, 1091, 1115, 1136, 1167, 1180, 1211, 1272, 1226, 1153, 1134, 1124, 1102, 1079, 1063, 1048, 1050, 1055, 1072, 1097, 1123, 1158, 1180, 1201, 1273, 1199, 1142, 1131, 1117, 1088, 1059, 1042, 1035, 1034, 1037, 1057, 1078, 1116, 1145, 1161, 1193, 1256, 1211, 1141, 1116, 1106, 1074, 1049, 1035, 1031, 1033, 1033, 1045, 1073, 1104, 1136, 1153, 1188, 1250, 1196, 1128, 1114, 1100, 1060, 1039, 1030, 1034, 1032, 1030, 1030, 1057, 1094, 1125, 1155, 1169, 1257, 1204, 1126, 1114, 1100, 1063, 1037, 1022, 1024, 1032, 1034, 1036, 1060, 1094, 1125, 1148, 1172, 1242, 1188, 1123, 1116, 1093, 1060, 1035, 1025, 1024, 1027, 1027, 1034, 1057, 1090, 1134, 1146, 1172, 1239, 1192, 1122, 1119, 1095, 1069, 1040, 1021, 1026, 1016, 1030, 1038, 1065, 1094, 1136, 1148, 1173, 1244, 1202, 1132, 1117, 1104, 1068, 1043, 1034, 1020, 1019, 1025, 1042, 1072, 1102, 1136, 1152, 1167, 1237, 1191, 1136, 1120, 1108, 1087, 1053, 1034, 1025, 1020, 1032, 1050, 1073, 1110, 1130, 1148, 1182, 1238, 1201, 1133, 1117, 1120, 1100, 1071, 1049, 1038, 1032, 1048, 1064, 1090, 1117, 1134, 1152, 1170, 1237, 1188, 1128, 1128, 1115, 1106, 1090, 1067, 1058, 1058, 1066, 1082, 1107, 1115, 1135, 1148, 1171, 1250, 1187, 1138, 1126, 1119, 1108, 1095, 1078, 1075, 1066, 1079, 1090, 1099, 1121, 1143, 1149, 1165, 1237, 1229, 1158, 1157, 1139, 1119, 1118, 1101, 1078, 1084, 1091, 1103, 1125, 1130, 1149, 1173, 1184, 1398, ] + b: [1291, 1208, 1168, 1145, 1132, 1140, 1122, 1134, 1138, 1129, 1131, 1140, 1161, 1197, 1196, 1179, 1329, 1235, 1176, 1150, 1125, 1118, 1113, 1115, 1113, 1108, 1113, 1115, 1131, 1136, 1149, 1181, 1176, 1255, 1237, 1147, 1129, 1116, 1119, 1106, 1104, 1091, 1086, 1099, 1104, 1119, 1137, 1134, 1164, 1179, 1231, 1204, 1137, 1111, 1113, 1103, 1096, 1079, 1070, 1070, 1074, 1090, 1104, 1120, 1126, 1149, 1183, 1234, 1208, 1123, 1112, 1118, 1097, 1075, 1066, 1055, 1051, 1059, 1066, 1090, 1114, 1127, 1135, 1157, 1226, 1197, 1110, 1109, 1095, 1083, 1055, 1047, 1044, 1040, 1044, 1051, 1063, 1095, 1112, 1132, 1148, 1232, 1198, 1107, 1098, 1081, 1063, 1051, 1043, 1036, 1033, 1033, 1043, 1061, 1082, 1109, 1116, 1144, 1209, 1161, 1095, 1096, 1091, 1054, 1042, 1039, 1035, 1035, 1022, 1042, 1053, 1080, 1107, 1122, 1132, 1216, 1169, 1097, 1094, 1081, 1048, 1041, 1024, 1034, 1034, 1031, 1034, 1058, 1074, 1105, 1124, 1124, 1218, 1188, 1095, 1092, 1079, 1054, 1042, 1032, 1035, 1022, 1025, 1035, 1053, 1080, 1107, 1118, 1132, 1228, 1181, 1093, 1094, 1077, 1059, 1043, 1030, 1030, 1023, 1033, 1036, 1058, 1090, 1109, 1111, 1135, 1209, 1191, 1105, 1096, 1087, 1060, 1044, 1034, 1034, 1020, 1034, 1037, 1063, 1087, 1112, 1123, 1138, 1226, 1203, 1118, 1090, 1097, 1081, 1052, 1041, 1027, 1030, 1034, 1048, 1067, 1093, 1110, 1121, 1142, 1220, 1210, 1127, 1102, 1091, 1087, 1061, 1052, 1024, 1044, 1041, 1056, 1076, 1091, 1113, 1125, 1152, 1216, 1194, 1107, 1106, 1077, 1085, 1074, 1060, 1048, 1041, 1048, 1060, 1082, 1085, 1085, 1125, 1132, 1218, 1190, 1112, 1074, 1071, 1066, 1067, 1050, 1045, 1045, 1045, 1061, 1075, 1070, 1088, 1106, 1128, 1222, 1234, 1145, 1131, 1120, 1099, 1095, 1079, 1078, 1073, 1078, 1083, 1086, 1108, 1125, 1141, 1156, 1386, ] + #4208x3120_F2_CWF_70 - F2_CWF + - ct: 4230 + resolution: 4208x3120 + r: [1140, 1119, 1106, 1105, 1086, 1079, 1072, 1070, 1070, 1079, 1084, 1102, 1114, 1131, 1157, 1152, 1232, 1131, 1103, 1088, 1084, 1071, 1074, 1077, 1066, 1064, 1063, 1080, 1094, 1101, 1112, 1113, 1134, 1194, 1143, 1073, 1077, 1078, 1069, 1067, 1058, 1060, 1046, 1048, 1067, 1085, 1095, 1101, 1127, 1144, 1169, 1132, 1072, 1074, 1078, 1055, 1045, 1037, 1033, 1039, 1036, 1045, 1068, 1085, 1098, 1122, 1115, 1183, 1106, 1064, 1069, 1068, 1049, 1026, 1030, 1019, 1025, 1026, 1038, 1051, 1070, 1100, 1102, 1120, 1174, 1103, 1043, 1052, 1055, 1024, 1023, 1017, 1019, 1025, 1024, 1032, 1037, 1063, 1085, 1094, 1110, 1195, 1095, 1047, 1062, 1041, 1025, 1017, 1011, 1031, 1027, 1023, 1023, 1030, 1050, 1071, 1084, 1110, 1190, 1073, 1034, 1056, 1042, 1015, 1010, 1016, 1032, 1027, 1024, 1024, 1036, 1039, 1074, 1087, 1109, 1168, 1079, 1042, 1055, 1032, 1019, 1007, 1013, 1026, 1027, 1026, 1021, 1032, 1044, 1082, 1093, 1098, 1158, 1091, 1046, 1053, 1028, 1020, 1007, 1011, 1026, 1022, 1019, 1021, 1020, 1045, 1071, 1084, 1096, 1159, 1114, 1047, 1047, 1030, 1017, 997, 1008, 1016, 1019, 1021, 1016, 1028, 1053, 1080, 1094, 1103, 1157, 1088, 1049, 1052, 1040, 1024, 1003, 1001, 1004, 1010, 1006, 1019, 1037, 1057, 1085, 1084, 1099, 1161, 1106, 1057, 1063, 1056, 1032, 1010, 993, 998, 999, 1006, 1016, 1031, 1052, 1071, 1089, 1106, 1174, 1112, 1055, 1054, 1062, 1043, 1022, 1002, 1004, 1008, 1007, 1015, 1045, 1064, 1085, 1087, 1097, 1157, 1102, 1059, 1064, 1059, 1054, 1035, 1018, 1002, 1005, 1012, 1035, 1052, 1057, 1068, 1071, 1098, 1156, 1098, 1045, 1044, 1042, 1046, 1041, 1024, 1009, 1004, 1017, 1035, 1062, 1062, 1064, 1064, 1088, 1140, 1088, 1043, 1070, 1066, 1041, 1047, 1026, 1014, 1009, 1022, 1032, 1060, 1073, 1077, 1087, 1107, 1237, ] + gr: [1219, 1156, 1145, 1130, 1128, 1112, 1116, 1104, 1112, 1106, 1118, 1128, 1154, 1165, 1161, 1170, 1306, 1183, 1124, 1113, 1099, 1100, 1099, 1091, 1084, 1095, 1090, 1099, 1116, 1126, 1140, 1142, 1158, 1213, 1174, 1112, 1103, 1094, 1084, 1087, 1090, 1075, 1075, 1077, 1088, 1101, 1119, 1133, 1149, 1162, 1193, 1149, 1106, 1091, 1086, 1076, 1071, 1066, 1057, 1064, 1064, 1074, 1082, 1109, 1117, 1140, 1151, 1204, 1155, 1094, 1089, 1088, 1075, 1059, 1052, 1046, 1043, 1048, 1061, 1074, 1101, 1113, 1123, 1154, 1198, 1137, 1093, 1082, 1078, 1059, 1048, 1041, 1033, 1030, 1038, 1048, 1059, 1078, 1109, 1116, 1143, 1198, 1119, 1082, 1074, 1071, 1051, 1040, 1036, 1032, 1031, 1031, 1042, 1047, 1077, 1097, 1112, 1133, 1185, 1126, 1082, 1077, 1058, 1039, 1029, 1025, 1024, 1024, 1022, 1033, 1044, 1068, 1095, 1099, 1131, 1187, 1123, 1078, 1071, 1060, 1043, 1028, 1025, 1027, 1027, 1021, 1033, 1045, 1066, 1087, 1105, 1121, 1173, 1121, 1070, 1067, 1058, 1039, 1024, 1020, 1024, 1024, 1022, 1030, 1043, 1064, 1093, 1099, 1121, 1182, 1112, 1076, 1072, 1065, 1044, 1029, 1021, 1023, 1021, 1026, 1032, 1047, 1066, 1091, 1105, 1131, 1180, 1132, 1076, 1066, 1067, 1052, 1031, 1021, 1021, 1020, 1028, 1039, 1044, 1076, 1098, 1107, 1127, 1179, 1124, 1087, 1076, 1076, 1064, 1036, 1018, 1018, 1020, 1028, 1041, 1056, 1085, 1086, 1106, 1128, 1187, 1126, 1099, 1082, 1072, 1065, 1043, 1031, 1024, 1029, 1034, 1052, 1065, 1074, 1094, 1111, 1127, 1181, 1128, 1086, 1076, 1073, 1072, 1058, 1050, 1046, 1039, 1048, 1059, 1074, 1070, 1096, 1112, 1124, 1174, 1140, 1078, 1077, 1067, 1057, 1055, 1043, 1040, 1042, 1042, 1054, 1069, 1075, 1088, 1099, 1112, 1189, 1182, 1099, 1096, 1093, 1082, 1080, 1072, 1055, 1059, 1061, 1076, 1095, 1090, 1112, 1113, 1140, 1321, ] + gb: [1236, 1163, 1136, 1120, 1113, 1111, 1109, 1101, 1104, 1099, 1102, 1140, 1141, 1158, 1170, 1194, 1332, 1195, 1138, 1114, 1109, 1097, 1098, 1092, 1089, 1085, 1089, 1098, 1117, 1125, 1141, 1155, 1156, 1232, 1186, 1125, 1108, 1095, 1099, 1081, 1078, 1075, 1073, 1073, 1083, 1097, 1118, 1128, 1148, 1166, 1218, 1171, 1107, 1099, 1091, 1086, 1069, 1059, 1051, 1049, 1064, 1071, 1088, 1110, 1118, 1137, 1162, 1225, 1171, 1099, 1092, 1085, 1069, 1057, 1051, 1041, 1036, 1050, 1055, 1077, 1092, 1118, 1133, 1151, 1227, 1158, 1099, 1090, 1086, 1061, 1043, 1039, 1028, 1036, 1039, 1048, 1060, 1091, 1110, 1117, 1147, 1216, 1152, 1086, 1082, 1073, 1054, 1040, 1026, 1028, 1029, 1032, 1040, 1051, 1076, 1104, 1115, 1139, 1222, 1141, 1088, 1078, 1073, 1048, 1034, 1026, 1025, 1025, 1022, 1033, 1051, 1077, 1104, 1115, 1129, 1202, 1154, 1081, 1080, 1069, 1050, 1029, 1023, 1022, 1029, 1027, 1031, 1050, 1070, 1098, 1107, 1127, 1188, 1146, 1090, 1078, 1065, 1044, 1029, 1015, 1022, 1024, 1025, 1035, 1053, 1071, 1104, 1102, 1136, 1207, 1152, 1083, 1078, 1073, 1042, 1027, 1024, 1024, 1016, 1024, 1037, 1056, 1076, 1106, 1111, 1130, 1197, 1146, 1086, 1076, 1074, 1046, 1031, 1023, 1018, 1021, 1026, 1043, 1051, 1081, 1102, 1111, 1126, 1191, 1134, 1090, 1084, 1079, 1067, 1038, 1019, 1018, 1021, 1033, 1041, 1055, 1081, 1099, 1107, 1131, 1199, 1147, 1091, 1082, 1083, 1072, 1050, 1031, 1024, 1027, 1032, 1053, 1063, 1082, 1099, 1107, 1130, 1191, 1139, 1087, 1078, 1077, 1073, 1058, 1048, 1037, 1037, 1046, 1062, 1073, 1079, 1099, 1099, 1130, 1177, 1147, 1082, 1087, 1074, 1061, 1062, 1052, 1042, 1036, 1045, 1063, 1068, 1079, 1094, 1103, 1120, 1189, 1176, 1105, 1102, 1092, 1081, 1073, 1064, 1053, 1053, 1066, 1067, 1084, 1087, 1103, 1134, 1146, 1336, ] + b: [1203, 1195, 1154, 1123, 1104, 1106, 1116, 1099, 1099, 1099, 1102, 1106, 1123, 1155, 1149, 1168, 1283, 1196, 1141, 1119, 1102, 1098, 1088, 1088, 1095, 1086, 1095, 1097, 1101, 1117, 1121, 1156, 1135, 1209, 1211, 1127, 1102, 1082, 1089, 1088, 1072, 1075, 1083, 1083, 1085, 1106, 1107, 1120, 1142, 1149, 1224, 1163, 1121, 1087, 1078, 1085, 1077, 1062, 1065, 1056, 1057, 1082, 1093, 1094, 1096, 1111, 1147, 1193, 1179, 1105, 1083, 1088, 1070, 1074, 1060, 1048, 1055, 1044, 1068, 1082, 1091, 1097, 1102, 1141, 1209, 1178, 1091, 1076, 1077, 1063, 1060, 1043, 1043, 1035, 1046, 1059, 1064, 1084, 1103, 1107, 1125, 1196, 1156, 1088, 1068, 1070, 1057, 1043, 1046, 1041, 1038, 1038, 1046, 1059, 1073, 1083, 1086, 1111, 1178, 1146, 1067, 1083, 1068, 1044, 1042, 1033, 1044, 1033, 1026, 1037, 1045, 1067, 1089, 1092, 1108, 1203, 1148, 1082, 1072, 1066, 1050, 1044, 1035, 1035, 1031, 1028, 1035, 1055, 1069, 1082, 1094, 1101, 1188, 1163, 1067, 1074, 1056, 1040, 1034, 1037, 1026, 1022, 1033, 1037, 1049, 1067, 1084, 1092, 1103, 1185, 1156, 1074, 1073, 1066, 1042, 1036, 1028, 1031, 1030, 1034, 1042, 1051, 1073, 1091, 1090, 1102, 1196, 1172, 1086, 1071, 1077, 1055, 1041, 1036, 1025, 1024, 1028, 1032, 1053, 1076, 1094, 1089, 1101, 1178, 1179, 1095, 1079, 1075, 1070, 1043, 1026, 1022, 1022, 1029, 1045, 1054, 1078, 1075, 1092, 1120, 1179, 1193, 1091, 1074, 1061, 1064, 1056, 1043, 1034, 1026, 1027, 1039, 1060, 1081, 1070, 1078, 1115, 1205, 1172, 1096, 1069, 1060, 1071, 1055, 1044, 1035, 1027, 1043, 1048, 1063, 1054, 1065, 1083, 1122, 1186, 1158, 1088, 1060, 1043, 1037, 1037, 1031, 1033, 1025, 1029, 1035, 1041, 1041, 1060, 1084, 1114, 1202, 1217, 1122, 1101, 1079, 1058, 1061, 1049, 1056, 1051, 1036, 1062, 1061, 1076, 1094, 1116, 1139, 1331, ] + diff --git a/src/ipa/rkisp1/data/meson.build b/src/ipa/rkisp1/data/meson.build new file mode 100644 index 00000000..1e3522b2 --- /dev/null +++ b/src/ipa/rkisp1/data/meson.build @@ -0,0 +1,16 @@ +# SPDX-License-Identifier: CC0-1.0 + +conf_files = files([ + 'imx219.yaml', + 'imx258.yaml', + 'ov2685.yaml', + 'ov4689.yaml', + 'ov5640.yaml', + 'ov5695.yaml', + 'ov8858.yaml', + 'uncalibrated.yaml', +]) + +install_data(conf_files, + install_dir : ipa_data_dir / 'rkisp1', + install_tag : 'runtime') diff --git a/src/ipa/rkisp1/data/ov2685.yaml b/src/ipa/rkisp1/data/ov2685.yaml new file mode 100644 index 00000000..fdfc98d3 --- /dev/null +++ b/src/ipa/rkisp1/data/ov2685.yaml @@ -0,0 +1,41 @@ +# SPDX-License-Identifier: CC0-1.0 +%YAML 1.1 +--- +version: 1 +algorithms: + - Agc: + - Awb: + - LensShadingCorrection: + x-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + y-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + sets: + #800x600_A_70 - A + - ct: 2856 + resolution: 800x600 + r: [2451, 2258, 2111, 2039, 1982, 1925, 1860, 1818, 1802, 1815, 1859, 1936, 1997, 2056, 2129, 2298, 2486, 2351, 2157, 2066, 1991, 1912, 1809, 1720, 1677, 1653, 1671, 1739, 1843, 1932, 2009, 2071, 2182, 2392, 2253, 2105, 2018, 1929, 1802, 1670, 1566, 1503, 1475, 1508, 1590, 1705, 1848, 1947, 2026, 2118, 2281, 2174, 2065, 1975, 1854, 1687, 1529, 1412, 1345, 1327, 1358, 1445, 1572, 1733, 1870, 1992, 2075, 2202, 2125, 2033, 1929, 1765, 1574, 1407, 1286, 1220, 1204, 1237, 1318, 1447, 1632, 1801, 1951, 2048, 2142, 2092, 2010, 1877, 1688, 1471, 1304, 1187, 1127, 1118, 1149, 1221, 1348, 1533, 1738, 1918, 2021, 2105, 2088, 1982, 1836, 1628, 1398, 1239, 1128, 1073, 1060, 1086, 1163, 1280, 1466, 1688, 1886, 2001, 2092, 2067, 1965, 1809, 1584, 1358, 1200, 1094, 1044, 1030, 1056, 1123, 1240, 1424, 1649, 1860, 1989, 2082, 2057, 1960, 1795, 1569, 1345, 1187, 1083, 1034, 1024, 1046, 1111, 1229, 1408, 1637, 1850, 1989, 2085, 2053, 1967, 1802, 1578, 1358, 1199, 1095, 1046, 1031, 1058, 1122, 1245, 1423, 1651, 1867, 1989, 2084, 2059, 1970, 1823, 1615, 1399, 1235, 1129, 1074, 1061, 1090, 1161, 1281, 1461, 1689, 1878, 2006, 2096, 2086, 1989, 1866, 1670, 1471, 1302, 1188, 1134, 1117, 1150, 1223, 1352, 1537, 1745, 1909, 2028, 2114, 2101, 2006, 1916, 1749, 1567, 1399, 1278, 1218, 1206, 1237, 1317, 1456, 1633, 1813, 1954, 2053, 2142, 2171, 2023, 1954, 1843, 1680, 1526, 1403, 1339, 1323, 1357, 1440, 1575, 1733, 1885, 1996, 2069, 2212, 2231, 2074, 1990, 1916, 1792, 1656, 1554, 1489, 1473, 1513, 1588, 1702, 1840, 1946, 2011, 2124, 2283, 2343, 2146, 2036, 1973, 1890, 1789, 1700, 1653, 1645, 1678, 1733, 1828, 1922, 1978, 2065, 2181, 2405, 2420, 2246, 2092, 2015, 1954, 1885, 1816, 1776, 1777, 1791, 1847, 1904, 1941, 2016, 2105, 2284, 2463, ] + gr: [1790, 1645, 1522, 1469, 1433, 1419, 1390, 1381, 1374, 1381, 1401, 1428, 1460, 1494, 1552, 1693, 1839, 1687, 1555, 1471, 1433, 1408, 1362, 1335, 1319, 1308, 1318, 1344, 1393, 1430, 1456, 1497, 1591, 1752, 1612, 1503, 1447, 1417, 1365, 1315, 1276, 1248, 1237, 1252, 1290, 1339, 1404, 1435, 1469, 1539, 1661, 1547, 1470, 1424, 1389, 1321, 1260, 1205, 1173, 1165, 1181, 1221, 1286, 1358, 1409, 1452, 1503, 1603, 1504, 1451, 1411, 1358, 1276, 1198, 1148, 1114, 1110, 1124, 1164, 1228, 1320, 1388, 1435, 1479, 1552, 1475, 1437, 1392, 1325, 1231, 1153, 1094, 1069, 1068, 1084, 1119, 1182, 1278, 1365, 1429, 1469, 1529, 1464, 1430, 1375, 1301, 1196, 1118, 1067, 1043, 1039, 1051, 1089, 1150, 1245, 1342, 1417, 1453, 1512, 1461, 1418, 1369, 1281, 1177, 1099, 1051, 1028, 1029, 1037, 1069, 1129, 1224, 1328, 1404, 1449, 1503, 1455, 1422, 1366, 1276, 1170, 1094, 1046, 1026, 1024, 1033, 1063, 1125, 1216, 1322, 1400, 1448, 1508, 1459, 1426, 1368, 1280, 1179, 1102, 1051, 1030, 1029, 1039, 1071, 1132, 1222, 1327, 1406, 1448, 1502, 1473, 1433, 1380, 1302, 1201, 1125, 1069, 1046, 1043, 1055, 1091, 1153, 1245, 1343, 1412, 1461, 1523, 1488, 1445, 1397, 1328, 1242, 1157, 1104, 1079, 1073, 1088, 1127, 1193, 1284, 1373, 1424, 1473, 1543, 1521, 1461, 1424, 1361, 1289, 1210, 1152, 1124, 1118, 1134, 1174, 1242, 1330, 1396, 1439, 1494, 1572, 1573, 1475, 1434, 1397, 1336, 1270, 1213, 1182, 1176, 1194, 1239, 1301, 1366, 1420, 1464, 1510, 1624, 1628, 1510, 1449, 1424, 1378, 1326, 1281, 1252, 1243, 1264, 1304, 1352, 1406, 1443, 1456, 1554, 1692, 1727, 1578, 1482, 1448, 1415, 1374, 1337, 1318, 1317, 1338, 1356, 1398, 1429, 1443, 1501, 1603, 1783, 1776, 1643, 1510, 1448, 1415, 1387, 1353, 1344, 1343, 1348, 1368, 1396, 1407, 1442, 1515, 1674, 1832, ] + gb: [1805, 1650, 1529, 1468, 1430, 1412, 1378, 1371, 1363, 1371, 1393, 1430, 1465, 1501, 1567, 1713, 1864, 1700, 1564, 1476, 1434, 1404, 1359, 1323, 1306, 1294, 1306, 1338, 1388, 1432, 1462, 1509, 1605, 1780, 1627, 1520, 1457, 1423, 1370, 1311, 1267, 1238, 1226, 1245, 1286, 1344, 1414, 1448, 1489, 1563, 1697, 1568, 1487, 1436, 1398, 1325, 1257, 1200, 1163, 1156, 1175, 1221, 1291, 1372, 1427, 1476, 1528, 1636, 1527, 1474, 1431, 1371, 1285, 1201, 1144, 1109, 1104, 1121, 1165, 1239, 1335, 1411, 1461, 1509, 1588, 1498, 1463, 1413, 1343, 1242, 1159, 1094, 1066, 1064, 1083, 1124, 1195, 1299, 1391, 1455, 1499, 1561, 1492, 1454, 1401, 1319, 1209, 1124, 1068, 1042, 1039, 1053, 1096, 1164, 1268, 1370, 1446, 1486, 1547, 1486, 1446, 1392, 1302, 1190, 1108, 1053, 1028, 1029, 1040, 1078, 1146, 1245, 1355, 1437, 1600, 1546, 1600, 1449, 1389, 1294, 1184, 1101, 1047, 1024, 1024, 1035, 1073, 1136, 1240, 1348, 1431, 1483, 1537, 1485, 1450, 1390, 1298, 1188, 1109, 1051, 1030, 1026, 1038, 1077, 1143, 1243, 1354, 1436, 1482, 1547, 1494, 1454, 1400, 1317, 1211, 1125, 1067, 1041, 1038, 1053, 1094, 1165, 1264, 1368, 1440, 1489, 1557, 1513, 1464, 1414, 1340, 1245, 1156, 1097, 1071, 1063, 1081, 1126, 1197, 1298, 1394, 1446, 1502, 1573, 1541, 1477, 1438, 1370, 1292, 1204, 1142, 1111, 1106, 1121, 1169, 1245, 1338, 1411, 1462, 1519, 1599, 1590, 1485, 1447, 1403, 1334, 1263, 1199, 1164, 1158, 1179, 1230, 1299, 1373, 1433, 1477, 1528, 1649, 1643, 1520, 1454, 1426, 1375, 1315, 1266, 1235, 1224, 1247, 1291, 1345, 1408, 1449, 1468, 1572, 1711, 1738, 1579, 1482, 1443, 1406, 1359, 1318, 1294, 1294, 1312, 1338, 1385, 1427, 1441, 1507, 1614, 1799, 1786, 1653, 1516, 1452, 1414, 1383, 1348, 1331, 1328, 1336, 1362, 1391, 1408, 1448, 1529, 1684, 1858, ] + b: [1807, 1633, 1496, 1427, 1395, 1372, 1357, 1340, 1339, 1335, 1356, 1382, 1410, 1454, 1541, 1690, 1860, 1657, 1503, 1411, 1364, 1342, 1312, 1286, 1274, 1262, 1270, 1287, 1326, 1355, 1387, 1447, 1550, 1726, 1556, 1438, 1374, 1340, 1305, 1267, 1236, 1213, 1199, 1211, 1246, 1280, 1324, 1355, 1397, 1475, 1620, 1473, 1407, 1350, 1317, 1270, 1223, 1173, 1144, 1135, 1151, 1185, 1237, 1292, 1326, 1368, 1422, 1544, 1430, 1375, 1331, 1293, 1238, 1166, 1120, 1096, 1091, 1104, 1133, 1188, 1261, 1310, 1351, 1388, 1487, 1383, 1362, 1316, 1269, 1194, 1128, 1076, 1054, 1057, 1070, 1101, 1146, 1229, 1294, 1329, 1368, 1459, 1368, 1347, 1301, 1250, 1162, 1099, 1057, 1039, 1035, 1041, 1076, 1119, 1199, 1271, 1321, 1349, 1440, 1360, 1338, 1299, 1234, 1145, 1086, 1042, 1029, 1026, 1034, 1059, 1104, 1176, 1260, 1307, 1344, 1439, 1347, 1342, 1293, 1226, 1139, 1077, 1040, 1024, 1025, 1030, 1051, 1099, 1170, 1249, 1301, 1335, 1432, 1346, 1342, 1295, 1227, 1145, 1083, 1040, 1025, 1024, 1031, 1059, 1096, 1170, 1247, 1297, 1338, 1436, 1362, 1344, 1299, 1245, 1161, 1095, 1055, 1034, 1031, 1041, 1069, 1115, 1185, 1252, 1299, 1347, 1453, 1378, 1353, 1311, 1261, 1191, 1117, 1077, 1058, 1045, 1063, 1092, 1141, 1210, 1274, 1302, 1358, 1461, 1405, 1364, 1329, 1281, 1229, 1159, 1106, 1084, 1080, 1093, 1124, 1180, 1244, 1285, 1317, 1380, 1496, 1467, 1379, 1343, 1304, 1260, 1208, 1154, 1127, 1117, 1138, 1172, 1225, 1266, 1297, 1340, 1397, 1556, 1532, 1428, 1354, 1325, 1290, 1248, 1211, 1181, 1178, 1197, 1227, 1261, 1293, 1321, 1342, 1450, 1624, 1634, 1502, 1394, 1347, 1316, 1283, 1251, 1239, 1241, 1254, 1266, 1297, 1312, 1328, 1396, 1509, 1739, 1685, 1572, 1426, 1351, 1313, 1285, 1257, 1254, 1249, 1259, 1266, 1287, 1292, 1336, 1429, 1593, 1816, ] + #800x600_D65_70 - D65 + - ct: 6504 + resolution: 800x600 + r: [2310, 2164, 1991, 1936, 1850, 1817, 1755, 1703, 1707, 1707, 1757, 1836, 1862, 1962, 2029, 2221, 2360, 2246, 2047, 1960, 1865, 1809, 1707, 1633, 1600, 1571, 1595, 1646, 1733, 1829, 1886, 1973, 2107, 2297, 2150, 1988, 1897, 1818, 1703, 1592, 1504, 1453, 1424, 1452, 1527, 1625, 1753, 1828, 1929, 2014, 2213, 2056, 1960, 1846, 1757, 1608, 1475, 1376, 1315, 1297, 1330, 1399, 1512, 1645, 1782, 1879, 1981, 2117, 2007, 1925, 1817, 1678, 1513, 1371, 1268, 1205, 1188, 1221, 800, 1406, 1563, 1712, 1840, 1954, 2039, 1988, 1883, 1780, 1612, 1425, 1282, 1180, 1125, 1111, 1140, 1208, 1324, 1484, 1660, 1821, 1914, 2015, 1973, 1864, 1740, 1553, 1366, 1220, 1124, 1069, 1057, 1083, 1154, 1264, 1423, 1615, 1794, 1891, 2000, 1955, 1842, 1717, 1524, 1332, 1187, 1094, 1042, 1028, 1053, 1117, 1229, 1387, 1582, 1767, 1877, 1991, 1942, 1849, 1704, 1509, 1320, 1177, 1081, 1031, 1024, 1042, 1108, 1216, 1376, 1569, 1767, 1877, 1998, 1946, 1853, 1710, 1515, 1335, 1186, 1092, 1041, 1030, 1055, 1118, 1233, 1390, 1584, 1773, 1885, 1985, 1958, 1852, 1737, 1550, 1370, 1224, 1125, 1073, 1058, 1089, 1155, 1265, 1419, 1614, 1788, 1894, 2007, 1973, 1875, 1768, 1604, 1426, 1282, 1181, 1128, 1112, 1145, 1214, 1330, 1491, 1667, 1810, 1926, 2015, 1995, 1902, 1815, 1667, 1513, 1371, 1262, 1207, 1194, 1224, 1299, 1418, 1569, 1723, 1848, 1961, 2038, 2051, 1925, 1837, 1758, 1606, 1473, 1373, 1313, 1302, 1335, 1405, 1521, 1650, 1793, 1893, 1977, 2116, 2136, 1971, 1882, 1815, 1703, 1587, 1492, 1445, 1432, 1461, 1529, 1624, 1754, 1841, 1907, 2032, 2215, 2244, 2038, 1200, 1860, 1800, 1696, 1625, 1583, 1577, 1610, 1653, 1734, 1822, 1865, 1980, 2109, 2298, 2286, 2159, 1971, 1909, 1828, 1794, 1703, 1686, 1686, 1689, 1740, 1810, 1830, 1925, 1999, 2201, 2357, ] + gr: [1785, 1800, 1516, 1458, 1422, 1403, 1374, 1363, 1359, 1363, 1385, 1417, 1447, 1486, 1547, 1693, 1834, 1675, 1547, 1462, 1418, 1393, 1346, 1319, 1304, 1289, 1302, 1330, 1382, 1417, 1451, 1492, 1592, 1743, 1607, 1498, 1437, 1404, 1353, 1301, 1264, 1238, 1226, 1240, 1281, 1325, 1398, 1426, 1468, 1541, 1668, 1547, 1466, 1413, 1382, 1311, 1251, 1202, 1168, 1161, 1176, 1218, 1275, 1351, 1408, 1449, 1498, 1606, 1499, 1447, 1404, 1349, 1269, 1199, 1147, 1113, 1106, 1123, 1163, 1225, 1313, 1384, 1435, 1485, 1551, 1467, 1437, 1388, 1318, 1228, 1154, 1099, 1070, 1066, 1081, 1120, 1185, 1278, 1362, 1430, 1468, 1530, 1460, 1422, 1370, 1293, 1199, 1121, 1068, 1044, 1035, 1052, 1090, 1155, 1244, 1344, 1420, 1457, 1507, 1460, 1416, 1363, 1278, 1179, 1105, 1054, 1028, 1028, 1036, 1073, 1134, 1230, 1323, 1413, 1452, 1509, 1454, 1421, 1361, 1272, 1174, 1097, 1046, 1025, 1024, 1033, 1068, 1130, 1222, 1320, 1408, 1450, 1503, 1456, 1423, 1366, 1275, 1184, 1105, 1053, 1030, 1027, 1040, 1073, 1136, 1228, 1324, 1411, 1457, 1508, 1472, 1429, 1376, 1294, 1205, 1126, 1072, 1046, 1044, 1058, 1095, 1159, 1246, 1345, 1419, 1464, 1530, 1481, 1443, 1396, 1322, 1239, 1161, 1104, 1078, 1070, 1088, 1128, 1196, 1283, 1371, 1428, 1600, 1551, 1521, 1457, 1421, 1355, 1282, 1209, 1152, 1125, 1116, 1134, 1176, 1243, 1324, 1398, 1446, 1497, 1581, 1571, 1471, 1430, 1392, 1328, 1262, 1210, 1179, 1172, 1191, 1236, 1295, 1363, 1424, 1465, 1511, 1636, 1636, 1509, 1448, 1415, 1368, 1316, 1271, 1243, 1234, 1258, 800, 1340, 1407, 1439, 1459, 1561, 1699, 1720, 1577, 1479, 1444, 1408, 1362, 1325, 1304, 1305, 1325, 1348, 1394, 1426, 1439, 1503, 1609, 1788, 1770, 1642, 1502, 1444, 1400, 1384, 1338, 1334, 1329, 1339, 1357, 1389, 1396, 1443, 1514, 1670, 1822, ] + gb: [1791, 1649, 1516, 1459, 1422, 1404, 1373, 1360, 1353, 1358, 1386, 1424, 1451, 1492, 1563, 1710, 1854, 1687, 1553, 1463, 1420, 1393, 1347, 1313, 800, 1284, 1295, 1324, 1376, 1417, 1455, 1493, 1609, 1768, 1617, 1511, 1444, 1409, 1359, 1299, 1260, 1234, 1219, 1237, 1276, 1328, 1403, 1431, 1479, 1557, 1696, 1555, 1477, 1422, 1388, 1311, 1250, 1200, 1165, 1158, 1174, 1217, 1281, 1358, 1416, 1463, 1520, 1629, 1520, 1458, 1415, 1355, 1272, 1203, 1144, 1111, 1105, 1122, 1165, 1231, 1322, 1394, 1447, 1497, 1577, 1481, 1452, 1399, 1330, 1234, 1160, 1101, 1070, 1065, 1082, 1124, 1192, 1288, 1373, 1443, 1485, 1556, 1476, 1437, 1384, 1304, 1207, 1124, 1070, 1045, 1039, 1055, 1092, 1163, 1256, 1357, 1429, 1475, 1539, 1470, 1430, 1373, 1288, 1186, 1108, 1056, 1029, 1027, 1040, 1078, 1142, 1240, 1336, 1424, 1469, 1529, 1465, 1433, 1370, 1281, 1179, 1102, 1049, 1025, 1024, 1035, 1070, 1134, 1230, 1332, 1420, 1464, 1536, 1469, 1434, 1372, 1283, 1186, 1108, 1055, 1029, 1027, 1037, 1076, 1145, 1236, 1337, 1421, 1468, 1535, 1478, 1438, 1382, 1303, 1210, 1128, 1070, 1044, 1040, 1056, 1096, 1164, 1255, 1355, 1427, 1478, 1551, 1489, 1454, 1401, 1329, 1239, 1160, 1102, 1075, 1067, 1084, 1128, 1196, 1288, 1380, 1435, 1492, 1573, 1528, 1464, 1426, 1358, 1283, 1206, 1146, 1116, 1110, 1129, 1172, 1242, 1327, 1402, 1451, 1508, 1597, 1574, 1476, 1433, 1395, 1326, 1254, 1202, 1170, 1165, 1182, 1230, 1292, 1361, 1425, 1471, 1526, 1657, 1638, 1512, 1449, 1418, 1366, 1308, 1259, 1230, 1223, 1246, 1285, 1334, 1402, 1439, 1465, 1574, 1712, 1723, 1575, 1474, 1440, 1400, 1353, 1312, 1289, 1287, 1305, 1332, 1381, 1417, 1440, 1504, 1616, 1806, 1780, 1652, 1506, 1448, 1403, 1380, 1340, 1327, 1325, 1335, 1350, 1390, 1402, 1448, 1532, 1693, 1848, ] + b: [1834, 1686, 1532, 1462, 1420, 1404, 1369, 1360, 1354, 1357, 1375, 1415, 1442, 1496, 1568, 1741, 1872, 1706, 1543, 1441, 1391, 1366, 1321, 1295, 1281, 1270, 1276, 1305, 1345, 1389, 1418, 1477, 1588, 1752, 1594, 1473, 1400, 1363, 1317, 1269, 1238, 1216, 1206, 1214, 1250, 800, 1353, 1389, 1434, 1503, 1664, 1514, 1437, 1372, 1334, 1278, 1228, 1180, 1151, 1143, 1159, 1196, 1246, 1313, 1359, 1405, 1453, 1587, 1465, 1401, 1351, 1308, 1236, 1177, 1127, 1101, 1093, 1109, 1141, 1200, 1274, 1335, 1384, 1427, 1522, 1423, 1386, 1335, 1275, 1199, 1133, 1087, 1063, 1059, 1069, 1104, 1159, 1240, 1316, 1369, 1402, 1493, 1407, 1375, 1318, 1256, 1172, 1107, 1060, 1041, 1035, 1048, 1077, 1135, 1211, 1291, 1354, 1391, 1478, 1390, 1365, 1313, 1239, 1153, 1089, 1047, 1029, 1028, 1033, 1065, 1116, 1193, 1278, 1342, 1382, 1475, 1384, 1364, 1308, 1231, 1146, 1082, 1040, 1025, 1024, 1030, 1057, 1110, 1183, 1269, 1337, 1379, 1475, 1384, 1372, 1309, 1233, 1152, 1086, 1046, 1024, 1024, 1032, 1061, 1113, 1187, 1268, 1337, 1379, 1479, 1395, 1370, 1317, 1249, 1171, 1102, 1058, 1035, 1029, 1047, 1073, 1130, 1200, 1278, 1341, 1388, 1491, 1420, 1383, 1336, 1265, 1195, 1129, 1078, 1059, 1053, 1065, 1102, 1155, 1227, 1301, 1348, 1405, 1505, 1452, 1396, 1356, 1295, 1234, 1166, 1116, 1092, 1084, 1103, 1139, 1195, 1262, 1321, 1364, 1420, 1547, 1517, 1414, 1375, 1324, 1269, 1214, 1165, 1138, 1132, 1148, 1188, 1239, 1291, 1336, 1387, 1446, 1604, 1587, 1471, 1383, 1354, 1309, 1257, 1216, 1192, 1187, 1209, 1241, 1277, 1330, 1366, 1384, 1498, 1682, 1689, 1543, 1427, 1381, 1344, 1303, 1265, 1250, 1251, 1266, 1284, 1326, 1353, 1369, 1447, 1566, 1790, 1754, 1632, 1469, 1391, 1353, 1317, 1292, 1282, 1278, 1294, 1306, 1321, 1347, 1382, 1477, 1650, 1854, ] + #800x600_F2_CWF_70 - F2_CWF + - ct: 4230 + resolution: 800x600 + r: [2065, 1886, 1745, 1661, 1619, 1574, 1532, 1504, 1498, 1499, 1533, 1586, 1628, 1689, 1770, 1942, 2140, 1978, 1796, 1688, 1627, 1565, 1501, 1446, 1424, 1407, 1419, 1460, 1525, 1583, 1642, 1712, 1829, 2032, 1880, 1732, 1643, 1579, 1499, 1418, 1356, 1319, 1300, 1320, 1372, 1443, 1536, 1598, 1661, 1763, 1923, 1812, 1689, 1608, 1535, 1429, 1335, 1267, 1223, 1210, 1234, 1284, 1362, 1461, 1547, 1634, 1715, 1848, 1755, 1664, 1579, 1600, 1362, 1262, 1188, 1145, 1132, 1156, 1211, 1289, 1403, 1504, 1604, 1688, 1791, 1726, 1635, 1548, 1433, 1298, 1199, 1126, 1084, 1080, 1101, 1147, 1226, 1340, 1468, 1586, 1659, 1752, 1707, 1624, 1522, 1393, 1256, 1155, 1085, 1054, 1043, 1059, 1111, 1187, 1302, 1435, 1566, 1645, 1732, 1695, 1605, 1508, 1367, 1230, 1132, 1066, 1034, 1028, 1042, 1084, 1160, 1275, 1418, 1549, 1634, 1722, 1681, 1604, 1498, 1360, 1222, 1121, 1058, 1027, 1024, 1034, 1075, 1151, 1264, 1407, 1543, 1633, 1723, 1691, 1609, 1498, 1361, 1231, 1130, 1064, 1037, 1027, 1043, 1083, 1162, 1275, 1413, 1545, 1638, 1714, 1692, 1612, 1515, 1385, 1258, 1153, 1087, 1051, 1045, 1064, 1109, 1185, 1295, 1437, 1560, 1645, 1741, 1712, 1627, 1538, 1417, 1298, 1199, 1124, 1087, 1075, 1101, 1146, 1231, 1342, 1472, 1574, 1665, 1754, 1743, 1637, 1572, 1466, 1357, 1253, 1181, 1142, 1131, 1154, 1207, 1295, 1401, 1515, 1601, 1687, 1789, 1807, 1661, 1597, 1525, 1425, 1328, 1257, 1215, 1208, 1230, 1282, 1363, 1459, 1555, 1800, 1714, 1857, 1871, 1711, 1631, 1573, 1491, 1407, 1343, 1307, 1298, 1323, 1368, 1440, 1528, 1601, 1649, 1767, 1932, 1982, 1788, 1675, 1617, 1559, 1489, 1433, 1406, 1405, 1425, 1457, 1516, 1581, 1623, 1713, 1836, 2044, 2041, 1885, 1730, 1646, 1589, 1547, 1498, 1476, 1474, 1488, 1518, 1569, 1594, 1656, 1757, 1921, 2111, ] + gr: [1765, 1633, 1502, 1441, 1411, 1389, 1365, 1356, 1350, 1358, 1375, 1408, 1434, 1476, 1534, 1678, 1820, 1671, 1535, 1450, 1410, 1381, 1341, 1311, 1297, 1288, 1295, 1323, 1368, 1407, 1437, 1600, 1580, 1736, 1595, 1488, 1424, 1388, 1342, 1293, 1255, 1230, 1219, 1235, 1270, 1319, 1384, 1413, 1452, 1524, 1657, 1534, 1452, 1399, 1367, 1300, 1238, 1194, 1162, 1155, 1171, 1209, 1267, 1336, 1393, 1435, 1486, 1591, 1491, 1429, 1389, 1335, 1255, 1189, 1139, 1108, 1104, 1118, 1156, 1218, 1302, 1369, 1422, 1470, 1540, 1456, 1416, 1370, 1305, 1216, 1146, 1093, 1068, 1064, 1078, 1116, 1176, 1268, 1345, 1415, 1451, 1510, 1445, 1409, 1352, 1280, 1185, 1113, 1065, 1041, 1039, 1051, 1085, 1147, 1235, 1330, 1402, 1440, 1499, 1444, 1399, 1349, 1261, 1171, 1096, 1050, 1029, 1030, 1037, 1070, 1127, 1217, 1314, 1395, 1437, 1490, 1437, 1401, 1346, 1256, 1161, 1091, 1043, 1026, 1024, 1034, 1064, 1123, 1210, 1308, 1390, 1436, 1490, 1441, 1409, 1346, 1262, 1170, 1097, 1049, 1030, 1029, 1040, 1069, 1129, 1216, 1315, 1393, 1439, 1490, 1458, 1413, 1357, 1280, 1194, 1118, 1065, 1044, 1043, 1055, 1088, 1151, 1235, 1331, 1404, 1448, 1513, 1475, 1426, 1378, 1304, 1225, 1149, 1098, 1074, 1067, 1083, 1122, 1187, 1268, 1356, 1411, 1465, 1530, 1505, 1439, 1402, 1339, 1268, 1197, 1144, 1119, 1110, 1129, 1167, 1232, 1313, 1383, 1428, 1481, 1563, 1564, 1455, 1415, 1373, 1313, 1249, 1203, 1173, 1167, 1184, 1227, 1284, 1349, 1404, 1449, 1499, 1617, 1620, 1493, 1428, 1402, 1354, 1303, 1261, 1236, 1228, 1250, 1285, 1333, 1389, 1428, 1444, 1544, 1684, 1710, 1568, 1462, 1428, 1394, 1354, 1315, 800, 1298, 1317, 1337, 1381, 1411, 1428, 1491, 1594, 1774, 1755, 1632, 1496, 1430, 1395, 1370, 1330, 1328, 1322, 1331, 1348, 1378, 1392, 1426, 1503, 1657, 1810, ] + gb: [1773, 1627, 1500, 1438, 1403, 1382, 1352, 1341, 1336, 1344, 1365, 1404, 1435, 1476, 1545, 1692, 1839, 1672, 1540, 1450, 1406, 1376, 1332, 1298, 1282, 1274, 1284, 1312, 1363, 1405, 1440, 1483, 1594, 1751, 1608, 1494, 1426, 1391, 1341, 1284, 1247, 1219, 1207, 1224, 1263, 1318, 1388, 1423, 1460, 1542, 1678, 1545, 1463, 1407, 1368, 1298, 1235, 1188, 1153, 1148, 1163, 1207, 1268, 1345, 1402, 1450, 1506, 1613, 1499, 1442, 1399, 1342, 1259, 1187, 1135, 1103, 1096, 1116, 1157, 1222, 1310, 1382, 1436, 1489, 1564, 1475, 1434, 1382, 1315, 1221, 1145, 1093, 1065, 1061, 1076, 1115, 1182, 1278, 1364, 1431, 1474, 1541, 1461, 1425, 1368, 1290, 1193, 1118, 1064, 1041, 1037, 1050, 1090, 1154, 1246, 1346, 1420, 1466, 1525, 1463, 1416, 1363, 1273, 1178, 1097, 1051, 1030, 1029, 1039, 1073, 1136, 1232, 1332, 1414, 1460, 1519, 1452, 1420, 1357, 1268, 1172, 1094, 1045, 1026, 1024, 1034, 1067, 1131, 1223, 1324, 1409, 1458, 1521, 1460, 1420, 1359, 1271, 1175, 1099, 1048, 1029, 1027, 1038, 1072, 1136, 1227, 1330, 1412, 1458, 1524, 1467, 1424, 1368, 1289, 1197, 1117, 1063, 1040, 1038, 1053, 1089, 1156, 1246, 1345, 1415, 1470, 1538, 1486, 1437, 1384, 1309, 1224, 1146, 1091, 1067, 1063, 1077, 1118, 1187, 1278, 1367, 1425, 1600, 1553, 1519, 1445, 1408, 1342, 1266, 1192, 1136, 1106, 1102, 1119, 1161, 1230, 1316, 1389, 1438, 1495, 1583, 1567, 1460, 1420, 1374, 1310, 1241, 1189, 1158, 1152, 1173, 1214, 1278, 1348, 1410, 1456, 1511, 1634, 1624, 1498, 1427, 1400, 1346, 1294, 1244, 1219, 1210, 1232, 1271, 1321, 1384, 1430, 1448, 1557, 1697, 1719, 1560, 1458, 1421, 1381, 1338, 1298, 1274, 1275, 1292, 1318, 1365, 1404, 1424, 1489, 1601, 1785, 1751, 1637, 1497, 1429, 1389, 1361, 1323, 1311, 1309, 1318, 1339, 1374, 1388, 1429, 1513, 1674, 1829, ] + b: [1800, 1643, 1486, 1416, 1376, 1354, 1329, 1318, 1309, 1310, 1331, 1359, 1390, 1444, 1533, 1708, 1846, 1664, 1510, 1400, 1351, 1324, 1286, 1260, 1246, 1235, 1244, 1266, 1306, 1341, 1373, 1441, 1556, 1734, 1557, 1441, 1360, 1322, 1282, 1242, 1211, 1188, 1180, 1186, 1220, 1258, 1309, 1346, 1391, 1475, 1626, 1484, 1400, 1331, 1300, 1247, 1202, 1163, 1135, 1127, 1143, 1170, 1215, 1274, 1315, 1365, 1417, 1555, 1422, 1368, 1316, 1270, 1209, 1158, 1117, 1088, 1084, 1094, 1130, 1174, 1240, 800, 1343, 1389, 1497, 1383, 1351, 1299, 1247, 1177, 1122, 1081, 1057, 1051, 1067, 1094, 1142, 1209, 1274, 1329, 1362, 1461, 1367, 1333, 1284, 1224, 1153, 1098, 1056, 1040, 1035, 1042, 1070, 1118, 1186, 1255, 1314, 1349, 1441, 1355, 1327, 1275, 1209, 1137, 1082, 1044, 1029, 1026, 1034, 1056, 1100, 1166, 1241, 1302, 1341, 1439, 1343, 1325, 1270, 1201, 1130, 1075, 1037, 1024, 1026, 1030, 1050, 1094, 1160, 1231, 1295, 1334, 1434, 1347, 1330, 1274, 1203, 1135, 1079, 1040, 1026, 1024, 1031, 1054, 1097, 1161, 1231, 1292, 1338, 1433, 1358, 1330, 1280, 1219, 1152, 1093, 1051, 1032, 1030, 1043, 1067, 1115, 1173, 1237, 1298, 1348, 1447, 1382, 1342, 1298, 1236, 1174, 1115, 1071, 1051, 1044, 1060, 1088, 1138, 1197, 1259, 1301, 1365, 1464, 1410, 1360, 1314, 1259, 1205, 1149, 1104, 1079, 1075, 1090, 1123, 1171, 1227, 1277, 1315, 1387, 1508, 1476, 1376, 1330, 1287, 1238, 1188, 1144, 1122, 1115, 1132, 1165, 1206, 1249, 1294, 1344, 1402, 1567, 1548, 1431, 1348, 1314, 1271, 1224, 1190, 1168, 1163, 1182, 1210, 1246, 1286, 1318, 1344, 1462, 1650, 1658, 1510, 1386, 1342, 1305, 1268, 1232, 1220, 1221, 1236, 1250, 1283, 1311, 1328, 1406, 1530, 1755, 1698, 1587, 1431, 1350, 1304, 1274, 1244, 1238, 1239, 1245, 1262, 1283, 1293, 1339, 1439, 1608, 1825, ] + #800x600_D50_70 - D50 + - ct: 5003 + resolution: 800x600 + r: [2543, 2578, 2509, 2438, 2318, 2233, 2133, 2085, 2088, 2130, 2245, 2390, 2533, 2674, 2811, 2910, 2790, 2536, 2518, 2407, 2309, 2153, 2048, 1910, 1861, 1865, 1921, 2013, 2160, 2340, 2523, 2664, 2836, 2882, 2501, 2408, 2276, 2127, 1951, 1804, 1701, 1655, 1635, 1674, 1771, 1939, 2141, 2356, 2565, 2701, 2839, 2403, 2314, 2154, 1963, 1779, 1618, 1511, 1447, 1433, 1470, 1554, 1714, 1920, 2196, 2430, 2589, 2694, 2352, 2232, 2049, 1828, 1635, 1472, 1357, 1295, 1274, 1317, 1399, 1543, 1785, 2021, 2302, 2494, 2688, 2254, 2143, 1936, 1720, 1509, 1345, 1237, 1168, 1158, 1188, 1271, 1420, 1614, 1894, 2190, 2443, 2592, 2210, 2085, 1870, 1630, 1432, 1264, 1161, 1090, 1079, 1102, 1184, 1329, 1525, 1797, 2112, 2377, 2587, 2224, 2063, 1822, 1598, 1381, 1217, 1121, 1045, 1031, 1063, 1129, 1270, 1481, 1749, 2059, 2344, 2559, 2234, 2083, 1812, 1592, 1381, 1215, 1102, 1046, 1024, 1053, 1122, 1257, 1466, 1734, 2045, 2338, 2530, 2224, 2063, 1856, 1610, 1407, 1237, 1126, 1063, 1044, 1072, 1145, 1288, 1485, 1764, 2059, 2344, 2539, 2273, 2135, 1906, 1675, 1470, 1299, 1187, 1112, 1094, 1120, 1208, 1348, 1546, 1828, 2124, 2377, 2566, 2321, 2197, 1986, 1779, 1563, 1402, 1271, 1209, 1192, 1221, 1313, 1461, 1664, 1929, 2203, 2460, 2659, 2371, 2292, 2119, 1906, 1700, 1538, 1407, 1335, 1321, 1366, 1447, 1593, 1800, 2062, 2331, 2570, 2737, 2485, 2382, 2262, 2078, 1876, 1721, 1587, 1525, 1504, 1545, 1633, 1785, 1985, 2246, 2464, 2631, 2799, 2621, 2465, 2387, 2243, 2063, 1912, 1801, 1734, 1705, 1755, 1848, 2005, 2213, 2417, 2584, 2773, 2900, 2757, 2632, 2519, 2419, 2283, 2160, 2044, 1976, 1979, 2024, 2107, 2272, 2430, 2578, 2731, 2921, 2984, 2724, 2762, 2663, 2570, 2413, 2331, 2245, 2227, 2242, 2278, 2369, 2486, 2647, 2763, 2864, 3041, 2860, ] + gr: [2123, 2151, 2065, 2008, 1917, 1836, 1766, 1738, 1740, 1752, 1817, 1882, 1943, 2023, 2110, 2206, 2123, 2143, 2093, 2006, 1915, 1810, 1724, 1632, 1597, 1588, 1608, 1665, 1733, 1827, 1928, 2014, 2122, 2189, 2104, 2052, 1936, 1805, 1686, 1575, 1502, 1464, 1446, 1461, 1512, 1597, 1705, 1827, 1949, 2027, 2124, 2066, 1962, 1856, 1704, 1563, 1450, 1376, 1323, 1310, 1323, 1371, 1466, 1570, 1714, 1868, 1954, 2066, 1997, 1917, 1771, 1622, 1466, 1351, 1258, 1217, 1199, 1211, 1265, 1351, 1469, 1622, 1781, 1891, 1989, 1958, 1863, 1700, 1537, 1382, 1265, 1182, 1133, 1118, 1128, 1178, 1254, 1385, 1537, 1695, 1838, 1943, 1935, 1829, 1642, 1480, 1319, 1202, 1122, 1078, 1061, 1073, 1114, 1196, 1316, 1477, 1655, 1806, 1913, 1953, 1794, 1639, 1442, 1288, 1171, 1089, 1047, 1031, 1044, 1083, 1153, 1279, 1436, 1623, 1783, 1924, 1940, 1807, 1621, 1442, 1283, 1166, 1083, 1041, 1024, 1034, 1073, 1147, 1270, 1436, 1608, 1768, 1897, 1968, 1828, 1639, 1470, 1297, 1182, 1096, 1055, 1038, 1050, 1090, 1168, 1290, 1442, 1627, 1783, 1917, 1942, 1841, 1682, 1510, 1349, 1222, 1132, 1088, 1067, 1081, 1127, 1206, 1326, 1486, 1651, 1811, 1942, 2005, 1901, 1743, 1578, 1422, 1303, 1209, 1152, 1135, 1148, 1191, 1280, 1399, 1548, 1719, 1845, 1974, 2057, 1952, 1830, 1685, 1512, 1393, 1305, 1245, 1221, 1233, 1289, 1372, 1489, 1634, 1776, 1904, 2031, 2113, 2007, 1918, 1777, 1640, 1511, 1423, 1360, 1344, 1360, 1400, 1494, 1608, 1742, 1862, 1976, 2123, 2199, 2104, 2006, 1879, 1756, 1649, 1553, 1502, 1480, 1495, 1546, 1633, 1732, 1839, 1956, 2052, 2210, 2300, 2191, 2104, 2010, 1907, 1802, 1717, 1669, 1655, 1673, 1717, 1792, 1878, 1955, 2054, 2222, 2274, 2310, 2336, 2195, 2103, 2012, 1925, 1861, 1823, 1814, 1844, 1889, 1931, 2004, 2079, 2166, 2287, 2213, ] + gb: [2166, 2183, 2106, 2056, 1961, 1889, 1800, 1772, 1760, 1791, 1821, 1907, 1948, 2040, 2115, 2205, 2191, 2197, 2125, 2062, 1973, 1862, 1758, 1680, 1620, 1612, 1636, 1693, 1758, 1851, 1953, 2031, 2125, 2174, 2125, 2067, 1974, 1852, 1719, 1621, 1532, 1477, 1465, 1480, 1535, 1605, 1724, 1852, 1967, 2050, 2156, 2107, 2015, 1893, 1738, 1608, 1485, 1406, 1337, 1319, 1337, 1382, 1476, 1589, 1733, 1869, 1985, 2070, 2037, 1948, 1806, 1641, 1501, 1377, 1287, 1227, 1215, 1227, 1274, 1364, 1485, 1645, 1806, 1928, 2028, 1981, 1887, 1728, 1564, 1409, 1285, 1199, 1145, 1125, 1135, 1183, 1270, 1395, 1560, 1733, 1868, 1974, 1965, 1841, 1670, 1509, 1349, 1221, 1138, 1084, 1065, 1073, 1121, 1208, 1332, 1496, 1670, 1835, 1958, 1948, 1818, 1642, 1467, 1315, 1185, 1099, 1052, 1035, 1042, 1084, 1163, 1292, 1458, 1638, 1812, 1948, 1942, 1809, 1635, 1467, 1296, 1178, 1094, 1039, 1024, 1038, 1073, 1157, 1285, 1451, 1640, 1803, 1935, 1948, 1812, 1646, 1483, 1317, 1196, 1107, 1057, 1043, 1053, 1090, 1183, 1296, 1464, 1650, 1818, 1941, 1965, 1841, 1687, 1519, 1362, 1243, 1145, 1094, 1075, 1088, 1137, 1225, 1339, 1512, 1692, 1835, 1988, 1981, 1893, 1738, 1586, 1435, 1314, 1218, 1160, 1143, 1158, 1212, 1294, 1418, 1578, 1742, 1887, 2005, 2037, 1948, 1838, 1674, 1527, 1398, 1309, 1251, 1236, 1253, 1305, 1385, 1514, 1674, 1816, 1934, 2062, 2098, 2015, 1899, 1791, 1656, 1530, 1430, 1379, 1360, 1379, 1428, 1517, 1639, 1781, 1893, 2015, 2117, 2199, 2075, 1988, 1910, 1776, 1664, 1583, 1518, 1502, 1525, 1576, 1668, 1776, 1898, 1981, 2084, 2221, 2269, 2204, 2103, 2021, 1921, 1827, 1751, 1676, 1671, 1693, 1755, 1843, 1927, 2007, 2095, 2224, 2294, 2285, 2285, 2190, 2112, 2009, 1956, 1909, 1853, 1845, 1864, 1921, 1995, 2058, 2137, 2199, 2308, 2231, ] + b: [2007, 2014, 1951, 1922, 1856, 1794, 1746, 1720, 1718, 1747, 1818, 1865, 1956, 2026, 2146, 2219, 2251, 2020, 1954, 1914, 1840, 1745, 1673, 1626, 1592, 1586, 1613, 1674, 1732, 1851, 1938, 2030, 2131, 2207, 1927, 1878, 1807, 1732, 1628, 1548, 1486, 1461, 1440, 1465, 1519, 1601, 1715, 1846, 1943, 2018, 2141, 1863, 1826, 1730, 1633, 1515, 1436, 1369, 1326, 1318, 1337, 1399, 1479, 1598, 1729, 1865, 1962, 2051, 1840, 1751, 1653, 1541, 1426, 1333, 1265, 1217, 1214, 1223, 1281, 1373, 1493, 1641, 1794, 1908, 2015, 1803, 1695, 1587, 1462, 1347, 1245, 1173, 1139, 1122, 1139, 1197, 1288, 1404, 1555, 1712, 1845, 1987, 1781, 1659, 1544, 1402, 1284, 1186, 1117, 1075, 1065, 1088, 1131, 1214, 1342, 1504, 1667, 1808, 1945, 1753, 1639, 1509, 1376, 1253, 1152, 1083, 1045, 1040, 1051, 1094, 1177, 1307, 1464, 1630, 1782, 1939, 1752, 1626, 1510, 1370, 1248, 1141, 1076, 1037, 1024, 1043, 1087, 1163, 1299, 1452, 1631, 1789, 1927, 1761, 1639, 1509, 1384, 1259, 1157, 1088, 1049, 1036, 1061, 1103, 1190, 1321, 1469, 1648, 1806, 1939, 1772, 1673, 1550, 1423, 1304, 1194, 1124, 1088, 1073, 1094, 1143, 1231, 1353, 1508, 1673, 1816, 1955, 1794, 1709, 1599, 1495, 1373, 1269, 1191, 1149, 1129, 1159, 1210, 1298, 1429, 1571, 1726, 1854, 2010, 1840, 1759, 1679, 1567, 1448, 1358, 1284, 1234, 1228, 1249, 1306, 1392, 1507, 1647, 1794, 1917, 2076, 1929, 1835, 1760, 1670, 1565, 1470, 1388, 1351, 1335, 1362, 1423, 1511, 1609, 1743, 1865, 1983, 2145, 2028, 1898, 1841, 1761, 1670, 1590, 1519, 1483, 1475, 1505, 1563, 1640, 1749, 1862, 1943, 2078, 2218, 2109, 2014, 1944, 1883, 1812, 1745, 1674, 1630, 1635, 1665, 1717, 1801, 1884, 1967, 2064, 2188, 2295, 2157, 2126, 2020, 1952, 1891, 1833, 1781, 1761, 1773, 1803, 1857, 1943, 2005, 2026, 2159, 2268, 2251, ] + +... diff --git a/src/ipa/rkisp1/data/ov4689.yaml b/src/ipa/rkisp1/data/ov4689.yaml new file mode 100644 index 00000000..60901296 --- /dev/null +++ b/src/ipa/rkisp1/data/ov4689.yaml @@ -0,0 +1,9 @@ +# SPDX-License-Identifier: CC0-1.0 +%YAML 1.1 +--- +version: 1 +algorithms: + - Agc: + - Awb: + - BlackLevelCorrection: +... diff --git a/src/ipa/rkisp1/data/ov5640.yaml b/src/ipa/rkisp1/data/ov5640.yaml new file mode 100644 index 00000000..4b21d412 --- /dev/null +++ b/src/ipa/rkisp1/data/ov5640.yaml @@ -0,0 +1,250 @@ +# SPDX-License-Identifier: CC0-1.0 +%YAML 1.1 +--- +version: 1 +algorithms: + - Agc: + - Awb: + - BlackLevelCorrection: + - ColorProcessing: + - GammaSensorLinearization: + x-intervals: [ 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2 ] + y: + red: [ 0, 256, 512, 768, 1024, 1280, 1536, 1792, 2048, 2304, 2560, 2816, 3072, 3328, 3584, 3840, 4095 ] + green: [ 0, 256, 512, 768, 1024, 1280, 1536, 1792, 2048, 2304, 2560, 2816, 3072, 3328, 3584, 3840, 4095 ] + blue: [ 0, 256, 512, 768, 1024, 1280, 1536, 1792, 2048, 2304, 2560, 2816, 3072, 3328, 3584, 3840, 4095 ] + - LensShadingCorrection: + x-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + y-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + sets: + - ct: 3000 + r: [ + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + ] + gr: [ + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + ] + gb: [ + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + ] + b: [ + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + ] + - ct: 7000 + r: [ + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + ] + gr: [ + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + ] + gb: [ + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + ] + b: [ + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + ] + - DefectPixelClusterCorrection: + fixed-set: false + sets: + # PG, LC, RO, RND, RG + - line-threshold: + green: 8 + red-blue: 8 + line-mad-factor: + green: 4 + red-blue: 4 + pg-factor: + green: 8 + red-blue: 8 + rnd-threshold: + green: 10 + red-blue: 10 + rg-factor: + green: 32 + red-blue: 32 + ro-limits: + green: 1 + red-blue: 1 + rnd-offsets: + green: 2 + red-blue: 2 + # PG, LC, RO + - line-threshold: + green: 24 + red-blue: 32 + line-mad-factor: + green: 16 + red-blue: 24 + pg-factor: + green: 6 + red-blue: 8 + ro-limits: + green: 2 + red-blue: 2 + # PG, LC, RO, RND, RG + - line-threshold: + green: 32 + red-blue: 32 + line-mad-factor: + green: 4 + red-blue: 4 + pg-factor: + green: 10 + red-blue: 10 + rnd-threshold: + green: 6 + red-blue: 8 + rg-factor: + green: 4 + red-blue: 4 + ro-limits: + green: 1 + red-blue: 2 + rnd-offsets: + green: 2 + red-blue: 2 + - Dpf: + DomainFilter: + g: [ 16, 16, 16, 16, 16, 16 ] + rb: [ 16, 16, 16, 16, 16, 16 ] + NoiseLevelFunction: + coeff: [ + 1023, 1023, 1023, 1023, 1023, 1023, 1023, 1023, + 1023, 1023, 1023, 1023, 1023, 1023, 1023, 1023, + 1023 + ] + scale-mode: "linear" + FilterStrength: + r: 64 + g: 64 + b: 64 + - Filter: +... diff --git a/src/ipa/rkisp1/data/ov5695.yaml b/src/ipa/rkisp1/data/ov5695.yaml new file mode 100644 index 00000000..2e39e3a5 --- /dev/null +++ b/src/ipa/rkisp1/data/ov5695.yaml @@ -0,0 +1,41 @@ +# SPDX-License-Identifier: CC0-1.0 +%YAML 1.1 +--- +version: 1 +algorithms: + - Agc: + - Awb: + - LensShadingCorrection: + x-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + y-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + sets: + #2592x1944_A_70 - A + - ct: 2856 + resolution: 2592x1944 + r: [2312, 2874, 2965, 2789, 2603, 2424, 2288, 2176, 2151, 2176, 2240, 2345, 2520, 2736, 2856, 2825, 2272, 2675, 3026, 2925, 2693, 2443, 2247, 2074, 1992, 1947, 1972, 2066, 2211, 2386, 2618, 2847, 2953, 2698, 2927, 3008, 2846, 2541, 2272, 2037, 1867, 1782, 1740, 1762, 1855, 1981, 2198, 2454, 2711, 2963, 2927, 2974, 2920, 2664, 2337, 2061, 1822, 1648, 1550, 1503, 1550, 1648, 1794, 1982, 2257, 2565, 2805, 2880, 2933, 2799, 2472, 2161, 1880, 1631, 1457, 1361, 1328, 1364, 1448, 1602, 1817, 2087, 2390, 2698, 2911, 2947, 2734, 2404, 2061, 1759, 1525, 1340, 1244, 1209, 1240, 1343, 1473, 1701, 1975, 2278, 2641, 2823, 2948, 2680, 2342, 1979, 1667, 1425, 1259, 1159, 1125, 1159, 1238, 1407, 1633, 1914, 2235, 2592, 2866, 2936, 2661, 2276, 1908, 1624, 1368, 1190, 1097, 1058, 1086, 1178, 1341, 1556, 1848, 2175, 2509, 2763, 2873, 2603, 2230, 1868, 1578, 1320, 1157, 1058, 1024, 1053, 1142, 1302, 1521, 1789, 2125, 2471, 2760, 2896, 2661, 2276, 1914, 1591, 1349, 1176, 1083, 1044, 1080, 1166, 1327, 1544, 1814, 2141, 2509, 2763, 2969, 2710, 2342, 1985, 1676, 1431, 1250, 1146, 1105, 1140, 1234, 1392, 1616, 1895, 2235, 2578, 2847, 3060, 2800, 2426, 2076, 1764, 1518, 1335, 1227, 1197, 1227, 1314, 1486, 1696, 1989, 2298, 2641, 2863, 2978, 2853, 2496, 2169, 1880, 1631, 1457, 1345, 1304, 1334, 1429, 1586, 1811, 2064, 2378, 2698, 2867, 3024, 2960, 2664, 2327, 2054, 1811, 1626, 1517, 1490, 1514, 1597, 1763, 1962, 2229, 2538, 2768, 2926, 3032, 3077, 2864, 2554, 2272, 2052, 1861, 1747, 1716, 1742, 1816, 1995, 2190, 2454, 2727, 2920, 2927, 2849, 3155, 3008, 2772, 2490, 2276, 2121, 2006, 1954, 1978, 2066, 2202, 2408, 2648, 2847, 2977, 2797, 2440, 3116, 3132, 2900, 2738, 2509, 2329, 2239, 2194, 2230, 2298, 2436, 2617, 2825, 2965, 2899, 2312, ] + gr: [1557, 1922, 2004, 1947, 1841, 1757, 1689, 1651, 1631, 1647, 1680, 1737, 1835, 1911, 1995, 1941, 1613, 1820, 2038, 1996, 1900, 1779, 1692, 1617, 1565, 1549, 1554, 1594, 1670, 1753, 1875, 1957, 2029, 1848, 2009, 2064, 1956, 1834, 1715, 1601, 1518, 1474, 1446, 1459, 1505, 1582, 1666, 1796, 1935, 2029, 2009, 2013, 2006, 1874, 1731, 1602, 1493, 1409, 1346, 1332, 1348, 1395, 1474, 1576, 1689, 1843, 1944, 2003, 1982, 1931, 1783, 1637, 1496, 1386, 1297, 1238, 1219, 1239, 1284, 1370, 1474, 1601, 1747, 1897, 2000, 1998, 1920, 1755, 1587, 1455, 1325, 1228, 1171, 1159, 1176, 1223, 1311, 1418, 1565, 1707, 1855, 1990, 2007, 1897, 1733, 1574, 1423, 1296, 1183, 1121, 1101, 1132, 1182, 1277, 1396, 1539, 1696, 1866, 1990, 2000, 1870, 1692, 1529, 1377, 1239, 1141, 1077, 1057, 1079, 1141, 1230, 1350, 1493, 1640, 1810, 1961, 1957, 1849, 1669, 1496, 1356, 1212, 1112, 1053, 1024, 1049, 1106, 1203, 1322, 1465, 1615, 1780, 1919, 1969, 1870, 1675, 1515, 1365, 1232, 1128, 1063, 1042, 1068, 1123, 1220, 1345, 1483, 1628, 1788, 1945, 2007, 1917, 1728, 1574, 1420, 1285, 1173, 1115, 1088, 1109, 1170, 1268, 1388, 1532, 1678, 1835, 1999, 2033, 1927, 1760, 1613, 1461, 1334, 1234, 1175, 1145, 1168, 1225, 1311, 1423, 1557, 1726, 1874, 2015, 2000, 1960, 1810, 1641, 1515, 1391, 1292, 1228, 1212, 1232, 1275, 1358, 1462, 1601, 1737, 1883, 1974, 2032, 2006, 1874, 1712, 1594, 1477, 1395, 1329, 1316, 1327, 1375, 1453, 1547, 1671, 1808, 1937, 1994, 2039, 2064, 1971, 1829, 1701, 1608, 1521, 1465, 1441, 1462, 1498, 1571, 1666, 1785, 1921, 2003, 2039, 1886, 2087, 2062, 1926, 1817, 1706, 1637, 1572, 1560, 1572, 1613, 1688, 1774, 1868, 1973, 2029, 1886, 1692, 2020, 2067, 2008, 1897, 1822, 1741, 1704, 1683, 1695, 1727, 1783, 1872, 1977, 2022, 1989, 1639, ] + gb: [1553, 1926, 1992, 1930, 1852, 1746, 1675, 1630, 1611, 1622, 1671, 1726, 1804, 1915, 1992, 1955, 1584, 1852, 2043, 2001, 1879, 1773, 1674, 1602, 1548, 1532, 1541, 1583, 1661, 1752, 1867, 1986, 2034, 1881, 1993, 2060, 1976, 1811, 1697, 1590, 1505, 1459, 1439, 1453, 1496, 1579, 1674, 1795, 1940, 2051, 2034, 2018, 2003, 1866, 1735, 1594, 1478, 1396, 1339, 1326, 1339, 1388, 1463, 1579, 1707, 1842, 1980, 2037, 2014, 1950, 1793, 1641, 1509, 1384, 1291, 1229, 1209, 1231, 1283, 1369, 1481, 1625, 1751, 1901, 2023, 2029, 1925, 1750, 1602, 1458, 1330, 1228, 1162, 1144, 1166, 1218, 1308, 1433, 1572, 1730, 1872, 2029, 2020, 1934, 1752, 1578, 1429, 1288, 1181, 1116, 1102, 1130, 1184, 1278, 1400, 1546, 1700, 1870, 2020, 2030, 1899, 1706, 1536, 1388, 1239, 1137, 1074, 1053, 1078, 1134, 1235, 1358, 1509, 1661, 1838, 1989, 1985, 1853, 1682, 1522, 1356, 1209, 1114, 1050, 1024, 1046, 1106, 1206, 1335, 1478, 1623, 1801, 1954, 2005, 1887, 1706, 1536, 1383, 1235, 1131, 1063, 1045, 1059, 1120, 1225, 1356, 1493, 1666, 1815, 1981, 2063, 1948, 1767, 1589, 1438, 1293, 1183, 1116, 1093, 1115, 1174, 1272, 1400, 1546, 1695, 1877, 2012, 2055, 1952, 1795, 1633, 1476, 1347, 1235, 1167, 1146, 1160, 1230, 1323, 1435, 1579, 1730, 1898, 2046, 2059, 1972, 1843, 1666, 1519, 1402, 1291, 1231, 1209, 1233, 1283, 1366, 1481, 1613, 1767, 1922, 2023, 2066, 2036, 1903, 1740, 1609, 1484, 1399, 1337, 1317, 1330, 1378, 1451, 1572, 1689, 1830, 1964, 2037, 2034, 2097, 2005, 1856, 1724, 1608, 1521, 1471, 1450, 1456, 1505, 1593, 1688, 1805, 1940, 2051, 2045, 1974, 2123, 2067, 1958, 1827, 1719, 1633, 1580, 1563, 1576, 1609, 1688, 1783, 1892, 2009, 2053, 1911, 1652, 2078, 2101, 2021, 1915, 1837, 1731, 1682, 1661, 1686, 1717, 1782, 1864, 1982, 2036, 2005, 1669, ] + b: [1439, 1756, 1796, 1808, 1716, 1631, 1568, 1537, 1530, 1546, 1578, 1608, 1676, 1744, 1796, 1756, 1456, 1685, 1858, 1830, 1764, 1687, 1603, 1529, 1486, 1489, 1486, 1493, 1552, 1628, 1721, 1812, 1858, 1727, 1837, 1888, 1825, 1726, 1628, 1548, 1478, 1449, 1423, 1434, 1462, 1521, 1566, 1688, 1809, 1888, 1837, 1889, 1857, 1775, 1680, 1576, 1467, 1403, 1336, 1309, 1329, 1369, 1429, 1529, 1623, 1733, 1822, 1868, 1852, 1828, 1704, 1585, 1486, 1377, 1285, 1237, 1216, 1232, 1268, 1344, 1438, 1536, 1667, 1764, 1813, 1853, 1815, 1675, 1576, 1436, 1333, 1226, 1158, 1145, 1158, 1216, 1298, 1407, 1503, 1640, 1754, 1816, 1908, 1800, 1691, 1536, 1422, 1296, 1188, 1114, 1095, 1114, 1174, 1268, 1388, 1485, 1623, 1742, 1851, 1865, 1783, 1646, 1513, 1378, 1236, 1124, 1071, 1050, 1074, 1132, 1211, 1333, 1463, 1603, 1713, 1829, 1822, 1736, 1621, 1486, 1358, 1211, 1109, 1040, 1024, 1037, 1101, 1197, 1314, 1423, 1559, 1683, 1788, 1829, 1769, 1635, 1513, 1371, 1231, 1128, 1057, 1033, 1057, 1112, 1202, 1327, 1455, 1572, 1700, 1794, 1870, 1831, 1679, 1554, 1430, 1290, 1170, 1103, 1091, 1107, 1165, 1263, 1374, 1501, 1623, 1742, 1833, 1911, 1863, 1724, 1586, 1459, 1352, 1236, 1171, 1153, 1171, 1221, 1315, 1414, 1520, 1663, 1799, 1872, 1913, 1861, 1730, 1626, 1511, 1397, 1296, 1242, 1221, 1227, 1279, 1350, 1446, 1555, 1691, 1779, 1852, 1934, 1893, 1804, 1703, 1576, 1475, 1396, 1329, 1309, 1336, 1363, 1437, 1538, 1634, 1747, 1839, 1868, 1955, 1991, 1910, 1808, 1696, 1596, 1537, 1472, 1445, 1457, 1494, 1539, 1617, 1739, 1825, 1928, 1860, 1818, 2015, 1981, 1906, 1778, 1680, 1627, 1585, 1551, 1566, 1596, 1646, 1725, 1824, 1902, 1945, 1794, 1571, 1937, 1977, 1932, 1866, 1784, 1714, 1674, 1642, 1662, 1678, 1730, 1788, 1859, 1913, 1912, 1592, ] + #2592x1944_D65_70 - D65 + - ct: 6504 + resolution: 2592x1944 + r: [2457, 2985, 2981, 2763, 2587, 2383, 2222, 2123, 2089, 2123, 2167, 2270, 2466, 2638, 2823, 2805, 2457, 2770, 3097, 2893, 2640, 2410, 2169, 2039, 1933, 1908, 1914, 1973, 2117, 2295, 2514, 2728, 2953, 2735, 3009, 2991, 2771, 2467, 2201, 1985, 1825, 1726, 1679, 1703, 1791, 1924, 2085, 2345, 2583, 2806, 2898, 3015, 2906, 2586, 2267, 2005, 1790, 1629, 1527, 1488, 1505, 1597, 1734, 1923, 2169, 2447, 2714, 2876, 2953, 2756, 2435, 2120, 1832, 1617, 1462, 1359, 1326, 1351, 1423, 1573, 1774, 2014, 2285, 2612, 2857, 2963, 2676, 2324, 2016, 1735, 1499, 1334, 1234, 1201, 1227, 1313, 1452, 1649, 1893, 2177, 2503, 2754, 2883, 2582, 2252, 1912, 1634, 1401, 1236, 1144, 1106, 1135, 1215, 1365, 1570, 1804, 2091, 2443, 2715, 2839, 2555, 2196, 1860, 1576, 1346, 1180, 1084, 1046, 1077, 1161, 1305, 1501, 1767, 2056, 2384, 2678, 2797, 2546, 2165, 1832, 1546, 1314, 1150, 1060, 1024, 1046, 1133, 1275, 1474, 1726, 2030, 2378, 2667, 2811, 2555, 2169, 1843, 1564, 1321, 1161, 1069, 1032, 1057, 1146, 1289, 1496, 1751, 2021, 2350, 2653, 2883, 2603, 2195, 1884, 1614, 1388, 1219, 1116, 1077, 1107, 1196, 1335, 1529, 1787, 2079, 2406, 2689, 2900, 2630, 2293, 1963, 1677, 1462, 1294, 1194, 1157, 1181, 1274, 1403, 1622, 1847, 2163, 2464, 2727, 2920, 2731, 2400, 2071, 1798, 1567, 1404, 1301, 1264, 1293, 1376, 1514, 1711, 1949, 2224, 2568, 2767, 3015, 2820, 2545, 2196, 1933, 1719, 1554, 1452, 1422, 1442, 1525, 1661, 1847, 2078, 2358, 2639, 2780, 2971, 2927, 2674, 2396, 2110, 1904, 1767, 1654, 1611, 1627, 1720, 1848, 2026, 2250, 2540, 2722, 2863, 2842, 3023, 2864, 2576, 2311, 2105, 1952, 1857, 1808, 1830, 1912, 2033, 2205, 2417, 2652, 2822, 2667, 2489, 3024, 2981, 2737, 2546, 2317, 2180, 2086, 2041, 2050, 2140, 2255, 2391, 2615, 2735, 2840, 2366, ] + gr: [1766, 2092, 2109, 2006, 1875, 1775, 1707, 1659, 1633, 1646, 1679, 1754, 1844, 1954, 2045, 2041, 1740, 1981, 2142, 2048, 1911, 1779, 1678, 1597, 1549, 1529, 1539, 1570, 1630, 1728, 1848, 1970, 2064, 1971, 2109, 2107, 1982, 1820, 1673, 1563, 1494, 1442, 1423, 1433, 1472, 1538, 1630, 1751, 1899, 2019, 2058, 2121, 2066, 1892, 1719, 1584, 1472, 1386, 1331, 1311, 1326, 1370, 1441, 1533, 1673, 1820, 1956, 2062, 2080, 1982, 1807, 1636, 1493, 1379, 1293, 1236, 1213, 1230, 1280, 1353, 1458, 1580, 1729, 1885, 2017, 2074, 1934, 1756, 1584, 1435, 1318, 1220, 1163, 1142, 1154, 1207, 1280, 1393, 1522, 1666, 1844, 1990, 2041, 1886, 1711, 1535, 1392, 1269, 1165, 1106, 1086, 1103, 1151, 1240, 1356, 1479, 1635, 1802, 1969, 2006, 1856, 1673, 1506, 1359, 1220, 1131, 1067, 1041, 1056, 1113, 1201, 1312, 1446, 1594, 1771, 1937, 2000, 1841, 1654, 1489, 1334, 1201, 1105, 1046, 1024, 1038, 1096, 1183, 1299, 1428, 1577, 1746, 1925, 2006, 1850, 1656, 1490, 1339, 1210, 1112, 1054, 1028, 1044, 1098, 1188, 1296, 1431, 1574, 1754, 1923, 2033, 1868, 1692, 1518, 1366, 1242, 1143, 1085, 1060, 1074, 1133, 1214, 1329, 1460, 1602, 1780, 1938, 2040, 1900, 1722, 1547, 1409, 1291, 1192, 1131, 1107, 1125, 1174, 1258, 1363, 1488, 1644, 1813, 1958, 2052, 1939, 1770, 1592, 1461, 1346, 1254, 1192, 1174, 1186, 1236, 1312, 1410, 1535, 1690, 1846, 1975, 2071, 1986, 1843, 1664, 1533, 1424, 1338, 1280, 1256, 1269, 1309, 1387, 1475, 1596, 1753, 1898, 2006, 2058, 2045, 1906, 1756, 1622, 1517, 1432, 1380, 1363, 1372, 1412, 1480, 1566, 1691, 1835, 1955, 2008, 1971, 2083, 2008, 1842, 1718, 1606, 1530, 1488, 1463, 1468, 1506, 1574, 1675, 1772, 1904, 1992, 1922, 1748, 2103, 2063, 1961, 1838, 1724, 1648, 1600, 1596, 1592, 1627, 1690, 1780, 1890, 1969, 1992, 1713, ] + gb: [1749, 2093, 2072, 1983, 1869, 1765, 1684, 1638, 1621, 1629, 1666, 1734, 1838, 1925, 2019, 2021, 1722, 1981, 2142, 2048, 1904, 1774, 1660, 1582, 1535, 1512, 1528, 1563, 1626, 1728, 1854, 1970, 2064, 1961, 2088, 2107, 1975, 1809, 1668, 1556, 1481, 1424, 1406, 1421, 1456, 1528, 1626, 1761, 1886, 2028, 2068, 2111, 2049, 1873, 1715, 1569, 1465, 1376, 1323, 1300, 1321, 1363, 1432, 1536, 1660, 1808, 1956, 2062, 2089, 1975, 1797, 1632, 1493, 1374, 1284, 1228, 1205, 1226, 1273, 1351, 1449, 1577, 1729, 1898, 2035, 2083, 1934, 1751, 1584, 1441, 1307, 1214, 1156, 1134, 1153, 1203, 1280, 1393, 1526, 1675, 1844, 1998, 2049, 1905, 1702, 1535, 1390, 1265, 1160, 1103, 1078, 1100, 1150, 1238, 1351, 1485, 1631, 1814, 1984, 2014, 1868, 1678, 1506, 1356, 1218, 1123, 1065, 1039, 1055, 1112, 1201, 1317, 1446, 1602, 1782, 1952, 2008, 1853, 1658, 1496, 1344, 1203, 1110, 1046, 1024, 1037, 1091, 1179, 1292, 1428, 1588, 1757, 1947, 2030, 1856, 1660, 1493, 1346, 1212, 1116, 1049, 1024, 1040, 1093, 1190, 1303, 1440, 1590, 1760, 1937, 2041, 1886, 1688, 1522, 1376, 1240, 1146, 1083, 1057, 1074, 1131, 1218, 1331, 1466, 1614, 1785, 1953, 2066, 1920, 1737, 1558, 1415, 1289, 1186, 1130, 1110, 1123, 1172, 1254, 1368, 1492, 1644, 1814, 1974, 2080, 1953, 1775, 1612, 1461, 1343, 1254, 1194, 1174, 1186, 1236, 1309, 1413, 1528, 1695, 1852, 1983, 2081, 2009, 1837, 1678, 1543, 1424, 1338, 1278, 1254, 1273, 1306, 1390, 1485, 1604, 1758, 1905, 2016, 2078, 2062, 1926, 1777, 1626, 1517, 1441, 1388, 1363, 1367, 1412, 1487, 1574, 1686, 1835, 1962, 2018, 1981, 2112, 2016, 1848, 1733, 1614, 1541, 1488, 1469, 1468, 1520, 1570, 1666, 1789, 1911, 1992, 1913, 1776, 2082, 2072, 1968, 1856, 1739, 1657, 1600, 1577, 1592, 1627, 1695, 1786, 1883, 1977, 2002, 1722, ] + b: [1681, 1945, 1998, 1882, 1777, 1699, 1617, 1588, 1571, 1554, 1581, 1644, 1729, 1797, 1905, 1919, 1646, 1868, 2012, 1964, 1828, 1711, 1617, 1535, 1492, 1479, 1478, 1509, 1559, 1636, 1737, 1860, 1925, 1830, 1961, 2001, 1890, 1754, 1638, 1529, 1463, 1407, 1389, 1407, 1432, 1485, 1574, 1668, 1790, 1898, 1922, 1995, 1962, 1813, 1680, 1557, 1453, 1378, 1319, 1297, 1302, 1348, 1418, 1505, 1605, 1726, 1868, 1944, 2004, 1901, 1765, 1611, 1482, 1375, 1287, 1230, 1207, 1224, 1259, 1338, 1420, 1528, 1664, 1807, 1921, 1969, 1858, 1708, 1557, 1434, 1317, 1217, 1161, 1142, 1156, 1206, 1275, 1369, 1481, 1598, 1764, 1880, 1973, 1821, 1664, 1516, 1392, 1270, 1165, 1106, 1085, 1095, 1152, 1231, 1336, 1445, 1567, 1725, 1856, 1947, 1804, 1647, 1495, 1359, 1230, 1136, 1067, 1043, 1060, 1115, 1197, 1299, 1419, 1548, 1695, 1834, 1924, 1787, 1623, 1478, 1346, 1212, 1114, 1052, 1024, 1044, 1094, 1172, 1287, 1408, 1532, 1681, 1853, 1925, 1804, 1641, 1481, 1351, 1225, 1124, 1056, 1032, 1046, 1099, 1181, 1296, 1410, 1531, 1688, 1806, 1951, 1821, 1664, 1516, 1377, 1255, 1150, 1089, 1066, 1082, 1128, 1214, 1315, 1432, 1562, 1709, 1856, 1957, 1840, 1688, 1546, 1413, 1297, 1190, 1139, 1116, 1130, 1179, 1259, 1347, 1462, 1592, 1740, 1859, 1968, 1881, 1728, 1588, 1460, 1345, 1265, 1199, 1180, 1191, 1241, 1307, 1391, 1498, 1644, 1773, 1876, 2008, 1940, 1789, 1654, 1531, 1427, 1341, 1286, 1265, 1273, 1316, 1370, 1471, 1569, 1696, 1830, 1896, 2002, 1977, 1871, 1732, 1620, 1519, 1432, 1387, 1362, 1364, 1402, 1466, 1535, 1654, 1782, 1877, 1896, 1895, 2025, 1975, 1828, 1704, 1599, 1540, 1478, 1456, 1459, 1499, 1548, 1636, 1737, 1841, 1925, 1830, 1705, 2013, 2036, 1912, 1785, 1720, 1636, 1588, 1565, 1576, 1599, 1664, 1722, 1815, 1905, 1945, 1681, ] + #2592x1944_F2_CWF_70 - F2_CWF + - ct: 4230 + resolution: 2592x1944 + r: [2512, 2860, 2753, 2554, 2376, 2198, 2033, 1949, 1924, 1921, 2012, 2100, 2257, 2461, 2682, 2775, 2436, 2753, 2915, 2713, 2415, 2193, 2004, 1869, 1790, 1755, 1774, 1844, 1945, 2108, 2306, 2547, 2755, 2697, 2849, 2810, 2526, 2247, 2018, 1821, 1692, 1608, 1577, 1591, 1653, 1775, 1921, 2132, 2371, 2625, 2765, 2881, 2679, 2376, 2077, 1853, 1677, 1542, 1449, 1412, 1430, 1511, 1615, 1781, 1983, 2258, 2517, 2722, 2832, 2589, 2237, 1977, 1718, 1527, 1403, 1319, 1290, 1307, 1370, 1491, 1658, 1850, 2112, 2408, 2708, 2718, 2474, 2154, 1861, 1616, 1439, 1293, 1211, 1176, 1205, 1275, 1390, 1553, 1773, 2008, 2313, 2607, 2661, 2388, 2066, 1781, 1535, 1359, 1207, 1130, 1098, 1117, 1192, 1313, 1474, 1688, 1934, 2240, 2537, 2672, 2353, 2024, 1733, 1494, 1296, 1162, 1075, 1045, 1064, 1146, 1261, 1422, 1640, 1889, 2197, 2528, 2599, 2332, 1991, 1718, 1484, 1276, 1139, 1051, 1024, 1051, 1117, 1245, 1409, 1620, 1861, 2179, 2481, 2651, 2338, 2004, 1719, 1479, 1289, 1146, 1066, 1034, 1055, 1127, 1248, 1413, 1633, 1872, 2184, 2471, 2640, 2372, 2045, 1751, 1514, 1324, 1189, 1107, 1064, 1097, 1163, 1280, 1455, 1661, 1915, 2226, 2498, 2672, 2457, 2107, 1820, 1587, 1390, 1248, 1170, 1132, 1155, 1235, 1353, 1510, 1729, 1967, 2268, 2544, 2781, 2532, 2198, 1920, 1678, 1486, 1349, 1251, 1225, 1251, 1326, 1438, 1602, 1800, 2043, 2343, 2616, 2826, 2637, 2330, 2024, 1796, 1609, 1480, 1391, 1365, 1370, 1442, 1556, 1714, 1915, 2190, 2461, 2673, 2820, 2738, 2472, 2182, 1949, 1760, 1640, 1545, 1517, 1524, 1591, 1716, 1867, 2073, 2308, 2561, 2686, 2782, 2806, 2648, 2352, 2132, 1926, 1819, 1716, 1678, 1702, 1757, 1872, 2029, 2234, 2434, 2611, 2617, 2538, 2919, 2777, 2554, 2345, 2148, 2012, 1940, 1896, 1930, 1961, 2065, 2243, 2426, 2592, 2669, 2461, ] + gr: [2065, 2350, 2320, 2148, 2002, 1877, 1794, 1730, 1709, 1712, 1754, 1837, 1948, 2082, 2217, 2291, 2054, 2263, 2359, 2204, 2022, 1860, 1735, 1639, 1583, 1560, 1576, 1619, 1694, 1805, 1967, 2126, 2281, 2228, 2353, 2294, 2112, 1897, 1724, 1615, 1525, 1460, 1441, 1448, 1499, 1581, 1684, 1829, 2000, 2187, 2305, 2354, 2194, 1994, 1785, 1626, 1493, 1406, 1349, 1323, 1342, 1384, 1468, 1576, 1722, 1909, 2100, 2265, 2281, 2126, 1894, 1708, 1539, 1409, 1310, 1253, 1225, 1240, 1291, 1377, 1486, 1639, 1821, 2019, 2220, 2257, 2059, 1819, 1622, 1464, 1337, 1233, 1168, 1144, 1161, 1219, 1302, 1420, 1576, 1733, 1934, 2180, 2189, 1991, 1759, 1578, 1407, 1280, 1164, 1107, 1085, 1100, 1157, 1242, 1359, 1514, 1685, 1894, 2110, 2153, 1954, 1726, 1537, 1365, 1229, 1129, 1066, 1039, 1057, 1114, 1202, 1327, 1471, 1638, 1850, 2094, 2153, 1948, 1718, 1522, 1352, 1217, 1114, 1047, 1024, 1038, 1100, 1187, 1310, 1467, 1627, 1851, 2078, 2162, 1947, 1716, 1527, 1367, 1225, 1125, 1054, 1031, 1045, 1106, 1198, 1320, 1465, 1638, 1861, 2094, 2180, 1964, 1731, 1545, 1383, 1252, 1145, 1085, 1057, 1070, 1131, 1223, 1341, 1488, 1658, 1852, 2077, 2199, 2002, 1787, 1584, 1429, 1297, 1194, 1131, 1109, 1124, 1181, 1266, 1384, 1523, 1695, 1908, 2118, 2260, 2071, 1843, 1651, 1502, 1364, 1265, 1203, 1181, 1197, 1244, 1331, 1451, 1579, 1763, 1969, 2153, 2276, 2150, 1922, 1736, 1573, 1453, 1355, 1296, 1275, 1285, 1335, 1417, 1526, 1663, 1849, 2052, 2203, 2294, 2205, 2029, 1834, 1666, 1548, 1461, 1399, 1372, 1390, 1431, 1513, 1620, 1760, 1931, 2115, 2237, 2228, 2271, 2126, 1934, 1784, 1650, 1577, 1512, 1485, 1506, 1547, 1625, 1729, 1872, 2029, 2189, 2160, 2033, 2326, 2227, 2106, 1935, 1815, 1721, 1671, 1627, 1654, 1688, 1768, 1885, 2021, 2160, 2245, 2022, ] + gb: [2062, 2335, 2286, 2148, 1975, 1850, 1776, 1709, 1688, 1709, 1761, 1822, 1943, 2082, 2226, 2300, 2062, 2272, 2345, 2186, 2016, 1856, 1728, 1637, 1579, 1556, 1564, 1610, 1691, 1807, 1961, 2126, 2280, 2237, 2338, 2293, 2081, 1893, 1731, 1594, 1501, 1444, 1424, 1441, 1485, 1572, 1677, 1830, 2022, 2195, 2303, 2352, 2212, 1988, 1782, 1625, 1499, 1400, 1342, 1318, 1335, 1379, 1468, 1579, 1728, 1898, 2116, 2274, 2311, 2127, 1896, 1701, 1538, 1404, 1308, 1249, 1218, 1243, 1290, 1382, 1491, 1641, 1828, 2041, 2249, 2256, 2060, 1820, 1637, 1476, 1335, 1234, 1166, 1147, 1159, 1220, 1302, 1428, 1586, 1754, 1968, 2198, 2225, 2013, 1781, 1584, 1421, 1281, 1166, 1101, 1082, 1105, 1158, 1246, 1372, 1524, 1696, 1914, 2144, 2179, 1961, 1742, 1546, 1378, 1232, 1136, 1064, 1042, 1061, 1118, 1208, 1335, 1489, 1661, 1875, 2110, 2179, 1962, 1734, 1538, 1367, 1224, 1117, 1051, 1024, 1046, 1106, 1195, 1322, 1479, 1658, 1876, 2094, 2179, 1988, 1742, 1543, 1375, 1232, 1128, 1060, 1030, 1050, 1110, 1208, 1330, 1486, 1652, 1881, 2127, 2197, 2006, 1761, 1562, 1396, 1255, 1152, 1086, 1063, 1077, 1137, 1232, 1354, 1504, 1682, 1902, 2135, 2236, 2031, 1810, 1605, 1449, 1311, 1200, 1137, 1110, 1130, 1185, 1275, 1389, 1539, 1720, 1922, 2161, 2290, 2103, 1873, 1675, 1504, 1379, 1276, 1211, 1184, 1202, 1251, 1339, 1460, 1593, 1785, 1983, 2180, 2329, 2176, 1961, 1752, 1598, 1471, 1366, 1308, 1279, 1292, 1348, 1432, 1535, 1682, 1874, 2068, 2222, 2338, 2253, 2059, 1852, 1686, 1565, 1473, 1410, 1385, 1393, 1445, 1522, 1639, 1782, 1959, 2132, 2257, 2272, 2312, 2160, 1961, 1802, 1674, 1587, 1525, 1497, 1508, 1557, 1644, 1741, 1897, 2045, 2197, 2202, 2095, 2335, 2276, 2098, 1969, 1828, 1732, 1669, 1641, 1656, 1699, 1785, 1886, 2036, 2188, 2254, 2030, ] + b: [1957, 2184, 2113, 2000, 1876, 1757, 1686, 1620, 1614, 1596, 1649, 1687, 1805, 1914, 2027, 2082, 1880, 2101, 2170, 2056, 1894, 1763, 1659, 1571, 1527, 1501, 1506, 1541, 1608, 1694, 1809, 1964, 2094, 2040, 2156, 2121, 1964, 1796, 1654, 1563, 1485, 1419, 1399, 1407, 1447, 1499, 1587, 1724, 1859, 2019, 2076, 2184, 2063, 1888, 1705, 1586, 1470, 1383, 1330, 1299, 1315, 1352, 1421, 1513, 1633, 1794, 1956, 2125, 2153, 2012, 1821, 1660, 1511, 1395, 1302, 1241, 1219, 1232, 1275, 1352, 1453, 1570, 1726, 1914, 2080, 2106, 1953, 1751, 1601, 1462, 1333, 1235, 1171, 1142, 1156, 1207, 1285, 1403, 1520, 1656, 1838, 2038, 2081, 1885, 1704, 1553, 1398, 1266, 1166, 1101, 1079, 1097, 1151, 1240, 1340, 1471, 1616, 1780, 1970, 2041, 1882, 1686, 1513, 1364, 1235, 1125, 1065, 1037, 1054, 1108, 1196, 1299, 1429, 1576, 1756, 1935, 2049, 1853, 1665, 1504, 1363, 1227, 1118, 1049, 1024, 1035, 1099, 1188, 1298, 1434, 1582, 1752, 1929, 2073, 1870, 1677, 1520, 1364, 1240, 1131, 1057, 1037, 1048, 1102, 1188, 1308, 1442, 1600, 1756, 1921, 2048, 1885, 1695, 1525, 1387, 1248, 1148, 1085, 1064, 1076, 1131, 1215, 1325, 1458, 1591, 1780, 1926, 2089, 1926, 1731, 1563, 1432, 1304, 1191, 1132, 1112, 1129, 1172, 1258, 1359, 1492, 1647, 1814, 1975, 2115, 1983, 1799, 1626, 1491, 1368, 1270, 1212, 1188, 1204, 1249, 1322, 1416, 1548, 1697, 1874, 2045, 2164, 2047, 1888, 1705, 1571, 1451, 1357, 1296, 1276, 1291, 1336, 1404, 1499, 1616, 1772, 1956, 2069, 2177, 2139, 1964, 1785, 1654, 1549, 1459, 1402, 1376, 1385, 1423, 1493, 1587, 1704, 1847, 2003, 2057, 2144, 2190, 2056, 1906, 1753, 1642, 1556, 1506, 1488, 1485, 1534, 1592, 1684, 1809, 1935, 2076, 2081, 1997, 2228, 2150, 2030, 1888, 1799, 1704, 1637, 1631, 1629, 1667, 1716, 1816, 1914, 2043, 2122, 1917, ] + #2592x1944_D50_70 - D50 + - ct: 5003 + resolution: 2592x1944 + r: [2445, 2929, 2967, 2734, 2576, 2380, 2211, 2113, 2074, 2072, 2166, 2255, 2383, 2626, 2861, 2812, 2411, 2795, 3067, 2915, 2660, 2369, 2162, 2038, 1940, 1900, 1919, 1978, 2106, 2281, 2519, 2702, 2875, 2718, 2953, 3006, 2761, 2452, 2197, 1964, 1815, 1720, 1676, 1712, 1769, 1899, 2070, 2268, 2581, 2739, 2798, 3022, 2895, 2570, 2275, 2011, 1793, 1619, 1512, 1486, 1506, 1577, 1740, 1898, 2123, 2420, 2659, 2869, 2939, 2776, 2457, 2132, 1863, 1619, 1479, 1366, 1332, 1356, 1435, 1571, 1769, 1978, 2272, 2543, 2736, 2905, 2703, 2360, 2023, 1747, 1516, 1355, 1247, 1214, 1243, 1332, 1457, 1651, 1898, 2194, 2488, 2714, 2945, 2615, 2257, 1937, 1653, 1419, 1242, 1151, 1117, 1138, 1219, 1374, 1575, 1795, 2080, 2417, 2695, 2795, 2558, 2207, 1875, 1586, 1350, 1182, 1089, 1046, 1084, 1158, 1305, 1497, 1736, 2027, 2351, 2624, 2840, 2547, 2201, 1863, 1566, 1323, 1172, 1068, 1024, 1057, 1142, 1288, 1484, 1725, 2010, 2343, 2584, 2857, 2580, 2222, 1875, 1573, 1355, 1182, 1086, 1046, 1072, 1151, 1301, 1509, 1762, 2052, 2371, 2707, 2912, 2615, 2257, 1904, 1631, 1389, 1227, 1129, 1090, 1122, 1197, 1331, 1529, 1777, 2040, 2397, 2639, 2905, 2628, 2290, 1987, 1698, 1457, 1296, 1202, 1154, 1181, 1259, 1398, 1607, 1826, 2119, 2466, 2684, 2939, 2748, 2399, 2078, 1796, 1584, 1424, 1310, 1276, 1297, 1377, 1519, 1708, 1943, 2222, 2543, 2736, 2982, 2863, 2570, 2243, 1964, 1740, 1570, 1470, 1435, 1448, 1537, 1683, 1856, 2094, 2342, 2632, 2798, 3037, 2970, 2681, 2413, 2111, 1920, 1769, 1672, 1616, 1634, 1709, 1847, 2019, 2234, 2488, 2709, 2835, 2836, 3026, 2851, 2611, 2315, 2106, 1932, 1836, 1801, 1807, 1899, 2027, 2199, 2392, 2620, 2805, 2644, 2515, 3013, 2967, 2792, 2553, 2343, 2181, 2046, 2035, 2033, 2108, 2239, 2444, 2575, 2731, 2812, 2411, ] + gr: [1764, 2120, 2133, 2015, 1886, 1783, 1704, 1644, 1626, 1631, 1666, 1739, 1792, 1938, 2020, 2014, 1727, 1988, 2163, 2079, 1945, 1797, 1681, 1595, 1551, 1526, 1533, 1567, 1619, 1707, 1833, 1963, 2052, 1936, 2115, 2119, 1964, 1824, 1676, 1555, 1486, 1428, 1406, 1425, 1447, 1526, 1623, 1720, 1866, 2001, 2030, 2142, 2062, 1902, 1716, 1580, 1465, 1376, 1321, 1301, 1314, 1355, 1428, 1513, 1645, 1791, 1941, 2022, 2104, 1988, 1816, 1663, 1515, 1388, 1294, 1235, 1215, 1225, 1271, 1350, 1449, 1571, 1719, 1880, 2028, 2113, 1963, 1766, 1588, 1445, 1325, 1231, 1168, 1142, 1155, 1213, 1284, 1392, 1517, 1662, 1835, 1980, 2065, 1897, 1712, 1544, 1394, 1268, 1163, 1105, 1080, 1097, 1147, 1225, 1348, 1464, 1603, 1780, 1948, 2044, 1877, 1672, 1512, 1355, 1223, 1127, 1057, 1038, 1052, 1107, 1193, 1312, 1437, 1593, 1741, 1931, 2004, 1873, 1674, 1501, 1350, 1211, 1113, 1048, 1024, 1038, 1095, 1180, 1301, 1424, 1571, 1738, 1895, 2027, 1871, 1681, 1506, 1361, 1227, 1123, 1064, 1035, 1057, 1104, 1189, 1310, 1440, 1573, 1758, 1916, 2048, 1884, 1707, 1526, 1374, 1248, 1154, 1087, 1069, 1073, 1128, 1205, 1317, 1455, 1590, 1757, 1925, 2031, 1907, 1720, 1557, 1406, 1289, 1193, 1129, 1104, 1116, 1170, 1244, 1348, 1478, 1621, 1792, 1947, 2075, 1973, 1777, 1615, 1465, 1355, 1269, 1195, 1176, 1184, 1234, 1302, 1412, 1532, 1669, 1826, 1975, 2100, 2028, 1870, 1687, 1542, 1443, 1352, 1294, 1264, 1278, 1324, 1393, 1492, 1602, 1757, 1911, 2031, 2093, 2054, 1935, 1763, 1631, 1529, 1441, 1393, 1361, 1371, 1419, 1480, 1569, 1690, 1827, 1960, 2020, 1957, 2091, 1979, 1864, 1722, 1619, 1529, 1484, 1458, 1471, 1497, 1557, 1654, 1761, 1918, 2005, 1907, 1783, 2076, 2094, 1938, 1829, 1729, 1657, 1592, 1571, 1572, 1616, 1664, 1769, 1880, 1968, 1994, 1718, ] + gb: [1771, 2117, 2122, 1999, 1887, 1768, 1691, 1633, 1619, 1633, 1668, 1736, 1836, 1923, 2010, 2002, 1734, 2040, 2161, 2070, 1925, 1777, 1678, 1601, 1532, 1528, 1518, 1562, 1625, 1724, 1840, 1956, 2079, 1954, 2091, 2109, 1965, 1826, 1669, 1561, 1472, 1419, 1400, 1422, 1450, 1521, 1608, 1732, 1867, 2001, 2028, 2151, 2053, 1877, 1718, 1579, 1465, 1379, 1319, 1296, 1309, 1350, 1428, 1530, 1647, 1792, 1934, 2030, 2112, 2003, 1824, 1656, 1511, 1388, 1296, 1240, 1206, 1228, 1271, 1347, 1458, 1577, 1725, 1894, 2018, 2112, 1978, 1778, 1602, 1451, 1325, 1231, 1165, 1141, 1154, 1207, 1292, 1397, 1530, 1687, 1849, 2030, 2056, 1911, 1723, 1554, 1396, 1271, 1165, 1103, 1077, 1100, 1148, 1236, 1343, 1477, 1626, 1798, 1972, 2027, 1885, 1692, 1522, 1358, 1225, 1126, 1068, 1038, 1055, 1105, 1194, 1313, 1443, 1583, 1771, 1931, 2037, 1868, 1690, 1514, 1355, 1216, 1116, 1053, 1024, 1046, 1096, 1191, 1306, 1433, 1586, 1762, 1925, 2061, 1891, 1688, 1522, 1363, 1236, 1128, 1067, 1037, 1059, 1110, 1196, 1318, 1439, 1596, 1765, 1977, 2056, 1898, 1709, 1535, 1391, 1264, 1157, 1089, 1069, 1076, 1131, 1216, 1335, 1467, 1596, 1775, 1948, 2048, 1929, 1737, 1567, 1427, 1294, 1198, 1130, 1106, 1120, 1168, 1260, 1353, 1491, 1641, 1811, 1963, 2112, 1988, 1795, 1626, 1484, 1374, 1274, 1198, 1174, 1190, 1237, 1317, 1427, 1538, 1695, 1840, 2000, 2140, 2045, 1877, 1708, 1567, 1443, 1360, 1304, 1267, 1288, 1337, 1398, 1491, 1621, 1781, 1919, 2039, 2112, 2109, 1936, 1792, 1633, 1539, 1450, 1396, 1377, 1376, 1422, 1496, 1579, 1697, 1835, 1976, 2028, 2029, 2089, 2028, 1884, 1734, 1638, 1543, 1490, 1460, 1466, 1514, 1579, 1670, 1774, 1910, 2013, 1904, 1790, 2117, 2065, 1961, 1854, 1752, 1672, 1616, 1590, 1599, 1623, 1700, 1782, 1867, 1984, 2022, 1698, ] + b: [1676, 1930, 1956, 1924, 1811, 1685, 1640, 1571, 1556, 1544, 1569, 1639, 1710, 1802, 1890, 1881, 1642, 1930, 2013, 1952, 1827, 1711, 1616, 1538, 1488, 1472, 1470, 1494, 1560, 1632, 1724, 1825, 1906, 1803, 1985, 2007, 1894, 1759, 1625, 1524, 1440, 1401, 1380, 1385, 1411, 1463, 1537, 1649, 1765, 1876, 1884, 1996, 1961, 1831, 1676, 1555, 1444, 1367, 1301, 1282, 1295, 1328, 1383, 1468, 1580, 1708, 1833, 1900, 2020, 1914, 1777, 1618, 1508, 1382, 1284, 1227, 1197, 1216, 1251, 1325, 1408, 1511, 1639, 1796, 1915, 1998, 1901, 1716, 1581, 1447, 1327, 1226, 1169, 1134, 1155, 1199, 1269, 1368, 1486, 1608, 1741, 1879, 1959, 1838, 1674, 1531, 1387, 1269, 1158, 1094, 1072, 1082, 1132, 1217, 1323, 1431, 1568, 1706, 1847, 1956, 1806, 1645, 1497, 1352, 1222, 1124, 1059, 1031, 1049, 1093, 1177, 1292, 1398, 1528, 1686, 1800, 1945, 1806, 1634, 1494, 1357, 1211, 1110, 1049, 1024, 1034, 1080, 1174, 1277, 1388, 1519, 1673, 1809, 1989, 1822, 1664, 1497, 1366, 1239, 1115, 1065, 1033, 1049, 1095, 1183, 1295, 1406, 1544, 1679, 1855, 1981, 1838, 1674, 1512, 1384, 1260, 1151, 1086, 1062, 1069, 1121, 1198, 1303, 1423, 1540, 1691, 1847, 1964, 1856, 1683, 1550, 1422, 1294, 1189, 1122, 1103, 1113, 1164, 1237, 1332, 1446, 1574, 1741, 1859, 2008, 1885, 1755, 1606, 1471, 1371, 1263, 1197, 1169, 1182, 1228, 1298, 1392, 1501, 1620, 1763, 1883, 2034, 1950, 1823, 1676, 1540, 1439, 1353, 1298, 1269, 1276, 1325, 1383, 1468, 1575, 1700, 1833, 1923, 2012, 1995, 1894, 1744, 1625, 1519, 1440, 1389, 1361, 1370, 1403, 1467, 1558, 1642, 1773, 1876, 1908, 1903, 2038, 1942, 1844, 1704, 1599, 1528, 1484, 1445, 1457, 1494, 1544, 1602, 1724, 1843, 1906, 1827, 1724, 2051, 2027, 1914, 1827, 1698, 1640, 1577, 1566, 1588, 1604, 1633, 1717, 1811, 1901, 1930, 1665, ] + +... diff --git a/src/ipa/rkisp1/data/ov8858.yaml b/src/ipa/rkisp1/data/ov8858.yaml new file mode 100644 index 00000000..f297b0e0 --- /dev/null +++ b/src/ipa/rkisp1/data/ov8858.yaml @@ -0,0 +1,54 @@ +# SPDX-License-Identifier: CC0-1.0 +%YAML 1.1 +--- +version: 1 +algorithms: + - Agc: + - Awb: + - LensShadingCorrection: + x-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + y-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + sets: + #3264x2448_A_70 - A + - ct: 2856 + resolution: 3264x2448 + r: [4095, 3932, 3584, 3324, 3113, 2934, 2747, 2619, 2566, 2579, 2671, 2816, 3009, 3217, 3444, 3843, 4095, 4095, 3658, 3343, 3088, 2867, 2620, 2404, 2271, 2207, 2229, 2315, 2485, 2727, 2965, 3232, 3500, 4057, 3926, 3482, 3187, 2914, 2612, 2330, 2112, 1976, 1917, 1931, 2028, 2198, 2456, 2762, 3042, 3335, 3770, 3739, 3331, 3029, 2720, 2364, 2070, 1852, 1718, 1655, 1669, 1765, 1940, 2207, 2538, 2878, 3183, 3565, 3590, 3209, 2910, 2524, 2156, 1860, 1642, 1493, 1431, 1446, 1551, 1734, 1986, 2338, 2721, 3075, 3405, 3484, 3116, 2778, 2373, 1997, 1698, 1466, 1315, 1254, 1272, 1374, 1562, 1825, 2169, 2587, 2946, 3317, 3415, 3044, 2682, 2252, 1873, 1574, 1336, 1192, 1126, 1146, 1249, 1437, 1712, 2050, 2462, 2877, 3238, 3355, 3002, 2619, 2171, 1800, 1490, 1259, 1112, 1051, 1073, 1173, 1359, 1635, 1977, 2388, 2813, 3182, 3348, 2969, 2587, 2138, 1768, 1457, 1228, 1085, 1024, 1043, 1144, 1326, 1603, 1950, 2364, 2783, 3170, 3344, 2984, 2594, 2152, 1776, 1468, 1239, 1098, 1041, 1061, 1161, 1342, 1617, 1962, 2373, 2798, 3177, 3388, 3011, 2637, 2207, 1829, 1528, 1298, 1158, 1100, 1120, 1217, 1408, 1677, 2018, 2429, 2841, 3192, 3442, 3064, 2718, 2301, 1929, 1633, 1405, 1263, 1205, 1224, 1326, 1513, 1777, 2119, 2525, 2903, 3274, 3557, 3138, 2822, 2435, 2066, 1775, 1558, 1414, 1355, 1378, 1478, 1663, 1927, 2255, 2657, 2987, 3369, 3682, 3256, 2940, 2604, 2252, 1958, 1748, 1609, 1557, 1576, 1677, 1857, 2106, 2445, 2793, 3096, 3526, 3874, 3380, 3075, 2783, 2472, 2189, 1974, 1846, 1790, 1811, 1909, 2086, 2342, 2643, 2934, 3247, 3743, 4095, 3583, 3218, 2950, 2708, 2456, 2257, 2114, 2064, 2083, 2185, 2364, 2598, 2856, 3111, 3444, 4045, 4095, 3842, 3474, 3155, 2950, 2731, 2575, 2440, 2388, 2413, 2499, 2659, 2846, 3056, 3334, 3796, 4095, ] + gr: [3246, 2753, 2547, 2359, 2249, 2148, 2052, 1977, 1938, 1947, 1995, 2082, 2183, 2277, 2411, 2655, 2957, 2906, 2568, 2361, 2223, 2092, 1964, 1850, 1767, 1735, 1740, 1790, 1881, 2002, 2124, 2265, 2437, 2751, 2740, 2449, 2261, 2106, 1950, 1798, 1681, 1604, 1570, 1577, 1626, 1714, 1846, 2012, 2149, 2322, 2581, 2628, 2348, 2169, 2000, 1808, 1654, 1539, 1460, 1419, 1429, 1483, 1576, 1710, 1881, 2062, 2231, 2443, 2541, 2279, 2102, 1891, 1687, 1536, 1420, 1330, 1289, 1298, 1362, 1459, 1589, 1773, 1967, 2168, 2352, 2459, 2226, 2027, 1797, 1599, 1442, 1313, 1221, 1179, 1190, 1253, 1359, 1497, 1675, 1898, 2100, 2286, 2406, 2180, 1976, 1732, 1531, 1369, 1231, 1140, 1096, 1109, 1174, 1284, 1431, 1608, 1824, 2055, 2245, 2374, 2148, 1928, 1684, 1484, 1317, 1178, 1084, 1043, 1058, 1122, 1234, 1387, 1562, 1785, 2020, 2218, 2363, 2140, 1910, 1663, 1464, 1292, 1156, 1063, 1024, 1036, 1102, 1214, 1363, 1547, 1762, 2004, 2194, 2366, 2136, 1917, 1670, 1469, 1302, 1163, 1073, 1032, 1047, 1111, 1223, 1373, 1552, 1775, 2009, 2206, 2383, 2158, 1940, 1703, 1506, 1339, 1201, 1112, 1072, 1087, 1150, 1265, 1408, 1584, 1805, 2030, 2228, 2434, 2189, 1994, 1757, 1557, 1400, 1270, 1181, 1142, 1154, 1218, 1328, 1468, 1640, 1860, 2068, 2267, 2497, 2235, 2043, 1837, 1630, 1477, 1360, 1273, 1238, 1249, 1310, 1412, 1544, 1725, 1924, 2124, 2329, 2592, 2305, 2109, 1925, 1731, 1576, 1460, 1384, 1350, 1364, 1422, 1513, 1648, 1818, 2009, 2174, 2427, 2699, 2379, 2188, 2022, 1860, 1696, 1588, 1510, 1480, 1489, 1543, 1637, 1771, 1937, 2072, 2269, 2546, 2862, 2514, 2276, 2120, 1983, 1850, 1737, 1664, 1628, 1642, 1695, 1787, 1914, 2043, 2182, 2390, 2734, 3175, 2661, 2434, 2232, 2119, 2004, 1921, 1849, 1813, 1816, 1874, 1959, 2049, 2159, 2317, 2604, 2891, ] + gb: [3248, 2762, 2549, 2352, 2241, 2135, 2024, 1949, 1910, 1923, 1970, 2058, 2167, 2278, 2427, 2679, 3003, 2939, 2581, 2369, 2212, 2084, 1945, 1829, 1743, 1710, 1713, 1773, 1861, 1999, 2127, 2278, 2456, 2799, 2766, 2468, 2268, 2114, 1949, 1788, 1666, 1587, 1550, 1557, 1612, 1711, 1849, 2022, 2168, 2354, 2627, 2659, 2372, 2185, 2003, 1808, 1646, 1531, 1447, 1404, 1415, 1474, 1573, 1711, 1896, 2082, 2269, 2494, 2572, 2297, 2122, 1903, 1694, 1534, 1411, 1322, 1278, 1294, 1356, 1459, 1599, 1796, 2003, 2204, 2415, 2494, 2259, 2053, 1813, 1609, 1442, 1310, 1216, 1174, 1186, 1254, 1368, 1512, 1699, 1934, 2147, 2352, 2450, 2219, 2006, 1751, 1543, 1372, 1233, 1134, 1096, 1108, 1175, 1292, 1449, 1639, 1865, 2103, 2311, 2424, 2182, 1960, 1705, 1498, 1324, 1181, 1086, 1041, 1059, 1127, 1245, 1404, 1594, 1828, 2078, 2281, 2405, 2182, 1937, 1687, 1480, 1301, 1161, 1062, 1024, 1038, 1107, 1224, 1384, 1581, 1812, 2057, 2272, 2417, 2181, 1951, 1695, 1487, 1312, 1167, 1074, 1032, 1050, 1118, 1235, 1397, 1586, 1820, 2069, 2278, 2450, 2196, 1974, 1724, 1522, 1348, 1205, 1113, 1075, 1089, 1153, 1276, 1430, 1619, 1849, 2095, 2291, 2483, 2229, 2022, 1779, 1573, 1408, 1272, 1181, 1142, 1156, 1223, 1339, 1488, 1673, 1905, 2123, 2343, 2541, 2277, 2079, 1856, 1643, 1485, 1361, 1270, 1235, 1248, 1313, 1421, 1566, 1751, 1971, 2173, 2399, 2635, 2339, 2138, 1944, 1745, 1580, 1458, 1380, 1344, 1359, 1418, 1519, 1661, 1849, 2048, 2222, 2487, 2743, 2413, 2216, 2037, 1864, 1702, 1579, 1500, 1467, 1479, 1537, 1642, 1777, 1958, 2108, 2315, 2617, 2890, 2544, 2293, 2131, 1988, 1842, 1726, 1651, 1612, 1628, 1684, 1783, 1920, 2060, 2213, 2432, 2804, 3189, 2693, 2445, 2245, 2116, 2000, 1902, 1826, 1789, 1798, 1857, 1950, 2045, 2170, 2337, 2642, 2952, ] + b: [3058, 2592, 2385, 2213, 2113, 2016, 1936, 1869, 1845, 1844, 1887, 1965, 2056, 2162, 2288, 2535, 2815, 2739, 2411, 2208, 2067, 1959, 1848, 1747, 1681, 1655, 1659, 1709, 1788, 1909, 2024, 2149, 2317, 2640, 2595, 2298, 2119, 1981, 1836, 1704, 1608, 1543, 1517, 1519, 1561, 1646, 1774, 1925, 2042, 2217, 2463, 2469, 2218, 2033, 1880, 1710, 1575, 1479, 1419, 1384, 1398, 1439, 1527, 1647, 1810, 1968, 2125, 2330, 2404, 2138, 1979, 1785, 1611, 1474, 1374, 1303, 1271, 1280, 1336, 1421, 1545, 1706, 1895, 2058, 2261, 2341, 2104, 1920, 1713, 1535, 1397, 1284, 1203, 1168, 1181, 1237, 1339, 1462, 1631, 1822, 2012, 2194, 2293, 2063, 1882, 1662, 1480, 1336, 1206, 1128, 1092, 1106, 1165, 1270, 1407, 1565, 1767, 1965, 2158, 2262, 2048, 1845, 1625, 1450, 1289, 1165, 1079, 1041, 1057, 1122, 1223, 1370, 1534, 1725, 1940, 2129, 2258, 2046, 1834, 1605, 1433, 1273, 1147, 1058, 1024, 1037, 1102, 1209, 1352, 1519, 1711, 1928, 2110, 2261, 2041, 1847, 1615, 1442, 1282, 1151, 1069, 1028, 1048, 1109, 1218, 1359, 1523, 1716, 1927, 2124, 2282, 2064, 1864, 1645, 1461, 1316, 1184, 1103, 1070, 1083, 1143, 1249, 1389, 1552, 1745, 1948, 2141, 2326, 2090, 1907, 1695, 1505, 1362, 1247, 1164, 1133, 1144, 1202, 1307, 1436, 1597, 1794, 1985, 2182, 2380, 2132, 1952, 1758, 1569, 1429, 1323, 1247, 1215, 1229, 1283, 1379, 1506, 1669, 1851, 2025, 2222, 2458, 2187, 2000, 1835, 1653, 1511, 1407, 1344, 1314, 1326, 1374, 1461, 1583, 1749, 1916, 2069, 2319, 2559, 2255, 2066, 1910, 1757, 1616, 1512, 1450, 1427, 1431, 1481, 1565, 1688, 1850, 1970, 2151, 2432, 2700, 2384, 2151, 1995, 1874, 1747, 1637, 1577, 1552, 1563, 1610, 1689, 1817, 1934, 2064, 2254, 2607, 3019, 2498, 2301, 2107, 1991, 1888, 1808, 1742, 1716, 1716, 1775, 1847, 1930, 2044, 2200, 2494, 2763, ] + #3264x2448_D50_70 - D50 + - ct: 5003 + resolution: 3264x2448 + r: [4095, 3613, 3287, 3049, 2867, 2696, 2545, 2427, 2374, 2387, 2473, 2592, 2779, 2948, 3156, 3544, 3984, 3842, 3341, 3076, 2850, 2650, 2438, 2245, 2123, 2065, 2085, 2164, 2316, 2531, 2745, 2979, 3232, 3738, 3605, 3194, 2924, 2694, 2430, 2182, 1986, 1867, 1814, 1824, 1909, 2060, 2301, 2567, 2807, 3088, 3473, 3432, 3048, 2806, 2516, 2208, 1953, 1758, 1638, 1581, 1596, 1679, 1836, 2061, 2367, 2669, 2928, 3285, 3275, 2940, 2676, 2354, 2027, 1763, 1572, 1443, 1385, 1398, 1496, 1648, 1878, 2184, 2527, 2813, 3150, 3181, 2855, 2566, 2201, 1877, 1622, 1413, 1284, 1226, 1243, 1333, 1502, 1732, 2033, 2391, 2731, 3021, 3116, 2786, 2474, 2100, 1773, 1510, 1304, 1171, 1114, 1131, 1224, 1389, 1630, 1925, 2296, 2638, 2973, 3060, 2752, 2410, 2024, 1710, 1437, 1231, 1101, 1044, 1063, 1152, 1318, 1559, 1865, 2228, 2600, 2919, 3044, 2730, 2388, 2001, 1677, 1403, 1204, 1073, 1024, 1036, 1128, 1289, 1534, 1839, 2198, 2569, 2903, 3039, 2734, 2392, 2004, 1684, 1417, 1210, 1086, 1031, 1050, 1138, 1306, 1544, 1845, 2204, 2576, 2916, 3099, 2751, 2432, 2050, 1732, 1469, 1264, 1136, 1085, 1101, 1194, 1358, 1596, 1891, 2264, 2612, 2929, 3131, 2808, 2499, 2142, 1811, 1556, 1354, 1230, 1178, 1195, 1286, 1451, 1683, 1986, 2341, 2678, 2991, 3235, 2875, 2592, 2258, 1936, 1679, 1491, 1363, 1310, 1332, 1421, 1582, 1813, 2113, 2455, 2737, 3096, 3357, 2965, 2692, 2412, 2094, 1840, 1650, 1533, 1485, 1501, 1591, 1747, 1979, 2275, 2582, 2840, 3239, 3543, 3094, 2808, 2555, 2298, 2043, 1851, 1737, 1685, 1703, 1791, 1955, 2178, 2459, 2700, 2992, 3425, 3749, 3286, 2950, 2712, 2495, 2282, 2093, 1972, 1919, 1950, 2033, 2186, 2412, 2625, 2856, 3165, 3713, 4095, 3514, 3156, 2880, 2701, 2511, 2370, 2249, 2203, 2222, 2309, 2454, 2607, 2813, 3060, 3476, 3973, ] + gr: [3126, 2654, 2449, 2277, 2167, 2065, 1967, 1898, 1859, 1866, 1917, 2000, 2085, 2198, 2323, 2565, 2866, 2805, 2487, 2288, 2151, 2020, 1894, 1781, 1706, 1672, 1681, 1731, 1812, 1937, 2057, 2191, 2358, 2670, 2662, 2378, 2191, 2044, 1889, 1739, 1629, 1554, 1520, 1528, 1576, 1662, 1791, 1947, 2083, 2253, 2496, 2545, 2278, 2108, 1939, 1753, 1606, 1498, 1421, 1385, 1393, 1444, 1533, 1656, 1830, 2001, 2166, 2370, 2460, 2205, 2037, 1834, 1644, 1494, 1384, 1301, 1264, 1275, 1328, 1422, 1547, 1723, 1914, 2100, 2284, 2377, 2164, 1972, 1748, 1557, 1410, 1287, 1200, 1162, 1174, 1231, 1334, 1463, 1632, 1846, 2043, 2218, 2335, 2117, 1922, 1686, 1494, 1339, 1213, 1125, 1090, 1100, 1157, 1263, 1401, 1569, 1778, 1995, 2176, 2311, 2081, 1879, 1641, 1452, 1292, 1163, 1078, 1038, 1055, 1111, 1217, 1356, 1527, 1740, 1960, 2152, 2296, 2074, 1861, 1621, 1434, 1273, 1142, 1058, 1024, 1032, 1093, 1197, 1338, 1508, 1718, 1949, 2134, 2292, 2079, 1863, 1628, 1441, 1280, 1149, 1065, 1029, 1042, 1100, 1207, 1347, 1519, 1728, 1951, 2144, 2319, 2089, 1890, 1658, 1470, 1312, 1185, 1101, 1065, 1077, 1138, 1242, 1378, 1549, 1757, 1976, 2157, 2353, 2128, 1936, 1706, 1519, 1366, 1249, 1162, 1129, 1142, 1198, 1303, 1434, 1600, 1808, 2011, 2202, 2417, 2165, 1985, 1785, 1586, 1443, 1327, 1249, 1217, 1226, 1283, 1378, 1506, 1675, 1874, 2060, 2255, 2508, 2231, 2044, 1867, 1681, 1530, 1425, 1348, 1320, 1331, 1386, 1476, 1601, 1770, 1955, 2110, 2345, 2616, 2306, 2124, 1958, 1799, 1648, 1536, 1466, 1437, 1448, 1497, 1589, 1716, 1880, 2017, 2199, 2467, 2754, 2434, 2202, 2053, 1920, 1788, 1681, 1608, 1574, 1588, 1641, 1726, 1853, 1980, 2112, 2304, 2656, 3054, 2562, 2347, 2155, 2038, 1931, 1843, 1778, 1742, 1748, 1803, 1887, 1976, 2089, 2229, 2513, 2806, ] + gb: [3110, 2650, 2442, 2268, 2159, 2061, 1963, 1887, 1855, 1860, 1910, 1995, 2091, 2202, 2330, 2589, 2876, 2817, 2480, 2285, 2141, 2019, 1890, 1777, 1697, 1664, 1670, 1725, 1811, 1936, 2060, 2200, 2370, 2701, 2645, 2378, 2188, 2041, 1882, 1735, 1623, 1548, 1513, 1524, 1567, 1660, 1798, 1959, 2096, 2272, 2534, 2550, 2276, 2104, 1935, 1753, 1601, 1494, 1417, 1377, 1388, 1441, 1533, 1660, 1839, 2014, 2181, 2402, 2452, 2209, 2036, 1834, 1641, 1493, 1377, 1298, 1257, 1272, 1328, 1426, 1554, 1732, 1932, 2122, 2315, 2387, 2165, 1969, 1749, 1559, 1407, 1285, 1197, 1159, 1171, 1233, 1337, 1472, 1649, 1862, 2070, 2256, 2336, 2119, 1926, 1684, 1495, 1340, 1210, 1124, 1087, 1100, 1159, 1269, 1411, 1582, 1801, 2019, 2219, 2312, 2092, 1885, 1644, 1453, 1295, 1164, 1077, 1036, 1054, 1115, 1221, 1370, 1544, 1763, 1995, 2189, 2297, 2086, 1862, 1629, 1435, 1275, 1145, 1058, 1024, 1036, 1097, 1205, 1352, 1529, 1746, 1980, 2180, 2305, 2091, 1869, 1634, 1444, 1283, 1151, 1066, 1030, 1045, 1106, 1215, 1360, 1538, 1754, 1987, 2182, 2329, 2104, 1896, 1662, 1476, 1315, 1187, 1101, 1066, 1081, 1142, 1249, 1395, 1566, 1785, 2007, 2205, 2369, 2133, 1942, 1715, 1523, 1370, 1247, 1163, 1128, 1141, 1203, 1309, 1447, 1618, 1834, 2043, 2240, 2430, 2181, 1995, 1785, 1588, 1444, 1330, 1247, 1216, 1227, 1287, 1387, 1520, 1694, 1902, 2086, 2299, 2513, 2244, 2058, 1879, 1688, 1534, 1424, 1350, 1317, 1331, 1388, 1478, 1613, 1786, 1975, 2139, 2392, 2625, 2320, 2129, 1965, 1806, 1649, 1539, 1465, 1435, 1446, 1500, 1596, 1728, 1895, 2039, 2230, 2517, 2757, 2450, 2210, 2061, 1924, 1795, 1680, 1608, 1572, 1587, 1638, 1732, 1863, 1994, 2136, 2337, 2692, 3076, 2574, 2347, 2163, 2039, 1933, 1842, 1764, 1738, 1749, 1804, 1883, 1981, 2095, 2253, 2542, 2845, ] + b: [2915, 2480, 2280, 2121, 2025, 1929, 1854, 1793, 1773, 1769, 1815, 1879, 1970, 2069, 2185, 2406, 2670, 2610, 2321, 2132, 1997, 1889, 1781, 1681, 1616, 1587, 1598, 1642, 1721, 1831, 1945, 2068, 2221, 2492, 2485, 2222, 2043, 1913, 1775, 1639, 1541, 1485, 1457, 1466, 1500, 1579, 1705, 1855, 1972, 2122, 2360, 2380, 2127, 1969, 1815, 1647, 1516, 1427, 1367, 1342, 1342, 1390, 1463, 1577, 1739, 1901, 2041, 2243, 2297, 2061, 1914, 1722, 1549, 1418, 1325, 1261, 1233, 1241, 1287, 1369, 1483, 1638, 1820, 1994, 2158, 2233, 2025, 1852, 1646, 1474, 1347, 1242, 1171, 1142, 1152, 1203, 1293, 1409, 1559, 1758, 1931, 2104, 2198, 1987, 1808, 1594, 1424, 1290, 1178, 1104, 1079, 1088, 1139, 1232, 1358, 1505, 1700, 1893, 2077, 2165, 1972, 1772, 1561, 1393, 1250, 1139, 1065, 1035, 1051, 1101, 1196, 1323, 1473, 1656, 1867, 2046, 2166, 1960, 1769, 1542, 1381, 1234, 1121, 1048, 1024, 1034, 1084, 1178, 1308, 1462, 1651, 1855, 2036, 2166, 1961, 1774, 1548, 1380, 1240, 1126, 1054, 1025, 1041, 1092, 1186, 1315, 1464, 1654, 1862, 2041, 2184, 1975, 1794, 1576, 1408, 1268, 1155, 1082, 1056, 1066, 1118, 1211, 1338, 1492, 1678, 1877, 2063, 2222, 1999, 1826, 1623, 1441, 1314, 1208, 1137, 1109, 1120, 1171, 1261, 1383, 1533, 1724, 1912, 2071, 2265, 2043, 1871, 1684, 1507, 1372, 1276, 1211, 1183, 1193, 1242, 1327, 1447, 1600, 1781, 1941, 2132, 2351, 2095, 1928, 1760, 1588, 1454, 1357, 1297, 1271, 1282, 1326, 1406, 1523, 1684, 1849, 1988, 2215, 2439, 2167, 1992, 1847, 1695, 1551, 1455, 1397, 1372, 1381, 1422, 1507, 1622, 1785, 1897, 2068, 2323, 2564, 2289, 2068, 1923, 1803, 1684, 1581, 1520, 1495, 1504, 1546, 1623, 1752, 1866, 1990, 2170, 2488, 2838, 2390, 2201, 2026, 1908, 1814, 1736, 1669, 1643, 1654, 1700, 1774, 1862, 1964, 2101, 2363, 2613, ] + #3264x2448_D65_70 - D65 + - ct: 6504 + resolution: 3264x2448 + r: [4095, 3609, 3293, 3044, 2858, 2708, 2555, 2426, 2383, 2390, 2485, 2610, 2769, 2948, 3150, 3554, 4002, 3858, 3341, 3067, 2851, 2656, 2436, 2251, 2136, 2083, 2092, 2169, 2327, 2531, 2747, 2983, 3227, 3713, 3579, 3194, 2920, 2704, 2441, 2187, 2002, 1873, 1824, 1838, 1920, 2070, 2308, 2573, 2812, 3074, 3487, 3428, 3039, 2791, 2525, 2213, 1962, 1775, 1650, 1593, 1609, 1691, 1852, 2077, 2379, 2680, 2932, 3261, 3283, 2933, 2685, 2353, 2038, 1779, 1582, 1449, 1395, 1407, 1501, 1661, 1893, 2189, 2527, 2825, 3136, 3179, 2846, 2572, 2206, 1894, 1626, 1426, 1292, 1234, 1250, 1343, 1513, 1744, 2046, 2404, 2725, 3037, 3115, 2787, 2479, 2109, 1786, 1520, 1312, 1180, 1120, 1136, 1229, 1399, 1641, 1938, 2296, 2645, 2956, 3052, 2747, 2419, 2039, 1716, 1448, 1238, 1106, 1047, 1068, 1160, 1326, 1572, 1876, 2228, 2597, 2913, 3044, 2732, 2389, 2006, 1687, 1415, 1208, 1079, 1024, 1040, 1132, 1296, 1542, 1843, 2206, 2571, 2901, 3049, 2721, 2397, 2016, 1694, 1426, 1215, 1091, 1035, 1055, 1145, 1312, 1550, 1859, 2211, 2575, 2919, 3078, 2759, 2434, 2063, 1737, 1478, 1271, 1141, 1088, 1106, 1199, 1367, 1603, 1905, 2267, 2616, 2927, 3143, 2793, 2505, 2140, 1828, 1564, 1364, 1237, 1183, 1202, 1290, 1461, 1695, 1996, 2340, 2676, 2993, 3228, 2867, 2595, 2268, 1942, 1689, 1499, 1370, 1316, 1340, 1431, 1593, 1823, 2117, 2461, 2756, 3077, 3371, 2972, 2696, 2408, 2104, 1852, 1661, 1541, 1491, 1505, 1599, 1758, 1987, 2276, 2582, 2849, 3235, 3523, 3088, 2811, 2565, 2302, 2046, 1860, 1745, 1694, 1716, 1800, 1961, 2188, 2460, 2699, 2987, 3420, 3757, 3276, 2947, 2706, 2497, 2283, 2099, 1979, 1929, 1947, 2032, 2199, 2409, 2626, 2852, 3158, 3715, 4095, 3473, 3168, 2886, 2708, 2514, 2365, 2251, 2203, 2229, 2315, 2440, 2623, 2806, 3061, 3472, 3935, ] + gr: [3109, 2638, 2434, 2267, 2147, 2051, 1954, 1871, 1847, 1848, 1903, 1981, 2080, 2184, 2312, 2555, 2821, 2799, 2481, 2275, 2132, 2010, 1885, 1775, 1698, 1665, 1670, 1719, 1802, 1926, 2045, 2182, 2346, 2660, 2643, 2361, 2180, 2032, 1880, 1730, 1618, 1547, 1513, 1520, 1566, 1652, 1785, 1940, 2074, 2238, 2491, 2534, 2272, 2096, 1934, 1743, 1597, 1491, 1416, 1379, 1389, 1437, 1526, 1653, 1822, 1991, 2156, 2356, 2445, 2203, 2031, 1828, 1639, 1492, 1376, 1298, 1261, 1270, 1325, 1418, 1540, 1717, 1908, 2093, 2270, 2374, 2153, 1965, 1746, 1552, 1404, 1282, 1198, 1160, 1173, 1228, 1331, 1459, 1629, 1836, 2038, 2206, 2328, 2111, 1916, 1679, 1490, 1336, 1208, 1123, 1087, 1097, 1156, 1260, 1398, 1564, 1772, 1985, 2174, 2292, 2087, 1871, 1639, 1448, 1292, 1161, 1077, 1038, 1051, 1111, 1214, 1355, 1521, 1732, 1955, 2142, 2290, 2067, 1852, 1619, 1430, 1271, 1141, 1055, 1024, 1033, 1091, 1194, 1335, 1507, 1715, 1939, 2133, 2285, 2073, 1861, 1623, 1436, 1278, 1147, 1065, 1028, 1042, 1099, 1204, 1345, 1514, 1723, 1945, 2131, 2312, 2082, 1884, 1653, 1467, 1308, 1181, 1100, 1065, 1076, 1133, 1240, 1377, 1543, 1754, 1968, 2151, 2350, 2114, 1928, 1703, 1515, 1364, 1244, 1161, 1126, 1138, 1197, 1300, 1429, 1595, 1803, 2003, 2192, 2404, 2166, 1977, 1775, 1581, 1435, 1322, 1245, 1213, 1223, 1278, 1375, 1504, 1671, 1872, 2048, 2255, 2499, 2220, 2040, 1859, 1678, 1526, 1416, 1345, 1314, 1327, 1380, 1468, 1596, 1763, 1948, 2105, 2337, 2607, 2299, 2116, 1951, 1792, 1638, 1534, 1458, 1431, 1443, 1492, 1583, 1709, 1873, 2004, 2191, 2463, 2733, 2429, 2197, 2044, 1912, 1782, 1670, 1601, 1568, 1581, 1630, 1719, 1847, 1973, 2107, 2304, 2637, 3045, 2548, 2338, 2143, 2029, 1920, 1832, 1762, 1736, 1737, 1795, 1871, 1961, 2070, 2227, 2493, 2794, ] + gb: [3118, 2634, 2434, 2259, 2154, 2052, 1949, 1888, 1844, 1853, 1900, 1987, 2084, 2192, 2325, 2571, 2855, 2786, 2469, 2271, 2125, 2010, 1882, 1775, 1690, 1662, 1669, 1719, 1805, 1928, 2050, 2192, 2362, 2674, 2635, 2358, 2173, 2030, 1872, 1729, 1620, 1547, 1508, 1516, 1565, 1654, 1790, 1947, 2082, 2257, 2516, 2527, 2260, 2094, 1923, 1744, 1598, 1486, 1411, 1374, 1388, 1438, 1525, 1657, 1830, 2001, 2169, 2382, 2431, 2196, 2021, 1824, 1634, 1486, 1376, 1296, 1254, 1269, 1325, 1422, 1547, 1722, 1922, 2106, 2297, 2367, 2146, 1960, 1736, 1550, 1402, 1281, 1196, 1157, 1169, 1230, 1333, 1466, 1640, 1848, 2055, 2232, 2320, 2105, 1909, 1675, 1489, 1335, 1208, 1120, 1083, 1099, 1158, 1265, 1405, 1575, 1794, 2006, 2206, 2295, 2075, 1873, 1634, 1447, 1292, 1162, 1076, 1037, 1052, 1113, 1220, 1363, 1541, 1748, 1982, 2173, 2278, 2071, 1850, 1619, 1430, 1271, 1144, 1056, 1024, 1035, 1096, 1202, 1348, 1521, 1736, 1966, 2162, 2290, 2073, 1856, 1626, 1439, 1279, 1150, 1065, 1029, 1043, 1104, 1211, 1355, 1532, 1744, 1973, 2166, 2302, 2090, 1883, 1651, 1466, 1313, 1184, 1100, 1065, 1078, 1139, 1246, 1388, 1557, 1771, 1995, 2185, 2344, 2122, 1927, 1706, 1513, 1368, 1245, 1163, 1126, 1140, 1200, 1305, 1441, 1612, 1823, 2030, 2225, 2411, 2166, 1983, 1776, 1584, 1439, 1324, 1245, 1213, 1225, 1283, 1383, 1513, 1688, 1887, 2074, 2281, 2493, 2226, 2042, 1867, 1679, 1535, 1418, 1349, 1317, 1329, 1382, 1476, 1607, 1780, 1968, 2128, 2376, 2613, 2305, 2120, 1955, 1797, 1642, 1536, 1460, 1430, 1446, 1496, 1591, 1722, 1887, 2029, 2217, 2500, 2745, 2434, 2202, 2052, 1917, 1784, 1676, 1603, 1572, 1584, 1634, 1731, 1857, 1986, 2128, 2326, 2675, 3059, 2546, 2342, 2153, 2041, 1930, 1833, 1767, 1731, 1739, 1795, 1880, 1970, 2091, 2242, 2528, 2816, ] + b: [2873, 2460, 2268, 2104, 2011, 1921, 1837, 1775, 1753, 1759, 1798, 1871, 1956, 2059, 2172, 2375, 2631, 2606, 2309, 2117, 1990, 1879, 1768, 1673, 1606, 1582, 1588, 1633, 1705, 1820, 1931, 2051, 2202, 2475, 2458, 2204, 2033, 1901, 1760, 1630, 1533, 1475, 1452, 1455, 1495, 1572, 1694, 1839, 1962, 2110, 2332, 2361, 2122, 1964, 1800, 1640, 1506, 1417, 1362, 1332, 1340, 1378, 1452, 1573, 1727, 1887, 2031, 2222, 2280, 2053, 1893, 1713, 1542, 1414, 1321, 1257, 1229, 1235, 1282, 1365, 1470, 1633, 1804, 1974, 2144, 2220, 2010, 1846, 1638, 1472, 1340, 1238, 1168, 1141, 1149, 1201, 1288, 1403, 1551, 1742, 1923, 2094, 2180, 1986, 1797, 1591, 1416, 1287, 1176, 1105, 1077, 1088, 1137, 1230, 1350, 1502, 1688, 1885, 2062, 2161, 1955, 1767, 1554, 1387, 1249, 1135, 1064, 1035, 1050, 1097, 1191, 1317, 1471, 1654, 1863, 2027, 2145, 1955, 1757, 1539, 1375, 1233, 1121, 1047, 1024, 1033, 1086, 1175, 1303, 1454, 1640, 1848, 2020, 2154, 1953, 1760, 1542, 1379, 1237, 1124, 1053, 1027, 1038, 1089, 1182, 1310, 1463, 1645, 1848, 2028, 2167, 1965, 1781, 1567, 1400, 1266, 1152, 1083, 1054, 1066, 1117, 1209, 1334, 1483, 1674, 1867, 2043, 2207, 1995, 1816, 1613, 1440, 1311, 1204, 1137, 1109, 1118, 1169, 1258, 1378, 1527, 1713, 1899, 2067, 2247, 2035, 1862, 1676, 1500, 1369, 1274, 1208, 1182, 1190, 1237, 1324, 1439, 1592, 1770, 1930, 2126, 2337, 2085, 1919, 1752, 1585, 1447, 1353, 1294, 1270, 1278, 1325, 1401, 1517, 1672, 1842, 1979, 2199, 2421, 2154, 1984, 1835, 1686, 1549, 1450, 1393, 1369, 1381, 1418, 1500, 1617, 1769, 1886, 2055, 2310, 2539, 2273, 2056, 1921, 1791, 1680, 1576, 1515, 1490, 1499, 1544, 1624, 1737, 1860, 1983, 2162, 2458, 2817, 2386, 2185, 2018, 1904, 1802, 1724, 1668, 1638, 1646, 1685, 1765, 1851, 1953, 2089, 2342, 2607, ] + #3264x2448_D75_70 - D75 + - ct: 7504 + resolution: 3264x2448 + r: [4095, 3519, 3218, 2985, 2815, 2645, 2509, 2389, 2327, 2355, 2435, 2555, 2710, 2908, 3107, 3455, 3909, 3739, 3284, 3001, 2795, 2603, 2392, 2213, 2093, 2049, 2058, 2135, 2281, 2493, 2685, 2920, 3163, 3650, 3536, 3113, 2865, 2641, 2393, 2149, 1967, 1852, 1802, 1811, 1894, 2037, 2267, 2525, 2747, 3014, 3388, 3358, 2983, 2730, 2466, 2185, 1933, 1755, 1634, 1579, 1590, 1678, 1826, 2049, 2329, 2621, 2864, 3207, 3196, 2870, 2628, 2311, 2001, 1757, 1569, 1439, 1382, 1396, 1488, 1645, 1865, 2163, 2477, 2773, 3063, 3115, 2785, 2512, 2175, 1859, 1619, 1412, 1285, 1228, 1243, 1335, 1502, 1726, 2015, 2362, 2666, 2951, 3027, 2733, 2430, 2073, 1761, 1507, 1303, 1172, 1116, 1132, 1223, 1388, 1622, 1913, 2253, 2591, 2908, 2995, 2683, 2368, 2007, 1696, 1435, 1234, 1104, 1045, 1068, 1154, 1317, 1561, 1846, 2189, 2547, 2845, 2960, 2670, 2344, 1972, 1667, 1403, 1205, 1074, 1024, 1038, 1128, 1290, 1526, 1816, 2166, 2519, 2841, 2985, 2665, 2355, 1980, 1675, 1416, 1210, 1087, 1032, 1052, 1141, 1300, 1537, 1836, 2171, 2530, 2837, 3017, 2686, 2380, 2030, 1721, 1465, 1264, 1140, 1086, 1104, 1190, 1358, 1586, 1879, 2221, 2556, 2871, 3062, 2738, 2456, 2107, 1796, 1549, 1356, 1232, 1175, 1192, 1285, 1446, 1672, 1961, 2298, 2626, 2926, 3172, 2807, 2533, 2227, 1916, 1670, 1485, 1356, 1308, 1325, 1415, 1577, 1801, 2085, 2411, 2676, 3033, 3272, 2904, 2640, 2360, 2069, 1821, 1639, 1525, 1476, 1492, 1580, 1735, 1951, 2232, 2536, 2784, 3143, 3481, 3014, 2752, 2511, 2256, 2018, 1835, 1719, 1672, 1687, 1777, 1931, 2151, 2414, 2647, 2922, 3369, 3652, 3193, 2877, 2650, 2441, 2239, 2058, 1946, 1895, 1918, 1999, 2153, 2365, 2572, 2794, 3086, 3594, 4095, 3408, 3097, 2824, 2643, 2469, 2323, 2215, 2158, 2187, 2264, 2412, 2554, 2742, 2991, 3425, 3869, ] + gr: [3118, 2636, 2433, 2254, 2141, 2035, 1950, 1873, 1840, 1849, 1893, 1975, 2079, 2175, 2303, 2544, 2821, 2787, 2475, 2277, 2131, 2003, 1880, 1767, 1691, 1656, 1665, 1715, 1794, 1921, 2037, 2179, 2343, 2648, 2644, 2359, 2180, 2024, 1877, 1724, 1615, 1543, 1508, 1516, 1561, 1650, 1780, 1935, 2071, 2236, 2483, 2533, 2271, 2094, 1926, 1742, 1593, 1487, 1413, 1377, 1385, 1434, 1520, 1647, 1819, 1984, 2150, 2358, 2451, 2197, 2027, 1823, 1635, 1491, 1375, 1296, 1258, 1268, 1324, 1417, 1538, 1712, 1905, 2087, 2270, 2374, 2145, 1961, 1741, 1549, 1402, 1281, 1196, 1159, 1169, 1227, 1325, 1458, 1624, 1834, 2028, 2212, 2324, 2109, 1912, 1678, 1487, 1335, 1208, 1123, 1087, 1096, 1155, 1260, 1394, 1560, 1769, 1981, 2168, 2302, 2071, 1872, 1633, 1447, 1290, 1159, 1076, 1038, 1052, 1109, 1211, 1356, 1521, 1728, 1954, 2134, 2285, 2065, 1850, 1617, 1427, 1269, 1142, 1054, 1024, 1033, 1090, 1194, 1333, 1502, 1714, 1936, 2128, 2281, 2075, 1855, 1621, 1435, 1277, 1146, 1064, 1030, 1042, 1100, 1203, 1341, 1513, 1721, 1948, 2122, 2312, 2076, 1880, 1647, 1463, 1308, 1180, 1099, 1064, 1075, 1132, 1237, 1375, 1539, 1746, 1961, 2151, 2345, 2115, 1924, 1700, 1514, 1361, 1244, 1160, 1126, 1137, 1194, 1298, 1427, 1592, 1802, 2001, 2181, 2409, 2156, 1978, 1774, 1578, 1435, 1320, 1242, 1211, 1221, 1276, 1372, 1498, 1668, 1864, 2047, 2237, 2494, 2218, 2033, 1858, 1672, 1520, 1415, 1343, 1311, 1324, 1376, 1462, 1590, 1758, 1940, 2097, 2340, 2607, 2290, 2110, 1945, 1786, 1638, 1526, 1455, 1425, 1437, 1485, 1578, 1705, 1868, 1998, 2185, 2460, 2727, 2419, 2192, 2039, 1906, 1775, 1666, 1593, 1565, 1576, 1627, 1711, 1838, 1963, 2101, 2299, 2626, 3040, 2538, 2330, 2138, 2021, 1918, 1827, 1755, 1724, 1732, 1784, 1866, 1954, 2068, 2214, 2496, 2760, ] + gb: [3103, 2631, 2429, 2258, 2149, 2044, 1949, 1878, 1843, 1853, 1904, 1985, 2081, 2188, 2320, 2563, 2842, 2787, 2459, 2271, 2124, 2008, 1878, 1772, 1689, 1663, 1666, 1715, 1801, 1924, 2045, 2190, 2357, 2679, 2626, 2355, 2170, 2027, 1869, 1724, 1617, 1543, 1507, 1517, 1566, 1653, 1785, 1945, 2080, 2250, 2509, 2516, 2256, 2083, 1920, 1737, 1595, 1485, 1413, 1376, 1385, 1438, 1526, 1654, 1826, 1997, 2161, 2383, 2426, 2190, 2013, 1820, 1629, 1486, 1374, 1294, 1255, 1266, 1325, 1419, 1543, 1721, 1918, 2103, 2291, 2358, 2142, 1954, 1731, 1545, 1400, 1280, 1194, 1157, 1171, 1227, 1334, 1465, 1633, 1848, 2045, 2227, 2319, 2095, 1902, 1672, 1488, 1334, 1207, 1123, 1085, 1096, 1157, 1261, 1401, 1572, 1784, 2003, 2191, 2286, 2071, 1863, 1631, 1445, 1289, 1160, 1075, 1038, 1053, 1113, 1221, 1363, 1534, 1743, 1971, 2167, 2278, 2059, 1844, 1613, 1427, 1271, 1143, 1057, 1024, 1035, 1096, 1199, 1346, 1518, 1731, 1960, 2153, 2280, 2065, 1853, 1619, 1438, 1278, 1149, 1066, 1029, 1044, 1105, 1210, 1354, 1528, 1735, 1970, 2160, 2302, 2080, 1875, 1649, 1465, 1309, 1183, 1100, 1065, 1079, 1136, 1246, 1384, 1556, 1767, 1987, 2178, 2346, 2109, 1923, 1697, 1514, 1365, 1245, 1160, 1127, 1141, 1199, 1303, 1438, 1608, 1818, 2027, 2215, 2410, 2158, 1976, 1774, 1578, 1437, 1325, 1245, 1212, 1225, 1284, 1379, 1514, 1680, 1883, 2068, 2272, 2489, 2219, 2041, 1862, 1677, 1529, 1417, 1345, 1314, 1327, 1381, 1474, 1600, 1780, 1961, 2120, 2371, 2601, 2306, 2111, 1953, 1795, 1642, 1534, 1459, 1431, 1443, 1496, 1587, 1717, 1881, 2024, 2213, 2482, 2733, 2436, 2194, 2049, 1910, 1784, 1674, 1600, 1567, 1581, 1632, 1728, 1855, 1985, 2122, 2321, 2675, 3032, 2542, 2344, 2151, 2037, 1930, 1834, 1767, 1732, 1747, 1791, 1879, 1968, 2083, 2239, 2522, 2807, ] + b: [2879, 2455, 2264, 2106, 2006, 1922, 1836, 1777, 1750, 1753, 1802, 1870, 1949, 2055, 2160, 2385, 2620, 2609, 2309, 2119, 1990, 1882, 1764, 1668, 1603, 1583, 1586, 1625, 1704, 1818, 1933, 2054, 2201, 2478, 2465, 2208, 2038, 1897, 1760, 1627, 1531, 1477, 1450, 1453, 1492, 1569, 1686, 1838, 1960, 2103, 2342, 2362, 2116, 1967, 1802, 1637, 1506, 1416, 1359, 1332, 1340, 1379, 1453, 1574, 1722, 1888, 2030, 2214, 2284, 2053, 1896, 1715, 1540, 1412, 1320, 1257, 1227, 1236, 1282, 1363, 1468, 1629, 1806, 1969, 2149, 2217, 2010, 1841, 1638, 1470, 1340, 1237, 1168, 1140, 1146, 1199, 1286, 1401, 1552, 1740, 1932, 2082, 2182, 1981, 1791, 1589, 1418, 1287, 1175, 1104, 1076, 1087, 1137, 1227, 1352, 1497, 1690, 1883, 2059, 2158, 1964, 1767, 1551, 1387, 1247, 1135, 1065, 1036, 1048, 1100, 1190, 1318, 1466, 1651, 1858, 2037, 2149, 1951, 1756, 1539, 1373, 1233, 1121, 1047, 1024, 1035, 1085, 1174, 1302, 1457, 1637, 1845, 2021, 2153, 1952, 1760, 1542, 1378, 1236, 1126, 1054, 1026, 1040, 1090, 1181, 1308, 1458, 1645, 1852, 2025, 2172, 1964, 1780, 1565, 1398, 1266, 1151, 1085, 1055, 1066, 1116, 1209, 1333, 1484, 1667, 1864, 2036, 2200, 1989, 1822, 1612, 1435, 1311, 1202, 1135, 1108, 1117, 1169, 1259, 1374, 1526, 1714, 1895, 2075, 2259, 2034, 1860, 1674, 1500, 1363, 1275, 1208, 1180, 1192, 1237, 1319, 1437, 1591, 1767, 1932, 2119, 2327, 2081, 1914, 1750, 1580, 1445, 1350, 1292, 1269, 1279, 1320, 1400, 1515, 1671, 1835, 1975, 2198, 2428, 2152, 1983, 1838, 1684, 1546, 1448, 1394, 1367, 1377, 1417, 1501, 1615, 1768, 1890, 2056, 2310, 2536, 2273, 2059, 1919, 1794, 1676, 1576, 1512, 1487, 1499, 1543, 1621, 1741, 1856, 1980, 2155, 2463, 2820, 2387, 2189, 2014, 1906, 1806, 1722, 1672, 1639, 1645, 1687, 1758, 1846, 1950, 2094, 2345, 2609, ] + #3264x2448_F11_TL84_70 - F11_TL84 + - ct: 4000 + resolution: 3264x2448 + r: [4002, 3309, 3035, 2794, 2634, 2461, 2319, 2207, 2157, 2168, 2244, 2370, 2537, 2712, 2917, 3269, 3672, 3551, 3103, 2825, 2625, 2420, 2214, 2037, 1922, 1874, 1882, 1956, 2100, 2302, 2511, 2738, 2969, 3444, 3298, 2949, 2692, 2463, 2213, 1969, 1792, 1686, 1640, 1646, 1721, 1857, 2074, 2333, 2576, 2831, 3187, 3157, 2805, 2562, 2298, 1998, 1762, 1596, 1491, 1444, 1454, 1521, 1655, 1863, 2142, 2432, 2691, 3014, 3030, 2709, 2454, 2128, 1831, 1597, 1435, 1335, 1291, 1302, 1366, 1495, 1686, 1971, 2291, 2593, 2883, 2940, 2627, 2345, 1995, 1701, 1475, 1311, 1216, 1176, 1186, 1246, 1372, 1564, 1831, 2173, 2490, 2788, 2868, 2575, 2259, 1900, 1604, 1387, 1231, 1136, 1095, 1105, 1167, 1286, 1475, 1735, 2074, 2418, 2721, 2826, 2533, 2203, 1835, 1548, 1332, 1177, 1084, 1042, 1056, 1116, 1233, 1422, 1676, 2015, 2370, 2679, 2812, 2511, 2176, 1810, 1521, 1303, 1157, 1063, 1024, 1034, 1095, 1216, 1398, 1657, 1989, 2342, 2677, 2816, 2517, 2185, 1816, 1530, 1312, 1161, 1070, 1031, 1041, 1109, 1224, 1410, 1665, 1999, 2359, 2664, 2839, 2531, 2218, 1856, 1571, 1350, 1197, 1106, 1065, 1080, 1142, 1263, 1451, 1708, 2046, 2389, 2703, 2896, 2578, 2281, 1935, 1636, 1421, 1265, 1171, 1135, 1147, 1209, 1335, 1527, 1788, 2123, 2454, 2753, 2994, 2638, 2366, 2046, 1749, 1522, 1365, 1268, 1231, 1245, 1310, 1442, 1638, 1912, 2230, 2518, 2840, 3101, 2741, 2467, 2183, 1895, 1664, 1502, 1402, 1363, 1376, 1451, 1582, 1789, 2057, 2362, 2609, 2977, 3260, 2841, 2581, 2342, 2083, 1842, 1676, 1575, 1534, 1553, 1625, 1769, 1977, 2240, 2474, 2752, 3175, 3489, 3019, 2716, 2496, 2274, 2077, 1899, 1789, 1751, 1769, 1847, 1991, 2189, 2409, 2631, 2927, 3411, 3949, 3229, 2910, 2647, 2477, 2296, 2156, 2049, 2010, 2022, 2104, 2237, 2398, 2579, 2812, 3226, 3666, ] + gr: [3132, 2654, 2457, 2283, 2168, 2064, 1974, 1892, 1855, 1864, 1922, 1997, 2100, 2202, 2331, 2576, 2861, 2822, 2487, 2297, 2143, 2021, 1891, 1780, 1697, 1664, 1669, 1720, 1809, 1934, 2058, 2197, 2364, 2674, 2652, 2374, 2189, 2039, 1882, 1732, 1618, 1541, 1502, 1512, 1561, 1654, 1788, 1943, 2081, 2250, 2503, 2542, 2272, 2100, 1925, 1743, 1592, 1482, 1408, 1367, 1378, 1429, 1517, 1644, 1816, 1993, 2163, 2364, 2454, 2203, 2028, 1824, 1624, 1481, 1366, 1286, 1249, 1256, 1312, 1409, 1527, 1709, 1905, 2097, 2279, 2368, 2158, 1956, 1731, 1540, 1390, 1275, 1189, 1153, 1165, 1219, 1318, 1446, 1615, 1833, 2032, 2220, 2332, 2110, 1908, 1667, 1473, 1322, 1200, 1119, 1085, 1095, 1149, 1249, 1383, 1550, 1760, 1983, 2175, 2300, 2074, 1859, 1619, 1428, 1273, 1154, 1072, 1038, 1052, 1105, 1203, 1339, 1506, 1722, 1951, 2146, 2289, 2061, 1844, 1602, 1410, 1256, 1134, 1053, 1024, 1031, 1089, 1183, 1320, 1490, 1702, 1938, 2137, 2282, 2067, 1845, 1605, 1418, 1260, 1141, 1061, 1027, 1041, 1095, 1194, 1328, 1497, 1713, 1942, 2139, 2318, 2083, 1870, 1634, 1448, 1296, 1173, 1096, 1062, 1073, 1129, 1226, 1363, 1528, 1741, 1967, 2157, 2345, 2113, 1918, 1691, 1495, 1351, 1233, 1154, 1119, 1132, 1189, 1286, 1418, 1583, 1795, 2001, 2190, 2416, 2159, 1976, 1767, 1568, 1424, 1311, 1232, 1202, 1211, 1268, 1363, 1490, 1661, 1868, 2047, 2256, 2502, 2222, 2037, 1855, 1670, 1518, 1407, 1333, 1302, 1313, 1369, 1457, 1591, 1756, 1941, 2106, 2352, 2619, 2304, 2118, 1948, 1789, 1638, 1523, 1449, 1418, 1432, 1483, 1578, 1706, 1875, 2011, 2197, 2473, 2758, 2433, 2198, 2052, 1915, 1783, 1674, 1593, 1566, 1576, 1629, 1721, 1852, 1976, 2115, 2312, 2657, 3071, 2569, 2344, 2154, 2039, 1930, 1841, 1773, 1734, 1748, 1795, 1881, 1974, 2089, 2231, 2521, 2802, ] + gb: [3133, 2656, 2457, 2275, 2154, 2053, 1951, 1877, 1838, 1848, 1901, 1985, 2088, 2205, 2345, 2598, 2891, 2824, 2492, 2292, 2135, 2015, 1879, 1765, 1681, 1647, 1653, 1708, 1800, 1928, 2056, 2208, 2384, 2708, 2667, 2381, 2198, 2039, 1879, 1723, 1610, 1527, 1492, 1502, 1553, 1645, 1781, 1953, 2093, 2277, 2545, 2558, 2287, 2108, 1931, 1743, 1586, 1472, 1400, 1359, 1367, 1424, 1513, 1652, 1830, 2012, 2188, 2417, 2474, 2212, 2042, 1831, 1630, 1477, 1365, 1283, 1242, 1255, 1313, 1408, 1538, 1723, 1930, 2127, 2323, 2395, 2169, 1970, 1738, 1548, 1392, 1272, 1187, 1151, 1161, 1222, 1322, 1459, 1633, 1861, 2066, 2263, 2356, 2130, 1922, 1679, 1479, 1325, 1200, 1118, 1082, 1094, 1151, 1254, 1396, 1573, 1792, 2024, 2227, 2337, 2095, 1883, 1627, 1438, 1279, 1156, 1074, 1038, 1054, 1110, 1211, 1352, 1530, 1752, 1997, 2195, 2306, 2095, 1861, 1616, 1421, 1258, 1139, 1055, 1024, 1035, 1094, 1193, 1335, 1513, 1741, 1986, 2182, 2315, 2094, 1867, 1622, 1427, 1266, 1143, 1064, 1029, 1044, 1100, 1202, 1344, 1523, 1746, 1989, 2193, 2342, 2108, 1890, 1648, 1458, 1299, 1176, 1096, 1061, 1075, 1132, 1236, 1376, 1557, 1773, 2010, 2203, 2377, 2140, 1939, 1704, 1508, 1353, 1232, 1154, 1120, 1131, 1193, 1292, 1432, 1608, 1828, 2044, 2251, 2443, 2185, 1992, 1782, 1577, 1428, 1315, 1233, 1199, 1214, 1271, 1370, 1504, 1685, 1895, 2093, 2305, 2519, 2249, 2058, 1869, 1675, 1519, 1406, 1331, 1298, 1313, 1371, 1462, 1599, 1781, 1976, 2139, 2405, 2637, 2326, 2130, 1962, 1792, 1637, 1521, 1445, 1412, 1428, 1481, 1578, 1713, 1888, 2035, 2238, 2529, 2777, 2458, 2215, 2053, 1917, 1776, 1662, 1588, 1554, 1568, 1624, 1722, 1851, 1992, 2136, 2351, 2708, 3076, 2575, 2354, 2161, 2036, 1925, 1834, 1757, 1723, 1732, 1779, 1874, 1972, 2093, 2258, 2546, 2857, ] + b: [2906, 2483, 2290, 2108, 2020, 1921, 1851, 1778, 1756, 1759, 1799, 1880, 1969, 2074, 2183, 2435, 2664, 2618, 2324, 2122, 1992, 1883, 1772, 1666, 1601, 1578, 1586, 1627, 1712, 1827, 1934, 2072, 2225, 2524, 2483, 2211, 2037, 1900, 1761, 1625, 1532, 1472, 1447, 1449, 1486, 1571, 1692, 1847, 1968, 2118, 2360, 2370, 2126, 1961, 1803, 1638, 1509, 1411, 1355, 1324, 1335, 1376, 1449, 1572, 1729, 1884, 2042, 2233, 2286, 2051, 1902, 1710, 1537, 1407, 1314, 1249, 1222, 1228, 1276, 1356, 1472, 1629, 1815, 1975, 2159, 2238, 2012, 1839, 1636, 1463, 1333, 1232, 1165, 1137, 1144, 1192, 1280, 1394, 1549, 1743, 1922, 2094, 2184, 1979, 1797, 1586, 1413, 1279, 1170, 1102, 1074, 1086, 1134, 1219, 1345, 1492, 1684, 1888, 2067, 2160, 1958, 1765, 1546, 1378, 1240, 1132, 1062, 1035, 1050, 1095, 1184, 1307, 1459, 1646, 1858, 2036, 2151, 1954, 1752, 1531, 1366, 1224, 1115, 1046, 1026, 1033, 1081, 1170, 1293, 1450, 1635, 1845, 2032, 2155, 1948, 1754, 1535, 1373, 1228, 1118, 1053, 1024, 1038, 1088, 1175, 1299, 1452, 1638, 1849, 2027, 2179, 1970, 1780, 1565, 1391, 1259, 1147, 1079, 1053, 1063, 1113, 1203, 1324, 1474, 1668, 1869, 2037, 2214, 1989, 1816, 1610, 1433, 1297, 1194, 1130, 1105, 1112, 1161, 1249, 1367, 1522, 1710, 1892, 2074, 2264, 2034, 1863, 1673, 1491, 1360, 1264, 1199, 1176, 1185, 1230, 1312, 1434, 1590, 1770, 1936, 2127, 2348, 2084, 1916, 1751, 1581, 1437, 1343, 1284, 1254, 1268, 1312, 1395, 1516, 1673, 1837, 1986, 2216, 2445, 2159, 1975, 1832, 1684, 1544, 1441, 1381, 1358, 1367, 1413, 1494, 1612, 1773, 1894, 2067, 2330, 2573, 2285, 2061, 1914, 1791, 1672, 1568, 1507, 1480, 1492, 1529, 1619, 1743, 1862, 1987, 2168, 2475, 2853, 2395, 2197, 2003, 1909, 1798, 1726, 1652, 1638, 1640, 1687, 1762, 1852, 1956, 2101, 2365, 2643, ] + #3264x2448_F2_CWF_70 - F2_CWF + - ct: 4230 + resolution: 3264x2448 + r: [3695, 3077, 2822, 2622, 2472, 2342, 2200, 2111, 2075, 2079, 2145, 2258, 2393, 2547, 2713, 3030, 3396, 3294, 2882, 2641, 2461, 2294, 2117, 1965, 1868, 1822, 1827, 1898, 2020, 2200, 2366, 2557, 2763, 3190, 3081, 2755, 2527, 2334, 2120, 1915, 1760, 1667, 1625, 1635, 1702, 1820, 2002, 2225, 2422, 2641, 2979, 2935, 2624, 2415, 2192, 1939, 1732, 1587, 1496, 1452, 1461, 1526, 1643, 1825, 2064, 2314, 2518, 2804, 2832, 2532, 2323, 2050, 1792, 1591, 1448, 1348, 1301, 1315, 1382, 1504, 1675, 1916, 2190, 2435, 2700, 2735, 2464, 2229, 1935, 1680, 1485, 1327, 1227, 1183, 1194, 1265, 1392, 1567, 1799, 2091, 2351, 2611, 2673, 2415, 2150, 1853, 1597, 1397, 1244, 1144, 1096, 1111, 1182, 1308, 1489, 1715, 2000, 2291, 2552, 2638, 2381, 2104, 1797, 1546, 1342, 1189, 1086, 1042, 1058, 1126, 1255, 1435, 1666, 1950, 2257, 2514, 2621, 2361, 2083, 1766, 1525, 1319, 1164, 1064, 1024, 1037, 1106, 1231, 1415, 1644, 1929, 2233, 2506, 2638, 2364, 2088, 1777, 1528, 1326, 1168, 1073, 1029, 1046, 1115, 1240, 1422, 1654, 1941, 2237, 2511, 2655, 2388, 2121, 1813, 1563, 1366, 1210, 1114, 1070, 1084, 1155, 1283, 1459, 1693, 1981, 2269, 2530, 2712, 2427, 2182, 1884, 1628, 1428, 1281, 1183, 1143, 1158, 1226, 1352, 1531, 1764, 2046, 2317, 2579, 2790, 2485, 2250, 1983, 1722, 1523, 1379, 1284, 1242, 1258, 1327, 1454, 1628, 1862, 2139, 2376, 2667, 2895, 2571, 2344, 2103, 1851, 1644, 1506, 1409, 1371, 1388, 1457, 1578, 1756, 1996, 2250, 2457, 2782, 3048, 2672, 2441, 2229, 2007, 1806, 1658, 1567, 1526, 1541, 1611, 1739, 1916, 2148, 2340, 2583, 2953, 3225, 2827, 2544, 2353, 2172, 1998, 1846, 1755, 1708, 1732, 1794, 1928, 2102, 2282, 2468, 2726, 3175, 3641, 3010, 2734, 2492, 2341, 2192, 2069, 1968, 1937, 1948, 2023, 2139, 2270, 2437, 2634, 2994, 3392, ] + gr: [3050, 2599, 2407, 2232, 2134, 2044, 1950, 1879, 1843, 1845, 1897, 1973, 2069, 2164, 2285, 2518, 2788, 2763, 2436, 2247, 2112, 1994, 1867, 1764, 1688, 1655, 1661, 1710, 1788, 1907, 2024, 2157, 2320, 2612, 2604, 2323, 2155, 2009, 1858, 1715, 1606, 1543, 1504, 1512, 1556, 1640, 1766, 1917, 2047, 2211, 2450, 2492, 2232, 2067, 1906, 1727, 1584, 1480, 1411, 1371, 1381, 1428, 1512, 1632, 1799, 1962, 2124, 2327, 2400, 2164, 1999, 1801, 1617, 1475, 1369, 1292, 1252, 1264, 1317, 1408, 1525, 1691, 1879, 2063, 2240, 2326, 2120, 1935, 1721, 1533, 1392, 1278, 1194, 1156, 1167, 1225, 1319, 1443, 1606, 1809, 2003, 2170, 2291, 2075, 1883, 1653, 1470, 1323, 1204, 1122, 1086, 1096, 1153, 1252, 1381, 1540, 1746, 1951, 2139, 2256, 2043, 1839, 1609, 1430, 1278, 1158, 1076, 1038, 1052, 1108, 1206, 1341, 1500, 1702, 1929, 2103, 2242, 2036, 1820, 1596, 1411, 1260, 1138, 1053, 1024, 1032, 1091, 1186, 1322, 1484, 1690, 1909, 2098, 2251, 2034, 1826, 1598, 1416, 1267, 1143, 1065, 1027, 1043, 1097, 1198, 1328, 1493, 1694, 1913, 2096, 2263, 2048, 1852, 1626, 1447, 1298, 1177, 1096, 1063, 1075, 1131, 1230, 1360, 1521, 1723, 1934, 2117, 2316, 2078, 1897, 1680, 1494, 1351, 1238, 1159, 1123, 1135, 1193, 1290, 1416, 1572, 1776, 1974, 2152, 2362, 2122, 1947, 1746, 1562, 1424, 1313, 1238, 1207, 1218, 1272, 1361, 1484, 1647, 1838, 2014, 2215, 2461, 2182, 2007, 1835, 1653, 1510, 1408, 1336, 1305, 1317, 1368, 1456, 1576, 1736, 1919, 2068, 2306, 2560, 2260, 2080, 1920, 1771, 1626, 1516, 1450, 1420, 1432, 1480, 1566, 1687, 1844, 1975, 2157, 2418, 2703, 2387, 2160, 2012, 1888, 1763, 1660, 1588, 1558, 1566, 1617, 1702, 1827, 1943, 2075, 2267, 2603, 2992, 2511, 2296, 2118, 2001, 1898, 1817, 1749, 1719, 1730, 1779, 1859, 1938, 2050, 2187, 2457, 2741, ] + gb: [3060, 2612, 2398, 2229, 2123, 2030, 1932, 1857, 1822, 1830, 1874, 1957, 2069, 2163, 2291, 2542, 2825, 2776, 2432, 2251, 2106, 1988, 1856, 1748, 1668, 1636, 1641, 1695, 1784, 1902, 2026, 2170, 2338, 2654, 2609, 2336, 2151, 2005, 1853, 1710, 1597, 1527, 1487, 1500, 1546, 1634, 1768, 1926, 2063, 2235, 2497, 2514, 2248, 2075, 1908, 1727, 1578, 1471, 1396, 1360, 1371, 1422, 1509, 1639, 1810, 1981, 2151, 2365, 2415, 2182, 2010, 1807, 1619, 1474, 1366, 1284, 1247, 1257, 1316, 1409, 1532, 1710, 1906, 2098, 2282, 2358, 2140, 1949, 1725, 1539, 1393, 1276, 1191, 1153, 1166, 1224, 1325, 1455, 1628, 1840, 2045, 2226, 2308, 2101, 1903, 1666, 1479, 1329, 1204, 1121, 1083, 1098, 1154, 1260, 1395, 1565, 1775, 2000, 2191, 2296, 2069, 1863, 1625, 1437, 1285, 1160, 1074, 1038, 1053, 1112, 1214, 1355, 1527, 1746, 1970, 2167, 2280, 2060, 1844, 1609, 1422, 1262, 1140, 1055, 1024, 1034, 1095, 1198, 1337, 1516, 1724, 1962, 2155, 2284, 2063, 1850, 1618, 1429, 1273, 1147, 1064, 1030, 1043, 1104, 1207, 1351, 1519, 1738, 1965, 2159, 2303, 2083, 1878, 1640, 1460, 1304, 1182, 1099, 1065, 1078, 1136, 1244, 1379, 1552, 1764, 1986, 2181, 2341, 2110, 1916, 1698, 1504, 1359, 1238, 1159, 1125, 1136, 1197, 1297, 1431, 1599, 1809, 2018, 2208, 2403, 2156, 1967, 1764, 1570, 1427, 1315, 1237, 1205, 1217, 1274, 1369, 1502, 1673, 1875, 2061, 2278, 2488, 2208, 2025, 1848, 1662, 1513, 1405, 1333, 1304, 1314, 1372, 1460, 1588, 1760, 1946, 2108, 2355, 2596, 2289, 2101, 1934, 1775, 1624, 1516, 1442, 1412, 1425, 1476, 1571, 1700, 1865, 2005, 2195, 2486, 2720, 2411, 2169, 2025, 1895, 1760, 1650, 1578, 1548, 1559, 1612, 1702, 1834, 1960, 2101, 2302, 2647, 3035, 2523, 2314, 2125, 2002, 1897, 1806, 1738, 1705, 1716, 1766, 1855, 1944, 2061, 2204, 2497, 2792, ] + b: [2861, 2421, 2239, 2078, 1980, 1893, 1811, 1762, 1723, 1742, 1779, 1851, 1933, 2034, 2151, 2359, 2635, 2562, 2279, 2088, 1949, 1859, 1748, 1650, 1585, 1562, 1570, 1607, 1691, 1798, 1909, 2028, 2181, 2467, 2428, 2166, 2009, 1873, 1736, 1613, 1518, 1461, 1436, 1441, 1480, 1557, 1676, 1814, 1932, 2087, 2311, 2326, 2088, 1923, 1779, 1621, 1492, 1404, 1351, 1322, 1329, 1368, 1445, 1557, 1708, 1863, 2004, 2200, 2250, 2013, 1869, 1687, 1522, 1398, 1309, 1250, 1218, 1231, 1273, 1354, 1457, 1615, 1779, 1941, 2113, 2187, 1979, 1812, 1617, 1454, 1331, 1231, 1163, 1137, 1145, 1195, 1277, 1392, 1537, 1720, 1899, 2061, 2161, 1947, 1769, 1567, 1405, 1273, 1171, 1101, 1078, 1087, 1132, 1222, 1336, 1483, 1665, 1849, 2018, 2122, 1923, 1740, 1530, 1369, 1239, 1131, 1064, 1037, 1049, 1096, 1182, 1306, 1452, 1625, 1829, 1999, 2115, 1919, 1730, 1520, 1360, 1222, 1117, 1046, 1024, 1033, 1086, 1169, 1288, 1439, 1617, 1815, 1991, 2121, 1918, 1736, 1524, 1359, 1227, 1119, 1053, 1025, 1040, 1088, 1173, 1295, 1442, 1624, 1817, 1995, 2136, 1934, 1750, 1546, 1384, 1254, 1147, 1079, 1053, 1063, 1114, 1203, 1321, 1464, 1649, 1837, 2004, 2179, 1955, 1795, 1587, 1423, 1294, 1195, 1131, 1105, 1112, 1161, 1247, 1362, 1506, 1688, 1872, 2037, 2228, 1999, 1833, 1656, 1480, 1353, 1263, 1197, 1172, 1182, 1228, 1311, 1423, 1574, 1751, 1903, 2078, 2309, 2047, 1889, 1724, 1558, 1425, 1336, 1277, 1252, 1263, 1308, 1382, 1500, 1654, 1806, 1954, 2164, 2390, 2114, 1949, 1802, 1660, 1524, 1429, 1373, 1352, 1360, 1401, 1482, 1597, 1748, 1863, 2031, 2287, 2520, 2231, 2019, 1882, 1760, 1651, 1549, 1494, 1466, 1478, 1519, 1597, 1715, 1827, 1947, 2124, 2444, 2788, 2355, 2157, 1974, 1878, 1770, 1701, 1637, 1615, 1612, 1661, 1743, 1824, 1925, 2064, 2315, 2599, ] + diff --git a/src/ipa/rkisp1/data/uncalibrated.yaml b/src/ipa/rkisp1/data/uncalibrated.yaml new file mode 100644 index 00000000..60901296 --- /dev/null +++ b/src/ipa/rkisp1/data/uncalibrated.yaml @@ -0,0 +1,9 @@ +# SPDX-License-Identifier: CC0-1.0 +%YAML 1.1 +--- +version: 1 +algorithms: + - Agc: + - Awb: + - BlackLevelCorrection: +... diff --git a/src/ipa/rkisp1/ipa_context.cpp b/src/ipa/rkisp1/ipa_context.cpp new file mode 100644 index 00000000..80b99df8 --- /dev/null +++ b/src/ipa/rkisp1/ipa_context.cpp @@ -0,0 +1,413 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 IPA Context + */ + +#include "ipa_context.h" + +/** + * \file ipa_context.h + * \brief Context and state information shared between the algorithms + */ + +namespace libcamera::ipa::rkisp1 { + +/** + * \struct IPAHwSettings + * \brief RkISP1 version-specific hardware parameters + */ + +/** + * \var IPAHwSettings::numAeCells + * \brief Number of cells in the AE exposure means grid + * + * \var IPAHwSettings::numHistogramBins + * \brief Number of bins in the histogram + * + * \var IPAHwSettings::numHistogramWeights + * \brief Number of weights in the histogram grid + * + * \var IPAHwSettings::numGammaOutSamples + * \brief Number of samples in the gamma out table + */ + +/** + * \struct IPASessionConfiguration + * \brief Session configuration for the IPA module + * + * The session configuration contains all IPA configuration parameters that + * remain constant during the capture session, from IPA module start to stop. + * It is typically set during the configure() operation of the IPA module, but + * may also be updated in the start() operation. + */ + +/** + * \var IPASessionConfiguration::agc + * \brief AGC parameters configuration of the IPA + * + * \var IPASessionConfiguration::agc.measureWindow + * \brief AGC measure window + */ + +/** + * \var IPASessionConfiguration::awb + * \brief AWB parameters configuration of the IPA + * + * \var IPASessionConfiguration::awb.measureWindow + * \brief AWB measure window + * + * \var IPASessionConfiguration::awb.enabled + * \brief Indicates if the AWB hardware is enabled and applies colour gains + * + * The AWB module of the ISP applies colour gains and computes statistics. It is + * enabled when the AWB algorithm is loaded, regardless of whether the algorithm + * operates in manual or automatic mode. + */ + +/** + * \var IPASessionConfiguration::lsc + * \brief Lens Shading Correction configuration of the IPA + * + * \var IPASessionConfiguration::lsc.enabled + * \brief Indicates if the LSC hardware is enabled + */ + +/** + * \var IPASessionConfiguration::sensor + * \brief Sensor-specific configuration of the IPA + * + * \var IPASessionConfiguration::sensor.minExposureTime + * \brief Minimum exposure time supported with the sensor + * + * \var IPASessionConfiguration::sensor.maxExposureTime + * \brief Maximum exposure time supported with the sensor + * + * \var IPASessionConfiguration::sensor.minAnalogueGain + * \brief Minimum analogue gain supported with the sensor + * + * \var IPASessionConfiguration::sensor.maxAnalogueGain + * \brief Maximum analogue gain supported with the sensor + * + * \var IPASessionConfiguration::sensor.defVBlank + * \brief The default vblank value of the sensor + * + * \var IPASessionConfiguration::sensor.lineDuration + * \brief Line duration in microseconds + * + * \var IPASessionConfiguration::sensor.size + * \brief Sensor output resolution + */ + +/** + * \var IPASessionConfiguration::raw + * \brief Indicates if the camera is configured to capture raw frames + */ + +/** + * \var IPASessionConfiguration::paramFormat + * \brief The fourcc of the parameters buffers format + */ + +/** + * \struct IPAActiveState + * \brief Active state for algorithms + * + * The active state contains all algorithm-specific data that needs to be + * maintained by algorithms across frames. Unlike the session configuration, + * the active state is mutable and constantly updated by algorithms. The active + * state is accessible through the IPAContext structure. + * + * The active state stores two distinct categories of information: + * + * - The consolidated value of all algorithm controls. Requests passed to + * the queueRequest() function store values for controls that the + * application wants to modify for that particular frame, and the + * queueRequest() function updates the active state with those values. + * The active state thus contains a consolidated view of the value of all + * controls handled by the algorithm. + * + * - The value of parameters computed by the algorithm when running in auto + * mode. Algorithms running in auto mode compute new parameters every + * time statistics buffers are received (either synchronously, or + * possibly in a background thread). The latest computed value of those + * parameters is stored in the active state in the process() function. + * + * Each of the members in the active state belongs to a specific algorithm. A + * member may be read by any algorithm, but shall only be written by its owner. + */ + +/** + * \var IPAActiveState::agc + * \brief State for the Automatic Gain Control algorithm + * + * The \a automatic variables track the latest values computed by algorithm + * based on the latest processed statistics. All other variables track the + * consolidated controls requested in queued requests. + * + * \struct IPAActiveState::agc.manual + * \brief Manual exposure time and analog gain (set through requests) + * + * \var IPAActiveState::agc.manual.exposure + * \brief Manual exposure time expressed as a number of lines as set by the + * ExposureTime control + * + * \var IPAActiveState::agc.manual.gain + * \brief Manual analogue gain as set by the AnalogueGain control + * + * \struct IPAActiveState::agc.automatic + * \brief Automatic exposure time and analog gain (computed by the algorithm) + * + * \var IPAActiveState::agc.automatic.exposure + * \brief Automatic exposure time expressed as a number of lines + * + * \var IPAActiveState::agc.automatic.gain + * \brief Automatic analogue gain multiplier + * + * \var IPAActiveState::agc.autoEnabled + * \brief Manual/automatic AGC state as set by the AeEnable control + * + * \var IPAActiveState::agc.constraintMode + * \brief Constraint mode as set by the AeConstraintMode control + * + * \var IPAActiveState::agc.exposureMode + * \brief Exposure mode as set by the AeExposureMode control + * + * \var IPAActiveState::agc.meteringMode + * \brief Metering mode as set by the AeMeteringMode control + * + * \var IPAActiveState::agc.maxFrameDuration + * \brief Maximum frame duration as set by the FrameDurationLimits control + */ + +/** + * \var IPAActiveState::awb + * \brief State for the Automatic White Balance algorithm + * + * \struct IPAActiveState::awb.gains + * \brief White balance gains + * + * \var IPAActiveState::awb.gains.manual + * \brief Manual white balance gains (set through requests) + * + * \var IPAActiveState::awb.gains.automatic + * \brief Automatic white balance gains (computed by the algorithm) + * + * \var IPAActiveState::awb.temperatureK + * \brief Estimated color temperature + * + * \var IPAActiveState::awb.autoEnabled + * \brief Whether the Auto White Balance algorithm is enabled + */ + +/** + * \var IPAActiveState::cproc + * \brief State for the Color Processing algorithm + * + * \struct IPAActiveState::cproc.brightness + * \brief Brightness level + * + * \var IPAActiveState::cproc.contrast + * \brief Contrast level + * + * \var IPAActiveState::cproc.saturation + * \brief Saturation level + */ + +/** + * \var IPAActiveState::dpf + * \brief State for the Denoise Pre-Filter algorithm + * + * \var IPAActiveState::dpf.denoise + * \brief Indicates if denoise is activated + */ + +/** + * \var IPAActiveState::filter + * \brief State for the Filter algorithm + * + * \struct IPAActiveState::filter.denoise + * \brief Denoising level + * + * \var IPAActiveState::filter.sharpness + * \brief Sharpness level + */ + +/** + * \var IPAActiveState::goc + * \brief State for the goc algorithm + * + * \var IPAActiveState::goc.gamma + * \brief Gamma value applied as 1.0/gamma + */ + +/** + * \struct IPAFrameContext + * \brief Per-frame context for algorithms + * + * The frame context stores two distinct categories of information: + * + * - The value of the controls to be applied to the frame. These values are + * typically set in the queueRequest() function, from the consolidated + * control values stored in the active state. The frame context thus stores + * values for all controls related to the algorithm, not limited to the + * controls specified in the corresponding request, but consolidated from all + * requests that have been queued so far. + * + * For controls that can be set manually or computed by an algorithm + * (depending on the algorithm operation mode), such as for instance the + * colour gains for the AWB algorithm, the control value will be stored in + * the frame context in the queueRequest() function only when operating in + * manual mode. When operating in auto mode, the values are computed by the + * algorithm in process(), stored in the active state, and copied to the + * frame context in prepare(), just before being stored in the ISP parameters + * buffer. + * + * The queueRequest() function can also store ancillary data in the frame + * context, such as flags to indicate if (and what) control values have + * changed compared to the previous request. + * + * - Status information computed by the algorithm for a frame. For instance, + * the colour temperature estimated by the AWB algorithm from ISP statistics + * calculated on a frame is stored in the frame context for that frame in + * the process() function. + */ + +/** + * \var IPAFrameContext::agc + * \brief Automatic Gain Control parameters for this frame + * + * The exposure and gain are provided by the AGC algorithm, and are to be + * applied to the sensor in order to take effect for this frame. + * + * \var IPAFrameContext::agc.exposure + * \brief Exposure time expressed as a number of lines computed by the algorithm + * + * \var IPAFrameContext::agc.gain + * \brief Analogue gain multiplier computed by the algorithm + * + * The gain should be adapted to the sensor specific gain code before applying. + * + * \var IPAFrameContext::agc.autoEnabled + * \brief Manual/automatic AGC state as set by the AeEnable control + * + * \var IPAFrameContext::agc.constraintMode + * \brief Constraint mode as set by the AeConstraintMode control + * + * \var IPAFrameContext::agc.exposureMode + * \brief Exposure mode as set by the AeExposureMode control + * + * \var IPAFrameContext::agc.meteringMode + * \brief Metering mode as set by the AeMeteringMode control + * + * \var IPAFrameContext::agc.maxFrameDuration + * \brief Maximum frame duration as set by the FrameDurationLimits control + * + * \var IPAFrameContext::agc.updateMetering + * \brief Indicate if new ISP AGC metering parameters need to be applied + */ + +/** + * \var IPAFrameContext::awb + * \brief Automatic White Balance parameters for this frame + * + * \struct IPAFrameContext::awb.gains + * \brief White balance gains + * + * \var IPAFrameContext::awb.temperatureK + * \brief Estimated color temperature + * + * \var IPAFrameContext::awb.autoEnabled + * \brief Whether the Auto White Balance algorithm is enabled + */ + +/** + * \var IPAFrameContext::cproc + * \brief Color Processing parameters for this frame + * + * \struct IPAFrameContext::cproc.brightness + * \brief Brightness level + * + * \var IPAFrameContext::cproc.contrast + * \brief Contrast level + * + * \var IPAFrameContext::cproc.saturation + * \brief Saturation level + * + * \var IPAFrameContext::cproc.update + * \brief Indicates if the color processing parameters have been updated + * compared to the previous frame + */ + +/** + * \var IPAFrameContext::dpf + * \brief Denoise Pre-Filter parameters for this frame + * + * \var IPAFrameContext::dpf.denoise + * \brief Indicates if denoise is activated + * + * \var IPAFrameContext::dpf.update + * \brief Indicates if the denoise pre-filter parameters have been updated + * compared to the previous frame + */ + +/** + * \var IPAFrameContext::filter + * \brief Filter parameters for this frame + * + * \struct IPAFrameContext::filter.denoise + * \brief Denoising level + * + * \var IPAFrameContext::filter.sharpness + * \brief Sharpness level + * + * \var IPAFrameContext::filter.updateParams + * \brief Indicates if the filter parameters have been updated compared to the + * previous frame + */ + +/** + * \var IPAFrameContext::goc + * \brief Gamma out correction parameters for this frame + * + * \var IPAFrameContext::goc.gamma + * \brief Gamma value applied as 1.0/gamma + * + * \var IPAFrameContext::goc.update + * \brief Indicates if the goc parameters have been updated compared to the + * previous frame + */ + +/** + * \var IPAFrameContext::sensor + * \brief Sensor configuration that used been used for this frame + * + * \var IPAFrameContext::sensor.exposure + * \brief Exposure time expressed as a number of lines + * + * \var IPAFrameContext::sensor.gain + * \brief Analogue gain multiplier + */ + +/** + * \struct IPAContext + * \brief Global IPA context data shared between all algorithms + * + * \var IPAContext::hw + * \brief RkISP1 version-specific hardware parameters + * + * \var IPAContext::sensorInfo + * \brief The IPA session sensorInfo, immutable during the session + * + * \var IPAContext::configuration + * \brief The IPA session configuration, immutable during the session + * + * \var IPAContext::activeState + * \brief The IPA active state, storing the latest state for all algorithms + * + * \var IPAContext::frameContexts + * \brief Ring buffer of per-frame contexts + */ + +} /* namespace libcamera::ipa::rkisp1 */ diff --git a/src/ipa/rkisp1/ipa_context.h b/src/ipa/rkisp1/ipa_context.h new file mode 100644 index 00000000..b83c1822 --- /dev/null +++ b/src/ipa/rkisp1/ipa_context.h @@ -0,0 +1,201 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 IPA Context + * + */ + +#pragma once + +#include <memory> + +#include <linux/rkisp1-config.h> + +#include <libcamera/base/utils.h> + +#include <libcamera/control_ids.h> +#include <libcamera/controls.h> +#include <libcamera/geometry.h> + +#include <libcamera/ipa/core_ipa_interface.h> + +#include "libcamera/internal/debug_controls.h" +#include "libcamera/internal/matrix.h" + +#include <libipa/camera_sensor_helper.h> +#include <libipa/fc_queue.h> +#include <libipa/vector.h> + +namespace libcamera { + +namespace ipa::rkisp1 { + +struct IPAHwSettings { + unsigned int numAeCells; + unsigned int numHistogramBins; + unsigned int numHistogramWeights; + unsigned int numGammaOutSamples; + bool compand; +}; + +struct IPASessionConfiguration { + struct { + struct rkisp1_cif_isp_window measureWindow; + } agc; + + struct { + struct rkisp1_cif_isp_window measureWindow; + bool enabled; + } awb; + + struct { + bool enabled; + } lsc; + + struct { + utils::Duration minExposureTime; + utils::Duration maxExposureTime; + double minAnalogueGain; + double maxAnalogueGain; + + int32_t defVBlank; + utils::Duration lineDuration; + Size size; + } sensor; + + bool raw; + uint32_t paramFormat; +}; + +struct IPAActiveState { + struct { + struct { + uint32_t exposure; + double gain; + } manual; + struct { + uint32_t exposure; + double gain; + } automatic; + + bool autoEnabled; + controls::AeConstraintModeEnum constraintMode; + controls::AeExposureModeEnum exposureMode; + controls::AeMeteringModeEnum meteringMode; + utils::Duration maxFrameDuration; + } agc; + + struct { + struct { + RGB<double> manual; + RGB<double> automatic; + } gains; + + unsigned int temperatureK; + bool autoEnabled; + } awb; + + struct { + Matrix<float, 3, 3> ccm; + } ccm; + + struct { + int8_t brightness; + uint8_t contrast; + uint8_t saturation; + } cproc; + + struct { + bool denoise; + } dpf; + + struct { + uint8_t denoise; + uint8_t sharpness; + } filter; + + struct { + double gamma; + } goc; +}; + +struct IPAFrameContext : public FrameContext { + struct { + uint32_t exposure; + double gain; + bool autoEnabled; + controls::AeConstraintModeEnum constraintMode; + controls::AeExposureModeEnum exposureMode; + controls::AeMeteringModeEnum meteringMode; + utils::Duration maxFrameDuration; + bool updateMetering; + } agc; + + struct { + RGB<double> gains; + bool autoEnabled; + unsigned int temperatureK; + } awb; + + struct { + int8_t brightness; + uint8_t contrast; + uint8_t saturation; + bool update; + } cproc; + + struct { + bool denoise; + bool update; + } dpf; + + struct { + uint8_t denoise; + uint8_t sharpness; + bool update; + } filter; + + struct { + double gamma; + bool update; + } goc; + + struct { + uint32_t exposure; + double gain; + } sensor; + + struct { + Matrix<float, 3, 3> ccm; + } ccm; + + struct { + double lux; + } lux; +}; + +struct IPAContext { + IPAContext(unsigned int frameContextSize) + : hw(nullptr), frameContexts(frameContextSize) + { + } + + const IPAHwSettings *hw; + IPACameraSensorInfo sensorInfo; + IPASessionConfiguration configuration; + IPAActiveState activeState; + + FCQueue<IPAFrameContext> frameContexts; + + ControlInfoMap::Map ctrlMap; + + DebugMetadata debugMetadata; + + /* Interface to the Camera Helper */ + std::unique_ptr<CameraSensorHelper> camHelper; +}; + +} /* namespace ipa::rkisp1 */ + +} /* namespace libcamera*/ diff --git a/src/ipa/rkisp1/meson.build b/src/ipa/rkisp1/meson.build index 521518bd..26a9fa40 100644 --- a/src/ipa/rkisp1/meson.build +++ b/src/ipa/rkisp1/meson.build @@ -1,8 +1,32 @@ -rkisp1_ipa = shared_module('ipa_rkisp1', - 'rkisp1.cpp', - name_prefix : '', - include_directories : [ipa_includes, libipa_includes], - dependencies : libcamera_dep, - link_with : libipa, - install : true, - install_dir : ipa_install_dir) +# SPDX-License-Identifier: CC0-1.0 + +subdir('algorithms') +subdir('data') + +ipa_name = 'ipa_rkisp1' + +rkisp1_ipa_sources = files([ + 'ipa_context.cpp', + 'params.cpp', + 'rkisp1.cpp', +]) + +rkisp1_ipa_sources += rkisp1_ipa_algorithms + +mod = shared_module(ipa_name, rkisp1_ipa_sources, + name_prefix : '', + include_directories : [ipa_includes], + dependencies : [libcamera_private, libipa_dep], + 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 + +ipa_names += ipa_name diff --git a/src/ipa/rkisp1/module.h b/src/ipa/rkisp1/module.h new file mode 100644 index 00000000..69e9bc82 --- /dev/null +++ b/src/ipa/rkisp1/module.h @@ -0,0 +1,28 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022, Ideas On Board + * + * RkISP1 IPA Module + */ + +#pragma once + +#include <linux/rkisp1-config.h> + +#include <libcamera/ipa/rkisp1_ipa_interface.h> + +#include <libipa/module.h> + +#include "ipa_context.h" +#include "params.h" + +namespace libcamera { + +namespace ipa::rkisp1 { + +using Module = ipa::Module<IPAContext, IPAFrameContext, IPACameraSensorInfo, + RkISP1Params, rkisp1_stat_buffer>; + +} /* namespace ipa::rkisp1 */ + +} /* namespace libcamera*/ diff --git a/src/ipa/rkisp1/params.cpp b/src/ipa/rkisp1/params.cpp new file mode 100644 index 00000000..4c0b051c --- /dev/null +++ b/src/ipa/rkisp1/params.cpp @@ -0,0 +1,222 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * RkISP1 ISP Parameters + */ + +#include "params.h" + +#include <map> +#include <stddef.h> +#include <string.h> + +#include <linux/rkisp1-config.h> +#include <linux/videodev2.h> + +#include <libcamera/base/log.h> +#include <libcamera/base/utils.h> + +namespace libcamera { + +LOG_DEFINE_CATEGORY(RkISP1Params) + +namespace ipa::rkisp1 { + +namespace { + +struct BlockTypeInfo { + enum rkisp1_ext_params_block_type type; + size_t size; + size_t offset; + uint32_t enableBit; +}; + +#define RKISP1_BLOCK_TYPE_ENTRY(block, id, type, category, bit) \ + { BlockType::block, { \ + RKISP1_EXT_PARAMS_BLOCK_TYPE_##id, \ + sizeof(struct rkisp1_cif_isp_##type##_config), \ + offsetof(struct rkisp1_params_cfg, category.type##_config), \ + RKISP1_CIF_ISP_MODULE_##bit, \ + } } + +#define RKISP1_BLOCK_TYPE_ENTRY_MEAS(block, id, type) \ + RKISP1_BLOCK_TYPE_ENTRY(block, id##_MEAS, type, meas, id) + +#define RKISP1_BLOCK_TYPE_ENTRY_OTHERS(block, id, type) \ + RKISP1_BLOCK_TYPE_ENTRY(block, id, type, others, id) + +#define RKISP1_BLOCK_TYPE_ENTRY_EXT(block, id, type) \ + { BlockType::block, { \ + RKISP1_EXT_PARAMS_BLOCK_TYPE_##id, \ + sizeof(struct rkisp1_cif_isp_##type##_config), \ + 0, 0, \ + } } + +const std::map<BlockType, BlockTypeInfo> kBlockTypeInfo = { + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Bls, BLS, bls), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Dpcc, DPCC, dpcc), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Sdg, SDG, sdg), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(AwbGain, AWB_GAIN, awb_gain), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Flt, FLT, flt), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Bdm, BDM, bdm), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Ctk, CTK, ctk), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Goc, GOC, goc), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Dpf, DPF, dpf), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(DpfStrength, DPF_STRENGTH, dpf_strength), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Cproc, CPROC, cproc), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Ie, IE, ie), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Lsc, LSC, lsc), + RKISP1_BLOCK_TYPE_ENTRY_MEAS(Awb, AWB, awb_meas), + RKISP1_BLOCK_TYPE_ENTRY_MEAS(Hst, HST, hst), + RKISP1_BLOCK_TYPE_ENTRY_MEAS(Aec, AEC, aec), + RKISP1_BLOCK_TYPE_ENTRY_MEAS(Afc, AFC, afc), + RKISP1_BLOCK_TYPE_ENTRY_EXT(CompandBls, COMPAND_BLS, compand_bls), + RKISP1_BLOCK_TYPE_ENTRY_EXT(CompandExpand, COMPAND_EXPAND, compand_curve), + RKISP1_BLOCK_TYPE_ENTRY_EXT(CompandCompress, COMPAND_COMPRESS, compand_curve), +}; + +} /* namespace */ + +RkISP1ParamsBlockBase::RkISP1ParamsBlockBase(RkISP1Params *params, BlockType type, + const Span<uint8_t> &data) + : params_(params), type_(type) +{ + if (params_->format() == V4L2_META_FMT_RK_ISP1_EXT_PARAMS) { + header_ = data.subspan(0, sizeof(rkisp1_ext_params_block_header)); + data_ = data.subspan(sizeof(rkisp1_ext_params_block_header)); + } else { + data_ = data; + } +} + +void RkISP1ParamsBlockBase::setEnabled(bool enabled) +{ + /* + * For the legacy fixed format, blocks are enabled in the top-level + * header. Delegate to the RkISP1Params class. + */ + if (params_->format() == V4L2_META_FMT_RK_ISP1_PARAMS) + return params_->setBlockEnabled(type_, enabled); + + /* + * For the extensible format, set the enable and disable flags in the + * block header directly. + */ + struct rkisp1_ext_params_block_header *header = + reinterpret_cast<struct rkisp1_ext_params_block_header *>(header_.data()); + header->flags &= ~(RKISP1_EXT_PARAMS_FL_BLOCK_ENABLE | + RKISP1_EXT_PARAMS_FL_BLOCK_DISABLE); + header->flags |= enabled ? RKISP1_EXT_PARAMS_FL_BLOCK_ENABLE + : RKISP1_EXT_PARAMS_FL_BLOCK_DISABLE; +} + +RkISP1Params::RkISP1Params(uint32_t format, Span<uint8_t> data) + : format_(format), data_(data), used_(0) +{ + if (format_ == V4L2_META_FMT_RK_ISP1_EXT_PARAMS) { + struct rkisp1_ext_params_cfg *cfg = + reinterpret_cast<struct rkisp1_ext_params_cfg *>(data.data()); + + cfg->version = RKISP1_EXT_PARAM_BUFFER_V1; + cfg->data_size = 0; + + used_ += offsetof(struct rkisp1_ext_params_cfg, data); + } else { + memset(data.data(), 0, data.size()); + used_ = sizeof(struct rkisp1_params_cfg); + } +} + +void RkISP1Params::setBlockEnabled(BlockType type, bool enabled) +{ + const BlockTypeInfo &info = kBlockTypeInfo.at(type); + + struct rkisp1_params_cfg *cfg = + reinterpret_cast<struct rkisp1_params_cfg *>(data_.data()); + if (enabled) + cfg->module_ens |= info.enableBit; + else + cfg->module_ens &= ~info.enableBit; +} + +Span<uint8_t> RkISP1Params::block(BlockType type) +{ + auto infoIt = kBlockTypeInfo.find(type); + if (infoIt == kBlockTypeInfo.end()) { + LOG(RkISP1Params, Error) + << "Invalid parameters block type " + << utils::to_underlying(type); + return {}; + } + + const BlockTypeInfo &info = infoIt->second; + + /* + * For the legacy format, return a block referencing the fixed location + * of the data. + */ + if (format_ == V4L2_META_FMT_RK_ISP1_PARAMS) { + /* + * Blocks available only in extended parameters have an offset + * of 0. Return nullptr in that case. + */ + if (info.offset == 0) { + LOG(RkISP1Params, Error) + << "Block type " << utils::to_underlying(type) + << " unavailable in fixed parameters format"; + return {}; + } + + struct rkisp1_params_cfg *cfg = + reinterpret_cast<struct rkisp1_params_cfg *>(data_.data()); + + cfg->module_cfg_update |= info.enableBit; + cfg->module_en_update |= info.enableBit; + + return data_.subspan(info.offset, info.size); + } + + /* + * For the extensible format, allocate memory for the block, including + * the header. Look up the block in the cache first. If an algorithm + * requests the same block type twice, it should get the same block. + */ + auto cacheIt = blocks_.find(type); + if (cacheIt != blocks_.end()) + return cacheIt->second; + + /* Make sure we don't run out of space. */ + size_t size = sizeof(struct rkisp1_ext_params_block_header) + + ((info.size + 7) & ~7); + if (size > data_.size() - used_) { + LOG(RkISP1Params, Error) + << "Out of memory to allocate block type " + << utils::to_underlying(type); + return {}; + } + + /* Allocate a new block, clear its memory, and initialize its header. */ + Span<uint8_t> block = data_.subspan(used_, size); + used_ += size; + + struct rkisp1_ext_params_cfg *cfg = + reinterpret_cast<struct rkisp1_ext_params_cfg *>(data_.data()); + cfg->data_size += size; + + memset(block.data(), 0, block.size()); + + struct rkisp1_ext_params_block_header *header = + reinterpret_cast<struct rkisp1_ext_params_block_header *>(block.data()); + header->type = info.type; + header->size = block.size(); + + /* Update the cache. */ + blocks_[type] = block; + + return block; +} + +} /* namespace ipa::rkisp1 */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/params.h b/src/ipa/rkisp1/params.h new file mode 100644 index 00000000..40450e34 --- /dev/null +++ b/src/ipa/rkisp1/params.h @@ -0,0 +1,163 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * RkISP1 ISP Parameters + */ + +#pragma once + +#include <map> +#include <stdint.h> + +#include <linux/rkisp1-config.h> + +#include <libcamera/base/class.h> +#include <libcamera/base/span.h> + +namespace libcamera { + +namespace ipa::rkisp1 { + +enum class BlockType { + Bls, + Dpcc, + Sdg, + AwbGain, + Flt, + Bdm, + Ctk, + Goc, + Dpf, + DpfStrength, + Cproc, + Ie, + Lsc, + Awb, + Hst, + Aec, + Afc, + CompandBls, + CompandExpand, + CompandCompress, +}; + +namespace details { + +template<BlockType B> +struct block_type { +}; + +#define RKISP1_DEFINE_BLOCK_TYPE(blockType, blockStruct) \ +template<> \ +struct block_type<BlockType::blockType> { \ + using type = struct rkisp1_cif_isp_##blockStruct##_config; \ +}; + +RKISP1_DEFINE_BLOCK_TYPE(Bls, bls) +RKISP1_DEFINE_BLOCK_TYPE(Dpcc, dpcc) +RKISP1_DEFINE_BLOCK_TYPE(Sdg, sdg) +RKISP1_DEFINE_BLOCK_TYPE(AwbGain, awb_gain) +RKISP1_DEFINE_BLOCK_TYPE(Flt, flt) +RKISP1_DEFINE_BLOCK_TYPE(Bdm, bdm) +RKISP1_DEFINE_BLOCK_TYPE(Ctk, ctk) +RKISP1_DEFINE_BLOCK_TYPE(Goc, goc) +RKISP1_DEFINE_BLOCK_TYPE(Dpf, dpf) +RKISP1_DEFINE_BLOCK_TYPE(DpfStrength, dpf_strength) +RKISP1_DEFINE_BLOCK_TYPE(Cproc, cproc) +RKISP1_DEFINE_BLOCK_TYPE(Ie, ie) +RKISP1_DEFINE_BLOCK_TYPE(Lsc, lsc) +RKISP1_DEFINE_BLOCK_TYPE(Awb, awb_meas) +RKISP1_DEFINE_BLOCK_TYPE(Hst, hst) +RKISP1_DEFINE_BLOCK_TYPE(Aec, aec) +RKISP1_DEFINE_BLOCK_TYPE(Afc, afc) +RKISP1_DEFINE_BLOCK_TYPE(CompandBls, compand_bls) +RKISP1_DEFINE_BLOCK_TYPE(CompandExpand, compand_curve) +RKISP1_DEFINE_BLOCK_TYPE(CompandCompress, compand_curve) + +} /* namespace details */ + +class RkISP1Params; + +class RkISP1ParamsBlockBase +{ +public: + RkISP1ParamsBlockBase(RkISP1Params *params, BlockType type, + const Span<uint8_t> &data); + + Span<uint8_t> data() const { return data_; } + + void setEnabled(bool enabled); + +private: + LIBCAMERA_DISABLE_COPY(RkISP1ParamsBlockBase) + + RkISP1Params *params_; + BlockType type_; + Span<uint8_t> header_; + Span<uint8_t> data_; +}; + +template<BlockType B> +class RkISP1ParamsBlock : public RkISP1ParamsBlockBase +{ +public: + using Type = typename details::block_type<B>::type; + + RkISP1ParamsBlock(RkISP1Params *params, const Span<uint8_t> &data) + : RkISP1ParamsBlockBase(params, B, data) + { + } + + const Type *operator->() const + { + return reinterpret_cast<const Type *>(data().data()); + } + + Type *operator->() + { + return reinterpret_cast<Type *>(data().data()); + } + + const Type &operator*() const & + { + return *reinterpret_cast<const Type *>(data().data()); + } + + Type &operator*() & + { + return *reinterpret_cast<Type *>(data().data()); + } +}; + +class RkISP1Params +{ +public: + RkISP1Params(uint32_t format, Span<uint8_t> data); + + template<BlockType B> + RkISP1ParamsBlock<B> block() + { + return RkISP1ParamsBlock<B>(this, block(B)); + } + + uint32_t format() const { return format_; } + size_t size() const { return used_; } + +private: + friend class RkISP1ParamsBlockBase; + + Span<uint8_t> block(BlockType type); + void setBlockEnabled(BlockType type, bool enabled); + + uint32_t format_; + + Span<uint8_t> data_; + size_t used_; + + std::map<BlockType, Span<uint8_t>> blocks_; +}; + +} /* namespace ipa::rkisp1 */ + +} /* namespace libcamera*/ diff --git a/src/ipa/rkisp1/rkisp1.cpp b/src/ipa/rkisp1/rkisp1.cpp index 438b3c66..2ffdd99b 100644 --- a/src/ipa/rkisp1/rkisp1.cpp +++ b/src/ipa/rkisp1/rkisp1.cpp @@ -2,103 +2,296 @@ /* * Copyright (C) 2019, Google Inc. * - * rkisp1.cpp - RkISP1 Image Processing Algorithms + * RkISP1 Image Processing Algorithms */ #include <algorithm> -#include <math.h> -#include <queue> +#include <array> +#include <chrono> #include <stdint.h> #include <string.h> -#include <sys/mman.h> #include <linux/rkisp1-config.h> +#include <linux/v4l2-controls.h> + +#include <libcamera/base/file.h> +#include <libcamera/base/log.h> -#include <ipa/ipa_interface.h> -#include <ipa/ipa_module_info.h> -#include <ipa/rkisp1.h> -#include <libcamera/buffer.h> #include <libcamera/control_ids.h> +#include <libcamera/controls.h> +#include <libcamera/framebuffer.h> #include <libcamera/request.h> -#include <libipa/ipa_interface_wrapper.h> -#include "log.h" -#include "utils.h" +#include <libcamera/ipa/ipa_interface.h> +#include <libcamera/ipa/ipa_module_info.h> +#include <libcamera/ipa/rkisp1_ipa_interface.h> + +#include "libcamera/internal/formats.h" +#include "libcamera/internal/mapped_framebuffer.h" +#include "libcamera/internal/yaml_parser.h" + +#include "algorithms/algorithm.h" + +#include "ipa_context.h" +#include "params.h" namespace libcamera { LOG_DEFINE_CATEGORY(IPARkISP1) -class IPARkISP1 : public IPAInterface +using namespace std::literals::chrono_literals; + +namespace ipa::rkisp1 { + +/* Maximum number of frame contexts to be held */ +static constexpr uint32_t kMaxFrameContexts = 16; + +class IPARkISP1 : public IPARkISP1Interface, public Module { public: - int init() override { return 0; } - - void configure(const std::map<unsigned int, IPAStream> &streamConfig, - const std::map<unsigned int, const ControlInfoMap &> &entityControls) override; + IPARkISP1(); + + int init(const IPASettings &settings, unsigned int hwRevision, + const IPACameraSensorInfo &sensorInfo, + const ControlInfoMap &sensorControls, + ControlInfoMap *ipaControls) override; + int start() override; + void stop() override; + + int configure(const IPAConfigInfo &ipaConfig, + const std::map<uint32_t, IPAStream> &streamConfig, + ControlInfoMap *ipaControls) override; void mapBuffers(const std::vector<IPABuffer> &buffers) override; void unmapBuffers(const std::vector<unsigned int> &ids) override; - void processEvent(const IPAOperationData &event) override; -private: - void queueRequest(unsigned int frame, rkisp1_isp_params_cfg *params, - const ControlList &controls); - void updateStatistics(unsigned int frame, - const rkisp1_stat_buffer *stats); + void queueRequest(const uint32_t frame, const ControlList &controls) override; + void computeParams(const uint32_t frame, const uint32_t bufferId) override; + void processStats(const uint32_t frame, const uint32_t bufferId, + const ControlList &sensorControls) override; +protected: + std::string logPrefix() const override; + +private: + void updateControls(const IPACameraSensorInfo &sensorInfo, + const ControlInfoMap &sensorControls, + ControlInfoMap *ipaControls); void setControls(unsigned int frame); - void metadataReady(unsigned int frame, unsigned int aeState); std::map<unsigned int, FrameBuffer> buffers_; - std::map<unsigned int, void *> buffersMemory_; - - ControlInfoMap ctrls_; - - /* Camera sensor controls. */ - bool autoExposure_; - uint32_t exposure_; - uint32_t minExposure_; - uint32_t maxExposure_; - uint32_t gain_; - uint32_t minGain_; - uint32_t maxGain_; + std::map<unsigned int, MappedFrameBuffer> mappedBuffers_; + + ControlInfoMap sensorControls_; + + /* Local parameter storage */ + struct IPAContext context_; +}; + +namespace { + +const IPAHwSettings ipaHwSettingsV10{ + RKISP1_CIF_ISP_AE_MEAN_MAX_V10, + RKISP1_CIF_ISP_HIST_BIN_N_MAX_V10, + RKISP1_CIF_ISP_HISTOGRAM_WEIGHT_GRIDS_SIZE_V10, + RKISP1_CIF_ISP_GAMMA_OUT_MAX_SAMPLES_V10, + false, +}; + +const IPAHwSettings ipaHwSettingsIMX8MP{ + RKISP1_CIF_ISP_AE_MEAN_MAX_V10, + RKISP1_CIF_ISP_HIST_BIN_N_MAX_V10, + RKISP1_CIF_ISP_HISTOGRAM_WEIGHT_GRIDS_SIZE_V10, + RKISP1_CIF_ISP_GAMMA_OUT_MAX_SAMPLES_V10, + true, +}; + +const IPAHwSettings ipaHwSettingsV12{ + RKISP1_CIF_ISP_AE_MEAN_MAX_V12, + RKISP1_CIF_ISP_HIST_BIN_N_MAX_V12, + RKISP1_CIF_ISP_HISTOGRAM_WEIGHT_GRIDS_SIZE_V12, + RKISP1_CIF_ISP_GAMMA_OUT_MAX_SAMPLES_V12, + false, +}; + +/* List of controls handled by the RkISP1 IPA */ +const ControlInfoMap::Map rkisp1Controls{ + { &controls::AwbEnable, ControlInfo(false, true) }, + { &controls::ColourGains, ControlInfo(0.0f, 3.996f, 1.0f) }, + { &controls::DebugMetadataEnable, ControlInfo(false, true, false) }, + { &controls::Sharpness, ControlInfo(0.0f, 10.0f, 1.0f) }, + { &controls::draft::NoiseReductionMode, ControlInfo(controls::draft::NoiseReductionModeValues) }, }; -void IPARkISP1::configure(const std::map<unsigned int, IPAStream> &streamConfig, - const std::map<unsigned int, const ControlInfoMap &> &entityControls) +} /* namespace */ + +IPARkISP1::IPARkISP1() + : context_(kMaxFrameContexts) { - if (entityControls.empty()) - return; +} - ctrls_ = entityControls.at(0); +std::string IPARkISP1::logPrefix() const +{ + return "rkisp1"; +} - const auto itExp = ctrls_.find(V4L2_CID_EXPOSURE); - if (itExp == ctrls_.end()) { - LOG(IPARkISP1, Error) << "Can't find exposure control"; - return; +int IPARkISP1::init(const IPASettings &settings, unsigned int hwRevision, + const IPACameraSensorInfo &sensorInfo, + const ControlInfoMap &sensorControls, + ControlInfoMap *ipaControls) +{ + /* \todo Add support for other revisions */ + switch (hwRevision) { + case RKISP1_V10: + context_.hw = &ipaHwSettingsV10; + break; + case RKISP1_V_IMX8MP: + context_.hw = &ipaHwSettingsIMX8MP; + break; + case RKISP1_V12: + context_.hw = &ipaHwSettingsV12; + break; + default: + LOG(IPARkISP1, Error) + << "Hardware revision " << hwRevision + << " is currently not supported"; + return -ENODEV; } - const auto itGain = ctrls_.find(V4L2_CID_ANALOGUE_GAIN); - if (itGain == ctrls_.end()) { - LOG(IPARkISP1, Error) << "Can't find gain control"; - return; + LOG(IPARkISP1, Debug) << "Hardware revision is " << hwRevision; + + context_.sensorInfo = sensorInfo; + + context_.camHelper = CameraSensorHelperFactoryBase::create(settings.sensorModel); + if (!context_.camHelper) { + LOG(IPARkISP1, Error) + << "Failed to create camera sensor helper for " + << settings.sensorModel; + return -ENODEV; + } + + context_.configuration.sensor.lineDuration = + sensorInfo.minLineLength * 1.0s / sensorInfo.pixelRate; + + /* Load the tuning data file. */ + File file(settings.configurationFile); + if (!file.open(File::OpenModeFlag::ReadOnly)) { + int ret = file.error(); + LOG(IPARkISP1, Error) + << "Failed to open configuration file " + << settings.configurationFile << ": " << strerror(-ret); + return ret; + } + + std::unique_ptr<libcamera::YamlObject> data = YamlParser::parse(file); + if (!data) + return -EINVAL; + + unsigned int version = (*data)["version"].get<uint32_t>(0); + if (version != 1) { + LOG(IPARkISP1, Error) + << "Invalid tuning file version " << version; + return -EINVAL; } - autoExposure_ = true; + if (!data->contains("algorithms")) { + LOG(IPARkISP1, Error) + << "Tuning file doesn't contain any algorithm"; + return -EINVAL; + } - minExposure_ = std::max<uint32_t>(itExp->second.min().get<int32_t>(), 1); - maxExposure_ = itExp->second.max().get<int32_t>(); - exposure_ = minExposure_; + int ret = createAlgorithms(context_, (*data)["algorithms"]); + if (ret) + return ret; - minGain_ = std::max<uint32_t>(itGain->second.min().get<int32_t>(), 1); - maxGain_ = itGain->second.max().get<int32_t>(); - gain_ = minGain_; + /* Initialize controls. */ + updateControls(sensorInfo, sensorControls, ipaControls); - LOG(IPARkISP1, Info) - << "Exposure: " << minExposure_ << "-" << maxExposure_ - << " Gain: " << minGain_ << "-" << maxGain_; + return 0; +} +int IPARkISP1::start() +{ setControls(0); + + return 0; +} + +void IPARkISP1::stop() +{ + context_.frameContexts.clear(); +} + +int IPARkISP1::configure(const IPAConfigInfo &ipaConfig, + const std::map<uint32_t, IPAStream> &streamConfig, + ControlInfoMap *ipaControls) +{ + sensorControls_ = ipaConfig.sensorControls; + + const auto itExp = sensorControls_.find(V4L2_CID_EXPOSURE); + int32_t minExposure = itExp->second.min().get<int32_t>(); + int32_t maxExposure = itExp->second.max().get<int32_t>(); + + const auto itGain = sensorControls_.find(V4L2_CID_ANALOGUE_GAIN); + int32_t minGain = itGain->second.min().get<int32_t>(); + int32_t maxGain = itGain->second.max().get<int32_t>(); + + LOG(IPARkISP1, Debug) + << "Exposure: [" << minExposure << ", " << maxExposure + << "], gain: [" << minGain << ", " << maxGain << "]"; + + /* Clear the IPA context before the streaming session. */ + context_.configuration = {}; + context_.activeState = {}; + context_.frameContexts.clear(); + + context_.configuration.paramFormat = ipaConfig.paramFormat; + + const IPACameraSensorInfo &info = ipaConfig.sensorInfo; + const ControlInfo vBlank = sensorControls_.find(V4L2_CID_VBLANK)->second; + context_.configuration.sensor.defVBlank = vBlank.def().get<int32_t>(); + context_.configuration.sensor.size = info.outputSize; + context_.configuration.sensor.lineDuration = info.minLineLength * 1.0s / info.pixelRate; + + /* Update the camera controls using the new sensor settings. */ + updateControls(info, sensorControls_, ipaControls); + + /* + * When the AGC computes the new exposure values for a frame, it needs + * to know the limits for exposure time and analogue gain. As it depends + * on the sensor, update it with the controls. + * + * \todo take VBLANK into account for maximum exposure time + */ + context_.configuration.sensor.minExposureTime = + minExposure * context_.configuration.sensor.lineDuration; + context_.configuration.sensor.maxExposureTime = + maxExposure * context_.configuration.sensor.lineDuration; + context_.configuration.sensor.minAnalogueGain = + context_.camHelper->gain(minGain); + context_.configuration.sensor.maxAnalogueGain = + context_.camHelper->gain(maxGain); + + context_.configuration.raw = std::any_of(streamConfig.begin(), streamConfig.end(), + [](auto &cfg) -> bool { + PixelFormat pixelFormat{ cfg.second.pixelFormat }; + const PixelFormatInfo &format = PixelFormatInfo::info(pixelFormat); + return format.colourEncoding == PixelFormatInfo::ColourEncodingRAW; + }); + + for (auto const &a : algorithms()) { + Algorithm *algo = static_cast<Algorithm *>(a.get()); + + /* Disable algorithms that don't support raw formats. */ + algo->disabled_ = context_.configuration.raw && !algo->supportsRaw_; + if (algo->disabled_) + continue; + + int ret = algo->configure(context_, info); + if (ret) + return ret; + } + + return 0; } void IPARkISP1::mapBuffers(const std::vector<IPABuffer> &buffers) @@ -109,22 +302,13 @@ void IPARkISP1::mapBuffers(const std::vector<IPABuffer> &buffers) std::forward_as_tuple(buffer.planes)); const FrameBuffer &fb = elem.first->second; - /* - * \todo Provide a helper to mmap() buffers (possibly exposed - * to applications). - */ - buffersMemory_[buffer.id] = mmap(NULL, - fb.planes()[0].length, - PROT_READ | PROT_WRITE, - MAP_SHARED, - fb.planes()[0].fd.fd(), - 0); - - if (buffersMemory_[buffer.id] == MAP_FAILED) { - int ret = -errno; + MappedFrameBuffer mappedBuffer(&fb, MappedFrameBuffer::MapFlag::ReadWrite); + if (!mappedBuffer.isValid()) { LOG(IPARkISP1, Fatal) << "Failed to mmap buffer: " - << strerror(-ret); + << strerror(mappedBuffer.error()); } + + mappedBuffers_.emplace(buffer.id, std::move(mappedBuffer)); } } @@ -135,134 +319,150 @@ void IPARkISP1::unmapBuffers(const std::vector<unsigned int> &ids) if (fb == buffers_.end()) continue; - munmap(buffersMemory_[id], fb->second.planes()[0].length); - buffersMemory_.erase(id); + mappedBuffers_.erase(id); buffers_.erase(id); } } -void IPARkISP1::processEvent(const IPAOperationData &event) +void IPARkISP1::queueRequest(const uint32_t frame, const ControlList &controls) { - switch (event.operation) { - case RKISP1_IPA_EVENT_SIGNAL_STAT_BUFFER: { - unsigned int frame = event.data[0]; - unsigned int bufferId = event.data[1]; + IPAFrameContext &frameContext = context_.frameContexts.alloc(frame); + context_.debugMetadata.enableByControl(controls); - const rkisp1_stat_buffer *stats = - static_cast<rkisp1_stat_buffer *>(buffersMemory_[bufferId]); - - updateStatistics(frame, stats); - break; - } - case RKISP1_IPA_EVENT_QUEUE_REQUEST: { - unsigned int frame = event.data[0]; - unsigned int bufferId = event.data[1]; - - rkisp1_isp_params_cfg *params = - static_cast<rkisp1_isp_params_cfg *>(buffersMemory_[bufferId]); - - queueRequest(frame, params, event.controls[0]); - break; - } - default: - LOG(IPARkISP1, Error) << "Unkown event " << event.operation; - break; + for (auto const &a : algorithms()) { + Algorithm *algo = static_cast<Algorithm *>(a.get()); + if (algo->disabled_) + continue; + algo->queueRequest(context_, frame, frameContext, controls); } } -void IPARkISP1::queueRequest(unsigned int frame, rkisp1_isp_params_cfg *params, - const ControlList &controls) +void IPARkISP1::computeParams(const uint32_t frame, const uint32_t bufferId) { - /* Prepare parameters buffer. */ - memset(params, 0, sizeof(*params)); + IPAFrameContext &frameContext = context_.frameContexts.get(frame); - /* Auto Exposure on/off. */ - if (controls.contains(controls::AeEnable)) { - autoExposure_ = controls.get(controls::AeEnable); - if (autoExposure_) - params->module_ens = CIFISP_MODULE_AEC; + RkISP1Params params(context_.configuration.paramFormat, + mappedBuffers_.at(bufferId).planes()[0]); - params->module_en_update = CIFISP_MODULE_AEC; - } - - IPAOperationData op; - op.operation = RKISP1_IPA_ACTION_PARAM_FILLED; + for (auto const &algo : algorithms()) + algo->prepare(context_, frame, frameContext, ¶ms); - queueFrameAction.emit(frame, op); + paramsComputed.emit(frame, params.size()); } -void IPARkISP1::updateStatistics(unsigned int frame, - const rkisp1_stat_buffer *stats) +void IPARkISP1::processStats(const uint32_t frame, const uint32_t bufferId, + const ControlList &sensorControls) { - const cifisp_stat *params = &stats->params; - unsigned int aeState = 0; - - if (stats->meas_type & CIFISP_STAT_AUTOEXP) { - const cifisp_ae_stat *ae = ¶ms->ae; - - const unsigned int target = 60; - - unsigned int value = 0; - unsigned int num = 0; - for (int i = 0; i < CIFISP_AE_MEAN_MAX; i++) { - if (ae->exp_mean[i] <= 15) - continue; - - value += ae->exp_mean[i]; - num++; - } - value /= num; - - double factor = (double)target / value; - - if (frame % 3 == 0) { - double exposure; - - exposure = factor * exposure_ * gain_ / minGain_; - exposure_ = utils::clamp<uint64_t>((uint64_t)exposure, - minExposure_, - maxExposure_); - - exposure = exposure / exposure_ * minGain_; - gain_ = utils::clamp<uint64_t>((uint64_t)exposure, - minGain_, maxGain_); - - setControls(frame + 1); - } - - aeState = fabs(factor - 1.0f) < 0.05f ? 2 : 1; + IPAFrameContext &frameContext = context_.frameContexts.get(frame); + + /* + * In raw capture mode, the ISP is bypassed and no statistics buffer is + * provided. + */ + const rkisp1_stat_buffer *stats = nullptr; + if (!context_.configuration.raw) + stats = reinterpret_cast<rkisp1_stat_buffer *>( + mappedBuffers_.at(bufferId).planes()[0].data()); + + frameContext.sensor.exposure = + sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>(); + frameContext.sensor.gain = + context_.camHelper->gain(sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>()); + + ControlList metadata(controls::controls); + + for (auto const &a : algorithms()) { + Algorithm *algo = static_cast<Algorithm *>(a.get()); + if (algo->disabled_) + continue; + algo->process(context_, frame, frameContext, stats, metadata); } - metadataReady(frame, aeState); + setControls(frame); + + context_.debugMetadata.moveEntries(metadata); + metadataReady.emit(frame, metadata); } -void IPARkISP1::setControls(unsigned int frame) +void IPARkISP1::updateControls(const IPACameraSensorInfo &sensorInfo, + const ControlInfoMap &sensorControls, + ControlInfoMap *ipaControls) { - IPAOperationData op; - op.operation = RKISP1_IPA_ACTION_V4L2_SET; + ControlInfoMap::Map ctrlMap = rkisp1Controls; + + /* + * Compute exposure time limits from the V4L2_CID_EXPOSURE control + * limits and the line duration. + */ + double lineDuration = context_.configuration.sensor.lineDuration.get<std::micro>(); + const ControlInfo &v4l2Exposure = sensorControls.find(V4L2_CID_EXPOSURE)->second; + int32_t minExposure = v4l2Exposure.min().get<int32_t>() * lineDuration; + int32_t maxExposure = v4l2Exposure.max().get<int32_t>() * lineDuration; + int32_t defExposure = v4l2Exposure.def().get<int32_t>() * lineDuration; + ctrlMap.emplace(std::piecewise_construct, + std::forward_as_tuple(&controls::ExposureTime), + std::forward_as_tuple(minExposure, maxExposure, defExposure)); + + /* Compute the analogue gain limits. */ + const ControlInfo &v4l2Gain = sensorControls.find(V4L2_CID_ANALOGUE_GAIN)->second; + float minGain = context_.camHelper->gain(v4l2Gain.min().get<int32_t>()); + float maxGain = context_.camHelper->gain(v4l2Gain.max().get<int32_t>()); + float defGain = context_.camHelper->gain(v4l2Gain.def().get<int32_t>()); + ctrlMap.emplace(std::piecewise_construct, + std::forward_as_tuple(&controls::AnalogueGain), + std::forward_as_tuple(minGain, maxGain, defGain)); + + /* + * Compute the frame duration limits. + * + * The frame length is computed assuming a fixed line length combined + * with the vertical frame sizes. + */ + const ControlInfo &v4l2HBlank = sensorControls.find(V4L2_CID_HBLANK)->second; + uint32_t hblank = v4l2HBlank.def().get<int32_t>(); + uint32_t lineLength = sensorInfo.outputSize.width + hblank; + + const ControlInfo &v4l2VBlank = sensorControls.find(V4L2_CID_VBLANK)->second; + std::array<uint32_t, 3> frameHeights{ + v4l2VBlank.min().get<int32_t>() + sensorInfo.outputSize.height, + v4l2VBlank.max().get<int32_t>() + sensorInfo.outputSize.height, + v4l2VBlank.def().get<int32_t>() + sensorInfo.outputSize.height, + }; + + std::array<int64_t, 3> frameDurations; + for (unsigned int i = 0; i < frameHeights.size(); ++i) { + uint64_t frameSize = lineLength * frameHeights[i]; + frameDurations[i] = frameSize / (sensorInfo.pixelRate / 1000000U); + } - ControlList ctrls(ctrls_); - ctrls.set(V4L2_CID_EXPOSURE, static_cast<int32_t>(exposure_)); - ctrls.set(V4L2_CID_ANALOGUE_GAIN, static_cast<int32_t>(gain_)); - op.controls.push_back(ctrls); + ctrlMap[&controls::FrameDurationLimits] = ControlInfo(frameDurations[0], + frameDurations[1], + frameDurations[2]); - queueFrameAction.emit(frame, op); + ctrlMap.insert(context_.ctrlMap.begin(), context_.ctrlMap.end()); + *ipaControls = ControlInfoMap(std::move(ctrlMap), controls::controls); } -void IPARkISP1::metadataReady(unsigned int frame, unsigned int aeState) +void IPARkISP1::setControls(unsigned int frame) { - ControlList ctrls(controls::controls); + /* + * \todo The frame number is most likely wrong here, we need to take + * internal sensor delays and other timing parameters into account. + */ - if (aeState) - ctrls.set(controls::AeLocked, aeState == 2); + IPAFrameContext &frameContext = context_.frameContexts.get(frame); + uint32_t exposure = frameContext.agc.exposure; + uint32_t gain = context_.camHelper->gainCode(frameContext.agc.gain); - IPAOperationData op; - op.operation = RKISP1_IPA_ACTION_METADATA; - op.controls.push_back(ctrls); + ControlList ctrls(sensorControls_); + ctrls.set(V4L2_CID_EXPOSURE, static_cast<int32_t>(exposure)); + ctrls.set(V4L2_CID_ANALOGUE_GAIN, static_cast<int32_t>(gain)); - queueFrameAction.emit(frame, op); + setSensorControls.emit(frame, ctrls); } +} /* namespace ipa::rkisp1 */ + /* * External IPA module interface */ @@ -271,14 +471,13 @@ extern "C" { const struct IPAModuleInfo ipaModuleInfo = { IPA_MODULE_API_VERSION, 1, - "PipelineHandlerRkISP1", - "RkISP1 IPA", - "LGPL-2.1-or-later", + "rkisp1", + "rkisp1", }; -struct ipa_context *ipaCreate() +IPAInterface *ipaCreate() { - return new IPAInterfaceWrapper(std::make_unique<IPARkISP1>()); + return new ipa::rkisp1::IPARkISP1(); } } 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..a78db9c1 --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper.cpp @@ -0,0 +1,257 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * 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::setHwConfig(const Controller::HardwareConfig &hwConfig) +{ + hwConfig_ = hwConfig; +} + +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.exposureTime = parsedDeviceStatus.exposureTime; + 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..4a826690 --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper.h @@ -0,0 +1,127 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * 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 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); + void setHwConfig(const Controller::HardwareConfig &hwConfig); + 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 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_; + Controller::HardwareConfig hwConfig_; + +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..ba01153e --- /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 + * + * 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.exposureTime = 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_imx283.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx283.cpp new file mode 100644 index 00000000..efc03193 --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper_imx283.cpp @@ -0,0 +1,61 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2024, Raspberry Pi Ltd + * + * cam_helper_Imx283.cpp - camera information for Imx283 sensor + */ + +#include <assert.h> + +#include "cam_helper.h" + +using namespace RPiController; + +class CamHelperImx283 : public CamHelper +{ +public: + CamHelperImx283(); + uint32_t gainCode(double gain) const override; + double gain(uint32_t gainCode) 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 = 4; +}; + +/* + * Imx283 doesn't output metadata, so we have to use the delayed controls which + * works by counting frames. + */ + +CamHelperImx283::CamHelperImx283() + : CamHelper({}, frameIntegrationDiff) +{ +} + +uint32_t CamHelperImx283::gainCode(double gain) const +{ + return static_cast<uint32_t>(2048.0 - 2048.0 / gain); +} + +double CamHelperImx283::gain(uint32_t gainCode) const +{ + return static_cast<double>(2048.0 / (2048 - gainCode)); +} + +unsigned int CamHelperImx283::hideFramesModeSwitch() const +{ + /* After a mode switch, we seem to get 1 bad frame. */ + return 1; +} + +static CamHelper *create() +{ + return new CamHelperImx283(); +} + +static RegisterCamHelper reg("imx283", &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..c1aa8528 --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper_imx290.cpp @@ -0,0 +1,66 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2021, Raspberry Pi Ltd + * + * camera helper for imx290 sensor + */ + +#include <cmath> + +#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; + unsigned int hideFramesStartup() 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 * std::log10(gain); + return std::max(0, std::min(code, 0xf0)); +} + +double CamHelperImx290::gain(uint32_t gainCode) const +{ + return std::pow(10, 0.015 * gainCode); +} + +unsigned int CamHelperImx290::hideFramesStartup() const +{ + /* On startup, we seem to get 1 bad frame. */ + return 1; +} + +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); +static RegisterCamHelper reg327("imx327", &create); +static RegisterCamHelper reg462("imx462", &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..ac7ee2ea --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper_imx296.cpp @@ -0,0 +1,72 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2020, Raspberry Pi Ltd + * + * 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; + +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; +} + +static CamHelper *create() +{ + return new CamHelperImx296(); +} + +static RegisterCamHelper reg("imx296", &create); diff --git a/src/ipa/rpi/cam_helper/cam_helper_imx415.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx415.cpp new file mode 100644 index 00000000..c0a09eee --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper_imx415.cpp @@ -0,0 +1,64 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2025, Raspberry Pi Ltd + * + * camera helper for imx415 sensor + */ + +#include <cmath> + +#include "cam_helper.h" + +using namespace RPiController; + +class CamHelperImx415 : public CamHelper +{ +public: + CamHelperImx415(); + uint32_t gainCode(double gain) const override; + double gain(uint32_t gainCode) const override; + unsigned int hideFramesStartup() 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 = 8; +}; + +CamHelperImx415::CamHelperImx415() + : CamHelper({}, frameIntegrationDiff) +{ +} + +uint32_t CamHelperImx415::gainCode(double gain) const +{ + int code = 66.6667 * std::log10(gain); + return std::max(0, std::min(code, 0xf0)); +} + +double CamHelperImx415::gain(uint32_t gainCode) const +{ + return std::pow(10, 0.015 * gainCode); +} + +unsigned int CamHelperImx415::hideFramesStartup() const +{ + /* On startup, we seem to get 1 bad frame. */ + return 1; +} + +unsigned int CamHelperImx415::hideFramesModeSwitch() const +{ + /* After a mode switch, we seem to get 1 bad frame. */ + return 1; +} + +static CamHelper *create() +{ + return new CamHelperImx415(); +} + +static RegisterCamHelper reg("imx415", &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..a72ac67d --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper_imx477.cpp @@ -0,0 +1,186 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2020, Raspberry Pi Ltd + * + * 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; + 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.exposureTime = deviceStatus.exposureTime; + 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 }; +} + +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.exposureTime = 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..10cbea48 --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper_imx519.cpp @@ -0,0 +1,185 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Based on cam_helper_imx477.cpp + * Copyright (C) 2020, Raspberry Pi Ltd + * + * 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; + 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.exposureTime = deviceStatus.exposureTime; + 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 }; +} + +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.exposureTime = 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..6150909c --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper_imx708.cpp @@ -0,0 +1,371 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022, Raspberry Pi Ltd + * + * 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; + +using namespace std::literals::chrono_literals; + +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; + bool sensorEmbeddedDataPresent() const override; + double getModeSensitivity(const CameraMode &mode) const override; + unsigned int hideFramesModeSwitch() const override; + unsigned int hideFramesStartup() const override; + +private: + /* + * Smallest difference between the frame length and integration time, + * in units of lines. + */ + static constexpr int frameIntegrationDiff = 48; + /* 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.exposureTime = deviceStatus.exposureTime; + 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 }; +} + +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; +} + +unsigned int CamHelperImx708::hideFramesModeSwitch() const +{ + /* + * We need to drop the first startup frame in HDR mode. + * Unfortunately the only way to currently determine if the sensor is in + * the HDR mode is to match with the resolution and framerate - the HDR + * mode only runs upto 30fps. + */ + if (mode_.width == 2304 && mode_.height == 1296 && + mode_.minFrameDuration > 1.0s / 32) + return 1; + else + return 0; +} + +unsigned int CamHelperImx708::hideFramesStartup() const +{ + return hideFramesModeSwitch(); +} + +void CamHelperImx708::populateMetadata(const MdParser::RegisterMap ®isters, + Metadata &metadata) const +{ + DeviceStatus deviceStatus; + + deviceStatus.lineLength = lineLengthPckToDuration(registers.at(lineLengthHiReg) * 256 + + registers.at(lineLengthLoReg)); + deviceStatus.exposureTime = 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 > 14 || 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..40d6b6d7 --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper_ov5647.cpp @@ -0,0 +1,94 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * 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; + 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; +} + +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_ov64a40.cpp b/src/ipa/rpi/cam_helper/cam_helper_ov64a40.cpp new file mode 100644 index 00000000..980495a8 --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper_ov64a40.cpp @@ -0,0 +1,62 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2021, Raspberry Pi Ltd + * Copyright (C) 2023, Ideas on Board Oy. + * + * camera information for ov64a40 sensor + */ + +#include <assert.h> + +#include "cam_helper.h" + +using namespace RPiController; + +class CamHelperOv64a40 : public CamHelper +{ +public: + CamHelperOv64a40(); + uint32_t gainCode(double gain) const override; + double gain(uint32_t gainCode) const override; + double getModeSensitivity(const CameraMode &mode) const override; + +private: + /* + * Smallest difference between the frame length and integration time, + * in units of lines. + */ + static constexpr int frameIntegrationDiff = 32; +}; + +CamHelperOv64a40::CamHelperOv64a40() + : CamHelper({}, frameIntegrationDiff) +{ +} + +uint32_t CamHelperOv64a40::gainCode(double gain) const +{ + return static_cast<uint32_t>(gain * 128.0); +} + +double CamHelperOv64a40::gain(uint32_t gainCode) const +{ + return static_cast<double>(gainCode) / 128.0; +} + +double CamHelperOv64a40::getModeSensitivity(const CameraMode &mode) const +{ + if (mode.binX >= 2 && mode.scaleX >= 4) { + return 4.0; + } else if (mode.binX >= 2 && mode.scaleX >= 2) { + return 2.0; + } else { + return 1.0; + } +} + +static CamHelper *create() +{ + return new CamHelperOv64a40(); +} + +static RegisterCamHelper reg("ov64a40", &create); diff --git a/src/ipa/rpi/cam_helper/cam_helper_ov7251.cpp b/src/ipa/rpi/cam_helper/cam_helper_ov7251.cpp new file mode 100644 index 00000000..fc7b999f --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper_ov7251.cpp @@ -0,0 +1,54 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2021, Raspberry Pi Ltd + * + * camera information for ov7251 sensor + */ + +#include <assert.h> + +#include "cam_helper.h" + +using namespace RPiController; + +class CamHelperOv7251 : public CamHelper +{ +public: + CamHelperOv7251(); + uint32_t gainCode(double gain) const override; + double gain(uint32_t gainCode) const override; + +private: + /* + * Smallest difference between the frame length and integration time, + * in units of lines. + */ + static constexpr int frameIntegrationDiff = 4; +}; + +/* + * OV7251 doesn't output metadata, so we have to use the "unicam parser" which + * works by counting frames. + */ + +CamHelperOv7251::CamHelperOv7251() + : CamHelper({}, frameIntegrationDiff) +{ +} + +uint32_t CamHelperOv7251::gainCode(double gain) const +{ + return static_cast<uint32_t>(gain * 16.0); +} + +double CamHelperOv7251::gain(uint32_t gainCode) const +{ + return static_cast<double>(gainCode) / 16.0; +} + +static CamHelper *create() +{ + return new CamHelperOv7251(); +} + +static RegisterCamHelper reg("ov7251", &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..e93a4691 --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper_ov9281.cpp @@ -0,0 +1,54 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2021, Raspberry Pi Ltd + * + * 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; + +private: + /* + * Smallest difference between the frame length and integration time, + * in units of lines. + */ + static constexpr int frameIntegrationDiff = 25; +}; + +/* + * 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; +} + +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..227c376c --- /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 + * + * 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..c7bdcf94 --- /dev/null +++ b/src/ipa/rpi/cam_helper/md_parser_smia.cpp @@ -0,0 +1,152 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019-2021, Raspberry Pi Ltd + * + * 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++]; + + /* Non-dummy bytes come in even-sized blocks: skip can only ever follow tag */ + while ((bitsPerPixel_ == 10 && + (currentOffset + 1 - currentLineStart) % 5 == 0) || + (bitsPerPixel_ == 12 && + (currentOffset + 1 - currentLineStart) % 3 == 0) || + (bitsPerPixel_ == 14 && + (currentOffset - currentLineStart) % 7 >= 4)) { + 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..abf02147 --- /dev/null +++ b/src/ipa/rpi/cam_helper/meson.build @@ -0,0 +1,30 @@ +# 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_imx283.cpp', + 'cam_helper_imx290.cpp', + 'cam_helper_imx296.cpp', + 'cam_helper_imx415.cpp', + 'cam_helper_imx477.cpp', + 'cam_helper_imx519.cpp', + 'cam_helper_imx708.cpp', + 'cam_helper_ov64a40.cpp', + 'cam_helper_ov7251.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/common/ipa_base.cpp b/src/ipa/rpi/common/ipa_base.cpp new file mode 100644 index 00000000..6ff1e22b --- /dev/null +++ b/src/ipa/rpi/common/ipa_base.cpp @@ -0,0 +1,1542 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019-2023, Raspberry Pi Ltd + * + * Raspberry Pi IPA base class + */ + +#include "ipa_base.h" + +#include <cmath> + +#include <libcamera/base/log.h> +#include <libcamera/base/span.h> +#include <libcamera/control_ids.h> +#include <libcamera/property_ids.h> + +#include "controller/af_algorithm.h" +#include "controller/af_status.h" +#include "controller/agc_algorithm.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/denoise_algorithm.h" +#include "controller/hdr_algorithm.h" +#include "controller/lux_status.h" +#include "controller/sharpen_algorithm.h" +#include "controller/statistics.h" + +namespace libcamera { + +using namespace std::literals::chrono_literals; +using utils::Duration; + +namespace { + +/* 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 */ +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::AeFlickerMode, ControlInfo(static_cast<int>(controls::FlickerOff), + static_cast<int>(controls::FlickerManual), + static_cast<int>(controls::FlickerOff)) }, + { &controls::AeFlickerPeriod, ControlInfo(100, 1000000) }, + { &controls::Brightness, ControlInfo(-1.0f, 1.0f, 0.0f) }, + { &controls::Contrast, ControlInfo(0.0f, 32.0f, 1.0f) }, + { &controls::HdrMode, ControlInfo(controls::HdrModeValues) }, + { &controls::Sharpness, ControlInfo(0.0f, 16.0f, 1.0f) }, + { &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) }, + { &controls::rpi::StatsOutputEnable, ControlInfo(false, true, false) }, +}; + +/* IPA controls handled conditionally, if the sensor is not mono */ +const ControlInfoMap::Map ipaColourControls{ + { &controls::AwbEnable, ControlInfo(false, true) }, + { &controls::AwbMode, ControlInfo(controls::AwbModeValues) }, + { &controls::ColourGains, ControlInfo(0.0f, 32.0f) }, + { &controls::ColourTemperature, ControlInfo(100, 100000) }, + { &controls::Saturation, ControlInfo(0.0f, 32.0f, 1.0f) }, +}; + +/* IPA controls handled conditionally, if the lens has a focus control */ +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) } +}; + +/* Platform specific controls */ +const std::map<const std::string, ControlInfoMap::Map> platformControls { + { "pisp", { + { &controls::rpi::ScalerCrops, ControlInfo(Rectangle{}, Rectangle(65535, 65535, 65535, 65535), Rectangle{}) } + } }, +}; + +} /* namespace */ + +LOG_DEFINE_CATEGORY(IPARPI) + +namespace ipa::RPi { + +IpaBase::IpaBase() + : controller_(), frameLengths_(FrameLengthsQueueSize, 0s), statsMetadataOutput_(false), + stitchSwapBuffers_(false), frameCount_(0), mistrustCount_(0), lastRunTimestamp_(0), + firstStart_(true), flickerState_({ 0, 0s }) +{ +} + +IpaBase::~IpaBase() +{ +} + +int32_t IpaBase::init(const IPASettings &settings, const InitParams ¶ms, InitResult *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 metadata to the pipeline handler */ + int sensorMetadata = helper_->sensorEmbeddedDataPresent(); + 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; + } + + lensPresent_ = params.lensPresent; + + controller_.initialise(); + helper_->setHwConfig(controller_.getHardwareConfig()); + + /* Return the controls handled by the IPA */ + ControlInfoMap::Map ctrlMap = ipaControls; + if (lensPresent_) + ctrlMap.merge(ControlInfoMap::Map(ipaAfControls)); + + auto platformCtrlsIt = platformControls.find(controller_.getTarget()); + if (platformCtrlsIt != platformControls.end()) + ctrlMap.merge(ControlInfoMap::Map(platformCtrlsIt->second)); + + monoSensor_ = params.sensorInfo.cfaPattern == properties::draft::ColorFilterArrangementEnum::MONO; + if (!monoSensor_) + ctrlMap.merge(ControlInfoMap::Map(ipaColourControls)); + + result->controlInfo = ControlInfoMap(std::move(ctrlMap), controls::controls); + + return platformInit(params, result); +} + +int32_t IpaBase::configure(const IPACameraSensorInfo &sensorInfo, const ConfigParams ¶ms, + ConfigResult *result) +{ + sensorCtrls_ = params.sensorControls; + + if (!validateSensorControls()) { + LOG(IPARPI, Error) << "Sensor control validation failed."; + return -1; + } + + if (lensPresent_) { + lensCtrls_ = params.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>(params.transform); + + /* 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.exposureTime = defaultExposureTime; + agcStatus.analogueGain = defaultAnalogueGain; + applyAGC(&agcStatus, ctrls); + + /* + * Set the lens to the default (typically hyperfocal) position + * on first start. + */ + if (lensPresent_) { + RPiController::AfAlgorithm *af = + dynamic_cast<RPiController::AfAlgorithm *>(controller_.getAlgorithm("af")); + + if (af) { + float defaultPos = + ipaAfControls.at(&controls::LensPosition).def().get<float>(); + ControlList lensCtrl(lensCtrls_); + int32_t hwpos; + + af->setLensPosition(defaultPos, &hwpos); + lensCtrl.set(V4L2_CID_FOCUS_ABSOLUTE, hwpos); + result->lensControls = std::move(lensCtrl); + } + } + } + + result->sensorControls = 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_.minExposureTime.get<std::micro>()), + static_cast<int32_t>(mode_.maxExposureTime.get<std::micro>())); + + /* Declare colour processing related controls for non-mono sensors. */ + if (!monoSensor_) + ctrlMap.merge(ControlInfoMap::Map(ipaColourControls)); + + /* 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 platformConfigure(params, result); +} + +void IpaBase::start(const ControlList &controls, StartResult *result) +{ + RPiController::Metadata metadata; + + if (!controls.empty()) { + /* We have been given some controls to action before start. */ + applyControls(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.exposureTime = 0.0s; + agcStatus.analogueGain = 0.0; + + metadata.get("agc.status", agcStatus); + if (agcStatus.exposureTime && agcStatus.analogueGain) { + ControlList ctrls(sensorCtrls_); + applyAGC(&agcStatus, ctrls); + result->controls = std::move(ctrls); + setCameraTimeoutValue(); + } + /* Make a note of this as it tells us the HDR status of the first few frames. */ + hdrStatus_ = agcStatus.hdr; + + /* + * 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; + 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(); + } + + result->dropFrameCount = dropFrameCount_; + + firstStart_ = false; + lastRunTimestamp_ = 0; + + platformStart(controls, result); +} + +void IpaBase::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 IpaBase::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 IpaBase::prepareIsp(const PrepareParams ¶ms) +{ + applyControls(params.requestControls); + + /* + * 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". + */ + int64_t frameTimestamp = params.sensorControls.get(controls::SensorTimestamp).value_or(0); + unsigned int ipaContext = params.ipaContext % rpiMetadata_.size(); + RPiController::Metadata &rpiMetadata = rpiMetadata_[ipaContext]; + Span<uint8_t> embeddedBuffer; + + rpiMetadata.clear(); + fillDeviceStatus(params.sensorControls, ipaContext); + + if (params.buffers.embedded) { + /* + * Pipeline handler has supplied us with an embedded data buffer, + * we must pass it to the CamHelper for parsing. + */ + auto it = buffers_.find(params.buffers.embedded); + 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. + * + * Note if the HDR mode has changed, as things like tonemaps may need updating. + */ + AgcStatus agcStatus; + bool hdrChange = false; + RPiController::Metadata &delayedMetadata = rpiMetadata_[params.delayContext]; + if (!delayedMetadata.get<AgcStatus>("agc.status", agcStatus)) { + rpiMetadata.set("agc.delayed_status", agcStatus); + hdrChange = agcStatus.hdr.mode != hdrStatus_.mode; + hdrStatus_ = agcStatus.hdr; + } + + /* + * This may overwrite the DeviceStatus using values from the sensor + * metadata, and may also do additional custom processing. + */ + helper_->prepare(embeddedBuffer, rpiMetadata); + + /* Allow a 10% margin on the comparison below. */ + Duration delta = (frameTimestamp - lastRunTimestamp_) * 1.0ns; + if (lastRunTimestamp_ && frameCount_ > dropFrameCount_ && + delta < controllerMinFrameDuration * 0.9 && !hdrChange) { + /* + * 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; + } else { + processPending_ = true; + lastRunTimestamp_ = frameTimestamp; + } + + /* + * If the statistics are inline (i.e. already available with the Bayer + * frame), call processStats() now before prepare(). + */ + if (controller_.getHardwareConfig().statsInline) + processStats({ params.buffers, params.ipaContext }); + + /* Do we need/want to call prepare? */ + if (processPending_) { + controller_.prepare(&rpiMetadata); + /* Actually prepare the ISP parameters for the frame. */ + platformPrepareIsp(params, rpiMetadata); + } + + frameCount_++; + + /* If the statistics are inline the metadata can be returned early. */ + if (controller_.getHardwareConfig().statsInline) + reportMetadata(ipaContext); + + /* Ready to push the input buffer into the ISP. */ + prepareIspComplete.emit(params.buffers, stitchSwapBuffers_); +} + +void IpaBase::processStats(const ProcessParams ¶ms) +{ + unsigned int ipaContext = params.ipaContext % rpiMetadata_.size(); + + if (processPending_ && frameCount_ >= mistrustCount_) { + RPiController::Metadata &rpiMetadata = rpiMetadata_[ipaContext]; + + auto it = buffers_.find(params.buffers.stats); + if (it == buffers_.end()) { + LOG(IPARPI, Error) << "Could not find stats buffer!"; + return; + } + + RPiController::StatisticsPtr statistics = platformProcessStats(it->second.planes()[0]); + + /* reportMetadata() will pick this up and set the FocusFoM metadata */ + rpiMetadata.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(); + } + } + + /* + * If the statistics are not inline the metadata must be returned now, + * before the processStatsComplete signal. + */ + if (!controller_.getHardwareConfig().statsInline) + reportMetadata(ipaContext); + + processStatsComplete.emit(params.buffers); +} + +void IpaBase::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 = std::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); + + /* + * Ensure that the maximum pixel processing rate does not exceed the ISP + * hardware capabilities. If it does, try adjusting the minimum line + * length to compensate if possible. + */ + Duration minPixelTime = controller_.getHardwareConfig().minPixelProcessingTime; + Duration pixelTime = mode_.minLineLength / mode_.width; + if (minPixelTime && pixelTime < minPixelTime) { + Duration adjustedLineLength = minPixelTime * mode_.width; + if (adjustedLineLength <= mode_.maxLineLength) { + LOG(IPARPI, Info) + << "Adjusting mode minimum line length from " << mode_.minLineLength + << " to " << adjustedLineLength << " because of ISP constraints."; + mode_.minLineLength = adjustedLineLength; + } else { + LOG(IPARPI, Error) + << "Sensor minimum line length of " << pixelTime * mode_.width + << " (" << 1us / pixelTime << " MPix/s)" + << " is below the minimum allowable ISP limit of " + << adjustedLineLength + << " (" << 1us / minPixelTime << " MPix/s) "; + LOG(IPARPI, Error) + << "THIS WILL CAUSE IMAGE CORRUPTION!!! " + << "Please update the camera sensor driver to allow more horizontal blanking control."; + } + } + + /* + * 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 &exposureTimeCtrl = sensorCtrls_.at(V4L2_CID_EXPOSURE); + + mode_.minAnalogueGain = helper_->gain(gainCtrl.min().get<int32_t>()); + mode_.maxAnalogueGain = helper_->gain(gainCtrl.max().get<int32_t>()); + + /* + * We need to give the helper the min/max frame durations so it can calculate + * the correct exposure limits below. + */ + helper_->setCameraMode(mode_); + + /* + * Exposure time is calculated based on the limits of the frame + * durations. + */ + mode_.minExposureTime = helper_->exposure(exposureTimeCtrl.min().get<int32_t>(), + mode_.minLineLength); + mode_.maxExposureTime = Duration::max(); + helper_->getBlanking(mode_.maxExposureTime, mode_.minFrameDuration, + mode_.maxFrameDuration); +} + +void IpaBase::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; + } +} + +bool IpaBase::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 IpaBase::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::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 }, +}; + +static const std::map<int32_t, std::string> HdrModeTable = { + { controls::HdrModeOff, "Off" }, + { controls::HdrModeMultiExposureUnmerged, "MultiExposureUnmerged" }, + { controls::HdrModeMultiExposure, "MultiExposure" }, + { controls::HdrModeSingleExposure, "SingleExposure" }, + { controls::HdrModeNight, "Night" }, +}; + +void IpaBase::applyControls(const ControlList &controls) +{ + using RPiController::AgcAlgorithm; + using RPiController::AfAlgorithm; + using RPiController::ContrastAlgorithm; + using RPiController::DenoiseAlgorithm; + using RPiController::HdrAlgorithm; + + /* 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 if (af) + 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->setFixedExposureTime(0, 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(0, 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(0, ev); + libcameraMetadata_.set(controls::ExposureValue, + ctrl.second.get<float>()); + break; + } + + case controls::AE_FLICKER_MODE: { + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.getAlgorithm("agc")); + if (!agc) { + LOG(IPARPI, Warning) + << "Could not set AeFlickerMode - no AGC algorithm"; + break; + } + + int32_t mode = ctrl.second.get<int32_t>(); + bool modeValid = true; + + switch (mode) { + case controls::FlickerOff: + agc->setFlickerPeriod(0us); + + break; + + case controls::FlickerManual: + agc->setFlickerPeriod(flickerState_.manualPeriod); + + break; + + default: + LOG(IPARPI, Error) << "Flicker mode " << mode << " is not supported"; + modeValid = false; + + break; + } + + if (modeValid) + flickerState_.mode = mode; + + break; + } + + case controls::AE_FLICKER_PERIOD: { + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.getAlgorithm("agc")); + if (!agc) { + LOG(IPARPI, Warning) + << "Could not set AeFlickerPeriod - no AGC algorithm"; + break; + } + + uint32_t manualPeriod = ctrl.second.get<int32_t>(); + flickerState_.manualPeriod = manualPeriod * 1.0us; + + /* + * We note that it makes no difference if the mode gets set to "manual" + * first, and the period updated after, or vice versa. + */ + if (flickerState_.mode == controls::FlickerManual) + agc->setFlickerPeriod(flickerState_.manualPeriod); + + break; + } + + case controls::AWB_ENABLE: { + /* Silently ignore this control for a mono sensor. */ + if (monoSensor_) + break; + + 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: { + /* Silently ignore this control for a mono sensor. */ + if (monoSensor_) + break; + + 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: { + /* Silently ignore this control for a mono sensor. */ + if (monoSensor_) + break; + + 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::COLOUR_TEMPERATURE: { + /* Silently ignore this control for a mono sensor. */ + if (monoSensor_) + break; + + auto temperatureK = ctrl.second.get<int32_t>(); + RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>( + controller_.getAlgorithm("awb")); + if (!awb) { + LOG(IPARPI, Warning) + << "Could not set COLOUR_TEMPERATURE - no AWB algorithm"; + break; + } + + awb->setColourTemperature(temperatureK); + /* This metadata will get reported back automatically. */ + 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: { + /* Silently ignore this control for a mono sensor. */ + if (monoSensor_) + break; + + 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::rpi::SCALER_CROPS: + 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::draft::NOISE_REDUCTION_MODE: + /* Handled below in handleControls() */ + libcameraMetadata_.set(controls::draft::NoiseReductionMode, + ctrl.second.get<int32_t>()); + 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; + } + + case controls::HDR_MODE: { + HdrAlgorithm *hdr = dynamic_cast<HdrAlgorithm *>(controller_.getAlgorithm("hdr")); + if (!hdr) { + LOG(IPARPI, Warning) << "No HDR algorithm available"; + break; + } + + auto mode = HdrModeTable.find(ctrl.second.get<int32_t>()); + if (mode == HdrModeTable.end()) { + LOG(IPARPI, Warning) << "Unrecognised HDR mode"; + break; + } + + AgcAlgorithm *agc = dynamic_cast<AgcAlgorithm *>(controller_.getAlgorithm("agc")); + if (!agc) { + LOG(IPARPI, Warning) << "HDR requires an AGC algorithm"; + break; + } + + if (hdr->setMode(mode->second) == 0) { + agc->setActiveChannels(hdr->getChannels()); + + /* We also disable adpative contrast enhancement if HDR is running. */ + ContrastAlgorithm *contrast = + dynamic_cast<ContrastAlgorithm *>(controller_.getAlgorithm("contrast")); + if (contrast) { + if (mode->second == "Off") + contrast->restoreCe(); + else + contrast->enableCe(false); + } + + DenoiseAlgorithm *denoise = + dynamic_cast<DenoiseAlgorithm *>(controller_.getAlgorithm("denoise")); + if (denoise) { + /* \todo - make the HDR mode say what denoise it wants? */ + if (mode->second == "Night") + denoise->setConfig("night"); + else if (mode->second == "SingleExposure") + denoise->setConfig("hdr"); + /* MultiExposure doesn't need extra extra denoise. */ + else + denoise->setConfig("normal"); + } + } else + LOG(IPARPI, Warning) + << "HDR mode " << mode->second << " not supported"; + + break; + } + + case controls::rpi::STATS_OUTPUT_ENABLE: + statsMetadataOutput_ = ctrl.second.get<bool>(); + break; + + default: + LOG(IPARPI, Warning) + << "Ctrl " << controls::controls.at(ctrl.first)->name() + << " is not handled."; + break; + } + } + + /* Give derived classes a chance to examine the new controls. */ + handleControls(controls); +} + +void IpaBase::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.exposureTime = 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); +} + +void IpaBase::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->exposureTime.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); + } + + AgcPrepareStatus *agcPrepareStatus = rpiMetadata.getLocked<AgcPrepareStatus>("agc.prepare_status"); + if (agcPrepareStatus) { + libcameraMetadata_.set(controls::AeLocked, agcPrepareStatus->locked); + libcameraMetadata_.set(controls::DigitalGain, agcPrepareStatus->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; + 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); + } + + /* + * THe HDR algorithm sets the HDR channel into the agc.status at the time that those + * AGC parameters were calculated several frames ago, so it comes back to us now in + * the delayed_status. If this frame is too soon after a mode switch for the + * delayed_status to be available, we use the HDR status that came out of the + * switchMode call. + */ + const AgcStatus *agcStatus = rpiMetadata.getLocked<AgcStatus>("agc.delayed_status"); + const HdrStatus &hdrStatus = agcStatus ? agcStatus->hdr : hdrStatus_; + if (!hdrStatus.mode.empty() && hdrStatus.mode != "Off") { + int32_t hdrMode = controls::HdrModeOff; + for (auto const &[mode, name] : HdrModeTable) { + if (hdrStatus.mode == name) { + hdrMode = mode; + break; + } + } + libcameraMetadata_.set(controls::HdrMode, hdrMode); + + if (hdrStatus.channel == "short") + libcameraMetadata_.set(controls::HdrChannel, controls::HdrChannelShort); + else if (hdrStatus.channel == "long") + libcameraMetadata_.set(controls::HdrChannel, controls::HdrChannelLong); + else if (hdrStatus.channel == "medium") + libcameraMetadata_.set(controls::HdrChannel, controls::HdrChannelMedium); + else + libcameraMetadata_.set(controls::HdrChannel, controls::HdrChannelNone); + } + + metadataReady.emit(libcameraMetadata_); +} + +void IpaBase::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 maxExposureTime with the largest exposure + * value possible. + */ + Duration maxExposureTime = Duration::max(); + helper_->getBlanking(maxExposureTime, minFrameDuration_, maxFrameDuration_); + + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.getAlgorithm("agc")); + agc->setMaxExposureTime(maxExposureTime); +} + +void IpaBase::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->exposureTime; + auto [vblank, hblank] = helper_->getBlanking(exposure, minFrameDuration_, maxFrameDuration_); + int32_t exposureLines = helper_->exposureLines(exposure, + helper_->hblankToLineLength(hblank)); + + LOG(IPARPI, Debug) << "Applying AGC Exposure: " << exposure + << " (Exposure lines: " << exposureLines << ", AGC requested " + << agcStatus->exposureTime << ") 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))); +} + +} /* namespace ipa::RPi */ + +} /* namespace libcamera */ diff --git a/src/ipa/rpi/common/ipa_base.h b/src/ipa/rpi/common/ipa_base.h new file mode 100644 index 00000000..1a811beb --- /dev/null +++ b/src/ipa/rpi/common/ipa_base.h @@ -0,0 +1,143 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * Raspberry Pi IPA base class + */ +#pragma once + +#include <array> +#include <deque> +#include <map> +#include <stdint.h> + +#include <libcamera/base/utils.h> +#include <libcamera/controls.h> + +#include <libcamera/ipa/raspberrypi_ipa_interface.h> + +#include "libcamera/internal/mapped_framebuffer.h" + +#include "cam_helper/cam_helper.h" +#include "controller/agc_status.h" +#include "controller/camera_mode.h" +#include "controller/controller.h" +#include "controller/hdr_status.h" +#include "controller/metadata.h" + +namespace libcamera { + +namespace ipa::RPi { + +class IpaBase : public IPARPiInterface +{ +public: + IpaBase(); + ~IpaBase(); + + int32_t init(const IPASettings &settings, const InitParams ¶ms, InitResult *result) override; + int32_t configure(const IPACameraSensorInfo &sensorInfo, const ConfigParams ¶ms, + ConfigResult *result) override; + + void start(const ControlList &controls, StartResult *result) override; + void stop() override {} + + void mapBuffers(const std::vector<IPABuffer> &buffers) override; + void unmapBuffers(const std::vector<unsigned int> &ids) override; + + void prepareIsp(const PrepareParams ¶ms) override; + void processStats(const ProcessParams ¶ms) override; + +protected: + bool monoSensor() const + { + return monoSensor_; + } + + /* Raspberry Pi controller specific defines. */ + std::unique_ptr<RPiController::CamHelper> helper_; + RPiController::Controller controller_; + + ControlInfoMap sensorCtrls_; + ControlInfoMap lensCtrls_; + + /* Camera sensor params. */ + CameraMode mode_; + + /* Track the frame length times over FrameLengthsQueueSize frames. */ + std::deque<utils::Duration> frameLengths_; + utils::Duration lastTimeout_; + ControlList libcameraMetadata_; + bool statsMetadataOutput_; + + /* Remember the HDR status after a mode switch. */ + HdrStatus hdrStatus_; + + /* Whether the stitch block (if available) needs to swap buffers. */ + bool stitchSwapBuffers_; + +private: + /* Number of metadata objects available in the context list. */ + static constexpr unsigned int numMetadataContexts = 16; + + virtual int32_t platformInit(const InitParams ¶ms, InitResult *result) = 0; + virtual int32_t platformStart(const ControlList &controls, StartResult *result) = 0; + virtual int32_t platformConfigure(const ConfigParams ¶ms, ConfigResult *result) = 0; + + virtual void platformPrepareIsp(const PrepareParams ¶ms, + RPiController::Metadata &rpiMetadata) = 0; + virtual RPiController::StatisticsPtr platformProcessStats(Span<uint8_t> mem) = 0; + + void setMode(const IPACameraSensorInfo &sensorInfo); + void setCameraTimeoutValue(); + bool validateSensorControls(); + bool validateLensControls(); + void applyControls(const ControlList &controls); + virtual void handleControls(const ControlList &controls) = 0; + void fillDeviceStatus(const ControlList &sensorControls, unsigned int ipaContext); + void reportMetadata(unsigned int ipaContext); + void applyFrameDurations(utils::Duration minFrameDuration, utils::Duration maxFrameDuration); + void applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls); + + std::map<unsigned int, MappedFrameBuffer> buffers_; + + bool lensPresent_; + bool monoSensor_; + + 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_; + + /* 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_; + + /* Distinguish the first camera start from others. */ + bool firstStart_; + + /* Frame duration (1/fps) limits. */ + utils::Duration minFrameDuration_; + utils::Duration maxFrameDuration_; + + /* The current state of flicker avoidance. */ + struct FlickerState { + int32_t mode; + utils::Duration manualPeriod; + } flickerState_; +}; + +} /* namespace ipa::RPi */ + +} /* namespace libcamera */ diff --git a/src/ipa/rpi/common/meson.build b/src/ipa/rpi/common/meson.build new file mode 100644 index 00000000..73d2ee73 --- /dev/null +++ b/src/ipa/rpi/common/meson.build @@ -0,0 +1,17 @@ +# SPDX-License-Identifier: CC0-1.0 + +rpi_ipa_common_sources = files([ + 'ipa_base.cpp', +]) + +rpi_ipa_common_includes = [ + include_directories('..'), +] + +rpi_ipa_common_deps = [ + libcamera_private, +] + +rpi_ipa_common_lib = static_library('rpi_ipa_common', rpi_ipa_common_sources, + include_directories : rpi_ipa_common_includes, + dependencies : rpi_ipa_common_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..c1487cc4 --- /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 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..c9782857 --- /dev/null +++ b/src/ipa/rpi/controller/agc_algorithm.h @@ -0,0 +1,38 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * AGC/AEC control algorithm interface + */ +#pragma once + +#include <vector> + +#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 std::vector<double> const &getWeights() const = 0; + virtual void setEv(unsigned int channel, double ev) = 0; + virtual void setFlickerPeriod(libcamera::utils::Duration flickerPeriod) = 0; + virtual void setFixedExposureTime(unsigned int channel, + libcamera::utils::Duration fixedExposureTime) = 0; + virtual void setMaxExposureTime(libcamera::utils::Duration maxExposureTime) = 0; + virtual void setFixedAnalogueGain(unsigned int channel, 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; + virtual void setActiveChannels(const std::vector<unsigned int> &activeChannels) = 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..9308b156 --- /dev/null +++ b/src/ipa/rpi/controller/agc_status.h @@ -0,0 +1,48 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * AGC/AEC control algorithm status + */ +#pragma once + +#include <string> + +#include <libcamera/base/utils.h> + +#include "hdr_status.h" + +/* + * The AGC algorithm process method should post an AgcStatus into the image + * metadata under the tag "agc.status". + * The AGC algorithm prepare method should post an AgcPrepareStatus instead + * under "agc.prepare_status". + */ + +/* + * 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 exposureTime; + double analogueGain; + std::string exposureMode; + std::string constraintMode; + std::string meteringMode; + double ev; + libcamera::utils::Duration flickerPeriod; + int floatingRegionEnable; + libcamera::utils::Duration fixedExposureTime; + double fixedAnalogueGain; + unsigned int channel; + HdrStatus hdr; +}; + +struct AgcPrepareStatus { + 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..beed47a1 --- /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 + * + * 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..1971bfdc --- /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 + * + * 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..329e8a37 --- /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 (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..d941ed4e --- /dev/null +++ b/src/ipa/rpi/controller/awb_algorithm.h @@ -0,0 +1,27 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * 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 initialValues(double &gainR, double &gainB) = 0; + virtual void setMode(std::string const &modeName) = 0; + virtual void setManualGains(double manualR, double manualB) = 0; + virtual void setColourTemperature(double temperatureK) = 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..125df1a0 --- /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 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_algorithm.h b/src/ipa/rpi/controller/black_level_algorithm.h new file mode 100644 index 00000000..ce044e59 --- /dev/null +++ b/src/ipa/rpi/controller/black_level_algorithm.h @@ -0,0 +1,23 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * black level control algorithm interface + */ +#pragma once + +#include "algorithm.h" + +namespace RPiController { + +class BlackLevelAlgorithm : public Algorithm +{ +public: + BlackLevelAlgorithm(Controller *controller) + : Algorithm(controller) {} + /* A black level algorithm must provide the following: */ + virtual void initialValues(uint16_t &blackLevelR, uint16_t &blackLevelG, + uint16_t &blackLevelB) = 0; +}; + +} /* namespace RPiController */ 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..57a0705a --- /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 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/cac_status.h b/src/ipa/rpi/controller/cac_status.h new file mode 100644 index 00000000..adffce41 --- /dev/null +++ b/src/ipa/rpi/controller/cac_status.h @@ -0,0 +1,14 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023 Raspberry Pi Ltd + * + * CAC (Chromatic Abberation Correction) algorithm status + */ +#pragma once + +struct CacStatus { + std::vector<double> lutRx; + std::vector<double> lutRy; + std::vector<double> lutBx; + std::vector<double> lutBy; +}; diff --git a/src/ipa/rpi/controller/camera_mode.h b/src/ipa/rpi/controller/camera_mode.h new file mode 100644 index 00000000..61162b32 --- /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 + * + * 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 exposure time limits */ + libcamera::utils::Duration minExposureTime; + libcamera::utils::Duration maxExposureTime; + /* 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..6678ba75 --- /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 (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..c81bcd42 --- /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 (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..2e983350 --- /dev/null +++ b/src/ipa/rpi/controller/contrast_algorithm.h @@ -0,0 +1,24 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * 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; + virtual void enableCe(bool enable) = 0; + virtual void restoreCe() = 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..1f175872 --- /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 (gamma) control algorithm status + */ +#pragma once + +#include "libipa/pwl.h" + +/* + * The "contrast" algorithm creates a gamma curve, optionally doing a little bit + * of contrast stretching based on the AGC histogram. + */ + +struct ContrastStatus { + libcamera::ipa::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..651fff63 --- /dev/null +++ b/src/ipa/rpi/controller/controller.cpp @@ -0,0 +1,222 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * 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; +using namespace std::literals::chrono_literals; + +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 }, + .cacRegions = { 0, 0 }, + .focusRegions = { 4, 3 }, + .numHistogramBins = 128, + .numGammaPoints = 33, + .pipelineWidth = 13, + .statsInline = false, + .minPixelProcessingTime = 0s, + .dataBufferStrided = true, + } + }, + { + "pisp", + { + .agcRegions = { 0, 0 }, + .agcZoneWeights = { 15, 15 }, + .awbRegions = { 32, 32 }, + .cacRegions = { 8, 8 }, + .focusRegions = { 8, 8 }, + .numHistogramBins = 1024, + .numGammaPoints = 64, + .pipelineWidth = 16, + .statsInline = true, + + /* + * The constraint below is on the rate of pixels going + * from CSI2 peripheral to ISP-FE (400Mpix/s, plus tiny + * overheads per scanline, for which 380Mpix/s is a + * conservative bound). + * + * There is a 64kbit data FIFO before the bottleneck, + * which means that in all reasonable cases the + * constraint applies at a timescale >= 1 scanline, so + * adding horizontal blanking can prevent loss. + * + * If the backlog were to grow beyond 64kbit during a + * single scanline, there could still be loss. This + * could happen using 4 lanes at 1.5Gbps at 10bpp with + * frames wider than ~16,000 pixels. + */ + .minPixelProcessingTime = 1.0us / 380, + .dataBufferStrided = false, + } + }, +}; + +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); + if (!root) + return -EINVAL; + + 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..fdb46557 --- /dev/null +++ b/src/ipa/rpi/controller/controller.h @@ -0,0 +1,78 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * 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/base/utils.h> +#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 cacRegions; + libcamera::Size focusRegions; + unsigned int numHistogramBins; + unsigned int numGammaPoints; + unsigned int pipelineWidth; + bool statsInline; + libcamera::utils::Duration minPixelProcessingTime; + bool dataBufferStrided; + }; + + 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..b9a2a33c --- /dev/null +++ b/src/ipa/rpi/controller/denoise_algorithm.h @@ -0,0 +1,27 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2021, Raspberry Pi Ltd + * + * Denoise control algorithm interface + */ +#pragma once + +#include <string> + +#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; + /* Some platforms may not be able to define this, so supply a default. */ + virtual void setConfig([[maybe_unused]] std::string const &name) {} +}; + +} /* 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..eead6086 --- /dev/null +++ b/src/ipa/rpi/controller/denoise_status.h @@ -0,0 +1,35 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019-2021, Raspberry Pi Ltd + * + * Denoise control algorithm status + */ +#pragma once + +/* This stores the parameters required for Denoise. */ + +struct DenoiseStatus { + double noiseConstant; + double noiseSlope; + double strength; + unsigned int mode; +}; + +struct SdnStatus { + double noiseConstant; + double noiseSlope; + double noiseConstant2; + double noiseSlope2; + double strength; +}; + +struct CdnStatus { + double strength; + double threshold; +}; + +struct TdnStatus { + double noiseConstant; + double noiseSlope; + double threshold; +}; diff --git a/src/ipa/rpi/controller/device_status.cpp b/src/ipa/rpi/controller/device_status.cpp new file mode 100644 index 00000000..1695764d --- /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 (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 time: " << d.exposureTime + << " 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..b1792035 --- /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 (image sensor) status + */ +#pragma once + +#include <iostream> +#include <optional> + +#include <libcamera/base/utils.h> + +/* + * Definition of "device metadata" which stores things like exposure time and + * analogue gain that downstream control algorithms will want to know. + */ + +struct DeviceStatus { + DeviceStatus() + : exposureTime(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 the image is exposed */ + libcamera::utils::Duration exposureTime; + /* 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..9f30d5d9 --- /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 (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..cb107a48 --- /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 (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/hdr_algorithm.h b/src/ipa/rpi/controller/hdr_algorithm.h new file mode 100644 index 00000000..b889d8fd --- /dev/null +++ b/src/ipa/rpi/controller/hdr_algorithm.h @@ -0,0 +1,25 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * HDR control algorithm interface + */ +#pragma once + +#include <vector> + +#include "algorithm.h" + +namespace RPiController { + +class HdrAlgorithm : public Algorithm +{ +public: + HdrAlgorithm(Controller *controller) + : Algorithm(controller) {} + /* An HDR algorithm must provide the following: */ + virtual int setMode(std::string const &modeName) = 0; + virtual std::vector<unsigned int> getChannels() const = 0; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/hdr_status.h b/src/ipa/rpi/controller/hdr_status.h new file mode 100644 index 00000000..a4955778 --- /dev/null +++ b/src/ipa/rpi/controller/hdr_status.h @@ -0,0 +1,19 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023 Raspberry Pi Ltd + * + * HDR control algorithm status + */ +#pragma once + +#include <string> + +/* + * The HDR algorithm process method should post an HdrStatus into the image + * metadata under the tag "hdr.status". + */ + +struct HdrStatus { + std::string mode; + std::string channel; +}; diff --git a/src/ipa/rpi/controller/histogram.cpp b/src/ipa/rpi/controller/histogram.cpp new file mode 100644 index 00000000..13089839 --- /dev/null +++ b/src/ipa/rpi/controller/histogram.cpp @@ -0,0 +1,76 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * histogram calculations + */ +#include <cmath> +#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::interBinMean(double binLo, double binHi) const +{ + assert(binHi >= binLo); + double sumBinFreq = 0, cumulFreq = 0; + for (double binNext = std::floor(binLo) + 1.0; binNext <= std::ceil(binHi); + binLo = binNext, binNext += 1.0) { + int bin = std::floor(binLo); + double freq = (cumulative_[bin + 1] - cumulative_[bin]) * + (std::min(binNext, binHi) - binLo); + sumBinFreq += bin * freq; + cumulFreq += freq; + } + + if (cumulFreq == 0) { + /* interval had zero width or contained no weight? */ + return binHi; + } + + /* add 0.5 to give an average for bin mid-points */ + return sumBinFreq / cumulFreq + 0.5; +} + +double Histogram::interQuantileMean(double qLo, double qHi) const +{ + assert(qHi >= qLo); + double pLo = quantile(qLo); + double pHi = quantile(qHi, (int)pLo); + return interBinMean(pLo, pHi); +} diff --git a/src/ipa/rpi/controller/histogram.h b/src/ipa/rpi/controller/histogram.h new file mode 100644 index 00000000..ab4e5e31 --- /dev/null +++ b/src/ipa/rpi/controller/histogram.h @@ -0,0 +1,55 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * 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 mean value between two (fractional) bins. */ + double interBinMean(double binLo, double binHi) 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..d8729f43 --- /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 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..74b74888 --- /dev/null +++ b/src/ipa/rpi/controller/meson.build @@ -0,0 +1,35 @@ +# SPDX-License-Identifier: CC0-1.0 + +rpi_ipa_controller_sources = files([ + 'algorithm.cpp', + 'controller.cpp', + 'device_status.cpp', + 'histogram.cpp', + 'rpi/af.cpp', + 'rpi/agc.cpp', + 'rpi/agc_channel.cpp', + 'rpi/alsc.cpp', + 'rpi/awb.cpp', + 'rpi/black_level.cpp', + 'rpi/cac.cpp', + 'rpi/ccm.cpp', + 'rpi/contrast.cpp', + 'rpi/denoise.cpp', + 'rpi/dpc.cpp', + 'rpi/geq.cpp', + 'rpi/hdr.cpp', + 'rpi/lux.cpp', + 'rpi/noise.cpp', + 'rpi/saturation.cpp', + 'rpi/sdn.cpp', + 'rpi/sharpen.cpp', + 'rpi/tonemap.cpp', +]) + +rpi_ipa_controller_deps = [ + libcamera_private, +] + +rpi_ipa_controller_lib = static_library('rpi_ipa_controller', rpi_ipa_controller_sources, + include_directories : libipa_includes, + 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..77d3b074 --- /dev/null +++ b/src/ipa/rpi/controller/metadata.h @@ -0,0 +1,142 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019-2021, Raspberry Pi Ltd + * + * 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 <utility> + +#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 &&value) + { + std::scoped_lock lock(mutex_); + data_[tag] = std::forward<T>(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()); + } + + void erase(std::string const &tag) + { + std::scoped_lock lock(mutex_); + eraseLocked(tag); + } + + 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 &&value) + { + /* Use this only if you're holding the lock yourself. */ + data_[tag] = std::forward<T>(value); + } + + void eraseLocked(std::string const &tag) + { + auto it = data_.find(tag); + if (it == data_.end()) + return; + data_.erase(it); + } + + /* + * 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(); } + auto try_lock() LIBCAMERA_TSA_ACQUIRE() { return mutex_.try_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..1919da32 --- /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 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..779b987d --- /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 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/region_stats.h b/src/ipa/rpi/controller/region_stats.h new file mode 100644 index 00000000..c60f7d9a --- /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 + * + * 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..2157eb94 --- /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 + * + * Autofocus control algorithm + */ + +#include "af.h" + +#include <cmath> +#include <iomanip> +#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 = params["map"].get<ipa::Pwl>(ipa::Pwl{}); + 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().clamp(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..317a51f3 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/af.h @@ -0,0 +1,166 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022-2023, Raspberry Pi Ltd + * + * Autofocus control algorithm + */ +#pragma once + +#include "../af_algorithm.h" +#include "../af_status.h" +#include "../pdaf_data.h" + +#include "libipa/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 */ + libcamera::ipa::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..c48fdf15 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/agc.cpp @@ -0,0 +1,338 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * AGC/AEC control algorithm + */ + +#include "agc.h" + +#include <libcamera/base/log.h> + +#include "../metadata.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" + +Agc::Agc(Controller *controller) + : AgcAlgorithm(controller), + activeChannels_({ 0 }), index_(0) +{ +} + +char const *Agc::name() const +{ + return NAME; +} + +int Agc::read(const libcamera::YamlObject ¶ms) +{ + /* + * When there is only a single channel we can read the old style syntax. + * Otherwise we expect a "channels" keyword followed by a list of configurations. + */ + if (!params.contains("channels")) { + LOG(RPiAgc, Debug) << "Single channel only"; + channelTotalExposures_.resize(1, 0s); + channelData_.emplace_back(); + return channelData_.back().channel.read(params, getHardwareConfig()); + } + + const auto &channels = params["channels"].asList(); + for (auto ch = channels.begin(); ch != channels.end(); ch++) { + LOG(RPiAgc, Debug) << "Read AGC channel"; + channelData_.emplace_back(); + int ret = channelData_.back().channel.read(*ch, getHardwareConfig()); + if (ret) + return ret; + } + + LOG(RPiAgc, Debug) << "Read " << channelData_.size() << " channel(s)"; + if (channelData_.empty()) { + LOG(RPiAgc, Error) << "No AGC channels provided"; + return -1; + } + + channelTotalExposures_.resize(channelData_.size(), 0s); + + return 0; +} + +int Agc::checkChannel(unsigned int channelIndex) const +{ + if (channelIndex >= channelData_.size()) { + LOG(RPiAgc, Warning) << "AGC channel " << channelIndex << " not available"; + return -1; + } + + return 0; +} + +void Agc::disableAuto() +{ + LOG(RPiAgc, Debug) << "disableAuto"; + + /* All channels are enabled/disabled together. */ + for (auto &data : channelData_) + data.channel.disableAuto(); +} + +void Agc::enableAuto() +{ + LOG(RPiAgc, Debug) << "enableAuto"; + + /* All channels are enabled/disabled together. */ + for (auto &data : channelData_) + data.channel.enableAuto(); +} + +unsigned int Agc::getConvergenceFrames() const +{ + /* If there are n channels, it presumably takes n times as long to converge. */ + return channelData_[0].channel.getConvergenceFrames() * activeChannels_.size(); +} + +std::vector<double> const &Agc::getWeights() const +{ + /* + * In future the metering weights may be determined differently, making it + * difficult to associate different sets of weight with different channels. + * Therefore we shall impose a limitation, at least for now, that all + * channels will use the same weights. + */ + return channelData_[0].channel.getWeights(); +} + +void Agc::setEv(unsigned int channelIndex, double ev) +{ + if (checkChannel(channelIndex)) + return; + + LOG(RPiAgc, Debug) << "setEv " << ev << " for channel " << channelIndex; + channelData_[channelIndex].channel.setEv(ev); +} + +void Agc::setFlickerPeriod(Duration flickerPeriod) +{ + LOG(RPiAgc, Debug) << "setFlickerPeriod " << flickerPeriod; + + /* Flicker period will be the same across all channels. */ + for (auto &data : channelData_) + data.channel.setFlickerPeriod(flickerPeriod); +} + +void Agc::setMaxExposureTime(Duration maxExposureTime) +{ + /* Frame durations will be the same across all channels too. */ + for (auto &data : channelData_) + data.channel.setMaxExposureTime(maxExposureTime); +} + +void Agc::setFixedExposureTime(unsigned int channelIndex, Duration fixedExposureTime) +{ + if (checkChannel(channelIndex)) + return; + + LOG(RPiAgc, Debug) << "setFixedExposureTime " << fixedExposureTime + << " for channel " << channelIndex; + channelData_[channelIndex].channel.setFixedExposureTime(fixedExposureTime); +} + +void Agc::setFixedAnalogueGain(unsigned int channelIndex, double fixedAnalogueGain) +{ + if (checkChannel(channelIndex)) + return; + + LOG(RPiAgc, Debug) << "setFixedAnalogueGain " << fixedAnalogueGain + << " for channel " << channelIndex; + channelData_[channelIndex].channel.setFixedAnalogueGain(fixedAnalogueGain); +} + +void Agc::setMeteringMode(std::string const &meteringModeName) +{ + /* Metering modes will be the same across all channels too. */ + for (auto &data : channelData_) + data.channel.setMeteringMode(meteringModeName); +} + +void Agc::setExposureMode(std::string const &exposureModeName) +{ + LOG(RPiAgc, Debug) << "setExposureMode " << exposureModeName; + + /* Exposure mode will be the same across all channels. */ + for (auto &data : channelData_) + data.channel.setExposureMode(exposureModeName); +} + +void Agc::setConstraintMode(std::string const &constraintModeName) +{ + LOG(RPiAgc, Debug) << "setConstraintMode " << constraintModeName; + + /* Constraint mode will be the same across all channels. */ + for (auto &data : channelData_) + data.channel.setConstraintMode(constraintModeName); +} + +template<typename T> +std::ostream &operator<<(std::ostream &os, const std::vector<T> &v) +{ + os << "{"; + for (const auto &e : v) + os << " " << e; + os << " }"; + return os; +} + +void Agc::setActiveChannels(const std::vector<unsigned int> &activeChannels) +{ + if (activeChannels.empty()) { + LOG(RPiAgc, Warning) << "No active AGC channels supplied"; + return; + } + + for (auto index : activeChannels) + if (checkChannel(index)) + return; + + LOG(RPiAgc, Debug) << "setActiveChannels " << activeChannels; + activeChannels_ = activeChannels; + index_ = 0; +} + +void Agc::switchMode(CameraMode const &cameraMode, + Metadata *metadata) +{ + /* + * We run switchMode on every channel, and then we're going to start over + * with the first active channel again which means that this channel's + * status needs to be the one we leave in the metadata. + */ + AgcStatus status; + + for (unsigned int channelIndex = 0; channelIndex < channelData_.size(); channelIndex++) { + LOG(RPiAgc, Debug) << "switchMode for channel " << channelIndex; + channelData_[channelIndex].channel.switchMode(cameraMode, metadata); + if (channelIndex == activeChannels_[0]) + metadata->get("agc.status", status); + } + + status.channel = activeChannels_[0]; + metadata->set("agc.status", status); + index_ = 0; +} + +static void getDelayedChannelIndex(Metadata *metadata, const char *message, unsigned int &channelIndex) +{ + std::unique_lock<RPiController::Metadata> lock(*metadata); + AgcStatus *status = metadata->getLocked<AgcStatus>("agc.delayed_status"); + if (status) + channelIndex = status->channel; + else { + /* This does happen at startup, otherwise it would be a Warning or Error. */ + LOG(RPiAgc, Debug) << message; + } +} + +static libcamera::utils::Duration +setCurrentChannelIndexGetExposure(Metadata *metadata, const char *message, unsigned int channelIndex) +{ + std::unique_lock<RPiController::Metadata> lock(*metadata); + AgcStatus *status = metadata->getLocked<AgcStatus>("agc.status"); + libcamera::utils::Duration dur = 0s; + + if (status) { + status->channel = channelIndex; + dur = status->totalExposureValue; + } else { + /* This does happen at startup, otherwise it would be a Warning or Error. */ + LOG(RPiAgc, Debug) << message; + } + + return dur; +} + +void Agc::prepare(Metadata *imageMetadata) +{ + /* + * The DeviceStatus in the metadata should be correct for the image we + * are processing. The delayed status should tell us what channel this frame + * was from, so we will use that channel's prepare method. + * + * \todo To be honest, there's not much that's stateful in the prepare methods + * so we should perhaps re-evaluate whether prepare even needs to be done + * "per channel". + */ + unsigned int channelIndex = activeChannels_[0]; + getDelayedChannelIndex(imageMetadata, "prepare: no delayed status", channelIndex); + + LOG(RPiAgc, Debug) << "prepare for channel " << channelIndex; + channelData_[channelIndex].channel.prepare(imageMetadata); +} + +void Agc::process(StatisticsPtr &stats, Metadata *imageMetadata) +{ + /* + * We want to generate values for the next channel in round robin fashion + * (i.e. the channel at location index_ in the activeChannel list), even though + * the statistics we have will be for a different channel (which we find + * again from the delayed status). + */ + + /* Generate updated AGC values for channel for new channel that we are requesting. */ + unsigned int channelIndex = activeChannels_[index_]; + AgcChannelData &channelData = channelData_[channelIndex]; + /* The stats that arrived with this image correspond to the following channel. */ + unsigned int statsIndex = 0; + getDelayedChannelIndex(imageMetadata, "process: no delayed status for stats", statsIndex); + LOG(RPiAgc, Debug) << "process for channel " << channelIndex; + + /* + * We keep a cache of the most recent DeviceStatus and stats for each channel, + * so that we can invoke the next channel's process method with the most up to date + * values. + */ + LOG(RPiAgc, Debug) << "Save DeviceStatus and stats for channel " << statsIndex; + DeviceStatus deviceStatus; + if (imageMetadata->get<DeviceStatus>("device.status", deviceStatus) == 0) + channelData_[statsIndex].deviceStatus = deviceStatus; + else + /* Every frame should have a DeviceStatus. */ + LOG(RPiAgc, Error) << "process: no device status found"; + channelData_[statsIndex].statistics = stats; + + /* + * Finally fetch the most recent DeviceStatus and stats for the new channel, if both + * exist, and call process(). We must make the agc.status metadata record correctly + * which channel this is. + */ + StatisticsPtr *statsPtr = &stats; + if (channelData.statistics && channelData.deviceStatus) { + deviceStatus = *channelData.deviceStatus; + statsPtr = &channelData.statistics; + } else { + /* Can also happen when new channels start. */ + LOG(RPiAgc, Debug) << "process: channel " << channelIndex << " not seen yet"; + } + + channelData.channel.process(*statsPtr, deviceStatus, imageMetadata, channelTotalExposures_); + auto dur = setCurrentChannelIndexGetExposure(imageMetadata, "process: no AGC status found", + channelIndex); + if (dur) + channelTotalExposures_[channelIndex] = dur; + + /* And onto the next channel for the next call. */ + index_ = (index_ + 1) % activeChannels_.size(); +} + +/* 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..3aca000b --- /dev/null +++ b/src/ipa/rpi/controller/rpi/agc.h @@ -0,0 +1,58 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * AGC/AEC control algorithm + */ +#pragma once + +#include <optional> +#include <string> +#include <vector> + +#include "../agc_algorithm.h" + +#include "agc_channel.h" + +namespace RPiController { + +struct AgcChannelData { + AgcChannel channel; + std::optional<DeviceStatus> deviceStatus; + StatisticsPtr statistics; +}; + +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; + std::vector<double> const &getWeights() const override; + void setEv(unsigned int channel, double ev) override; + void setFlickerPeriod(libcamera::utils::Duration flickerPeriod) override; + void setMaxExposureTime(libcamera::utils::Duration maxExposureTime) override; + void setFixedExposureTime(unsigned int channelIndex, + libcamera::utils::Duration fixedExposureTime) override; + void setFixedAnalogueGain(unsigned int channelIndex, + 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; + void setActiveChannels(const std::vector<unsigned int> &activeChannels) override; + +private: + int checkChannel(unsigned int channel) const; + std::vector<AgcChannelData> channelData_; + std::vector<unsigned int> activeChannels_; + unsigned int index_; /* index into the activeChannels_ */ + AgcChannelTotalExposures channelTotalExposures_; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/rpi/agc_channel.cpp b/src/ipa/rpi/controller/rpi/agc_channel.cpp new file mode 100644 index 00000000..79c45973 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/agc_channel.cpp @@ -0,0 +1,1030 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * AGC/AEC control algorithm + */ + +#include "agc_channel.h" + +#include <algorithm> +#include <tuple> + +#include <libcamera/base/log.h> + +#include "libipa/colours.h" +#include "libipa/vector.h" + +#include "../awb_status.h" +#include "../device_status.h" +#include "../histogram.h" +#include "../lux_status.h" +#include "../metadata.h" + +using namespace RPiController; +using namespace libcamera; +using libcamera::utils::Duration; +using namespace std::literals::chrono_literals; + +LOG_DECLARE_CATEGORY(RPiAgc) + +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(exposureTime), + [](double v) { return v * 1us; }); + + value = params["gain"].getList<double>(); + if (!value) + return -EINVAL; + gain = std::move(*value); + + if (exposureTime.size() < 2 || gain.size() < 2) { + LOG(RPiAgc, Error) + << "AgcExposureMode: must have at least two entries in exposure profile"; + return -EINVAL; + } + + if (exposureTime.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; + + yTarget = params["y_target"].get<ipa::Pwl>(ipa::Pwl{}); + return yTarget.empty() ? -EINVAL : 0; +} + +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 AgcChannelConstraint::read(const libcamera::YamlObject ¶ms) +{ + auto channelValue = params["channel"].get<unsigned int>(); + if (!channelValue) { + LOG(RPiAgc, Error) << "AGC channel constraint must have a channel"; + return -EINVAL; + } + channel = *channelValue; + + 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 channel constraint type should be UPPER or LOWER"; + return -EINVAL; + } + bound = boundString == "UPPER" ? Bound::UPPER : Bound::LOWER; + + auto factorValue = params["factor"].get<double>(); + if (!factorValue) { + LOG(RPiAgc, Error) << "AGC channel constraint must have a factor"; + return -EINVAL; + } + factor = *factorValue; + + return 0; +} + +static int readChannelConstraints(std::vector<AgcChannelConstraint> &channelConstraints, + const libcamera::YamlObject ¶ms) +{ + for (const auto &p : params.asList()) { + AgcChannelConstraint constraint; + int ret = constraint.read(p); + if (ret) + return ret; + + channelConstraints.push_back(constraint); + } + + return 0; +} + +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; + + if (params.contains("channel_constraints")) { + ret = readChannelConstraints(channelConstraints, params["channel_constraints"]); + if (ret) + return ret; + } + + yTarget = params["y_target"].get<ipa::Pwl>(ipa::Pwl{}); + if (yTarget.empty()) + return -EINVAL; + + 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); + + stableRegion = params["stable_region"].get<double>(0.02); + + desaturate = params["desaturate"].get<int>(1); + + return 0; +} + +AgcChannel::ExposureValues::ExposureValues() + : exposureTime(0s), analogueGain(0), + totalExposure(0s), totalExposureNoDG(0s) +{ +} + +AgcChannel::AgcChannel() + : meteringMode_(nullptr), exposureMode_(nullptr), constraintMode_(nullptr), + frameCount_(0), lockCount_(0), + lastTargetExposure_(0s), ev_(1.0), flickerPeriod_(0s), + maxExposureTime_(0s), fixedExposureTime_(0s), fixedAnalogueGain_(0.0) +{ + /* Set AWB default values in case early frames have no updates in metadata. */ + awb_.gainR = 1.0; + awb_.gainG = 1.0; + awb_.gainB = 1.0; + + /* + * Setting status_.totalExposureValue_ to zero initially tells us + * it's not been calculated yet (i.e. Process hasn't yet run). + */ + status_ = {}; + status_.ev = ev_; +} + +int AgcChannel::read(const libcamera::YamlObject ¶ms, + const Controller::HardwareConfig &hardwareConfig) +{ + int ret = config_.read(params); + if (ret) + return ret; + + const Size &size = hardwareConfig.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 exposure time/gain" values, in case AGC starts "disabled". */ + status_.exposureTime = config_.defaultExposureTime; + status_.analogueGain = config_.defaultAnalogueGain; + return 0; +} + +void AgcChannel::disableAuto() +{ + fixedExposureTime_ = status_.exposureTime; + fixedAnalogueGain_ = status_.analogueGain; +} + +void AgcChannel::enableAuto() +{ + fixedExposureTime_ = 0s; + fixedAnalogueGain_ = 0; +} + +unsigned int AgcChannel::getConvergenceFrames() const +{ + /* + * If exposure time and gain have been explicitly set, there is no + * convergence to happen, so no need to drop any frames - return zero. + */ + if (fixedExposureTime_ && fixedAnalogueGain_) + return 0; + else + return config_.convergenceFrames; +} + +std::vector<double> const &AgcChannel::getWeights() const +{ + /* + * In case someone calls setMeteringMode and then this before the + * algorithm has run and updated the meteringMode_ pointer. + */ + auto it = config_.meteringModes.find(meteringModeName_); + if (it == config_.meteringModes.end()) + return meteringMode_->weights; + return it->second.weights; +} + +void AgcChannel::setEv(double ev) +{ + ev_ = ev; +} + +void AgcChannel::setFlickerPeriod(Duration flickerPeriod) +{ + flickerPeriod_ = flickerPeriod; +} + +void AgcChannel::setMaxExposureTime(Duration maxExposureTime) +{ + maxExposureTime_ = maxExposureTime; +} + +void AgcChannel::setFixedExposureTime(Duration fixedExposureTime) +{ + fixedExposureTime_ = fixedExposureTime; + /* Set this in case someone calls disableAuto() straight after. */ + status_.exposureTime = limitExposureTime(fixedExposureTime_); +} + +void AgcChannel::setFixedAnalogueGain(double fixedAnalogueGain) +{ + fixedAnalogueGain_ = fixedAnalogueGain; + /* Set this in case someone calls disableAuto() straight after. */ + status_.analogueGain = limitGain(fixedAnalogueGain); +} + +void AgcChannel::setMeteringMode(std::string const &meteringModeName) +{ + meteringModeName_ = meteringModeName; +} + +void AgcChannel::setExposureMode(std::string const &exposureModeName) +{ + exposureModeName_ = exposureModeName; +} + +void AgcChannel::setConstraintMode(std::string const &constraintModeName) +{ + constraintModeName_ = constraintModeName; +} + +void AgcChannel::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 fixedExposureTime = limitExposureTime(fixedExposureTime_); + if (fixedExposureTime && 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 = fixedExposureTime_ * fixedAnalogueGain_; + target_.totalExposure = target_.totalExposureNoDG / minColourGain; + + /* Equivalent of filterExposure. This resets any "history". */ + filtered_ = target_; + + /* Equivalent of divideUpExposure. */ + filtered_.exposureTime = fixedExposureTime; + 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 + * exposure time 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_.exposureTime = fixedExposureTime ? fixedExposureTime : config_.defaultExposureTime; + filtered_.analogueGain = fixedAnalogueGain_ ? fixedAnalogueGain_ : config_.defaultAnalogueGain; + } + + writeAndFinish(metadata, false); +} + +void AgcChannel::prepare(Metadata *imageMetadata) +{ + Duration totalExposureValue = status_.totalExposureValue; + AgcStatus delayedStatus; + AgcPrepareStatus prepareStatus; + + /* Fetch the AWB status now because AWB also sets it in the prepare method. */ + fetchAwbStatus(imageMetadata); + + if (!imageMetadata->get("agc.delayed_status", delayedStatus)) + totalExposureValue = delayedStatus.totalExposureValue; + + prepareStatus.digitalGain = 1.0; + prepareStatus.locked = false; + + if (status_.totalExposureValue) { + /* Process has run, so we have meaningful values. */ + DeviceStatus deviceStatus; + if (imageMetadata->get("device.status", deviceStatus) == 0) { + Duration actualExposure = deviceStatus.exposureTime * + deviceStatus.analogueGain; + if (actualExposure) { + double 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? + */ + prepareStatus.digitalGain = std::max(1.0, std::min(digitalGain, 4.0)); + LOG(RPiAgc, Debug) << "Actual exposure " << actualExposure; + LOG(RPiAgc, Debug) << "Use digitalGain " << prepareStatus.digitalGain; + LOG(RPiAgc, Debug) << "Effective exposure " + << actualExposure * prepareStatus.digitalGain; + /* Decide whether AEC/AGC has converged. */ + prepareStatus.locked = updateLockStatus(deviceStatus); + } + } else + LOG(RPiAgc, Warning) << "AgcChannel: no device metadata"; + imageMetadata->set("agc.prepare_status", prepareStatus); + } +} + +void AgcChannel::process(StatisticsPtr &stats, DeviceStatus const &deviceStatus, + Metadata *imageMetadata, + const AgcChannelTotalExposures &channelTotalExposures) +{ + 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(deviceStatus); + /* 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); + /* The results have to be filtered so as not to change too rapidly. */ + filterExposure(); + /* + * We may be asked to limit the exposure using other channels. If another channel + * determines our upper bound we may want to know this later. + */ + bool channelBound = applyChannelConstraints(channelTotalExposures); + /* + * Some of the exposure has to be applied as digital gain, so work out + * what that is. It also tells us whether it's trying to desaturate the image + * more quickly, which can only happen when another channel is not limiting us. + */ + bool desaturate = applyDigitalGain(gain, targetY, channelBound); + /* + * The last thing is to divide up the exposure value into a exposure time + * and analogue gain, according to the current exposure mode. + */ + divideUpExposure(); + /* Finally advertise what we've done. */ + writeAndFinish(imageMetadata, desaturate); +} + +bool AgcChannel::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_.exposureTime * 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.exposureTime > lastDeviceStatus_.exposureTime - exposureError && + deviceStatus.exposureTime < lastDeviceStatus_.exposureTime + 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.exposureTime < lastDeviceStatus_.exposureTime - resetMargin * exposureError || + deviceStatus.exposureTime > lastDeviceStatus_.exposureTime + 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_; + return lockCount_ == maxLockCount; +} + +void AgcChannel::housekeepConfig() +{ + /* First fetch all the up-to-date settings, so no one else has to do it. */ + status_.ev = ev_; + status_.fixedExposureTime = limitExposureTime(fixedExposureTime_); + status_.fixedAnalogueGain = fixedAnalogueGain_; + status_.flickerPeriod = flickerPeriod_; + LOG(RPiAgc, Debug) << "ev " << status_.ev << " fixedExposureTime " + << status_.fixedExposureTime << " fixedAnalogueGain " + << status_.fixedAnalogueGain; + /* + * Make sure the "mode" pointers point to the up-to-date things, if + * they've changed. + */ + if (meteringModeName_ != status_.meteringMode) { + auto it = config_.meteringModes.find(meteringModeName_); + if (it == config_.meteringModes.end()) { + LOG(RPiAgc, Warning) << "No metering mode " << meteringModeName_; + meteringModeName_ = status_.meteringMode; + } else { + meteringMode_ = &it->second; + status_.meteringMode = meteringModeName_; + } + } + if (exposureModeName_ != status_.exposureMode) { + auto it = config_.exposureModes.find(exposureModeName_); + if (it == config_.exposureModes.end()) { + LOG(RPiAgc, Warning) << "No exposure profile " << exposureModeName_; + exposureModeName_ = status_.exposureMode; + } else { + exposureMode_ = &it->second; + status_.exposureMode = exposureModeName_; + } + } + if (constraintModeName_ != status_.constraintMode) { + auto it = config_.constraintModes.find(constraintModeName_); + if (it == config_.constraintModes.end()) { + LOG(RPiAgc, Warning) << "No constraint list " << constraintModeName_; + constraintModeName_ = status_.constraintMode; + } else { + constraintMode_ = &it->second; + status_.constraintMode = constraintModeName_; + } + } + LOG(RPiAgc, Debug) << "exposureMode " + << exposureModeName_ << " constraintMode " + << constraintModeName_ << " meteringMode " + << meteringModeName_; +} + +void AgcChannel::fetchCurrentExposure(DeviceStatus const &deviceStatus) +{ + current_.exposureTime = deviceStatus.exposureTime; + current_.analogueGain = deviceStatus.analogueGain; + current_.totalExposure = 0s; /* this value is unused */ + current_.totalExposureNoDG = current_.exposureTime * current_.analogueGain; +} + +void AgcChannel::fetchAwbStatus(Metadata *imageMetadata) +{ + 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; + + /* + * If we have no AGC region stats, but do have a a Y histogram, use that + * directly to caluclate the mean Y value of the image. + */ + if (!stats->agcRegions.numRegions() && stats->yHist.bins()) { + /* + * When the gain is applied to the histogram, anything below minBin + * will scale up directly with the gain, but anything above that + * will saturate into the top bin. + */ + auto &hist = stats->yHist; + double minBin = std::min(1.0, 1.0 / gain) * hist.bins(); + double binMean = hist.interBinMean(0.0, minBin); + double numUnsaturated = hist.cumulativeFreq(minBin); + /* This term is from all the pixels that won't saturate. */ + double ySum = binMean * gain * numUnsaturated; + /* And add the ones that will saturate. */ + ySum += (hist.total() - numUnsaturated) * hist.bins(); + return ySum / hist.total() / hist.bins(); + } + + ASSERT(weights.size() == stats->agcRegions.numRegions()); + + /* + * Note that the weights are applied by the IPA to the statistics directly, + * before they are given to us here. + */ + ipa::RGB<double> sum{ 0.0 }; + double pixelSum = 0; + for (unsigned int i = 0; i < stats->agcRegions.numRegions(); i++) { + auto ®ion = stats->agcRegions.get(i); + sum.r() += std::min<double>(region.val.rSum * gain, (maxVal - 1) * region.counted); + sum.g() += std::min<double>(region.val.gSum * gain, (maxVal - 1) * region.counted); + sum.b() += std::min<double>(region.val.bSum * gain, (maxVal - 1) * region.counted); + pixelSum += region.counted; + } + if (pixelSum == 0.0) { + LOG(RPiAgc, Warning) << "computeInitialY: pixelSum is zero"; + return 0; + } + + /* Factor in the AWB correction if needed. */ + if (stats->agcStatsPos == Statistics::AgcStatsPos::PreWb) + sum *= ipa::RGB<double>{{ awb.gainR, awb.gainR, awb.gainB }}; + + double ySum = ipa::rec601LuminanceFromRGB(sum); + + return ySum / pixelSum / (1 << 16); +} + +/* + * 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().clamp(lux)); + targetY = std::min(EvGainYTargetLimit, targetY * evGain); + double iqm = h.interQuantileMean(c.qLo, c.qHi); + return (targetY * h.bins()) / iqm; +} + +void AgcChannel::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().clamp(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 AgcChannel::computeTargetExposure(double gain) +{ + if (status_.fixedExposureTime && status_.fixedAnalogueGain) { + /* + * When analogue gain and exposure time 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_.fixedExposureTime * 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 maxExposureTime = status_.fixedExposureTime + ? status_.fixedExposureTime + : exposureMode_->exposureTime.back(); + maxExposureTime = limitExposureTime(maxExposureTime); + Duration maxTotalExposure = + maxExposureTime * + (status_.fixedAnalogueGain != 0.0 + ? status_.fixedAnalogueGain + : exposureMode_->gain.back()); + target_.totalExposure = std::min(target_.totalExposure, maxTotalExposure); + } + LOG(RPiAgc, Debug) << "Target totalExposure " << target_.totalExposure; +} + +bool AgcChannel::applyChannelConstraints(const AgcChannelTotalExposures &channelTotalExposures) +{ + bool channelBound = false; + LOG(RPiAgc, Debug) + << "Total exposure before channel constraints " << filtered_.totalExposure; + + for (const auto &constraint : config_.channelConstraints) { + LOG(RPiAgc, Debug) + << "Check constraint: channel " << constraint.channel << " bound " + << (constraint.bound == AgcChannelConstraint::Bound::UPPER ? "UPPER" : "LOWER") + << " factor " << constraint.factor; + if (constraint.channel >= channelTotalExposures.size() || + !channelTotalExposures[constraint.channel]) { + LOG(RPiAgc, Debug) << "no such channel or no exposure available- skipped"; + continue; + } + + libcamera::utils::Duration limitExposure = + channelTotalExposures[constraint.channel] * constraint.factor; + LOG(RPiAgc, Debug) << "Limit exposure " << limitExposure; + if ((constraint.bound == AgcChannelConstraint::Bound::UPPER && + filtered_.totalExposure > limitExposure) || + (constraint.bound == AgcChannelConstraint::Bound::LOWER && + filtered_.totalExposure < limitExposure)) { + filtered_.totalExposure = limitExposure; + LOG(RPiAgc, Debug) << "Constraint applies"; + channelBound = true; + } else + LOG(RPiAgc, Debug) << "Constraint does not apply"; + } + + LOG(RPiAgc, Debug) + << "Total exposure after channel constraints " << filtered_.totalExposure; + + return channelBound; +} + +bool AgcChannel::applyDigitalGain(double gain, double targetY, bool channelBound) +{ + 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 = false; + if (config_.desaturate) + desaturate = !channelBound && + targetY > config_.fastReduceThreshold && gain < sqrt(targetY); + if (desaturate) + dg /= config_.fastReduceThreshold; + LOG(RPiAgc, Debug) << "Digital gain " << dg << " desaturate? " << desaturate; + filtered_.totalExposureNoDG = filtered_.totalExposure / dg; + LOG(RPiAgc, Debug) << "Target totalExposureNoDG " << filtered_.totalExposureNoDG; + return desaturate; +} + +void AgcChannel::filterExposure() +{ + double speed = config_.speed; + double stableRegion = config_.stableRegion; + + /* + * AGC adapts instantly if both exposure time and gain are directly + * specified or we're in the startup phase. Also disable the stable + * region, because we want to reflect any user exposure/gain updates, + * however small. + */ + if ((status_.fixedExposureTime && status_.fixedAnalogueGain) || + frameCount_ <= config_.startupFrames) { + speed = 1.0; + stableRegion = 0.0; + } + if (!filtered_.totalExposure) { + filtered_.totalExposure = target_.totalExposure; + } else if (filtered_.totalExposure * (1.0 - stableRegion) < target_.totalExposure && + filtered_.totalExposure * (1.0 + stableRegion) > target_.totalExposure) { + /* Total exposure must change by more than this or we leave it alone. */ + } 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); + } + LOG(RPiAgc, Debug) << "After filtering, totalExposure " << filtered_.totalExposure + << " no dg " << filtered_.totalExposureNoDG; +} + +void AgcChannel::divideUpExposure() +{ + /* + * Sending the fixed exposure time/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 exposureTime; + double analogueGain; + exposureTime = status_.fixedExposureTime ? status_.fixedExposureTime + : exposureMode_->exposureTime[0]; + exposureTime = limitExposureTime(exposureTime); + analogueGain = status_.fixedAnalogueGain != 0.0 ? status_.fixedAnalogueGain + : exposureMode_->gain[0]; + analogueGain = limitGain(analogueGain); + if (exposureTime * analogueGain < exposureValue) { + for (unsigned int stage = 1; + stage < exposureMode_->gain.size(); stage++) { + if (!status_.fixedExposureTime) { + Duration stageExposureTime = + limitExposureTime(exposureMode_->exposureTime[stage]); + if (stageExposureTime * analogueGain >= exposureValue) { + exposureTime = exposureValue / analogueGain; + break; + } + exposureTime = stageExposureTime; + } + if (status_.fixedAnalogueGain == 0.0) { + if (exposureMode_->gain[stage] * exposureTime >= exposureValue) { + analogueGain = exposureValue / exposureTime; + break; + } + analogueGain = exposureMode_->gain[stage]; + analogueGain = limitGain(analogueGain); + } + } + } + LOG(RPiAgc, Debug) + << "Divided up exposure time and gain are " << exposureTime + << " and " << analogueGain; + /* + * Finally adjust exposure time for flicker avoidance (require both + * exposure time and gain not to be fixed). + */ + if (!status_.fixedExposureTime && !status_.fixedAnalogueGain && + status_.flickerPeriod) { + int flickerPeriods = exposureTime / status_.flickerPeriod; + if (flickerPeriods) { + Duration newExposureTime = flickerPeriods * status_.flickerPeriod; + analogueGain *= exposureTime / newExposureTime; + /* + * 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); + exposureTime = newExposureTime; + } + LOG(RPiAgc, Debug) << "After flicker avoidance, exposure time " + << exposureTime << " gain " << analogueGain; + } + filtered_.exposureTime = exposureTime; + filtered_.analogueGain = analogueGain; +} + +void AgcChannel::writeAndFinish(Metadata *imageMetadata, bool desaturate) +{ + status_.totalExposureValue = filtered_.totalExposure; + status_.targetExposureValue = desaturate ? 0s : target_.totalExposure; + status_.exposureTime = filtered_.exposureTime; + 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: exposure time " << filtered_.exposureTime + << " analogue gain " << filtered_.analogueGain; +} + +Duration AgcChannel::limitExposureTime(Duration exposureTime) +{ + /* + * exposureTime == 0 is a special case for fixed exposure time values, + * and must pass through unchanged. + */ + if (!exposureTime) + return exposureTime; + + exposureTime = std::clamp(exposureTime, mode_.minExposureTime, maxExposureTime_); + return exposureTime; +} + +double AgcChannel::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 exposure time values, and + * must pass through unchanged. + */ + if (!gain) + return gain; + + gain = std::max(gain, mode_.minAnalogueGain); + return gain; +} diff --git a/src/ipa/rpi/controller/rpi/agc_channel.h b/src/ipa/rpi/controller/rpi/agc_channel.h new file mode 100644 index 00000000..734e5efd --- /dev/null +++ b/src/ipa/rpi/controller/rpi/agc_channel.h @@ -0,0 +1,154 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * AGC/AEC control algorithm + */ +#pragma once + +#include <map> +#include <string> +#include <vector> + +#include <libcamera/base/utils.h> + +#include <libipa/pwl.h> + +#include "../agc_status.h" +#include "../awb_status.h" +#include "../controller.h" + +/* This is our implementation of AGC. */ + +namespace RPiController { + +using AgcChannelTotalExposures = std::vector<libcamera::utils::Duration>; + +struct AgcMeteringMode { + std::vector<double> weights; + int read(const libcamera::YamlObject ¶ms); +}; + +struct AgcExposureMode { + std::vector<libcamera::utils::Duration> exposureTime; + 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; + libcamera::ipa::Pwl yTarget; + int read(const libcamera::YamlObject ¶ms); +}; + +typedef std::vector<AgcConstraint> AgcConstraintMode; + +struct AgcChannelConstraint { + enum class Bound { LOWER = 0, + UPPER = 1 }; + Bound bound; + unsigned int channel; + double factor; + int read(const libcamera::YamlObject ¶ms); +}; + +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; + std::vector<AgcChannelConstraint> channelConstraints; + libcamera::ipa::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; + double stableRegion; + bool desaturate; +}; + +class AgcChannel +{ +public: + AgcChannel(); + int read(const libcamera::YamlObject ¶ms, + const Controller::HardwareConfig &hardwareConfig); + unsigned int getConvergenceFrames() const; + std::vector<double> const &getWeights() const; + void setEv(double ev); + void setFlickerPeriod(libcamera::utils::Duration flickerPeriod); + void setMaxExposureTime(libcamera::utils::Duration maxExposureTime); + void setFixedExposureTime(libcamera::utils::Duration fixedExposureTime); + void setFixedAnalogueGain(double fixedAnalogueGain); + void setMeteringMode(std::string const &meteringModeName); + void setExposureMode(std::string const &exposureModeName); + void setConstraintMode(std::string const &contraintModeName); + void enableAuto(); + void disableAuto(); + void switchMode(CameraMode const &cameraMode, Metadata *metadata); + void prepare(Metadata *imageMetadata); + void process(StatisticsPtr &stats, DeviceStatus const &deviceStatus, Metadata *imageMetadata, + const AgcChannelTotalExposures &channelTotalExposures); + +private: + bool updateLockStatus(DeviceStatus const &deviceStatus); + AgcConfig config_; + void housekeepConfig(); + void fetchCurrentExposure(DeviceStatus const &deviceStatus); + void fetchAwbStatus(Metadata *imageMetadata); + void computeGain(StatisticsPtr &statistics, Metadata *imageMetadata, + double &gain, double &targetY); + void computeTargetExposure(double gain); + void filterExposure(); + bool applyChannelConstraints(const AgcChannelTotalExposures &channelTotalExposures); + bool applyDigitalGain(double gain, double targetY, bool channelBound); + void divideUpExposure(); + void writeAndFinish(Metadata *imageMetadata, bool desaturate); + libcamera::utils::Duration limitExposureTime(libcamera::utils::Duration exposureTime); + double limitGain(double gain) const; + AgcMeteringMode *meteringMode_; + AgcExposureMode *exposureMode_; + AgcConstraintMode *constraintMode_; + CameraMode mode_; + uint64_t frameCount_; + AwbStatus awb_; + struct ExposureValues { + ExposureValues(); + + libcamera::utils::Duration exposureTime; + 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 maxExposureTime_; + libcamera::utils::Duration fixedExposureTime_; + 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..21edb819 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/alsc.cpp @@ -0,0 +1,869 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * ALSC (auto lens shading correction) control algorithm + */ + +#include <algorithm> +#include <cmath> +#include <functional> +#include <numeric> +#include <vector> + +#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 = std::abs(cm0.cropX - cm1.cropX); + int topDiff = std::abs(cm0.cropY - cm1.cropY); + int rightDiff = std::abs(cm0.cropX + cm0.scaleX * cm0.width - + cm1.cropX - cm1.scaleX * cm1.width); + int bottomDiff = std::abs(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; + status.r = prevSyncResults_[0].data(); + status.g = prevSyncResults_[1].data(); + status.b = prevSyncResults_[2].data(); + imageMetadata->set("alsc.status", status); + /* + * Put the results in the global metadata as well. This will be used by + * AWB to factor in the colour shading correction. + */ + getGlobalMetadata().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. + */ + std::vector<int> xLo(X); + std::vector<int> xHi(X); + std::vector<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); + + /* Do not return unreliable, or zero, colour ratio statistics. */ + if (s.counted <= minCount || s.val.gSum / s.counted <= minG || + s.val.rSum / s.counted <= minG || s.val.bSum / 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 (std::abs(lambda[i] - oldLambda[i]) > std::abs(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 = std::abs(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..31087982 --- /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 (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..8479ae40 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/awb.cpp @@ -0,0 +1,797 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * AWB control algorithm + */ + +#include <assert.h> +#include <cmath> +#include <functional> + +#include <libcamera/base/log.h> + +#include "../lux_status.h" + +#include "alsc_status.h" +#include "awb.h" + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiAwb) + +constexpr double kDefaultCT = 4500.0; + +#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; + + prior = params["prior"].get<ipa::Pwl>(ipa::Pwl{}); + return prior.empty() ? -EINVAL : 0; +} + +static int readCtCurve(ipa::Pwl &ctR, ipa::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().first; + ctBInverse = ctB.inverse().first; + } + + 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 -EINVAL; + } + } + 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 */ + /* + * The biasProportion parameter adds a small proportion of the counted + * pixles to a region biased to the biasCT colour temperature. + * + * A typical value for biasProportion would be between 0.05 to 0.1. + */ + biasProportion = params["bias_proportion"].get<double>(0.0); + biasCT = params["bias_ct"].get<double>(kDefaultCT); + 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().clamp(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 = kDefaultCT; + syncResults_.gainR = syncResults_.gainG = syncResults_.gainB = 1.0; + } + prevSyncResults_ = syncResults_; + asyncResults_ = syncResults_; +} + +void Awb::initialValues(double &gainR, double &gainB) +{ + gainR = syncResults_.gainR; + gainB = syncResults_.gainB; +} + +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().clamp(1 / manualR_)); + double ctB = config_.ctBInverse.eval(config_.ctBInverse.domain().clamp(1 / manualB_)); + prevSyncResults_.temperatureK = (ctR + ctB) / 2; + syncResults_.temperatureK = prevSyncResults_.temperatureK; + } + } +} + +void Awb::setColourTemperature(double temperatureK) +{ + if (!config_.bayes) { + LOG(RPiAwb, Warning) << "AWB uncalibrated - cannot set colour temperature"; + return; + } + + temperatureK = config_.ctR.domain().clamp(temperatureK); + manualR_ = 1 / config_.ctR.eval(temperatureK); + manualB_ = 1 / config_.ctB.eval(temperatureK); + + syncResults_.temperatureK = temperatureK; + syncResults_.gainR = manualR_; + syncResults_.gainG = 1.0; + syncResults_.gainB = manualB_; + prevSyncResults_ = syncResults_; +} + +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, + StatisticsPtr &stats, double minPixels, + double minG, Metadata &globalMetadata, + double biasProportion, double biasCtR, double biasCtB) +{ + std::scoped_lock<RPiController::Metadata> l(globalMetadata); + + for (unsigned int i = 0; i < stats->awbRegions.numRegions(); i++) { + Awb::RGB zone; + auto ®ion = stats->awbRegions.get(i); + if (region.counted >= minPixels) { + zone.G = region.val.gSum / region.counted; + if (zone.G < minG) + continue; + zone.R = region.val.rSum / region.counted; + zone.B = region.val.bSum / region.counted; + /* + * Add some bias samples to allow the search to tend to a + * bias CT in failure cases. + */ + const unsigned int proportion = biasProportion * region.counted; + zone.R += proportion * biasCtR; + zone.B += proportion * biasCtB; + zone.G += proportion * 1.0; + /* Factor in the ALSC applied colour shading correction if required. */ + const AlscStatus *alscStatus = globalMetadata.getLocked<AlscStatus>("alsc.status"); + if (stats->colourStatsPos == Statistics::ColourStatsPos::PreLsc && alscStatus) { + zone.R *= alscStatus->r[i]; + zone.G *= alscStatus->g[i]; + zone.B *= alscStatus->b[i]; + } + 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. + */ + const double biasCtR = config_.bayes ? config_.ctR.eval(config_.biasCT) : 0; + const double biasCtB = config_.bayes ? config_.ctB.eval(config_.biasCT) : 0; + generateStats(zones_, statistics_, config_.minPixels, + config_.minG, getGlobalMetadata(), + config_.biasProportion, biasCtR, biasCtB); + /* + * 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; +} + +ipa::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 ipa::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(ipa::Pwl::Point const &a, ipa::Pwl::Point const &b, + ipa::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; + ipa::Pwl::Point ca = c - a, ba = b - a; + double denominator = 2 * (ba.y() * ca.x() - ca.y() * ba.x()); + if (std::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(ipa::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().clamp(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(ipa::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, ipa::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); + ipa::Pwl::Point transverse({ bDiff, -rDiff }); + if (transverse.length2() < 1e-6) + return; + /* + * unit vector orthogonal to the b vs. r function (pointing outwards + * with r and b increasing) + */ + transverse = transverse / transverse.length(); + 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().clamp(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 */ + ipa::Pwl::Point points[maxNumDeltas]; + int bestPoint = 0; + /* Take some measurements transversely *off* the CT curve. */ + for (int j = 0; j < numDeltas; j++) { + points[j][0] = -config_.transverseNeg + + (transverseRange * j) / (numDeltas - 1); + ipa::Pwl::Point rbTest = ipa::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][1] = 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)); + ipa::Pwl::Point rbTest = ipa::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. + */ + ipa::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); + /* + * The grey world model can't estimate the colour temperature, use a + * default value. + */ + asyncResults_.temperatureK = kDefaultCT; + 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..86640f8f --- /dev/null +++ b/src/ipa/rpi/controller/rpi/awb.h @@ -0,0 +1,200 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * AWB control algorithm + */ +#pragma once + +#include <mutex> +#include <condition_variable> +#include <thread> + +#include <libcamera/geometry.h> + +#include "../awb_algorithm.h" +#include "../awb_status.h" +#include "../statistics.h" + +#include "libipa/pwl.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 */ + libcamera::ipa::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 */ + libcamera::ipa::Pwl ctR; /* function maps CT to r (= R/G) */ + libcamera::ipa::Pwl ctB; /* function maps CT to b (= B/G) */ + libcamera::ipa::Pwl ctRInverse; /* inverse of ctR */ + libcamera::ipa::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 */ + /* proportion of counted samples to add for the search bias */ + double biasProportion; + /* CT target for the search bias */ + double biasCT; +}; + +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 initialValues(double &gainR, double &gainB) override; + void setMode(std::string const &name) override; + void setManualGains(double manualR, double manualB) override; + void setColourTemperature(double temperatureK) 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); + libcamera::ipa::Pwl interpolatePrior(); + double coarseSearch(libcamera::ipa::Pwl const &prior); + void fineSearch(double &t, double &r, double &b, libcamera::ipa::Pwl const &prior); + std::vector<RGB> zones_; + std::vector<libcamera::ipa::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..4c968f14 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/black_level.cpp @@ -0,0 +1,73 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * black level control algorithm + */ + +#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) + : BlackLevelAlgorithm(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::initialValues(uint16_t &blackLevelR, uint16_t &blackLevelG, + uint16_t &blackLevelB) +{ + blackLevelR = blackLevelR_; + blackLevelG = blackLevelG_; + blackLevelB = blackLevelB_; +} + +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..f50729db --- /dev/null +++ b/src/ipa/rpi/controller/rpi/black_level.h @@ -0,0 +1,32 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * black level control algorithm + */ +#pragma once + +#include "../black_level_algorithm.h" +#include "../black_level_status.h" + +/* This is our implementation of the "black level algorithm". */ + +namespace RPiController { + +class BlackLevel : public BlackLevelAlgorithm +{ +public: + BlackLevel(Controller *controller); + char const *name() const override; + int read(const libcamera::YamlObject ¶ms) override; + void initialValues(uint16_t &blackLevelR, uint16_t &blackLevelG, + uint16_t &blackLevelB) override; + void prepare(Metadata *imageMetadata) override; + +private: + double blackLevelR_; + double blackLevelG_; + double blackLevelB_; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/rpi/cac.cpp b/src/ipa/rpi/controller/rpi/cac.cpp new file mode 100644 index 00000000..17779ad5 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/cac.cpp @@ -0,0 +1,107 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023 Raspberry Pi Ltd + * + * Chromatic Aberration Correction algorithm + */ +#include "cac.h" + +#include <libcamera/base/log.h> + +#include "cac_status.h" + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiCac) + +#define NAME "rpi.cac" + +Cac::Cac(Controller *controller) + : Algorithm(controller) +{ +} + +char const *Cac::name() const +{ + return NAME; +} + +static bool arrayToSet(const libcamera::YamlObject ¶ms, std::vector<double> &inputArray, const Size &size) +{ + int num = 0; + int max_num = (size.width + 1) * (size.height + 1); + inputArray.resize(max_num); + + for (const auto &p : params.asList()) { + if (num == max_num) + return false; + inputArray[num++] = p.get<double>(0); + } + + return num == max_num; +} + +static void setStrength(std::vector<double> &inputArray, std::vector<double> &outputArray, + double strengthFactor) +{ + int num = 0; + for (const auto &p : inputArray) { + outputArray[num++] = p * strengthFactor; + } +} + +int Cac::read(const libcamera::YamlObject ¶ms) +{ + config_.enabled = params.contains("lut_rx") && params.contains("lut_ry") && + params.contains("lut_bx") && params.contains("lut_by"); + if (!config_.enabled) + return 0; + + const Size &size = getHardwareConfig().cacRegions; + + if (!arrayToSet(params["lut_rx"], config_.lutRx, size)) { + LOG(RPiCac, Error) << "Bad CAC lut_rx table"; + return -EINVAL; + } + + if (!arrayToSet(params["lut_ry"], config_.lutRy, size)) { + LOG(RPiCac, Error) << "Bad CAC lut_ry table"; + return -EINVAL; + } + + if (!arrayToSet(params["lut_bx"], config_.lutBx, size)) { + LOG(RPiCac, Error) << "Bad CAC lut_bx table"; + return -EINVAL; + } + + if (!arrayToSet(params["lut_by"], config_.lutBy, size)) { + LOG(RPiCac, Error) << "Bad CAC lut_by table"; + return -EINVAL; + } + + double strength = params["strength"].get<double>(1); + cacStatus_.lutRx = config_.lutRx; + cacStatus_.lutRy = config_.lutRy; + cacStatus_.lutBx = config_.lutBx; + cacStatus_.lutBy = config_.lutBy; + setStrength(config_.lutRx, cacStatus_.lutRx, strength); + setStrength(config_.lutBx, cacStatus_.lutBx, strength); + setStrength(config_.lutRy, cacStatus_.lutRy, strength); + setStrength(config_.lutBy, cacStatus_.lutBy, strength); + + return 0; +} + +void Cac::prepare(Metadata *imageMetadata) +{ + if (config_.enabled) + imageMetadata->set("cac.status", cacStatus_); +} + +// Register algorithm with the system. +static Algorithm *Create(Controller *controller) +{ + return (Algorithm *)new Cac(controller); +} +static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/rpi/controller/rpi/cac.h b/src/ipa/rpi/controller/rpi/cac.h new file mode 100644 index 00000000..a7b14c00 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/cac.h @@ -0,0 +1,35 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * cac.hpp - CAC control algorithm + */ +#pragma once + +#include "algorithm.h" +#include "cac_status.h" + +namespace RPiController { + +struct CacConfig { + bool enabled; + std::vector<double> lutRx; + std::vector<double> lutRy; + std::vector<double> lutBx; + std::vector<double> lutBy; +}; + +class Cac : public Algorithm +{ +public: + Cac(Controller *controller = NULL); + char const *name() const override; + int read(const libcamera::YamlObject ¶ms) override; + void prepare(Metadata *imageMetadata) override; + +private: + CacConfig config_; + CacStatus cacStatus_; +}; + +} // 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..8607f152 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/ccm.cpp @@ -0,0 +1,184 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * 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" + +using Matrix3x3 = Matrix<double, 3, 3>; + +Ccm::Ccm(Controller *controller) + : CcmAlgorithm(controller), saturation_(1.0) {} + +char const *Ccm::name() const +{ + return NAME; +} + +int Ccm::read(const libcamera::YamlObject ¶ms) +{ + if (params.contains("saturation")) { + config_.saturation = params["saturation"].get<ipa::Pwl>(ipa::Pwl{}); + if (config_.saturation.empty()) + return -EINVAL; + } + + for (auto &p : params["ccms"].asList()) { + auto value = p["ct"].get<double>(); + if (!value) + return -EINVAL; + + CtCcm ctCcm; + ctCcm.ct = *value; + + auto ccm = p["ccm"].get<Matrix3x3>(); + if (!ccm) + return -EINVAL; + + ctCcm.ccm = *ccm; + + 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() +{ +} + +namespace { + +template<typename T> +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; +} + +Matrix3x3 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; + } +} + +Matrix3x3 applySaturation(Matrix3x3 const &ccm, double saturation) +{ + static const Matrix3x3 RGB2Y({ 0.299, 0.587, 0.114, + -0.169, -0.331, 0.500, + 0.500, -0.419, -0.081 }); + + static const Matrix3x3 Y2RGB({ 1.000, 0.000, 1.402, + 1.000, -0.345, -0.714, + 1.000, 1.771, 0.000 }); + + Matrix3x3 S({ 1, 0, 0, + 0, saturation, 0, + 0, 0, saturation }); + + return Y2RGB * S * RGB2Y * ccm; +} + +} /* namespace */ + +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"; + Matrix3x3 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().clamp(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[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..c05dbb17 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/ccm.h @@ -0,0 +1,45 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * CCM (colour correction matrix) control algorithm + */ +#pragma once + +#include <vector> + +#include "libcamera/internal/matrix.h" +#include <libipa/pwl.h> + +#include "../ccm_algorithm.h" + +namespace RPiController { + +/* Algorithm to calculate colour matrix. Should be placed after AWB. */ + +struct CtCcm { + double ct; + libcamera::Matrix<double, 3, 3> ccm; +}; + +struct CcmConfig { + std::vector<CtCcm> ccms; + libcamera::ipa::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..fe866a54 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/contrast.cpp @@ -0,0 +1,198 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * 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); + ceEnable_ = config_.ceEnable; + // 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); + + config_.gammaCurve = params["gamma_curve"].get<ipa::Pwl>(ipa::Pwl{}); + return config_.gammaCurve.empty() ? -EINVAL : 0; +} + +void Contrast::setBrightness(double brightness) +{ + brightness_ = brightness; +} + +void Contrast::setContrast(double contrast) +{ + contrast_ = contrast; +} + +void Contrast::enableCe(bool enable) +{ + ceEnable_ = enable; +} + +void Contrast::restoreCe() +{ + ceEnable_ = config_.ceEnable; +} + +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_); +} + +namespace { + +ipa::Pwl computeStretchCurve(Histogram const &histogram, + ContrastConfig const &config) +{ + ipa::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; +} + +ipa::Pwl applyManualContrast(ipa::Pwl const &gammaCurve, double brightness, + double contrast) +{ + ipa::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; +} + +} /* namespace */ + +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. + */ + ipa::Pwl gammaCurve = config_.gammaCurve; + if (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..c0f7db98 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/contrast.h @@ -0,0 +1,55 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * contrast (gamma) control algorithm + */ +#pragma once + +#include <mutex> + +#include <libipa/pwl.h> + +#include "../contrast_algorithm.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; + libcamera::ipa::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 enableCe(bool enable) override; + void restoreCe() 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_; + double ceEnable_; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/rpi/denoise.cpp b/src/ipa/rpi/controller/rpi/denoise.cpp new file mode 100644 index 00000000..ba851658 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/denoise.cpp @@ -0,0 +1,198 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022 Raspberry Pi Ltd + * + * Denoise (spatial, colour, temporal) control algorithm + */ +#include "denoise.h" + +#include <libcamera/base/log.h> + +#include "denoise_status.h" +#include "noise_status.h" + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiDenoise) + +// Calculate settings for the denoise blocks using the noise profile in +// the image metadata. + +#define NAME "rpi.denoise" + +int DenoiseConfig::read(const libcamera::YamlObject ¶ms) +{ + sdnEnable = params.contains("sdn"); + if (sdnEnable) { + auto &sdnParams = params["sdn"]; + sdnDeviation = sdnParams["deviation"].get<double>(3.2); + sdnStrength = sdnParams["strength"].get<double>(0.25); + sdnDeviation2 = sdnParams["deviation2"].get<double>(sdnDeviation); + sdnDeviationNoTdn = sdnParams["deviation_no_tdn"].get<double>(sdnDeviation); + sdnStrengthNoTdn = sdnParams["strength_no_tdn"].get<double>(sdnStrength); + sdnTdnBackoff = sdnParams["backoff"].get<double>(0.75); + } + + cdnEnable = params.contains("cdn"); + if (cdnEnable) { + auto &cdnParams = params["cdn"]; + cdnDeviation = cdnParams["deviation"].get<double>(120); + cdnStrength = cdnParams["strength"].get<double>(0.2); + } + + tdnEnable = params.contains("tdn"); + if (tdnEnable) { + auto &tdnParams = params["tdn"]; + tdnDeviation = tdnParams["deviation"].get<double>(0.5); + tdnThreshold = tdnParams["threshold"].get<double>(0.75); + } else if (sdnEnable) { + /* + * If SDN is enabled but TDN isn't, overwrite all the SDN settings + * with the "no TDN" versions. This makes it easier to enable or + * disable TDN in the tuning file without editing all the other + * parameters. + */ + sdnDeviation = sdnDeviation2 = sdnDeviationNoTdn; + sdnStrength = sdnStrengthNoTdn; + } + + return 0; +} + +Denoise::Denoise(Controller *controller) + : DenoiseAlgorithm(controller), mode_(DenoiseMode::ColourHighQuality) +{ +} + +char const *Denoise::name() const +{ + return NAME; +} + +int Denoise::read(const libcamera::YamlObject ¶ms) +{ + if (!params.contains("normal")) { + configs_["normal"].read(params); + currentConfig_ = &configs_["normal"]; + + return 0; + } + + for (const auto &[key, value] : params.asDict()) { + if (configs_[key].read(value)) { + LOG(RPiDenoise, Error) << "Failed to read denoise config " << key; + return -EINVAL; + } + } + + auto it = configs_.find("normal"); + if (it == configs_.end()) { + LOG(RPiDenoise, Error) << "No normal denoise settings found"; + return -EINVAL; + } + currentConfig_ = &it->second; + + return 0; +} + +void Denoise::initialise() +{ +} + +void Denoise::switchMode([[maybe_unused]] CameraMode const &cameraMode, + [[maybe_unused]] Metadata *metadata) +{ + /* A mode switch effectively resets temporal denoise and it has to start over. */ + currentSdnDeviation_ = currentConfig_->sdnDeviationNoTdn; + currentSdnStrength_ = currentConfig_->sdnStrengthNoTdn; + currentSdnDeviation2_ = currentConfig_->sdnDeviationNoTdn; +} + +void Denoise::prepare(Metadata *imageMetadata) +{ + struct NoiseStatus noiseStatus = {}; + noiseStatus.noiseSlope = 3.0; // in case no metadata + if (imageMetadata->get("noise.status", noiseStatus) != 0) + LOG(RPiDenoise, Warning) << "no noise profile found"; + + LOG(RPiDenoise, Debug) + << "Noise profile: constant " << noiseStatus.noiseConstant + << " slope " << noiseStatus.noiseSlope; + + if (mode_ == DenoiseMode::Off) + return; + + if (currentConfig_->sdnEnable) { + struct SdnStatus sdn; + sdn.noiseConstant = noiseStatus.noiseConstant * currentSdnDeviation_; + sdn.noiseSlope = noiseStatus.noiseSlope * currentSdnDeviation_; + sdn.noiseConstant2 = noiseStatus.noiseConstant * currentConfig_->sdnDeviation2; + sdn.noiseSlope2 = noiseStatus.noiseSlope * currentSdnDeviation2_; + sdn.strength = currentSdnStrength_; + imageMetadata->set("sdn.status", sdn); + LOG(RPiDenoise, Debug) + << "const " << sdn.noiseConstant + << " slope " << sdn.noiseSlope + << " str " << sdn.strength + << " const2 " << sdn.noiseConstant2 + << " slope2 " << sdn.noiseSlope2; + + /* For the next frame, we back off the SDN parameters as TDN ramps up. */ + double f = currentConfig_->sdnTdnBackoff; + currentSdnDeviation_ = f * currentSdnDeviation_ + (1 - f) * currentConfig_->sdnDeviation; + currentSdnStrength_ = f * currentSdnStrength_ + (1 - f) * currentConfig_->sdnStrength; + currentSdnDeviation2_ = f * currentSdnDeviation2_ + (1 - f) * currentConfig_->sdnDeviation2; + } + + if (currentConfig_->tdnEnable) { + struct TdnStatus tdn; + tdn.noiseConstant = noiseStatus.noiseConstant * currentConfig_->tdnDeviation; + tdn.noiseSlope = noiseStatus.noiseSlope * currentConfig_->tdnDeviation; + tdn.threshold = currentConfig_->tdnThreshold; + imageMetadata->set("tdn.status", tdn); + LOG(RPiDenoise, Debug) + << "programmed tdn threshold " << tdn.threshold + << " constant " << tdn.noiseConstant + << " slope " << tdn.noiseSlope; + } + + if (currentConfig_->cdnEnable && mode_ != DenoiseMode::ColourOff) { + struct CdnStatus cdn; + cdn.threshold = currentConfig_->cdnDeviation * noiseStatus.noiseSlope + noiseStatus.noiseConstant; + cdn.strength = currentConfig_->cdnStrength; + imageMetadata->set("cdn.status", cdn); + LOG(RPiDenoise, Debug) + << "programmed cdn threshold " << cdn.threshold + << " strength " << cdn.strength; + } +} + +void Denoise::setMode(DenoiseMode mode) +{ + // We only distinguish between off and all other modes. + mode_ = mode; +} + +void Denoise::setConfig(std::string const &name) +{ + auto it = configs_.find(name); + if (it == configs_.end()) { + /* + * Some platforms may have no need for different denoise settings, so we only issue + * a warning if there clearly are several configurations. + */ + if (configs_.size() > 1) + LOG(RPiDenoise, Warning) << "No denoise config found for " << name; + else + LOG(RPiDenoise, Debug) << "No denoise config found for " << name; + } else + currentConfig_ = &it->second; +} + +// Register algorithm with the system. +static Algorithm *Create(Controller *controller) +{ + return (Algorithm *)new Denoise(controller); +} +static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/rpi/controller/rpi/denoise.h b/src/ipa/rpi/controller/rpi/denoise.h new file mode 100644 index 00000000..92ff4f93 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/denoise.h @@ -0,0 +1,59 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022, Raspberry Pi Ltd + * + * denoise.hpp - Denoise (spatial, colour, temporal) control algorithm + */ +#pragma once + +#include <map> +#include <string> + +#include "algorithm.h" +#include "denoise_algorithm.h" + +namespace RPiController { + +// Algorithm to calculate correct denoise settings. + +struct DenoiseConfig { + double sdnDeviation; + double sdnStrength; + double sdnDeviation2; + double sdnDeviationNoTdn; + double sdnStrengthNoTdn; + double sdnTdnBackoff; + double cdnDeviation; + double cdnStrength; + double tdnDeviation; + double tdnThreshold; + bool tdnEnable; + bool sdnEnable; + bool cdnEnable; + int read(const libcamera::YamlObject ¶ms); +}; + +class Denoise : public DenoiseAlgorithm +{ +public: + Denoise(Controller *controller); + char const *name() const override; + int read(const libcamera::YamlObject ¶ms) override; + void initialise() override; + void switchMode(CameraMode const &cameraMode, Metadata *metadata) override; + void prepare(Metadata *imageMetadata) override; + void setMode(DenoiseMode mode) override; + void setConfig(std::string const &name) override; + +private: + std::map<std::string, DenoiseConfig> configs_; + DenoiseConfig *currentConfig_; + DenoiseMode mode_; + + /* SDN parameters attenuate over time if TDN is running. */ + double currentSdnDeviation_; + double currentSdnStrength_; + double currentSdnDeviation2_; +}; + +} // 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..8aac03f7 --- /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 (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..9cefb06d --- /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 (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..ee014be9 --- /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 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..40e7191b --- /dev/null +++ b/src/ipa/rpi/controller/rpi/geq.cpp @@ -0,0 +1,88 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * GEQ (green equalisation) control algorithm + */ + +#include <libcamera/base/log.h> + +#include "../device_status.h" +#include "../lux_status.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")) { + config_.strength = params["strength"].get<ipa::Pwl>(ipa::Pwl{}); + if (config_.strength.empty()) + return -EINVAL; + } + + 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().clamp(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..e8b9f427 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/geq.h @@ -0,0 +1,36 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * GEQ (green equalisation) control algorithm + */ +#pragma once + +#include <libipa/pwl.h> + +#include "../algorithm.h" +#include "../geq_status.h" + +namespace RPiController { + +/* Back End algorithm to apply appropriate GEQ settings. */ + +struct GeqConfig { + uint16_t offset; + double slope; + libcamera::ipa::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/hdr.cpp b/src/ipa/rpi/controller/rpi/hdr.cpp new file mode 100644 index 00000000..f3da8291 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/hdr.cpp @@ -0,0 +1,417 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023 Raspberry Pi Ltd + * + * HDR control algorithm + */ + +#include "hdr.h" + +#include <cmath> + +#include <libcamera/base/log.h> + +#include "../agc_status.h" +#include "../alsc_status.h" +#include "../stitch_status.h" +#include "../tonemap_status.h" + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiHdr) + +#define NAME "rpi.hdr" + +void HdrConfig::read(const libcamera::YamlObject ¶ms, const std::string &modeName) +{ + name = modeName; + + if (!params.contains("cadence")) + LOG(RPiHdr, Fatal) << "No cadence for HDR mode " << name; + cadence = params["cadence"].getList<unsigned int>().value(); + if (cadence.empty()) + LOG(RPiHdr, Fatal) << "Empty cadence in HDR mode " << name; + + /* + * In the JSON file it's easier to use the channel name as the key, but + * for us it's convenient to swap them over. + */ + for (const auto &[k, v] : params["channel_map"].asDict()) + channelMap[v.get<unsigned int>().value()] = k; + + /* Lens shading related parameters. */ + if (params.contains("spatial_gain_curve")) { + spatialGainCurve = params["spatial_gain_curve"].get<ipa::Pwl>(ipa::Pwl{}); + } else if (params.contains("spatial_gain")) { + double spatialGain = params["spatial_gain"].get<double>(2.0); + spatialGainCurve.append(0.0, spatialGain); + spatialGainCurve.append(0.01, spatialGain); + spatialGainCurve.append(0.06, 1.0); /* maybe make this programmable? */ + spatialGainCurve.append(1.0, 1.0); + } + + diffusion = params["diffusion"].get<unsigned int>(3); + /* Clip to an arbitrary limit just to stop typos from killing the system! */ + const unsigned int MAX_DIFFUSION = 15; + if (diffusion > MAX_DIFFUSION) { + diffusion = MAX_DIFFUSION; + LOG(RPiHdr, Warning) << "Diffusion value clipped to " << MAX_DIFFUSION; + } + + /* Read any tonemap parameters. */ + tonemapEnable = params["tonemap_enable"].get<int>(0); + detailConstant = params["detail_constant"].get<uint16_t>(0); + detailSlope = params["detail_slope"].get<double>(0.0); + iirStrength = params["iir_strength"].get<double>(8.0); + strength = params["strength"].get<double>(1.5); + if (tonemapEnable) + tonemap = params["tonemap"].get<ipa::Pwl>(ipa::Pwl{}); + speed = params["speed"].get<double>(1.0); + if (params.contains("hi_quantile_targets")) { + hiQuantileTargets = params["hi_quantile_targets"].getList<double>().value(); + if (hiQuantileTargets.empty() || hiQuantileTargets.size() % 2) + LOG(RPiHdr, Fatal) << "hi_quantile_targets much be even and non-empty"; + } else + hiQuantileTargets = { 0.95, 0.65, 0.5, 0.28, 0.3, 0.25 }; + hiQuantileMaxGain = params["hi_quantile_max_gain"].get<double>(1.6); + if (params.contains("quantile_targets")) { + quantileTargets = params["quantile_targets"].getList<double>().value(); + if (quantileTargets.empty() || quantileTargets.size() % 2) + LOG(RPiHdr, Fatal) << "quantile_targets much be even and non-empty"; + } else + quantileTargets = { 0.2, 0.03, 1.0, 0.15 }; + powerMin = params["power_min"].get<double>(0.65); + powerMax = params["power_max"].get<double>(1.0); + if (params.contains("contrast_adjustments")) { + contrastAdjustments = params["contrast_adjustments"].getList<double>().value(); + } else + contrastAdjustments = { 0.5, 0.75 }; + + /* Read any stitch parameters. */ + stitchEnable = params["stitch_enable"].get<int>(0); + thresholdLo = params["threshold_lo"].get<uint16_t>(50000); + motionThreshold = params["motion_threshold"].get<double>(0.005); + diffPower = params["diff_power"].get<uint8_t>(13); + if (diffPower > 15) + LOG(RPiHdr, Fatal) << "Bad diff_power value in HDR mode " << name; +} + +Hdr::Hdr(Controller *controller) + : HdrAlgorithm(controller) +{ + regions_ = controller->getHardwareConfig().awbRegions; + numRegions_ = regions_.width * regions_.height; + gains_[0].resize(numRegions_, 1.0); + gains_[1].resize(numRegions_, 1.0); +} + +char const *Hdr::name() const +{ + return NAME; +} + +int Hdr::read(const libcamera::YamlObject ¶ms) +{ + /* Make an "HDR off" mode by default so that tuning files don't have to. */ + HdrConfig &offMode = config_["Off"]; + offMode.name = "Off"; + offMode.cadence = { 0 }; + offMode.channelMap[0] = "None"; + status_.mode = offMode.name; + delayedStatus_.mode = offMode.name; + + /* + * But we still allow the tuning file to override the "Off" mode if it wants. + * For example, maybe an application will make channel 0 be the "short" + * channel, in order to apply other AGC controls to it. + */ + for (const auto &[key, value] : params.asDict()) + config_[key].read(value, key); + + return 0; +} + +int Hdr::setMode(std::string const &mode) +{ + /* Always validate the mode, so it can be used later without checking. */ + auto it = config_.find(mode); + if (it == config_.end()) { + LOG(RPiHdr, Warning) << "No such HDR mode " << mode; + return -1; + } + + status_.mode = it->second.name; + + return 0; +} + +std::vector<unsigned int> Hdr::getChannels() const +{ + return config_.at(status_.mode).cadence; +} + +void Hdr::updateAgcStatus(Metadata *metadata) +{ + std::scoped_lock lock(*metadata); + AgcStatus *agcStatus = metadata->getLocked<AgcStatus>("agc.status"); + if (agcStatus) { + HdrConfig &hdrConfig = config_[status_.mode]; + auto it = hdrConfig.channelMap.find(agcStatus->channel); + if (it != hdrConfig.channelMap.end()) { + status_.channel = it->second; + agcStatus->hdr = status_; + } else + LOG(RPiHdr, Warning) << "Channel " << agcStatus->channel + << " not found in mode " << status_.mode; + } else + LOG(RPiHdr, Warning) << "No agc.status found"; +} + +void Hdr::switchMode([[maybe_unused]] CameraMode const &cameraMode, Metadata *metadata) +{ + updateAgcStatus(metadata); + delayedStatus_ = status_; +} + +void Hdr::prepare(Metadata *imageMetadata) +{ + AgcStatus agcStatus; + if (!imageMetadata->get<AgcStatus>("agc.delayed_status", agcStatus)) + delayedStatus_ = agcStatus.hdr; + + auto it = config_.find(delayedStatus_.mode); + if (it == config_.end()) { + /* Shouldn't be possible. There would be nothing we could do. */ + LOG(RPiHdr, Warning) << "Unexpected HDR mode " << delayedStatus_.mode; + return; + } + + HdrConfig &config = it->second; + if (config.spatialGainCurve.empty()) + return; + + AlscStatus alscStatus{}; /* some compilers seem to require the braces */ + if (imageMetadata->get<AlscStatus>("alsc.status", alscStatus)) { + LOG(RPiHdr, Warning) << "No ALSC status"; + return; + } + + /* The final gains ended up in the odd or even array, according to diffusion. */ + std::vector<double> &gains = gains_[config.diffusion & 1]; + for (unsigned int i = 0; i < numRegions_; i++) { + alscStatus.r[i] *= gains[i]; + alscStatus.g[i] *= gains[i]; + alscStatus.b[i] *= gains[i]; + } + imageMetadata->set("alsc.status", alscStatus); +} + +bool Hdr::updateTonemap([[maybe_unused]] StatisticsPtr &stats, HdrConfig &config) +{ + /* When there's a change of HDR mode we start over with a new tonemap curve. */ + if (delayedStatus_.mode != previousMode_) { + previousMode_ = delayedStatus_.mode; + tonemap_ = ipa::Pwl(); + } + + /* No tonemapping. No need to output a tonemap.status. */ + if (!config.tonemapEnable) + return false; + + /* If an explicit tonemap was given, use it. */ + if (!config.tonemap.empty()) { + tonemap_ = config.tonemap; + return true; + } + + /* + * We wouldn't update the tonemap on short frames when in multi-exposure mode. But + * we still need to output the most recent tonemap. Possibly we should make the + * config indicate the channels for which we should update the tonemap? + */ + if (delayedStatus_.mode == "MultiExposure" && delayedStatus_.channel != "short") + return true; + + /* + * Create a tonemap dynamically. We have three ingredients. + * + * 1. We have a list of "hi quantiles" and "targets". We use these to judge if + * the image does seem to be reasonably saturated. If it isn't, we calculate + * a gain that we will feed as a linear factor into the tonemap generation. + * This prevents unsaturated images from beoming quite so "flat". + * + * 2. We have a list of quantile/target pairs for the bottom of the histogram. + * We use these to calculate how much gain we must apply to the bottom of the + * tonemap. We apply this gain as a power curve so as not to blow out the top + * end. + * + * 3. Finally, when we generate the tonemap, we have some contrast adjustments + * for the bottom because we know that power curves can start quite steeply and + * cause a washed-out look. + */ + + /* Compute the linear gain from the headroom for saturation at the top. */ + double gain = 10; /* arbitrary, but hiQuantileMaxGain will clamp it later */ + for (unsigned int i = 0; i < config.hiQuantileTargets.size(); i += 2) { + double quantile = config.hiQuantileTargets[i]; + double target = config.hiQuantileTargets[i + 1]; + double value = stats->yHist.interQuantileMean(quantile, 1.0) / 1024.0; + double newGain = target / (value + 0.01); + gain = std::min(gain, newGain); + } + gain = std::clamp(gain, 1.0, config.hiQuantileMaxGain); + + /* Compute the power curve from the amount of gain needed at the bottom. */ + double min_power = 2; /* arbitrary, but config.powerMax will clamp it later */ + for (unsigned int i = 0; i < config.quantileTargets.size(); i += 2) { + double quantile = config.quantileTargets[i]; + double target = config.quantileTargets[i + 1]; + double value = stats->yHist.interQuantileMean(0, quantile) / 1024.0; + value = std::min(value * gain, 1.0); + double power = log(target + 1e-6) / log(value + 1e-6); + min_power = std::min(min_power, power); + } + double power = std::clamp(min_power, config.powerMin, config.powerMax); + + /* Generate the tonemap, including the contrast adjustment factors. */ + libcamera::ipa::Pwl tonemap; + tonemap.append(0, 0); + for (unsigned int i = 0; i <= 6; i++) { + double x = 1 << (i + 9); /* x loops from 512 to 32768 inclusive */ + double y = pow(std::min(x * gain, 65535.0) / 65536.0, power) * 65536; + if (i < config.contrastAdjustments.size()) + y *= config.contrastAdjustments[i]; + if (!tonemap_.empty()) + y = y * config.speed + tonemap_.eval(x) * (1 - config.speed); + tonemap.append(x, y); + } + tonemap.append(65535, 65535); + tonemap_ = tonemap; + + return true; +} + +static void averageGains(std::vector<double> &src, std::vector<double> &dst, const Size &size) +{ +#define IDX(y, x) ((y)*size.width + (x)) + unsigned int lastCol = size.width - 1; /* index of last column */ + unsigned int preLastCol = lastCol - 1; /* and the column before that */ + unsigned int lastRow = size.height - 1; /* index of last row */ + unsigned int preLastRow = lastRow - 1; /* and the row before that */ + + /* Corners first. */ + dst[IDX(0, 0)] = (src[IDX(0, 0)] + src[IDX(0, 1)] + src[IDX(1, 0)]) / 3; + dst[IDX(0, lastCol)] = (src[IDX(0, lastCol)] + src[IDX(0, preLastCol)] + src[IDX(1, lastCol)]) / 3; + dst[IDX(lastRow, 0)] = (src[IDX(lastRow, 0)] + src[IDX(lastRow, 1)] + src[IDX(preLastRow, 0)]) / 3; + dst[IDX(lastRow, lastCol)] = (src[IDX(lastRow, lastCol)] + src[IDX(lastRow, preLastCol)] + + src[IDX(preLastRow, lastCol)]) / + 3; + + /* Now the edges. */ + for (unsigned int i = 1; i < lastCol; i++) { + dst[IDX(0, i)] = (src[IDX(0, i - 1)] + src[IDX(0, i)] + src[IDX(0, i + 1)] + src[IDX(1, i)]) / 4; + dst[IDX(lastRow, i)] = (src[IDX(lastRow, i - 1)] + src[IDX(lastRow, i)] + + src[IDX(lastRow, i + 1)] + src[IDX(preLastRow, i)]) / + 4; + } + + for (unsigned int i = 1; i < lastRow; i++) { + dst[IDX(i, 0)] = (src[IDX(i - 1, 0)] + src[IDX(i, 0)] + src[IDX(i + 1, 0)] + src[IDX(i, 1)]) / 4; + dst[IDX(i, 31)] = (src[IDX(i - 1, lastCol)] + src[IDX(i, lastCol)] + + src[IDX(i + 1, lastCol)] + src[IDX(i, preLastCol)]) / + 4; + } + + /* Finally the interior. */ + for (unsigned int j = 1; j < lastRow; j++) { + for (unsigned int i = 1; i < lastCol; i++) { + dst[IDX(j, i)] = (src[IDX(j - 1, i)] + src[IDX(j, i - 1)] + src[IDX(j, i)] + + src[IDX(j, i + 1)] + src[IDX(j + 1, i)]) / + 5; + } + } +} + +void Hdr::updateGains(StatisticsPtr &stats, HdrConfig &config) +{ + if (config.spatialGainCurve.empty()) + return; + + /* When alternating exposures, only compute these gains for the short frame. */ + if (delayedStatus_.mode == "MultiExposure" && delayedStatus_.channel != "short") + return; + + for (unsigned int i = 0; i < numRegions_; i++) { + auto ®ion = stats->awbRegions.get(i); + unsigned int counted = region.counted; + counted += (counted == 0); /* avoid div by zero */ + double r = region.val.rSum / counted; + double g = region.val.gSum / counted; + double b = region.val.bSum / counted; + double brightness = std::max({ r, g, b }) / 65535; + gains_[0][i] = config.spatialGainCurve.eval(brightness); + } + + /* Ping-pong between the two gains_ buffers. */ + for (unsigned int i = 0; i < config.diffusion; i++) + averageGains(gains_[i & 1], gains_[(i & 1) ^ 1], regions_); +} + +void Hdr::process(StatisticsPtr &stats, Metadata *imageMetadata) +{ + /* Note what HDR channel this frame will be once it comes back to us. */ + updateAgcStatus(imageMetadata); + + /* + * Now figure out what HDR channel this frame is. It should be available in the + * agc.delayed_status, unless this is an early frame after a mode switch, in which + * case delayedStatus_ should be right. + */ + AgcStatus agcStatus; + if (!imageMetadata->get<AgcStatus>("agc.delayed_status", agcStatus)) + delayedStatus_ = agcStatus.hdr; + + auto it = config_.find(delayedStatus_.mode); + if (it == config_.end()) { + /* Shouldn't be possible. There would be nothing we could do. */ + LOG(RPiHdr, Warning) << "Unexpected HDR mode " << delayedStatus_.mode; + return; + } + + HdrConfig &config = it->second; + + /* Update the spatially varying gains. They get written in prepare(). */ + updateGains(stats, config); + + if (updateTonemap(stats, config)) { + /* Add tonemap.status metadata. */ + TonemapStatus tonemapStatus; + + tonemapStatus.detailConstant = config.detailConstant; + tonemapStatus.detailSlope = config.detailSlope; + tonemapStatus.iirStrength = config.iirStrength; + tonemapStatus.strength = config.strength; + tonemapStatus.tonemap = tonemap_; + + imageMetadata->set("tonemap.status", tonemapStatus); + } + + if (config.stitchEnable) { + /* Add stitch.status metadata. */ + StitchStatus stitchStatus; + + stitchStatus.diffPower = config.diffPower; + stitchStatus.motionThreshold = config.motionThreshold; + stitchStatus.thresholdLo = config.thresholdLo; + + imageMetadata->set("stitch.status", stitchStatus); + } +} + +/* Register algorithm with the system. */ +static Algorithm *create(Controller *controller) +{ + return (Algorithm *)new Hdr(controller); +} +static RegisterAlgorithm reg(NAME, &create); diff --git a/src/ipa/rpi/controller/rpi/hdr.h b/src/ipa/rpi/controller/rpi/hdr.h new file mode 100644 index 00000000..5c2f3988 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/hdr.h @@ -0,0 +1,85 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * HDR control algorithm + */ +#pragma once + +#include <map> +#include <string> +#include <vector> + +#include <libcamera/geometry.h> + +#include <libipa/pwl.h> + +#include "../hdr_algorithm.h" +#include "../hdr_status.h" + +/* This is our implementation of an HDR algorithm. */ + +namespace RPiController { + +struct HdrConfig { + std::string name; + std::vector<unsigned int> cadence; + std::map<unsigned int, std::string> channelMap; + + /* Lens shading related parameters. */ + libcamera::ipa::Pwl spatialGainCurve; /* Brightness to gain curve for different image regions. */ + unsigned int diffusion; /* How much to diffuse the gain spatially. */ + + /* Tonemap related parameters. */ + bool tonemapEnable; + uint16_t detailConstant; + double detailSlope; + double iirStrength; + double strength; + libcamera::ipa::Pwl tonemap; + /* These relate to adaptive tonemap calculation. */ + double speed; + std::vector<double> hiQuantileTargets; /* quantiles to check for unsaturated images */ + double hiQuantileMaxGain; /* the max gain we'll apply when unsaturated */ + std::vector<double> quantileTargets; /* target values for histogram quantiles */ + double powerMin; /* minimum tonemap power */ + double powerMax; /* maximum tonemap power */ + std::vector<double> contrastAdjustments; /* any contrast adjustment factors */ + + /* Stitch related parameters. */ + bool stitchEnable; + uint16_t thresholdLo; + uint8_t diffPower; + double motionThreshold; + + void read(const libcamera::YamlObject ¶ms, const std::string &name); +}; + +class Hdr : public HdrAlgorithm +{ +public: + Hdr(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; + void process(StatisticsPtr &stats, Metadata *imageMetadata) override; + int setMode(std::string const &mode) override; + std::vector<unsigned int> getChannels() const override; + +private: + void updateAgcStatus(Metadata *metadata); + void updateGains(StatisticsPtr &stats, HdrConfig &config); + bool updateTonemap(StatisticsPtr &stats, HdrConfig &config); + + std::map<std::string, HdrConfig> config_; + HdrStatus status_; /* track the current HDR mode and channel */ + HdrStatus delayedStatus_; /* track the delayed HDR mode and channel */ + std::string previousMode_; + libcamera::ipa::Pwl tonemap_; + libcamera::Size regions_; /* stats regions */ + unsigned int numRegions_; /* total number of stats regions */ + std::vector<double> gains_[2]; +}; + +} /* 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..27b89a8f --- /dev/null +++ b/src/ipa/rpi/controller/rpi/lux.cpp @@ -0,0 +1,114 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * Lux control algorithm + */ + +#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; + referenceExposureTime_ = *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 exposureTimeRatio = + referenceExposureTime_ / deviceStatus.exposureTime; + double apertureRatio = referenceAperture_ / currentAperture; + double yRatio = currentY * (65536 / stats->yHist.bins()) / referenceY_; + double estimatedLux = exposureTimeRatio * 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..da007fe9 --- /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 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 referenceExposureTime_; + 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..145175fb --- /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 control algorithm + */ + +#include <cmath> + +#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 = std::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..6deae1f0 --- /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 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/saturation.cpp b/src/ipa/rpi/controller/rpi/saturation.cpp new file mode 100644 index 00000000..b83c5887 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/saturation.cpp @@ -0,0 +1,57 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022 Raspberry Pi Ltd + * + * Saturation control algorithm + */ +#include "saturation.h" + +#include <libcamera/base/log.h> + +#include "saturation_status.h" + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiSaturation) + +#define NAME "rpi.saturation" + +Saturation::Saturation(Controller *controller) + : Algorithm(controller) +{ +} + +char const *Saturation::name() const +{ + return NAME; +} + +int Saturation::read(const libcamera::YamlObject ¶ms) +{ + config_.shiftR = params["shift_r"].get<uint8_t>(0); + config_.shiftG = params["shift_g"].get<uint8_t>(0); + config_.shiftB = params["shift_b"].get<uint8_t>(0); + return 0; +} + +void Saturation::initialise() +{ +} + +void Saturation::prepare(Metadata *imageMetadata) +{ + SaturationStatus saturation; + + saturation.shiftR = config_.shiftR; + saturation.shiftG = config_.shiftG; + saturation.shiftB = config_.shiftB; + imageMetadata->set("saturation.status", saturation); +} + +// Register algorithm with the system. +static Algorithm *Create(Controller *controller) +{ + return (Algorithm *)new Saturation(controller); +} +static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/rpi/controller/rpi/saturation.h b/src/ipa/rpi/controller/rpi/saturation.h new file mode 100644 index 00000000..97da412a --- /dev/null +++ b/src/ipa/rpi/controller/rpi/saturation.h @@ -0,0 +1,32 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022, Raspberry Pi Ltd + * + * saturation.hpp - Saturation control algorithm + */ +#pragma once + +#include "algorithm.h" + +namespace RPiController { + +struct SaturationConfig { + uint8_t shiftR; + uint8_t shiftG; + uint8_t shiftB; +}; + +class Saturation : public Algorithm +{ +public: + Saturation(Controller *controller = NULL); + char const *name() const override; + int read(const libcamera::YamlObject ¶ms) override; + void initialise() override; + void prepare(Metadata *imageMetadata) override; + +private: + SaturationConfig config_; +}; + +} // 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..619178a8 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/sdn.cpp @@ -0,0 +1,83 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019-2021, Raspberry Pi Ltd + * + * SDN (spatial denoise) control algorithm + */ + +#include <libcamera/base/log.h> +#include <libcamera/base/utils.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) +{ + LOG(RPiSdn, Warning) + << "Using legacy SDN tuning - please consider moving SDN inside rpi.denoise"; + 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 = utils::to_underlying(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..cb226de8 --- /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 (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..1d143ff5 --- /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 + * + * sharpening control algorithm + */ + +#include <cmath> + +#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 = std::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..96ccd609 --- /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 + * + * 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/rpi/tonemap.cpp b/src/ipa/rpi/controller/rpi/tonemap.cpp new file mode 100644 index 00000000..3422adfe --- /dev/null +++ b/src/ipa/rpi/controller/rpi/tonemap.cpp @@ -0,0 +1,61 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022 Raspberry Pi Ltd + * + * Tonemap control algorithm + */ +#include "tonemap.h" + +#include <libcamera/base/log.h> + +#include "tonemap_status.h" + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiTonemap) + +#define NAME "rpi.tonemap" + +Tonemap::Tonemap(Controller *controller) + : Algorithm(controller) +{ +} + +char const *Tonemap::name() const +{ + return NAME; +} + +int Tonemap::read(const libcamera::YamlObject ¶ms) +{ + config_.detailConstant = params["detail_constant"].get<uint16_t>(0); + config_.detailSlope = params["detail_slope"].get<double>(0.1); + config_.iirStrength = params["iir_strength"].get<double>(1.0); + config_.strength = params["strength"].get<double>(1.0); + config_.tonemap = params["tone_curve"].get<ipa::Pwl>(ipa::Pwl{}); + return 0; +} + +void Tonemap::initialise() +{ +} + +void Tonemap::prepare(Metadata *imageMetadata) +{ + TonemapStatus tonemapStatus; + + tonemapStatus.detailConstant = config_.detailConstant; + tonemapStatus.detailSlope = config_.detailSlope; + tonemapStatus.iirStrength = config_.iirStrength; + tonemapStatus.strength = config_.strength; + tonemapStatus.tonemap = config_.tonemap; + imageMetadata->set("tonemap.status", tonemapStatus); +} + +// Register algorithm with the system. +static Algorithm *Create(Controller *controller) +{ + return (Algorithm *)new Tonemap(controller); +} +static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/rpi/controller/rpi/tonemap.h b/src/ipa/rpi/controller/rpi/tonemap.h new file mode 100644 index 00000000..ba0cf5c4 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/tonemap.h @@ -0,0 +1,36 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022, Raspberry Pi Ltd + * + * tonemap.hpp - Tonemap control algorithm + */ +#pragma once + +#include <libipa/pwl.h> + +#include "algorithm.h" + +namespace RPiController { + +struct TonemapConfig { + uint16_t detailConstant; + double detailSlope; + double iirStrength; + double strength; + libcamera::ipa::Pwl tonemap; +}; + +class Tonemap : public Algorithm +{ +public: + Tonemap(Controller *controller = NULL); + char const *name() const override; + int read(const libcamera::YamlObject ¶ms) override; + void initialise() override; + void prepare(Metadata *imageMetadata) override; + +private: + TonemapConfig config_; +}; + +} // namespace RPiController diff --git a/src/ipa/rpi/controller/saturation_status.h b/src/ipa/rpi/controller/saturation_status.h new file mode 100644 index 00000000..c7fadc99 --- /dev/null +++ b/src/ipa/rpi/controller/saturation_status.h @@ -0,0 +1,13 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022 Raspberry Pi Ltd + * + * Saturation control algorithm status + */ +#pragma once + +struct SaturationStatus { + uint8_t shiftR; + uint8_t shiftG; + uint8_t shiftB; +}; diff --git a/src/ipa/rpi/controller/sharpen_algorithm.h b/src/ipa/rpi/controller/sharpen_algorithm.h new file mode 100644 index 00000000..abd82cb2 --- /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 + * + * 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..74910199 --- /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 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..cbd81161 --- /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 + * + * 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/controller/stitch_status.h b/src/ipa/rpi/controller/stitch_status.h new file mode 100644 index 00000000..7812f3e3 --- /dev/null +++ b/src/ipa/rpi/controller/stitch_status.h @@ -0,0 +1,17 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023 Raspberry Pi Ltd + * + * stitch control algorithm status + */ +#pragma once + +/* + * Parameters for the stitch block. + */ + +struct StitchStatus { + uint16_t thresholdLo; + uint8_t diffPower; + double motionThreshold; +}; diff --git a/src/ipa/rpi/controller/tonemap_status.h b/src/ipa/rpi/controller/tonemap_status.h new file mode 100644 index 00000000..0364ff66 --- /dev/null +++ b/src/ipa/rpi/controller/tonemap_status.h @@ -0,0 +1,17 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022 Raspberry Pi Ltd + * + * Tonemap control algorithm status + */ +#pragma once + +#include <libipa/pwl.h> + +struct TonemapStatus { + uint16_t detailConstant; + double detailSlope; + double iirStrength; + double strength; + libcamera::ipa::Pwl tonemap; +}; diff --git a/src/ipa/rpi/meson.build b/src/ipa/rpi/meson.build new file mode 100644 index 00000000..4811c76f --- /dev/null +++ b/src/ipa/rpi/meson.build @@ -0,0 +1,14 @@ +# SPDX-License-Identifier: CC0-1.0 + +subdir('cam_helper') +subdir('common') +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..a020b12f --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx219.json @@ -0,0 +1,695 @@ +{ + "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": + { + "channels": [ + { + "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": 0.125, + "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": 1.5, + "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, + 1.488, 1.448, 1.368, 1.285, 1.219, 1.189, 1.149, 1.139, 1.139, 1.158, 1.195, 1.235, 1.307, 1.387, 1.462, 1.493, + 1.496, 1.475, 1.411, 1.337, 1.284, 1.219, 1.189, 1.176, 1.176, 1.195, 1.235, 1.296, 1.356, 1.429, 1.487, 1.501, + 1.495, 1.489, 1.458, 1.407, 1.337, 1.287, 1.253, 1.239, 1.239, 1.259, 1.296, 1.356, 1.419, 1.472, 1.499, 1.499, + 1.494, 1.489, 1.489, 1.453, 1.398, 1.336, 1.317, 1.317, 1.317, 1.321, 1.351, 1.416, 1.467, 1.501, 1.501, 1.499 + ] + }, + { + "ct": 3850, + "table": + [ + 1.694, 1.688, 1.688, 1.649, 1.588, 1.518, 1.495, 1.495, 1.495, 1.497, 1.532, 1.602, 1.659, 1.698, 1.698, 1.703, + 1.698, 1.688, 1.653, 1.597, 1.525, 1.464, 1.429, 1.413, 1.413, 1.437, 1.476, 1.542, 1.606, 1.665, 1.698, 1.703, + 1.697, 1.673, 1.605, 1.525, 1.464, 1.401, 1.369, 1.354, 1.354, 1.377, 1.417, 1.476, 1.542, 1.623, 1.687, 1.705, + 1.692, 1.646, 1.561, 1.472, 1.401, 1.368, 1.337, 1.323, 1.324, 1.348, 1.377, 1.417, 1.492, 1.583, 1.661, 1.697, + 1.686, 1.625, 1.528, 1.439, 1.372, 1.337, 1.321, 1.311, 1.316, 1.324, 1.348, 1.389, 1.461, 1.553, 1.642, 1.694, + 1.684, 1.613, 1.514, 1.423, 1.359, 1.328, 1.311, 1.306, 1.306, 1.316, 1.339, 1.378, 1.446, 1.541, 1.633, 1.693, + 1.684, 1.613, 1.514, 1.423, 1.359, 1.328, 1.311, 1.305, 1.305, 1.316, 1.339, 1.378, 1.446, 1.541, 1.633, 1.693, + 1.685, 1.624, 1.529, 1.438, 1.372, 1.336, 1.324, 1.309, 1.314, 1.323, 1.348, 1.392, 1.462, 1.555, 1.646, 1.694, + 1.692, 1.648, 1.561, 1.473, 1.403, 1.372, 1.336, 1.324, 1.324, 1.348, 1.378, 1.423, 1.495, 1.585, 1.667, 1.701, + 1.701, 1.677, 1.608, 1.527, 1.471, 1.403, 1.375, 1.359, 1.359, 1.378, 1.423, 1.488, 1.549, 1.631, 1.694, 1.709, + 1.702, 1.694, 1.656, 1.601, 1.527, 1.473, 1.441, 1.424, 1.424, 1.443, 1.488, 1.549, 1.621, 1.678, 1.706, 1.707, + 1.699, 1.694, 1.694, 1.654, 1.593, 1.525, 1.508, 1.508, 1.508, 1.509, 1.546, 1.614, 1.674, 1.708, 1.708, 1.707 + ] + }, + { + "ct": 6000, + "table": + [ + 2.179, 2.176, 2.176, 2.125, 2.048, 1.975, 1.955, 1.954, 1.954, 1.956, 1.993, 2.071, 2.141, 2.184, 2.185, 2.188, + 2.189, 2.176, 2.128, 2.063, 1.973, 1.908, 1.872, 1.856, 1.856, 1.876, 1.922, 1.999, 2.081, 2.144, 2.184, 2.192, + 2.187, 2.152, 2.068, 1.973, 1.907, 1.831, 1.797, 1.786, 1.786, 1.804, 1.853, 1.922, 1.999, 2.089, 2.166, 2.191, + 2.173, 2.117, 2.013, 1.908, 1.831, 1.791, 1.755, 1.749, 1.749, 1.767, 1.804, 1.853, 1.939, 2.041, 2.135, 2.181, + 2.166, 2.089, 1.975, 1.869, 1.792, 1.755, 1.741, 1.731, 1.734, 1.749, 1.767, 1.818, 1.903, 2.005, 2.111, 2.173, + 2.165, 2.074, 1.956, 1.849, 1.777, 1.742, 1.729, 1.725, 1.729, 1.734, 1.758, 1.804, 1.884, 1.991, 2.099, 2.172, + 2.165, 2.074, 1.956, 1.849, 1.777, 1.742, 1.727, 1.724, 1.725, 1.734, 1.758, 1.804, 1.884, 1.991, 2.099, 2.172, + 2.166, 2.085, 1.975, 1.869, 1.791, 1.755, 1.741, 1.729, 1.733, 1.749, 1.769, 1.819, 1.904, 2.009, 2.114, 2.174, + 2.174, 2.118, 2.015, 1.913, 1.831, 1.791, 1.755, 1.749, 1.749, 1.769, 1.811, 1.855, 1.943, 2.047, 2.139, 2.183, + 2.187, 2.151, 2.072, 1.979, 1.911, 1.831, 1.801, 1.791, 1.791, 1.811, 1.855, 1.933, 2.006, 2.101, 2.173, 2.197, + 2.189, 2.178, 2.132, 2.069, 1.979, 1.913, 1.879, 1.867, 1.867, 1.891, 1.933, 2.006, 2.091, 2.156, 2.195, 2.197, + 2.181, 2.179, 2.178, 2.131, 2.057, 1.981, 1.965, 1.965, 1.965, 1.969, 1.999, 2.083, 2.153, 2.197, 2.197, 2.196 + ] + } + ], + "calibrations_Cb": [ + { + "ct": 3000, + "table": + [ + 1.967, 1.961, 1.955, 1.953, 1.954, 1.957, 1.961, 1.963, 1.963, 1.961, 1.959, 1.957, 1.954, 1.951, 1.951, 1.955, + 1.961, 1.959, 1.957, 1.956, 1.962, 1.967, 1.975, 1.979, 1.979, 1.975, 1.971, 1.967, 1.957, 1.952, 1.951, 1.951, + 1.959, 1.959, 1.959, 1.966, 1.976, 1.989, 1.999, 2.004, 2.003, 1.997, 1.991, 1.981, 1.967, 1.956, 1.951, 1.951, + 1.959, 1.962, 1.967, 1.978, 1.993, 2.009, 2.021, 2.028, 2.026, 2.021, 2.011, 1.995, 1.981, 1.964, 1.953, 1.951, + 1.961, 1.965, 1.977, 1.993, 2.009, 2.023, 2.041, 2.047, 2.047, 2.037, 2.024, 2.011, 1.995, 1.975, 1.958, 1.953, + 1.963, 1.968, 1.981, 2.001, 2.019, 2.039, 2.046, 2.052, 2.052, 2.051, 2.035, 2.021, 2.001, 1.978, 1.959, 1.955, + 1.961, 1.966, 1.981, 2.001, 2.019, 2.038, 2.043, 2.051, 2.052, 2.042, 2.034, 2.019, 2.001, 1.978, 1.959, 1.954, + 1.957, 1.961, 1.972, 1.989, 2.003, 2.021, 2.038, 2.039, 2.039, 2.034, 2.019, 2.004, 1.988, 1.971, 1.954, 1.949, + 1.952, 1.953, 1.959, 1.972, 1.989, 2.003, 2.016, 2.019, 2.019, 2.014, 2.003, 1.988, 1.971, 1.955, 1.948, 1.947, + 1.949, 1.948, 1.949, 1.957, 1.971, 1.978, 1.991, 1.994, 1.994, 1.989, 1.979, 1.967, 1.954, 1.946, 1.947, 1.947, + 1.949, 1.946, 1.944, 1.946, 1.949, 1.954, 1.962, 1.967, 1.967, 1.963, 1.956, 1.948, 1.943, 1.943, 1.946, 1.949, + 1.951, 1.946, 1.944, 1.942, 1.943, 1.943, 1.947, 1.948, 1.949, 1.947, 1.945, 1.941, 1.938, 1.939, 1.948, 1.952 + ] + }, + { + "ct": 3850, + "table": + [ + 1.726, 1.724, 1.722, 1.723, 1.731, 1.735, 1.743, 1.746, 1.746, 1.741, 1.735, 1.729, 1.725, 1.721, 1.721, 1.721, + 1.724, 1.723, 1.723, 1.727, 1.735, 1.744, 1.749, 1.756, 1.756, 1.749, 1.744, 1.735, 1.727, 1.719, 1.719, 1.719, + 1.723, 1.723, 1.724, 1.735, 1.746, 1.759, 1.767, 1.775, 1.775, 1.766, 1.758, 1.746, 1.735, 1.723, 1.718, 1.716, + 1.723, 1.725, 1.732, 1.746, 1.759, 1.775, 1.782, 1.792, 1.792, 1.782, 1.772, 1.759, 1.745, 1.729, 1.718, 1.716, + 1.725, 1.729, 1.738, 1.756, 1.775, 1.785, 1.796, 1.803, 1.804, 1.794, 1.783, 1.772, 1.757, 1.736, 1.722, 1.718, + 1.728, 1.731, 1.741, 1.759, 1.781, 1.795, 1.803, 1.806, 1.808, 1.805, 1.791, 1.779, 1.762, 1.739, 1.722, 1.721, + 1.727, 1.731, 1.741, 1.759, 1.781, 1.791, 1.799, 1.804, 1.806, 1.801, 1.791, 1.779, 1.762, 1.739, 1.722, 1.717, + 1.722, 1.724, 1.733, 1.751, 1.768, 1.781, 1.791, 1.796, 1.799, 1.791, 1.781, 1.766, 1.754, 1.731, 1.717, 1.714, + 1.718, 1.718, 1.724, 1.737, 1.752, 1.768, 1.776, 1.782, 1.784, 1.781, 1.766, 1.754, 1.737, 1.724, 1.713, 1.709, + 1.716, 1.715, 1.716, 1.725, 1.737, 1.749, 1.756, 1.763, 1.764, 1.762, 1.749, 1.737, 1.724, 1.717, 1.709, 1.708, + 1.715, 1.714, 1.712, 1.715, 1.722, 1.729, 1.736, 1.741, 1.742, 1.739, 1.731, 1.723, 1.717, 1.712, 1.711, 1.709, + 1.716, 1.714, 1.711, 1.712, 1.715, 1.719, 1.723, 1.728, 1.731, 1.729, 1.723, 1.718, 1.711, 1.711, 1.713, 1.713 + ] + }, + { + "ct": 6000, + "table": + [ + 1.374, 1.372, 1.373, 1.374, 1.375, 1.378, 1.378, 1.381, 1.382, 1.382, 1.378, 1.373, 1.372, 1.369, 1.365, 1.365, + 1.371, 1.371, 1.372, 1.374, 1.378, 1.381, 1.384, 1.386, 1.388, 1.387, 1.384, 1.377, 1.372, 1.368, 1.364, 1.362, + 1.369, 1.371, 1.372, 1.377, 1.383, 1.391, 1.394, 1.396, 1.397, 1.395, 1.391, 1.382, 1.374, 1.369, 1.362, 1.361, + 1.369, 1.371, 1.375, 1.383, 1.391, 1.399, 1.402, 1.404, 1.405, 1.403, 1.398, 1.391, 1.379, 1.371, 1.363, 1.361, + 1.371, 1.373, 1.378, 1.388, 1.399, 1.407, 1.411, 1.413, 1.413, 1.411, 1.405, 1.397, 1.385, 1.374, 1.366, 1.362, + 1.371, 1.374, 1.379, 1.389, 1.405, 1.411, 1.414, 1.414, 1.415, 1.415, 1.411, 1.401, 1.388, 1.376, 1.367, 1.363, + 1.371, 1.373, 1.379, 1.389, 1.405, 1.408, 1.413, 1.414, 1.414, 1.413, 1.409, 1.401, 1.388, 1.376, 1.367, 1.362, + 1.366, 1.369, 1.374, 1.384, 1.396, 1.404, 1.407, 1.408, 1.408, 1.408, 1.401, 1.395, 1.382, 1.371, 1.363, 1.359, + 1.364, 1.365, 1.368, 1.375, 1.386, 1.396, 1.399, 1.401, 1.399, 1.399, 1.395, 1.385, 1.374, 1.365, 1.359, 1.357, + 1.361, 1.363, 1.365, 1.368, 1.377, 1.384, 1.388, 1.391, 1.391, 1.388, 1.385, 1.375, 1.366, 1.361, 1.358, 1.356, + 1.361, 1.362, 1.362, 1.364, 1.367, 1.373, 1.376, 1.377, 1.377, 1.375, 1.373, 1.366, 1.362, 1.358, 1.358, 1.358, + 1.361, 1.362, 1.362, 1.362, 1.363, 1.367, 1.369, 1.368, 1.367, 1.367, 1.367, 1.364, 1.358, 1.357, 1.358, 1.359 + ] + } + ], + "luminance_lut": + [ + 2.716, 2.568, 2.299, 2.065, 1.845, 1.693, 1.605, 1.597, 1.596, 1.634, 1.738, 1.914, 2.145, 2.394, 2.719, 2.901, + 2.593, 2.357, 2.093, 1.876, 1.672, 1.528, 1.438, 1.393, 1.394, 1.459, 1.569, 1.731, 1.948, 2.169, 2.481, 2.756, + 2.439, 2.197, 1.922, 1.691, 1.521, 1.365, 1.266, 1.222, 1.224, 1.286, 1.395, 1.573, 1.747, 1.988, 2.299, 2.563, + 2.363, 2.081, 1.797, 1.563, 1.376, 1.244, 1.152, 1.099, 1.101, 1.158, 1.276, 1.421, 1.607, 1.851, 2.163, 2.455, + 2.342, 2.003, 1.715, 1.477, 1.282, 1.152, 1.074, 1.033, 1.035, 1.083, 1.163, 1.319, 1.516, 1.759, 2.064, 2.398, + 2.342, 1.985, 1.691, 1.446, 1.249, 1.111, 1.034, 1.004, 1.004, 1.028, 1.114, 1.274, 1.472, 1.716, 2.019, 2.389, + 2.342, 1.991, 1.691, 1.446, 1.249, 1.112, 1.034, 1.011, 1.005, 1.035, 1.114, 1.274, 1.472, 1.716, 2.019, 2.389, + 2.365, 2.052, 1.751, 1.499, 1.299, 1.171, 1.089, 1.039, 1.042, 1.084, 1.162, 1.312, 1.516, 1.761, 2.059, 2.393, + 2.434, 2.159, 1.856, 1.601, 1.403, 1.278, 1.166, 1.114, 1.114, 1.162, 1.266, 1.402, 1.608, 1.847, 2.146, 2.435, + 2.554, 2.306, 2.002, 1.748, 1.563, 1.396, 1.299, 1.247, 1.243, 1.279, 1.386, 1.551, 1.746, 1.977, 2.272, 2.518, + 2.756, 2.493, 2.195, 1.947, 1.739, 1.574, 1.481, 1.429, 1.421, 1.457, 1.559, 1.704, 1.929, 2.159, 2.442, 2.681, + 2.935, 2.739, 2.411, 2.151, 1.922, 1.749, 1.663, 1.628, 1.625, 1.635, 1.716, 1.872, 2.113, 2.368, 2.663, 2.824 + ], + "sigma": 0.00381, + "sigma_Cb": 0.00216 + } + }, + { + "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": 2860, + "ccm": + [ + 2.12089, -0.52461, -0.59629, + -0.85342, 2.80445, -0.95103, + -0.26897, -1.14788, 2.41685 + ] + }, + { + "ct": 2960, + "ccm": + [ + 2.26962, -0.54174, -0.72789, + -0.77008, 2.60271, -0.83262, + -0.26036, -1.51254, 2.77289 + ] + }, + { + "ct": 3603, + "ccm": + [ + 2.18644, -0.66148, -0.52496, + -0.77828, 2.69474, -0.91645, + -0.25239, -0.83059, 2.08298 + ] + }, + { + "ct": 4650, + "ccm": + [ + 2.18174, -0.70887, -0.47287, + -0.70196, 2.76426, -1.06231, + -0.25157, -0.71978, 1.97135 + ] + }, + { + "ct": 5858, + "ccm": + [ + 2.32392, -0.88421, -0.43971, + -0.63821, 2.58348, -0.94527, + -0.28541, -0.54112, 1.82653 + ] + }, + { + "ct": 7580, + "ccm": + [ + 2.21175, -0.53242, -0.67933, + -0.57875, 3.07922, -1.50047, + -0.27709, -0.73338, 2.01048 + ] + } + ] + } + }, + { + "rpi.sharpen": { } + }, + { + "rpi.hdr": + { + "MultiExposureUnmerged": + { + "cadence": [ 1, 2 ], + "channel_map": + { + "short": 1, + "long": 2 + } + } + } + } + ] +} 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..d8bc9639 --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx219_noir.json @@ -0,0 +1,629 @@ +{ + "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": + { + "bayes": 0 + } + }, + { + "rpi.agc": + { + "channels": [ + { + "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": 0.125, + "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": 1.5, + "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, + 1.488, 1.448, 1.368, 1.285, 1.219, 1.189, 1.149, 1.139, 1.139, 1.158, 1.195, 1.235, 1.307, 1.387, 1.462, 1.493, + 1.496, 1.475, 1.411, 1.337, 1.284, 1.219, 1.189, 1.176, 1.176, 1.195, 1.235, 1.296, 1.356, 1.429, 1.487, 1.501, + 1.495, 1.489, 1.458, 1.407, 1.337, 1.287, 1.253, 1.239, 1.239, 1.259, 1.296, 1.356, 1.419, 1.472, 1.499, 1.499, + 1.494, 1.489, 1.489, 1.453, 1.398, 1.336, 1.317, 1.317, 1.317, 1.321, 1.351, 1.416, 1.467, 1.501, 1.501, 1.499 + ] + }, + { + "ct": 3850, + "table": + [ + 1.694, 1.688, 1.688, 1.649, 1.588, 1.518, 1.495, 1.495, 1.495, 1.497, 1.532, 1.602, 1.659, 1.698, 1.698, 1.703, + 1.698, 1.688, 1.653, 1.597, 1.525, 1.464, 1.429, 1.413, 1.413, 1.437, 1.476, 1.542, 1.606, 1.665, 1.698, 1.703, + 1.697, 1.673, 1.605, 1.525, 1.464, 1.401, 1.369, 1.354, 1.354, 1.377, 1.417, 1.476, 1.542, 1.623, 1.687, 1.705, + 1.692, 1.646, 1.561, 1.472, 1.401, 1.368, 1.337, 1.323, 1.324, 1.348, 1.377, 1.417, 1.492, 1.583, 1.661, 1.697, + 1.686, 1.625, 1.528, 1.439, 1.372, 1.337, 1.321, 1.311, 1.316, 1.324, 1.348, 1.389, 1.461, 1.553, 1.642, 1.694, + 1.684, 1.613, 1.514, 1.423, 1.359, 1.328, 1.311, 1.306, 1.306, 1.316, 1.339, 1.378, 1.446, 1.541, 1.633, 1.693, + 1.684, 1.613, 1.514, 1.423, 1.359, 1.328, 1.311, 1.305, 1.305, 1.316, 1.339, 1.378, 1.446, 1.541, 1.633, 1.693, + 1.685, 1.624, 1.529, 1.438, 1.372, 1.336, 1.324, 1.309, 1.314, 1.323, 1.348, 1.392, 1.462, 1.555, 1.646, 1.694, + 1.692, 1.648, 1.561, 1.473, 1.403, 1.372, 1.336, 1.324, 1.324, 1.348, 1.378, 1.423, 1.495, 1.585, 1.667, 1.701, + 1.701, 1.677, 1.608, 1.527, 1.471, 1.403, 1.375, 1.359, 1.359, 1.378, 1.423, 1.488, 1.549, 1.631, 1.694, 1.709, + 1.702, 1.694, 1.656, 1.601, 1.527, 1.473, 1.441, 1.424, 1.424, 1.443, 1.488, 1.549, 1.621, 1.678, 1.706, 1.707, + 1.699, 1.694, 1.694, 1.654, 1.593, 1.525, 1.508, 1.508, 1.508, 1.509, 1.546, 1.614, 1.674, 1.708, 1.708, 1.707 + ] + }, + { + "ct": 6000, + "table": + [ + 2.179, 2.176, 2.176, 2.125, 2.048, 1.975, 1.955, 1.954, 1.954, 1.956, 1.993, 2.071, 2.141, 2.184, 2.185, 2.188, + 2.189, 2.176, 2.128, 2.063, 1.973, 1.908, 1.872, 1.856, 1.856, 1.876, 1.922, 1.999, 2.081, 2.144, 2.184, 2.192, + 2.187, 2.152, 2.068, 1.973, 1.907, 1.831, 1.797, 1.786, 1.786, 1.804, 1.853, 1.922, 1.999, 2.089, 2.166, 2.191, + 2.173, 2.117, 2.013, 1.908, 1.831, 1.791, 1.755, 1.749, 1.749, 1.767, 1.804, 1.853, 1.939, 2.041, 2.135, 2.181, + 2.166, 2.089, 1.975, 1.869, 1.792, 1.755, 1.741, 1.731, 1.734, 1.749, 1.767, 1.818, 1.903, 2.005, 2.111, 2.173, + 2.165, 2.074, 1.956, 1.849, 1.777, 1.742, 1.729, 1.725, 1.729, 1.734, 1.758, 1.804, 1.884, 1.991, 2.099, 2.172, + 2.165, 2.074, 1.956, 1.849, 1.777, 1.742, 1.727, 1.724, 1.725, 1.734, 1.758, 1.804, 1.884, 1.991, 2.099, 2.172, + 2.166, 2.085, 1.975, 1.869, 1.791, 1.755, 1.741, 1.729, 1.733, 1.749, 1.769, 1.819, 1.904, 2.009, 2.114, 2.174, + 2.174, 2.118, 2.015, 1.913, 1.831, 1.791, 1.755, 1.749, 1.749, 1.769, 1.811, 1.855, 1.943, 2.047, 2.139, 2.183, + 2.187, 2.151, 2.072, 1.979, 1.911, 1.831, 1.801, 1.791, 1.791, 1.811, 1.855, 1.933, 2.006, 2.101, 2.173, 2.197, + 2.189, 2.178, 2.132, 2.069, 1.979, 1.913, 1.879, 1.867, 1.867, 1.891, 1.933, 2.006, 2.091, 2.156, 2.195, 2.197, + 2.181, 2.179, 2.178, 2.131, 2.057, 1.981, 1.965, 1.965, 1.965, 1.969, 1.999, 2.083, 2.153, 2.197, 2.197, 2.196 + ] + } + ], + "calibrations_Cb": [ + { + "ct": 3000, + "table": + [ + 1.967, 1.961, 1.955, 1.953, 1.954, 1.957, 1.961, 1.963, 1.963, 1.961, 1.959, 1.957, 1.954, 1.951, 1.951, 1.955, + 1.961, 1.959, 1.957, 1.956, 1.962, 1.967, 1.975, 1.979, 1.979, 1.975, 1.971, 1.967, 1.957, 1.952, 1.951, 1.951, + 1.959, 1.959, 1.959, 1.966, 1.976, 1.989, 1.999, 2.004, 2.003, 1.997, 1.991, 1.981, 1.967, 1.956, 1.951, 1.951, + 1.959, 1.962, 1.967, 1.978, 1.993, 2.009, 2.021, 2.028, 2.026, 2.021, 2.011, 1.995, 1.981, 1.964, 1.953, 1.951, + 1.961, 1.965, 1.977, 1.993, 2.009, 2.023, 2.041, 2.047, 2.047, 2.037, 2.024, 2.011, 1.995, 1.975, 1.958, 1.953, + 1.963, 1.968, 1.981, 2.001, 2.019, 2.039, 2.046, 2.052, 2.052, 2.051, 2.035, 2.021, 2.001, 1.978, 1.959, 1.955, + 1.961, 1.966, 1.981, 2.001, 2.019, 2.038, 2.043, 2.051, 2.052, 2.042, 2.034, 2.019, 2.001, 1.978, 1.959, 1.954, + 1.957, 1.961, 1.972, 1.989, 2.003, 2.021, 2.038, 2.039, 2.039, 2.034, 2.019, 2.004, 1.988, 1.971, 1.954, 1.949, + 1.952, 1.953, 1.959, 1.972, 1.989, 2.003, 2.016, 2.019, 2.019, 2.014, 2.003, 1.988, 1.971, 1.955, 1.948, 1.947, + 1.949, 1.948, 1.949, 1.957, 1.971, 1.978, 1.991, 1.994, 1.994, 1.989, 1.979, 1.967, 1.954, 1.946, 1.947, 1.947, + 1.949, 1.946, 1.944, 1.946, 1.949, 1.954, 1.962, 1.967, 1.967, 1.963, 1.956, 1.948, 1.943, 1.943, 1.946, 1.949, + 1.951, 1.946, 1.944, 1.942, 1.943, 1.943, 1.947, 1.948, 1.949, 1.947, 1.945, 1.941, 1.938, 1.939, 1.948, 1.952 + ] + }, + { + "ct": 3850, + "table": + [ + 1.726, 1.724, 1.722, 1.723, 1.731, 1.735, 1.743, 1.746, 1.746, 1.741, 1.735, 1.729, 1.725, 1.721, 1.721, 1.721, + 1.724, 1.723, 1.723, 1.727, 1.735, 1.744, 1.749, 1.756, 1.756, 1.749, 1.744, 1.735, 1.727, 1.719, 1.719, 1.719, + 1.723, 1.723, 1.724, 1.735, 1.746, 1.759, 1.767, 1.775, 1.775, 1.766, 1.758, 1.746, 1.735, 1.723, 1.718, 1.716, + 1.723, 1.725, 1.732, 1.746, 1.759, 1.775, 1.782, 1.792, 1.792, 1.782, 1.772, 1.759, 1.745, 1.729, 1.718, 1.716, + 1.725, 1.729, 1.738, 1.756, 1.775, 1.785, 1.796, 1.803, 1.804, 1.794, 1.783, 1.772, 1.757, 1.736, 1.722, 1.718, + 1.728, 1.731, 1.741, 1.759, 1.781, 1.795, 1.803, 1.806, 1.808, 1.805, 1.791, 1.779, 1.762, 1.739, 1.722, 1.721, + 1.727, 1.731, 1.741, 1.759, 1.781, 1.791, 1.799, 1.804, 1.806, 1.801, 1.791, 1.779, 1.762, 1.739, 1.722, 1.717, + 1.722, 1.724, 1.733, 1.751, 1.768, 1.781, 1.791, 1.796, 1.799, 1.791, 1.781, 1.766, 1.754, 1.731, 1.717, 1.714, + 1.718, 1.718, 1.724, 1.737, 1.752, 1.768, 1.776, 1.782, 1.784, 1.781, 1.766, 1.754, 1.737, 1.724, 1.713, 1.709, + 1.716, 1.715, 1.716, 1.725, 1.737, 1.749, 1.756, 1.763, 1.764, 1.762, 1.749, 1.737, 1.724, 1.717, 1.709, 1.708, + 1.715, 1.714, 1.712, 1.715, 1.722, 1.729, 1.736, 1.741, 1.742, 1.739, 1.731, 1.723, 1.717, 1.712, 1.711, 1.709, + 1.716, 1.714, 1.711, 1.712, 1.715, 1.719, 1.723, 1.728, 1.731, 1.729, 1.723, 1.718, 1.711, 1.711, 1.713, 1.713 + ] + }, + { + "ct": 6000, + "table": + [ + 1.374, 1.372, 1.373, 1.374, 1.375, 1.378, 1.378, 1.381, 1.382, 1.382, 1.378, 1.373, 1.372, 1.369, 1.365, 1.365, + 1.371, 1.371, 1.372, 1.374, 1.378, 1.381, 1.384, 1.386, 1.388, 1.387, 1.384, 1.377, 1.372, 1.368, 1.364, 1.362, + 1.369, 1.371, 1.372, 1.377, 1.383, 1.391, 1.394, 1.396, 1.397, 1.395, 1.391, 1.382, 1.374, 1.369, 1.362, 1.361, + 1.369, 1.371, 1.375, 1.383, 1.391, 1.399, 1.402, 1.404, 1.405, 1.403, 1.398, 1.391, 1.379, 1.371, 1.363, 1.361, + 1.371, 1.373, 1.378, 1.388, 1.399, 1.407, 1.411, 1.413, 1.413, 1.411, 1.405, 1.397, 1.385, 1.374, 1.366, 1.362, + 1.371, 1.374, 1.379, 1.389, 1.405, 1.411, 1.414, 1.414, 1.415, 1.415, 1.411, 1.401, 1.388, 1.376, 1.367, 1.363, + 1.371, 1.373, 1.379, 1.389, 1.405, 1.408, 1.413, 1.414, 1.414, 1.413, 1.409, 1.401, 1.388, 1.376, 1.367, 1.362, + 1.366, 1.369, 1.374, 1.384, 1.396, 1.404, 1.407, 1.408, 1.408, 1.408, 1.401, 1.395, 1.382, 1.371, 1.363, 1.359, + 1.364, 1.365, 1.368, 1.375, 1.386, 1.396, 1.399, 1.401, 1.399, 1.399, 1.395, 1.385, 1.374, 1.365, 1.359, 1.357, + 1.361, 1.363, 1.365, 1.368, 1.377, 1.384, 1.388, 1.391, 1.391, 1.388, 1.385, 1.375, 1.366, 1.361, 1.358, 1.356, + 1.361, 1.362, 1.362, 1.364, 1.367, 1.373, 1.376, 1.377, 1.377, 1.375, 1.373, 1.366, 1.362, 1.358, 1.358, 1.358, + 1.361, 1.362, 1.362, 1.362, 1.363, 1.367, 1.369, 1.368, 1.367, 1.367, 1.367, 1.364, 1.358, 1.357, 1.358, 1.359 + ] + } + ], + "luminance_lut": + [ + 2.716, 2.568, 2.299, 2.065, 1.845, 1.693, 1.605, 1.597, 1.596, 1.634, 1.738, 1.914, 2.145, 2.394, 2.719, 2.901, + 2.593, 2.357, 2.093, 1.876, 1.672, 1.528, 1.438, 1.393, 1.394, 1.459, 1.569, 1.731, 1.948, 2.169, 2.481, 2.756, + 2.439, 2.197, 1.922, 1.691, 1.521, 1.365, 1.266, 1.222, 1.224, 1.286, 1.395, 1.573, 1.747, 1.988, 2.299, 2.563, + 2.363, 2.081, 1.797, 1.563, 1.376, 1.244, 1.152, 1.099, 1.101, 1.158, 1.276, 1.421, 1.607, 1.851, 2.163, 2.455, + 2.342, 2.003, 1.715, 1.477, 1.282, 1.152, 1.074, 1.033, 1.035, 1.083, 1.163, 1.319, 1.516, 1.759, 2.064, 2.398, + 2.342, 1.985, 1.691, 1.446, 1.249, 1.111, 1.034, 1.004, 1.004, 1.028, 1.114, 1.274, 1.472, 1.716, 2.019, 2.389, + 2.342, 1.991, 1.691, 1.446, 1.249, 1.112, 1.034, 1.011, 1.005, 1.035, 1.114, 1.274, 1.472, 1.716, 2.019, 2.389, + 2.365, 2.052, 1.751, 1.499, 1.299, 1.171, 1.089, 1.039, 1.042, 1.084, 1.162, 1.312, 1.516, 1.761, 2.059, 2.393, + 2.434, 2.159, 1.856, 1.601, 1.403, 1.278, 1.166, 1.114, 1.114, 1.162, 1.266, 1.402, 1.608, 1.847, 2.146, 2.435, + 2.554, 2.306, 2.002, 1.748, 1.563, 1.396, 1.299, 1.247, 1.243, 1.279, 1.386, 1.551, 1.746, 1.977, 2.272, 2.518, + 2.756, 2.493, 2.195, 1.947, 1.739, 1.574, 1.481, 1.429, 1.421, 1.457, 1.559, 1.704, 1.929, 2.159, 2.442, 2.681, + 2.935, 2.739, 2.411, 2.151, 1.922, 1.749, 1.663, 1.628, 1.625, 1.635, 1.716, 1.872, 2.113, 2.368, 2.663, 2.824 + ], + "sigma": 0.00381, + "sigma_Cb": 0.00216 + } + }, + { + "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": 2498, + "ccm": + [ + 1.58731, -0.18011, -0.40721, + -0.60639, 2.03422, -0.42782, + -0.19612, -1.69203, 2.88815 + ] + }, + { + "ct": 2811, + "ccm": + [ + 1.61593, -0.33164, -0.28429, + -0.55048, 1.97779, -0.42731, + -0.12042, -1.42847, 2.54889 + ] + }, + { + "ct": 2911, + "ccm": + [ + 1.62771, -0.41282, -0.21489, + -0.57991, 2.04176, -0.46186, + -0.07613, -1.13359, 2.20972 + ] + }, + { + "ct": 2919, + "ccm": + [ + 1.62661, -0.37736, -0.24925, + -0.52519, 1.95233, -0.42714, + -0.10842, -1.34929, 2.45771 + ] + }, + { + "ct": 3627, + "ccm": + [ + 1.70385, -0.57231, -0.13154, + -0.47763, 1.85998, -0.38235, + -0.07467, -0.82678, 1.90145 + ] + }, + { + "ct": 4600, + "ccm": + [ + 1.68486, -0.61085, -0.07402, + -0.41927, 2.04016, -0.62089, + -0.08633, -0.67672, 1.76305 + ] + }, + { + "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.hdr": + { + "MultiExposureUnmerged": + { + "cadence": [ 1, 2 ], + "channel_map": + { + "short": 1, + "long": 2 + } + } + } + } + ] +} diff --git a/src/ipa/rpi/vc4/data/imx283.json b/src/ipa/rpi/vc4/data/imx283.json new file mode 100644 index 00000000..bfacecc8 --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx283.json @@ -0,0 +1,313 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 3200 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 2461, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 1148, + "reference_Y": 13314 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 2.204 + } + }, + { + "rpi.geq": + { + "offset": 199, + "slope": 0.01947 + } + }, + { + "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 + } + }, + "bayes": 1, + "ct_curve": + [ + 2213.0, 0.9607, 0.2593, + 5313.0, 0.4822, 0.5909, + 6237.0, 0.4739, 0.6308 + ], + "sensitivity_r": 1.0, + "sensitivity_b": 1.0, + "transverse_pos": 0.0144, + "transverse_neg": 0.01 + } + }, + { + "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, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + } + }, + "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 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + } + }, + { + "rpi.alsc": + { + "omega": 1.3, + "n_iter": 100, + "luminance_strength": 0.7 + } + }, + { + "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": 2213, + "ccm": + [ + 1.91264, -0.27609, -0.63655, + -0.65708, 2.11718, -0.46009, + 0.03629, -1.38441, 2.34811 + ] + }, + { + "ct": 2255, + "ccm": + [ + 1.90369, -0.29309, -0.61059, + -0.64693, 2.08169, -0.43476, + 0.04086, -1.29999, 2.25914 + ] + }, + { + "ct": 2259, + "ccm": + [ + 1.92762, -0.35134, -0.57628, + -0.63523, 2.08481, -0.44958, + 0.06754, -1.32953, 2.26199 + ] + }, + { + "ct": 5313, + "ccm": + [ + 1.75924, -0.54053, -0.21871, + -0.38159, 1.88671, -0.50511, + -0.00747, -0.53492, 1.54239 + ] + }, + { + "ct": 6237, + "ccm": + [ + 2.19299, -0.74764, -0.44536, + -0.51678, 2.27651, -0.75972, + -0.06498, -0.74269, 1.80767 + ] + } + ] + } + }, + { + "rpi.sharpen": { } + } + ] +} diff --git a/src/ipa/rpi/vc4/data/imx290.json b/src/ipa/rpi/vc4/data/imx290.json new file mode 100644 index 00000000..8f41bf51 --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx290.json @@ -0,0 +1,214 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 3840 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 6813, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 890, + "reference_Y": 12900 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 2.67 + } + }, + { + "rpi.geq": + { + "offset": 187, + "slope": 0.00842 + } + }, + { + "rpi.sdn": { } + }, + { + "rpi.awb": + { + "bayes": 0 + } + }, + { + "rpi.agc": + { + "speed": 0.2, + "metering_modes": + { + "matrix": + { + "weights": + [ + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] + }, + "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 + ] + } + }, + "exposure_modes": + { + "normal": + { + "shutter": [ 10, 30000, 60000 ], + "gain": [ 1.0, 2.0, 8.0 ] + }, + "short": + { + "shutter": [ 10, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 12.0 ] + } + }, + "constraint_modes": + { + "normal": [ ], + "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 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.16, + 10000, 0.16 + ] + } + }, + { + "rpi.alsc": + { + "omega": 1.3, + "n_iter": 100, + "luminance_strength": 0.7, + "luminance_lut": + [ + 2.844, 2.349, 2.018, 1.775, 1.599, 1.466, 1.371, 1.321, 1.306, 1.316, 1.357, 1.439, 1.552, 1.705, 1.915, 2.221, + 2.576, 2.151, 1.851, 1.639, 1.478, 1.358, 1.272, 1.231, 1.218, 1.226, 1.262, 1.335, 1.438, 1.571, 1.766, 2.067, + 2.381, 2.005, 1.739, 1.545, 1.389, 1.278, 1.204, 1.166, 1.153, 1.161, 1.194, 1.263, 1.356, 1.489, 1.671, 1.943, + 2.242, 1.899, 1.658, 1.481, 1.329, 1.225, 1.156, 1.113, 1.096, 1.107, 1.143, 1.201, 1.289, 1.423, 1.607, 1.861, + 2.152, 1.831, 1.602, 1.436, 1.291, 1.193, 1.121, 1.069, 1.047, 1.062, 1.107, 1.166, 1.249, 1.384, 1.562, 1.801, + 2.104, 1.795, 1.572, 1.407, 1.269, 1.174, 1.099, 1.041, 1.008, 1.029, 1.083, 1.146, 1.232, 1.364, 1.547, 1.766, + 2.104, 1.796, 1.572, 1.403, 1.264, 1.171, 1.097, 1.036, 1.001, 1.025, 1.077, 1.142, 1.231, 1.363, 1.549, 1.766, + 2.148, 1.827, 1.594, 1.413, 1.276, 1.184, 1.114, 1.062, 1.033, 1.049, 1.092, 1.153, 1.242, 1.383, 1.577, 1.795, + 2.211, 1.881, 1.636, 1.455, 1.309, 1.214, 1.149, 1.104, 1.081, 1.089, 1.125, 1.184, 1.273, 1.423, 1.622, 1.846, + 2.319, 1.958, 1.698, 1.516, 1.362, 1.262, 1.203, 1.156, 1.137, 1.142, 1.171, 1.229, 1.331, 1.484, 1.682, 1.933, + 2.459, 2.072, 1.789, 1.594, 1.441, 1.331, 1.261, 1.219, 1.199, 1.205, 1.232, 1.301, 1.414, 1.571, 1.773, 2.052, + 2.645, 2.206, 1.928, 1.728, 1.559, 1.451, 1.352, 1.301, 1.282, 1.289, 1.319, 1.395, 1.519, 1.685, 1.904, 2.227 + ], + "sigma": 0.005, + "sigma_Cb": 0.005 + } + }, + { + "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.sharpen": { } + }, + { + "rpi.ccm": + { + "ccms": [ + { + "ct": 3900, + "ccm": + [ + 1.54659, -0.17707, -0.36953, + -0.51471, 1.72733, -0.21262, + 0.06667, -0.92279, 1.85612 + ] + } + ] + } + } + ] +}
\ 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..8f24ce5b --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx296.json @@ -0,0 +1,443 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 3840 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 7598, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 800, + "reference_Y": 14028 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 2.671 + } + }, + { + "rpi.geq": + { + "offset": 215, + "slope": 0.01058 + } + }, + { + "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": 7600 + }, + "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": 7600 + } + }, + "bayes": 1, + "ct_curve": + [ + 2500.0, 0.5386, 0.2458, + 2800.0, 0.4883, 0.3303, + 2900.0, 0.4855, 0.3349, + 3620.0, 0.4203, 0.4367, + 4560.0, 0.3455, 0.5444, + 5600.0, 0.2948, 0.6124, + 7400.0, 0.2336, 0.6894 + ], + "sensitivity_r": 1.05, + "sensitivity_b": 1.05, + "transverse_pos": 0.03093, + "transverse_neg": 0.02374 + } + }, + { + "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, 30000, 45000, 60000, 120000 ], + "gain": [ 1.0, 1.0, 2.0, 4.0, 12.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 30000 ], + "gain": [ 1.0, 2.0, 4.0, 8.0, 16.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + } + }, + { + "rpi.alsc": + { + "omega": 1.3, + "n_iter": 100, + "luminance_strength": 0.5, + "calibrations_Cr": [ + { + "ct": 4000, + "table": + [ + 2.726, 2.736, 2.737, 2.739, 2.741, 2.741, 2.742, 2.742, 2.743, 2.743, 2.742, 2.742, 2.742, 2.742, 2.741, 2.739, + 2.728, 2.736, 2.739, 2.741, 2.742, 2.743, 2.744, 2.745, 2.746, 2.746, 2.745, 2.743, 2.742, 2.742, 2.742, 2.741, + 2.729, 2.737, 2.741, 2.744, 2.746, 2.747, 2.748, 2.749, 2.751, 2.751, 2.749, 2.746, 2.744, 2.743, 2.743, 2.743, + 2.729, 2.738, 2.743, 2.746, 2.749, 2.749, 2.751, 2.752, 2.753, 2.753, 2.752, 2.751, 2.746, 2.744, 2.744, 2.746, + 2.728, 2.737, 2.742, 2.746, 2.749, 2.751, 2.754, 2.755, 2.754, 2.755, 2.754, 2.751, 2.748, 2.746, 2.747, 2.748, + 2.724, 2.738, 2.742, 2.746, 2.749, 2.752, 2.755, 2.755, 2.755, 2.755, 2.754, 2.752, 2.749, 2.749, 2.748, 2.748, + 2.726, 2.738, 2.741, 2.745, 2.749, 2.753, 2.754, 2.755, 2.755, 2.755, 2.754, 2.753, 2.749, 2.748, 2.748, 2.748, + 2.726, 2.738, 2.741, 2.745, 2.746, 2.752, 2.753, 2.753, 2.753, 2.753, 2.754, 2.751, 2.748, 2.748, 2.746, 2.745, + 2.726, 2.736, 2.738, 2.742, 2.745, 2.749, 2.752, 2.753, 2.752, 2.752, 2.751, 2.749, 2.747, 2.745, 2.744, 2.742, + 2.724, 2.733, 2.736, 2.739, 2.742, 2.745, 2.748, 2.749, 2.749, 2.748, 2.748, 2.747, 2.744, 2.743, 2.742, 2.741, + 2.722, 2.726, 2.733, 2.735, 2.737, 2.741, 2.743, 2.744, 2.744, 2.744, 2.744, 2.742, 2.741, 2.741, 2.739, 2.737, + 2.719, 2.722, 2.727, 2.729, 2.731, 2.732, 2.734, 2.734, 2.735, 2.735, 2.735, 2.734, 2.733, 2.732, 2.732, 2.732 + ] + }, + { + "ct": 6000, + "table": + [ + 3.507, 3.522, 3.525, 3.527, 3.531, 3.533, 3.534, 3.535, 3.535, 3.536, 3.536, 3.537, 3.537, 3.538, 3.537, 3.536, + 3.511, 3.524, 3.528, 3.532, 3.533, 3.535, 3.537, 3.538, 3.538, 3.541, 3.539, 3.539, 3.539, 3.539, 3.538, 3.538, + 3.513, 3.528, 3.532, 3.535, 3.538, 3.542, 3.543, 3.546, 3.548, 3.551, 3.547, 3.543, 3.541, 3.541, 3.541, 3.541, + 3.513, 3.528, 3.533, 3.539, 3.544, 3.546, 3.548, 3.552, 3.553, 3.553, 3.552, 3.548, 3.543, 3.542, 3.542, 3.545, + 3.513, 3.528, 3.534, 3.541, 3.547, 3.549, 3.552, 3.553, 3.554, 3.554, 3.553, 3.549, 3.546, 3.544, 3.547, 3.549, + 3.508, 3.528, 3.533, 3.541, 3.548, 3.551, 3.553, 3.554, 3.555, 3.555, 3.555, 3.551, 3.548, 3.547, 3.549, 3.551, + 3.511, 3.529, 3.534, 3.541, 3.548, 3.551, 3.553, 3.555, 3.555, 3.555, 3.556, 3.554, 3.549, 3.548, 3.548, 3.548, + 3.511, 3.528, 3.533, 3.539, 3.546, 3.549, 3.553, 3.554, 3.554, 3.554, 3.554, 3.553, 3.549, 3.547, 3.547, 3.547, + 3.511, 3.527, 3.533, 3.536, 3.541, 3.547, 3.551, 3.553, 3.553, 3.552, 3.551, 3.551, 3.548, 3.544, 3.542, 3.543, + 3.507, 3.523, 3.528, 3.533, 3.538, 3.541, 3.546, 3.548, 3.549, 3.548, 3.548, 3.546, 3.542, 3.541, 3.541, 3.541, + 3.505, 3.514, 3.523, 3.527, 3.532, 3.537, 3.538, 3.544, 3.544, 3.544, 3.542, 3.541, 3.537, 3.537, 3.536, 3.535, + 3.503, 3.508, 3.515, 3.519, 3.521, 3.523, 3.524, 3.525, 3.526, 3.526, 3.527, 3.526, 3.524, 3.526, 3.527, 3.527 + ] + } + ], + "calibrations_Cb": [ + { + "ct": 4000, + "table": + [ + 2.032, 2.037, 2.039, 2.041, 2.041, 2.042, 2.043, 2.044, 2.045, 2.045, 2.044, 2.043, 2.042, 2.041, 2.041, 2.034, + 2.032, 2.036, 2.039, 2.041, 2.042, 2.042, 2.043, 2.044, 2.045, 2.046, 2.045, 2.044, 2.042, 2.041, 2.039, 2.035, + 2.032, 2.036, 2.038, 2.041, 2.043, 2.044, 2.044, 2.045, 2.046, 2.047, 2.047, 2.045, 2.043, 2.042, 2.041, 2.037, + 2.032, 2.035, 2.039, 2.042, 2.043, 2.044, 2.045, 2.046, 2.048, 2.048, 2.047, 2.046, 2.045, 2.044, 2.042, 2.039, + 2.031, 2.034, 2.037, 2.039, 2.043, 2.045, 2.045, 2.046, 2.047, 2.047, 2.047, 2.046, 2.045, 2.044, 2.043, 2.039, + 2.029, 2.033, 2.036, 2.039, 2.042, 2.043, 2.045, 2.046, 2.046, 2.046, 2.046, 2.046, 2.046, 2.045, 2.044, 2.041, + 2.028, 2.032, 2.035, 2.039, 2.041, 2.043, 2.044, 2.045, 2.045, 2.046, 2.046, 2.046, 2.046, 2.045, 2.044, 2.039, + 2.027, 2.032, 2.035, 2.038, 2.039, 2.041, 2.044, 2.044, 2.044, 2.045, 2.046, 2.046, 2.046, 2.045, 2.044, 2.039, + 2.027, 2.031, 2.034, 2.035, 2.037, 2.039, 2.042, 2.043, 2.044, 2.045, 2.045, 2.046, 2.045, 2.044, 2.043, 2.038, + 2.025, 2.028, 2.032, 2.034, 2.036, 2.037, 2.041, 2.042, 2.043, 2.044, 2.044, 2.044, 2.044, 2.043, 2.041, 2.036, + 2.024, 2.026, 2.029, 2.032, 2.034, 2.036, 2.038, 2.041, 2.041, 2.042, 2.043, 2.042, 2.041, 2.041, 2.037, 2.036, + 2.022, 2.024, 2.027, 2.029, 2.032, 2.034, 2.036, 2.039, 2.039, 2.039, 2.041, 2.039, 2.039, 2.038, 2.036, 2.034 + ] + }, + { + "ct": 6000, + "table": + [ + 1.585, 1.587, 1.589, 1.589, 1.589, 1.591, 1.591, 1.591, 1.591, 1.591, 1.589, 1.589, 1.588, 1.588, 1.587, 1.581, + 1.585, 1.587, 1.588, 1.589, 1.591, 1.591, 1.591, 1.591, 1.591, 1.591, 1.591, 1.589, 1.588, 1.588, 1.587, 1.582, + 1.585, 1.586, 1.588, 1.589, 1.591, 1.591, 1.591, 1.591, 1.592, 1.592, 1.591, 1.591, 1.589, 1.588, 1.587, 1.584, + 1.585, 1.586, 1.588, 1.589, 1.591, 1.592, 1.592, 1.592, 1.593, 1.593, 1.592, 1.591, 1.589, 1.589, 1.588, 1.586, + 1.584, 1.586, 1.587, 1.589, 1.591, 1.591, 1.592, 1.592, 1.592, 1.592, 1.591, 1.591, 1.591, 1.589, 1.589, 1.586, + 1.583, 1.585, 1.587, 1.588, 1.589, 1.591, 1.591, 1.592, 1.592, 1.591, 1.591, 1.591, 1.591, 1.591, 1.589, 1.586, + 1.583, 1.584, 1.586, 1.588, 1.589, 1.589, 1.591, 1.591, 1.591, 1.591, 1.591, 1.591, 1.591, 1.591, 1.589, 1.585, + 1.581, 1.584, 1.586, 1.587, 1.588, 1.588, 1.589, 1.591, 1.591, 1.591, 1.591, 1.591, 1.591, 1.589, 1.589, 1.585, + 1.581, 1.583, 1.584, 1.586, 1.587, 1.588, 1.589, 1.589, 1.591, 1.591, 1.591, 1.591, 1.591, 1.589, 1.589, 1.585, + 1.579, 1.581, 1.583, 1.584, 1.586, 1.586, 1.588, 1.589, 1.589, 1.589, 1.589, 1.589, 1.589, 1.589, 1.587, 1.584, + 1.578, 1.579, 1.581, 1.583, 1.584, 1.585, 1.586, 1.587, 1.588, 1.588, 1.588, 1.588, 1.588, 1.587, 1.585, 1.583, + 1.577, 1.578, 1.579, 1.582, 1.583, 1.584, 1.585, 1.586, 1.586, 1.587, 1.587, 1.587, 1.586, 1.586, 1.584, 1.583 + ] + } + ], + "luminance_lut": + [ + 1.112, 1.098, 1.078, 1.062, 1.049, 1.039, 1.031, 1.027, 1.026, 1.027, 1.034, 1.043, 1.054, 1.069, 1.087, 1.096, + 1.106, 1.091, 1.073, 1.056, 1.042, 1.032, 1.025, 1.021, 1.021, 1.022, 1.027, 1.036, 1.047, 1.061, 1.077, 1.088, + 1.101, 1.085, 1.066, 1.049, 1.035, 1.026, 1.019, 1.013, 1.013, 1.015, 1.021, 1.028, 1.039, 1.052, 1.069, 1.083, + 1.098, 1.081, 1.059, 1.045, 1.031, 1.021, 1.013, 1.007, 1.007, 1.009, 1.014, 1.021, 1.033, 1.046, 1.063, 1.081, + 1.097, 1.076, 1.057, 1.041, 1.027, 1.016, 1.007, 1.004, 1.002, 1.005, 1.009, 1.017, 1.028, 1.043, 1.061, 1.077, + 1.096, 1.075, 1.054, 1.039, 1.025, 1.014, 1.005, 1.001, 1.001, 1.002, 1.006, 1.015, 1.027, 1.041, 1.058, 1.076, + 1.096, 1.074, 1.054, 1.039, 1.025, 1.013, 1.005, 1.001, 1.001, 1.001, 1.006, 1.015, 1.026, 1.041, 1.058, 1.076, + 1.096, 1.075, 1.056, 1.041, 1.026, 1.014, 1.007, 1.003, 1.002, 1.004, 1.008, 1.016, 1.028, 1.041, 1.059, 1.076, + 1.096, 1.079, 1.059, 1.044, 1.029, 1.018, 1.011, 1.007, 1.005, 1.008, 1.012, 1.019, 1.031, 1.044, 1.061, 1.077, + 1.101, 1.084, 1.065, 1.049, 1.035, 1.024, 1.017, 1.011, 1.011, 1.012, 1.018, 1.025, 1.036, 1.051, 1.068, 1.081, + 1.106, 1.092, 1.072, 1.055, 1.042, 1.033, 1.024, 1.019, 1.018, 1.019, 1.025, 1.032, 1.044, 1.058, 1.076, 1.088, + 1.113, 1.097, 1.079, 1.063, 1.049, 1.039, 1.031, 1.025, 1.025, 1.025, 1.031, 1.039, 1.051, 1.065, 1.083, 1.094 + ], + "sigma": 0.00047, + "sigma_Cb": 0.00056 + } + }, + { + "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": 2500, + "ccm": + [ + 1.95054, -0.57435, -0.37619, + -0.46945, 1.86661, -0.39716, + 0.07977, -1.14072, 2.06095 + ] + }, + { + "ct": 2800, + "ccm": + [ + 1.94104, -0.60261, -0.33844, + -0.43162, 1.85422, -0.42261, + 0.03799, -0.95022, 1.91222 + ] + }, + { + "ct": 2900, + "ccm": + [ + 1.91828, -0.59569, -0.32258, + -0.51902, 2.09091, -0.57189, + -0.03324, -0.73462, 1.76785 + ] + }, + { + "ct": 3620, + "ccm": + [ + 1.97199, -0.66403, -0.30797, + -0.46411, 2.02612, -0.56201, + -0.07764, -0.61178, 1.68942 + ] + }, + { + "ct": 4560, + "ccm": + [ + 2.15256, -0.84787, -0.30469, + -0.48422, 2.28962, -0.80541, + -0.15113, -0.53014, 1.68127 + ] + }, + { + "ct": 5600, + "ccm": + [ + 2.04576, -0.74771, -0.29805, + -0.36332, 1.98993, -0.62662, + -0.09328, -0.46543, 1.55871 + ] + }, + { + "ct": 7400, + "ccm": + [ + 2.37532, -0.83069, -0.54462, + -0.48279, 2.84309, -1.36031, + -0.21178, -0.66532, 1.87709 + ] + } + ] + } + }, + { + "rpi.sharpen": + { + "threshold": 0.1, + "strength": 1.0, + "limit": 0.18 + } + } + ] +}
\ No newline at end of file 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..fe331569 --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx296_mono.json @@ -0,0 +1,240 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 3840 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 9998, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 823, + "reference_Y": 12396 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 2.753 + } + }, + { + "rpi.sdn": { } + }, + { + "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, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + } + }, + { + "rpi.alsc": + { + "omega": 1.3, + "n_iter": 0, + "luminance_strength": 0.5, + "calibrations_Cr": [ + { + "ct": 4000, + "table": + [ + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] + } + ], + "calibrations_Cb": [ + { + "ct": 4000, + "table": + [ + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] + } + ], + "luminance_lut": + [ + 1.308, 1.293, 1.228, 1.175, 1.139, 1.108, 1.092, 1.082, 1.082, 1.086, 1.097, 1.114, 1.149, 1.199, 1.279, 1.303, + 1.293, 1.249, 1.199, 1.162, 1.136, 1.109, 1.087, 1.077, 1.072, 1.081, 1.095, 1.103, 1.133, 1.172, 1.225, 1.282, + 1.251, 1.212, 1.186, 1.159, 1.129, 1.114, 1.102, 1.088, 1.088, 1.088, 1.095, 1.117, 1.123, 1.158, 1.198, 1.249, + 1.223, 1.192, 1.177, 1.163, 1.147, 1.139, 1.132, 1.112, 1.111, 1.107, 1.113, 1.118, 1.139, 1.155, 1.186, 1.232, + 1.207, 1.186, 1.171, 1.162, 1.168, 1.163, 1.153, 1.138, 1.129, 1.128, 1.132, 1.136, 1.149, 1.167, 1.189, 1.216, + 1.198, 1.186, 1.176, 1.176, 1.177, 1.185, 1.171, 1.157, 1.146, 1.144, 1.146, 1.149, 1.161, 1.181, 1.201, 1.221, + 1.203, 1.181, 1.176, 1.178, 1.191, 1.189, 1.188, 1.174, 1.159, 1.153, 1.158, 1.161, 1.169, 1.185, 1.211, 1.227, + 1.211, 1.179, 1.177, 1.187, 1.194, 1.196, 1.194, 1.187, 1.176, 1.169, 1.171, 1.171, 1.175, 1.189, 1.214, 1.226, + 1.219, 1.182, 1.184, 1.191, 1.195, 1.199, 1.197, 1.194, 1.188, 1.185, 1.179, 1.179, 1.182, 1.194, 1.212, 1.227, + 1.237, 1.192, 1.194, 1.194, 1.198, 1.199, 1.198, 1.197, 1.196, 1.193, 1.189, 1.189, 1.192, 1.203, 1.214, 1.231, + 1.282, 1.199, 1.199, 1.197, 1.199, 1.199, 1.192, 1.193, 1.193, 1.194, 1.196, 1.197, 1.206, 1.216, 1.228, 1.244, + 1.309, 1.236, 1.204, 1.203, 1.202, 1.194, 1.194, 1.188, 1.192, 1.192, 1.199, 1.201, 1.212, 1.221, 1.235, 1.247 + ], + "sigma": 0.005, + "sigma_Cb": 0.005 + } + }, + { + "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.sharpen": + { + "threshold": 0.1, + "strength": 1.0, + "limit": 0.18 + } + } + ] +}
\ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/imx327.json b/src/ipa/rpi/vc4/data/imx327.json new file mode 100644 index 00000000..40a56842 --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx327.json @@ -0,0 +1,215 @@ +{ + "version": 2.0, + "target": "bcm2835", + "description": "This is an interim tuning only. Please consider doing a more formal tuning for your application.", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 3840 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 6813, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 890, + "reference_Y": 12900 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 2.67 + } + }, + { + "rpi.geq": + { + "offset": 187, + "slope": 0.00842 + } + }, + { + "rpi.sdn": { } + }, + { + "rpi.awb": + { + "bayes": 0 + } + }, + { + "rpi.agc": + { + "speed": 0.2, + "metering_modes": + { + "matrix": + { + "weights": + [ + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] + }, + "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 + ] + } + }, + "exposure_modes": + { + "normal": + { + "shutter": [ 10, 30000, 60000 ], + "gain": [ 1.0, 2.0, 8.0 ] + }, + "short": + { + "shutter": [ 10, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 12.0 ] + } + }, + "constraint_modes": + { + "normal": [ ], + "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 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.16, + 10000, 0.16 + ] + } + }, + { + "rpi.alsc": + { + "omega": 1.3, + "n_iter": 100, + "luminance_strength": 0.7, + "luminance_lut": + [ + 2.844, 2.349, 2.018, 1.775, 1.599, 1.466, 1.371, 1.321, 1.306, 1.316, 1.357, 1.439, 1.552, 1.705, 1.915, 2.221, + 2.576, 2.151, 1.851, 1.639, 1.478, 1.358, 1.272, 1.231, 1.218, 1.226, 1.262, 1.335, 1.438, 1.571, 1.766, 2.067, + 2.381, 2.005, 1.739, 1.545, 1.389, 1.278, 1.204, 1.166, 1.153, 1.161, 1.194, 1.263, 1.356, 1.489, 1.671, 1.943, + 2.242, 1.899, 1.658, 1.481, 1.329, 1.225, 1.156, 1.113, 1.096, 1.107, 1.143, 1.201, 1.289, 1.423, 1.607, 1.861, + 2.152, 1.831, 1.602, 1.436, 1.291, 1.193, 1.121, 1.069, 1.047, 1.062, 1.107, 1.166, 1.249, 1.384, 1.562, 1.801, + 2.104, 1.795, 1.572, 1.407, 1.269, 1.174, 1.099, 1.041, 1.008, 1.029, 1.083, 1.146, 1.232, 1.364, 1.547, 1.766, + 2.104, 1.796, 1.572, 1.403, 1.264, 1.171, 1.097, 1.036, 1.001, 1.025, 1.077, 1.142, 1.231, 1.363, 1.549, 1.766, + 2.148, 1.827, 1.594, 1.413, 1.276, 1.184, 1.114, 1.062, 1.033, 1.049, 1.092, 1.153, 1.242, 1.383, 1.577, 1.795, + 2.211, 1.881, 1.636, 1.455, 1.309, 1.214, 1.149, 1.104, 1.081, 1.089, 1.125, 1.184, 1.273, 1.423, 1.622, 1.846, + 2.319, 1.958, 1.698, 1.516, 1.362, 1.262, 1.203, 1.156, 1.137, 1.142, 1.171, 1.229, 1.331, 1.484, 1.682, 1.933, + 2.459, 2.072, 1.789, 1.594, 1.441, 1.331, 1.261, 1.219, 1.199, 1.205, 1.232, 1.301, 1.414, 1.571, 1.773, 2.052, + 2.645, 2.206, 1.928, 1.728, 1.559, 1.451, 1.352, 1.301, 1.282, 1.289, 1.319, 1.395, 1.519, 1.685, 1.904, 2.227 + ], + "sigma": 0.005, + "sigma_Cb": 0.005 + } + }, + { + "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.sharpen": { } + }, + { + "rpi.ccm": + { + "ccms": [ + { + "ct": 3900, + "ccm": + [ + 1.54659, -0.17707, -0.36953, + -0.51471, 1.72733, -0.21262, + 0.06667, -0.92279, 1.85612 + ] + } + ] + } + } + ] +}
\ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/imx378.json b/src/ipa/rpi/vc4/data/imx378.json new file mode 100644 index 00000000..363b47e1 --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx378.json @@ -0,0 +1,427 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 9999, + "reference_gain": 1.95, + "reference_aperture": 1.0, + "reference_lux": 1000, + "reference_Y": 12996 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 2.641 + } + }, + { + "rpi.geq": + { + "offset": 235, + "slope": 0.00902 + } + }, + { + "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": 8100 + } + }, + "bayes": 1, + "ct_curve": + [ + 2850.0, 0.6361, 0.3911, + 3550.0, 0.5386, 0.5077, + 4500.0, 0.4472, 0.6171, + 5600.0, 0.3906, 0.6848, + 8000.0, 0.3412, 0.7441 + ], + "sensitivity_r": 1.0, + "sensitivity_b": 1.0, + "transverse_pos": 0.01667, + "transverse_neg": 0.01195 + } + }, + { + "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, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + } + }, + { + "rpi.alsc": + { + "omega": 1.3, + "n_iter": 100, + "luminance_strength": 0.5, + "calibrations_Cr": [ + { + "ct": 2800, + "table": + [ + 1.604, 1.601, 1.593, 1.581, 1.568, 1.561, 1.561, 1.561, 1.561, 1.567, 1.582, 1.596, 1.609, 1.622, 1.632, 1.636, + 1.601, 1.594, 1.586, 1.571, 1.555, 1.546, 1.543, 1.543, 1.547, 1.555, 1.572, 1.584, 1.599, 1.614, 1.625, 1.632, + 1.599, 1.586, 1.571, 1.555, 1.542, 1.528, 1.518, 1.518, 1.523, 1.537, 1.555, 1.572, 1.589, 1.607, 1.622, 1.629, + 1.597, 1.579, 1.561, 1.542, 1.528, 1.512, 1.493, 1.493, 1.499, 1.523, 1.537, 1.563, 1.582, 1.601, 1.619, 1.629, + 1.597, 1.577, 1.557, 1.535, 1.512, 1.493, 1.481, 1.479, 1.492, 1.499, 1.524, 1.555, 1.578, 1.599, 1.619, 1.629, + 1.597, 1.577, 1.557, 1.534, 1.508, 1.483, 1.476, 1.476, 1.481, 1.496, 1.522, 1.554, 1.578, 1.599, 1.619, 1.629, + 1.597, 1.578, 1.557, 1.534, 1.508, 1.483, 1.481, 1.479, 1.481, 1.496, 1.522, 1.554, 1.579, 1.601, 1.619, 1.631, + 1.597, 1.581, 1.562, 1.539, 1.517, 1.504, 1.483, 1.481, 1.496, 1.511, 1.531, 1.561, 1.585, 1.607, 1.623, 1.632, + 1.601, 1.589, 1.569, 1.554, 1.539, 1.517, 1.504, 1.504, 1.511, 1.531, 1.553, 1.573, 1.596, 1.614, 1.629, 1.636, + 1.609, 1.601, 1.586, 1.569, 1.554, 1.542, 1.535, 1.535, 1.541, 1.553, 1.573, 1.592, 1.608, 1.625, 1.637, 1.645, + 1.617, 1.611, 1.601, 1.586, 1.574, 1.565, 1.564, 1.564, 1.571, 1.579, 1.592, 1.608, 1.622, 1.637, 1.646, 1.654, + 1.619, 1.617, 1.611, 1.601, 1.588, 1.585, 1.585, 1.585, 1.588, 1.592, 1.607, 1.622, 1.637, 1.645, 1.654, 1.655 + ] + }, + { + "ct": 5500, + "table": + [ + 2.664, 2.658, 2.645, 2.629, 2.602, 2.602, 2.602, 2.606, 2.617, 2.628, 2.649, 2.677, 2.699, 2.722, 2.736, 2.747, + 2.658, 2.653, 2.629, 2.605, 2.576, 2.575, 2.577, 2.592, 2.606, 2.618, 2.629, 2.651, 2.678, 2.707, 2.727, 2.741, + 2.649, 2.631, 2.605, 2.576, 2.563, 2.552, 2.552, 2.557, 2.577, 2.604, 2.619, 2.641, 2.669, 2.698, 2.721, 2.741, + 2.643, 2.613, 2.583, 2.563, 2.552, 2.531, 2.527, 2.527, 2.551, 2.577, 2.604, 2.638, 2.665, 2.694, 2.721, 2.741, + 2.643, 2.606, 2.575, 2.558, 2.531, 2.516, 2.504, 2.516, 2.527, 2.551, 2.596, 2.635, 2.665, 2.694, 2.721, 2.741, + 2.643, 2.606, 2.575, 2.558, 2.531, 2.503, 2.501, 2.502, 2.522, 2.551, 2.592, 2.635, 2.669, 2.696, 2.727, 2.744, + 2.648, 2.611, 2.579, 2.558, 2.532, 2.511, 2.502, 2.511, 2.522, 2.552, 2.592, 2.642, 2.673, 2.702, 2.731, 2.752, + 2.648, 2.619, 2.589, 2.571, 2.556, 2.532, 2.519, 2.522, 2.552, 2.568, 2.605, 2.648, 2.683, 2.715, 2.743, 2.758, + 2.659, 2.637, 2.613, 2.589, 2.571, 2.556, 2.555, 2.555, 2.568, 2.605, 2.641, 2.671, 2.699, 2.729, 2.758, 2.776, + 2.679, 2.665, 2.637, 2.613, 2.602, 2.599, 2.599, 2.606, 2.619, 2.641, 2.671, 2.698, 2.723, 2.754, 2.776, 2.787, + 2.695, 2.684, 2.671, 2.646, 2.636, 2.636, 2.641, 2.648, 2.661, 2.681, 2.698, 2.723, 2.751, 2.776, 2.788, 2.803, + 2.702, 2.699, 2.684, 2.671, 2.664, 2.664, 2.664, 2.668, 2.681, 2.698, 2.723, 2.751, 2.773, 2.788, 2.803, 2.805 + ] + } + ], + "calibrations_Cb": [ + { + "ct": 2800, + "table": + [ + 2.876, 2.868, 2.863, 2.851, 2.846, 2.846, 2.847, 2.851, 2.851, 2.857, 2.867, 2.875, 2.889, 2.899, 2.913, 2.926, + 2.863, 2.861, 2.856, 2.846, 2.846, 2.847, 2.848, 2.851, 2.857, 2.859, 2.875, 2.882, 2.886, 2.896, 2.909, 2.917, + 2.861, 2.856, 2.846, 2.841, 2.841, 2.855, 2.867, 2.875, 2.888, 2.888, 2.885, 2.883, 2.886, 2.889, 2.901, 2.913, + 2.858, 2.851, 2.846, 2.846, 2.855, 2.867, 2.884, 2.895, 2.902, 2.902, 2.901, 2.891, 2.891, 2.894, 2.901, 2.909, + 2.858, 2.851, 2.846, 2.846, 2.867, 2.884, 2.895, 2.902, 2.909, 2.915, 2.911, 2.901, 2.895, 2.898, 2.904, 2.909, + 2.858, 2.851, 2.849, 2.853, 2.874, 2.888, 2.901, 2.909, 2.917, 2.922, 2.917, 2.911, 2.901, 2.899, 2.905, 2.908, + 2.861, 2.855, 2.853, 2.855, 2.874, 2.888, 2.901, 2.913, 2.918, 2.922, 2.921, 2.911, 2.901, 2.901, 2.907, 2.908, + 2.862, 2.859, 2.855, 2.856, 2.872, 2.885, 2.899, 2.906, 2.915, 2.917, 2.911, 2.907, 2.907, 2.907, 2.908, 2.909, + 2.863, 2.863, 2.859, 2.864, 2.871, 2.881, 2.885, 2.899, 2.905, 2.905, 2.904, 2.904, 2.907, 2.909, 2.913, 2.913, + 2.866, 2.865, 2.865, 2.867, 2.868, 2.872, 2.881, 2.885, 2.889, 2.894, 2.895, 2.902, 2.906, 2.913, 2.914, 2.917, + 2.875, 2.875, 2.871, 2.871, 2.871, 2.871, 2.869, 2.869, 2.878, 2.889, 2.894, 2.895, 2.906, 2.914, 2.917, 2.921, + 2.882, 2.879, 2.876, 2.874, 2.871, 2.871, 2.869, 2.869, 2.869, 2.878, 2.891, 2.894, 2.905, 2.914, 2.919, 2.921 + ] + }, + { + "ct": 5500, + "table": + [ + 1.488, 1.488, 1.488, 1.488, 1.491, 1.492, 1.492, 1.491, 1.491, 1.491, 1.492, 1.495, 1.497, 1.499, 1.499, 1.503, + 1.482, 1.485, 1.485, 1.487, 1.489, 1.492, 1.492, 1.492, 1.492, 1.492, 1.494, 1.494, 1.492, 1.491, 1.493, 1.494, + 1.482, 1.482, 1.484, 1.485, 1.487, 1.492, 1.496, 1.498, 1.499, 1.498, 1.494, 1.492, 1.491, 1.491, 1.491, 1.491, + 1.481, 1.481, 1.482, 1.485, 1.491, 1.496, 1.498, 1.499, 1.501, 1.499, 1.498, 1.493, 1.491, 1.488, 1.488, 1.488, + 1.481, 1.481, 1.481, 1.483, 1.491, 1.497, 1.498, 1.499, 1.501, 1.499, 1.498, 1.492, 1.488, 1.485, 1.483, 1.483, + 1.479, 1.479, 1.481, 1.482, 1.489, 1.495, 1.497, 1.498, 1.499, 1.499, 1.495, 1.492, 1.485, 1.482, 1.482, 1.481, + 1.479, 1.479, 1.479, 1.481, 1.489, 1.494, 1.496, 1.497, 1.497, 1.496, 1.495, 1.489, 1.482, 1.481, 1.479, 1.477, + 1.478, 1.478, 1.479, 1.481, 1.487, 1.491, 1.494, 1.496, 1.496, 1.495, 1.492, 1.487, 1.482, 1.479, 1.478, 1.476, + 1.478, 1.478, 1.479, 1.482, 1.486, 1.488, 1.491, 1.493, 1.493, 1.492, 1.487, 1.484, 1.481, 1.479, 1.476, 1.476, + 1.477, 1.479, 1.481, 1.483, 1.485, 1.486, 1.488, 1.488, 1.487, 1.487, 1.484, 1.483, 1.481, 1.479, 1.476, 1.476, + 1.477, 1.479, 1.482, 1.483, 1.484, 1.485, 1.484, 1.482, 1.482, 1.484, 1.483, 1.482, 1.481, 1.479, 1.477, 1.476, + 1.477, 1.479, 1.482, 1.483, 1.484, 1.484, 1.482, 1.482, 1.482, 1.482, 1.482, 1.481, 1.479, 1.479, 1.479, 1.479 + ] + } + ], + "luminance_lut": + [ + 2.764, 2.654, 2.321, 2.043, 1.768, 1.594, 1.558, 1.558, 1.558, 1.568, 1.661, 1.904, 2.193, 2.497, 2.888, 3.043, + 2.654, 2.373, 2.049, 1.819, 1.569, 1.446, 1.381, 1.356, 1.356, 1.403, 1.501, 1.679, 1.939, 2.218, 2.586, 2.888, + 2.376, 2.154, 1.819, 1.569, 1.438, 1.301, 1.246, 1.224, 1.224, 1.263, 1.349, 1.501, 1.679, 1.985, 2.359, 2.609, + 2.267, 1.987, 1.662, 1.438, 1.301, 1.235, 1.132, 1.105, 1.105, 1.164, 1.263, 1.349, 1.528, 1.808, 2.184, 2.491, + 2.218, 1.876, 1.568, 1.367, 1.235, 1.132, 1.087, 1.022, 1.023, 1.104, 1.164, 1.278, 1.439, 1.695, 2.066, 2.429, + 2.218, 1.832, 1.533, 1.341, 1.206, 1.089, 1.013, 1.002, 1.013, 1.026, 1.122, 1.246, 1.399, 1.642, 2.004, 2.426, + 2.218, 1.832, 1.533, 1.341, 1.206, 1.089, 1.011, 1.001, 1.009, 1.026, 1.122, 1.246, 1.399, 1.642, 2.004, 2.426, + 2.224, 1.896, 1.584, 1.382, 1.248, 1.147, 1.088, 1.016, 1.026, 1.118, 1.168, 1.283, 1.444, 1.697, 2.066, 2.428, + 2.292, 2.019, 1.689, 1.462, 1.322, 1.247, 1.147, 1.118, 1.118, 1.168, 1.275, 1.358, 1.532, 1.809, 2.189, 2.491, + 2.444, 2.204, 1.856, 1.606, 1.462, 1.322, 1.257, 1.234, 1.234, 1.275, 1.358, 1.516, 1.686, 1.993, 2.371, 2.622, + 2.748, 2.444, 2.108, 1.856, 1.606, 1.476, 1.399, 1.376, 1.376, 1.422, 1.516, 1.686, 1.968, 2.238, 2.611, 2.935, + 2.862, 2.748, 2.395, 2.099, 1.811, 1.621, 1.582, 1.582, 1.582, 1.592, 1.677, 1.919, 2.223, 2.534, 2.935, 3.078 + ], + "sigma": 0.00428, + "sigma_Cb": 0.00363 + } + }, + { + "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": 2850, + "ccm": + [ + 1.42601, -0.20537, -0.22063, + -0.47682, 1.81987, -0.34305, + 0.01854, -0.86036, 1.84181 + ] + }, + { + "ct": 2900, + "ccm": + [ + 1.29755, 0.04602, -0.34356, + -0.41491, 1.73477, -0.31987, + -0.01345, -0.97115, 1.98459 + ] + }, + { + "ct": 3550, + "ccm": + [ + 1.49811, -0.33412, -0.16398, + -0.40869, 1.72995, -0.32127, + -0.01924, -0.62181, 1.64105 + ] + }, + { + "ct": 4500, + "ccm": + [ + 1.47015, -0.29229, -0.17786, + -0.36561, 1.88919, -0.52358, + -0.03552, -0.56717, 1.60269 + ] + }, + { + "ct": 5600, + "ccm": + [ + 1.60962, -0.47434, -0.13528, + -0.32701, 1.73797, -0.41096, + -0.07626, -0.40171, 1.47796 + ] + }, + { + "ct": 8000, + "ccm": + [ + 1.54642, -0.20396, -0.34246, + -0.31748, 2.22559, -0.90811, + -0.10035, -0.65877, 1.75912 + ] + } + ] + } + }, + { + "rpi.sharpen": { } + } + ] +}
\ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/imx415.json b/src/ipa/rpi/vc4/data/imx415.json new file mode 100755 index 00000000..6ed16b17 --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx415.json @@ -0,0 +1,413 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 3840 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 19230, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 1198, + "reference_Y": 14876 + } + }, + { + "rpi.noise": + { + "reference_constant": 17, + "reference_slope": 3.439 + } + }, + { + "rpi.geq": + { + "offset": 193, + "slope": 0.00902 + } + }, + { + "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": + [ + 2698.0, 0.7681, 0.2026, + 2930.0, 0.7515, 0.2116, + 3643.0, 0.6355, 0.2858, + 4605.0, 0.4992, 0.4041, + 5658.0, 0.4498, 0.4574 + ], + "sensitivity_r": 1.0, + "sensitivity_b": 1.0, + "transverse_pos": 0.0112, + "transverse_neg": 0.01424 + } + }, + { + "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, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + } + }, + "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 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + } + }, + { + "rpi.alsc": + { + "omega": 1.3, + "n_iter": 100, + "luminance_strength": 0.8, + "calibrations_Cr": [ + { + "ct": 3000, + "table": + [ + 1.025, 1.016, 1.013, 1.011, 1.008, 1.005, 1.003, 1.001, 1.003, 1.005, 1.008, 1.011, 1.014, 1.019, 1.027, 1.035, + 1.025, 1.017, 1.013, 1.011, 1.008, 1.005, 1.003, 1.003, 1.004, 1.005, 1.009, 1.012, 1.017, 1.023, 1.029, 1.035, + 1.022, 1.017, 1.013, 1.009, 1.007, 1.005, 1.003, 1.003, 1.004, 1.006, 1.009, 1.012, 1.017, 1.023, 1.029, 1.035, + 1.019, 1.015, 1.011, 1.007, 1.005, 1.003, 1.001, 1.001, 1.003, 1.004, 1.007, 1.009, 1.015, 1.022, 1.028, 1.035, + 1.018, 1.014, 1.009, 1.006, 1.004, 1.002, 1.001, 1.001, 1.001, 1.003, 1.006, 1.009, 1.015, 1.021, 1.028, 1.035, + 1.018, 1.013, 1.011, 1.006, 1.003, 1.002, 1.001, 1.001, 1.001, 1.003, 1.006, 1.009, 1.015, 1.022, 1.028, 1.036, + 1.018, 1.014, 1.011, 1.007, 1.004, 1.002, 1.001, 1.001, 1.001, 1.004, 1.007, 1.009, 1.015, 1.023, 1.029, 1.036, + 1.019, 1.014, 1.012, 1.008, 1.005, 1.003, 1.002, 1.001, 1.003, 1.005, 1.008, 1.012, 1.016, 1.024, 1.031, 1.037, + 1.021, 1.016, 1.013, 1.009, 1.008, 1.005, 1.003, 1.003, 1.005, 1.008, 1.011, 1.014, 1.019, 1.026, 1.033, 1.039, + 1.025, 1.021, 1.016, 1.013, 1.009, 1.008, 1.006, 1.006, 1.008, 1.011, 1.014, 1.019, 1.024, 1.031, 1.038, 1.046, + 1.029, 1.025, 1.021, 1.018, 1.014, 1.013, 1.011, 1.011, 1.012, 1.015, 1.019, 1.023, 1.028, 1.035, 1.046, 1.051, + 1.032, 1.029, 1.023, 1.021, 1.018, 1.015, 1.014, 1.014, 1.015, 1.018, 1.022, 1.027, 1.033, 1.041, 1.051, 1.054 + ] + }, + { + "ct": 5000, + "table": + [ + 1.025, 1.011, 1.009, 1.005, 1.004, 1.003, 1.001, 1.001, 1.002, 1.006, 1.009, 1.012, 1.016, 1.021, 1.031, 1.041, + 1.025, 1.014, 1.009, 1.007, 1.005, 1.004, 1.003, 1.003, 1.004, 1.007, 1.009, 1.013, 1.021, 1.028, 1.037, 1.041, + 1.023, 1.014, 1.009, 1.007, 1.005, 1.004, 1.003, 1.003, 1.005, 1.007, 1.011, 1.014, 1.021, 1.028, 1.037, 1.048, + 1.022, 1.012, 1.007, 1.005, 1.002, 1.001, 1.001, 1.001, 1.003, 1.005, 1.009, 1.014, 1.019, 1.028, 1.039, 1.048, + 1.022, 1.011, 1.006, 1.003, 1.001, 1.001, 1.001, 1.001, 1.002, 1.005, 1.009, 1.014, 1.021, 1.029, 1.039, 1.051, + 1.022, 1.012, 1.007, 1.003, 1.002, 1.001, 1.001, 1.001, 1.002, 1.005, 1.009, 1.015, 1.021, 1.031, 1.041, 1.053, + 1.023, 1.013, 1.009, 1.005, 1.003, 1.003, 1.001, 1.002, 1.004, 1.006, 1.011, 1.015, 1.022, 1.031, 1.042, 1.056, + 1.024, 1.015, 1.012, 1.008, 1.005, 1.004, 1.004, 1.004, 1.006, 1.009, 1.013, 1.018, 1.024, 1.034, 1.045, 1.057, + 1.027, 1.017, 1.015, 1.012, 1.009, 1.007, 1.007, 1.008, 1.009, 1.013, 1.018, 1.023, 1.029, 1.038, 1.051, 1.061, + 1.029, 1.023, 1.017, 1.015, 1.014, 1.012, 1.011, 1.011, 1.014, 1.018, 1.024, 1.029, 1.036, 1.044, 1.056, 1.066, + 1.034, 1.028, 1.023, 1.022, 1.019, 1.019, 1.018, 1.018, 1.021, 1.025, 1.031, 1.035, 1.042, 1.053, 1.066, 1.074, + 1.041, 1.034, 1.027, 1.025, 1.025, 1.023, 1.023, 1.023, 1.025, 1.031, 1.035, 1.041, 1.049, 1.059, 1.074, 1.079 + ] + } + ], + "calibrations_Cb": [ + { + "ct": 3000, + "table": + [ + 1.001, 1.001, 1.007, 1.015, 1.027, 1.034, 1.038, 1.041, 1.042, 1.043, 1.043, 1.043, 1.041, 1.039, 1.049, 1.054, + 1.011, 1.011, 1.013, 1.023, 1.032, 1.039, 1.044, 1.047, 1.052, 1.056, 1.059, 1.059, 1.055, 1.051, 1.054, 1.056, + 1.015, 1.015, 1.019, 1.032, 1.039, 1.044, 1.047, 1.052, 1.055, 1.059, 1.061, 1.066, 1.063, 1.058, 1.061, 1.064, + 1.016, 1.017, 1.023, 1.032, 1.041, 1.045, 1.048, 1.053, 1.056, 1.061, 1.066, 1.069, 1.067, 1.064, 1.065, 1.068, + 1.018, 1.019, 1.025, 1.033, 1.042, 1.045, 1.049, 1.054, 1.058, 1.063, 1.071, 1.072, 1.071, 1.068, 1.069, 1.071, + 1.023, 1.024, 1.029, 1.035, 1.043, 1.048, 1.052, 1.057, 1.061, 1.065, 1.074, 1.075, 1.075, 1.072, 1.072, 1.075, + 1.027, 1.028, 1.031, 1.038, 1.045, 1.051, 1.054, 1.059, 1.064, 1.068, 1.075, 1.079, 1.078, 1.075, 1.076, 1.081, + 1.029, 1.031, 1.033, 1.044, 1.048, 1.054, 1.059, 1.064, 1.067, 1.073, 1.079, 1.082, 1.082, 1.079, 1.081, 1.085, + 1.033, 1.033, 1.035, 1.047, 1.053, 1.058, 1.064, 1.067, 1.073, 1.079, 1.084, 1.086, 1.086, 1.084, 1.089, 1.091, + 1.037, 1.037, 1.038, 1.049, 1.057, 1.062, 1.068, 1.073, 1.079, 1.084, 1.089, 1.092, 1.092, 1.092, 1.096, 1.104, + 1.041, 1.041, 1.043, 1.051, 1.061, 1.068, 1.073, 1.079, 1.083, 1.089, 1.092, 1.094, 1.097, 1.099, 1.105, 1.115, + 1.048, 1.044, 1.044, 1.051, 1.063, 1.071, 1.076, 1.082, 1.088, 1.091, 1.094, 1.097, 1.099, 1.104, 1.115, 1.126 + ] + }, + { + "ct": 5000, + "table": + [ + 1.001, 1.001, 1.005, 1.011, 1.014, 1.018, 1.019, 1.019, 1.019, 1.021, 1.021, 1.021, 1.019, 1.017, 1.014, 1.014, + 1.009, 1.009, 1.011, 1.014, 1.019, 1.024, 1.026, 1.029, 1.031, 1.032, 1.032, 1.031, 1.027, 1.023, 1.022, 1.022, + 1.011, 1.012, 1.015, 1.018, 1.024, 1.026, 1.029, 1.032, 1.035, 1.036, 1.036, 1.034, 1.031, 1.027, 1.025, 1.025, + 1.012, 1.013, 1.015, 1.019, 1.025, 1.029, 1.032, 1.035, 1.036, 1.038, 1.038, 1.036, 1.034, 1.029, 1.026, 1.026, + 1.013, 1.014, 1.016, 1.019, 1.027, 1.031, 1.034, 1.037, 1.039, 1.039, 1.041, 1.039, 1.036, 1.031, 1.028, 1.027, + 1.014, 1.014, 1.017, 1.021, 1.027, 1.033, 1.037, 1.039, 1.041, 1.041, 1.042, 1.042, 1.039, 1.033, 1.029, 1.028, + 1.015, 1.015, 1.018, 1.021, 1.027, 1.033, 1.037, 1.041, 1.041, 1.042, 1.042, 1.042, 1.039, 1.034, 1.029, 1.029, + 1.015, 1.016, 1.018, 1.022, 1.027, 1.033, 1.037, 1.041, 1.041, 1.042, 1.043, 1.043, 1.041, 1.035, 1.031, 1.031, + 1.015, 1.016, 1.018, 1.022, 1.027, 1.032, 1.037, 1.041, 1.042, 1.042, 1.044, 1.043, 1.041, 1.036, 1.034, 1.033, + 1.016, 1.017, 1.017, 1.022, 1.027, 1.032, 1.036, 1.039, 1.042, 1.042, 1.043, 1.043, 1.041, 1.039, 1.036, 1.034, + 1.017, 1.017, 1.018, 1.022, 1.027, 1.031, 1.035, 1.039, 1.041, 1.042, 1.042, 1.042, 1.042, 1.039, 1.039, 1.039, + 1.018, 1.017, 1.017, 1.021, 1.027, 1.031, 1.033, 1.038, 1.041, 1.041, 1.042, 1.042, 1.041, 1.041, 1.041, 1.041 + ] + } + ], + "luminance_lut": + [ + 2.102, 1.903, 1.658, 1.483, 1.358, 1.267, 1.202, 1.202, 1.202, 1.242, 1.323, 1.431, 1.585, 1.797, 2.096, 2.351, + 1.996, 1.776, 1.549, 1.385, 1.273, 1.204, 1.138, 1.133, 1.133, 1.185, 1.252, 1.343, 1.484, 1.679, 1.954, 2.228, + 1.923, 1.689, 1.474, 1.318, 1.204, 1.138, 1.079, 1.071, 1.071, 1.133, 1.185, 1.284, 1.415, 1.597, 1.854, 2.146, + 1.881, 1.631, 1.423, 1.272, 1.159, 1.079, 1.051, 1.026, 1.046, 1.071, 1.144, 1.245, 1.369, 1.543, 1.801, 2.095, + 1.867, 1.595, 1.391, 1.242, 1.131, 1.051, 1.013, 1.002, 1.013, 1.046, 1.121, 1.219, 1.343, 1.511, 1.752, 2.079, + 1.867, 1.589, 1.385, 1.236, 1.125, 1.048, 1.001, 1.001, 1.003, 1.045, 1.118, 1.217, 1.342, 1.511, 1.746, 2.079, + 1.867, 1.589, 1.385, 1.236, 1.125, 1.048, 1.011, 1.003, 1.011, 1.046, 1.118, 1.217, 1.343, 1.511, 1.746, 2.079, + 1.884, 1.621, 1.411, 1.261, 1.149, 1.071, 1.048, 1.024, 1.046, 1.069, 1.141, 1.239, 1.369, 1.541, 1.781, 2.093, + 1.913, 1.675, 1.459, 1.304, 1.191, 1.125, 1.071, 1.065, 1.069, 1.124, 1.181, 1.278, 1.413, 1.592, 1.842, 2.133, + 1.981, 1.755, 1.529, 1.368, 1.251, 1.191, 1.125, 1.124, 1.124, 1.181, 1.242, 1.337, 1.479, 1.669, 1.935, 2.207, + 2.078, 1.867, 1.625, 1.453, 1.344, 1.251, 1.202, 1.201, 1.201, 1.242, 1.333, 1.418, 1.571, 1.776, 2.063, 2.321, + 2.217, 2.011, 1.747, 1.562, 1.431, 1.331, 1.278, 1.278, 1.278, 1.313, 1.407, 1.523, 1.686, 1.911, 2.226, 2.484 + ], + "sigma": 0.00135, + "sigma_Cb": 0.00279 + } + }, + { + "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": 2698, + "ccm": + [ + 1.57227, -0.32596, -0.24631, + -0.61264, 1.70791, -0.09526, + -0.43254, 0.48489, 0.94765 + ] + }, + { + "ct": 2930, + "ccm": + [ + 1.69455, -0.52724, -0.16731, + -0.67131, 1.78468, -0.11338, + -0.41609, 0.54693, 0.86916 + ] + }, + { + "ct": 3643, + "ccm": + [ + 1.74041, -0.77553, 0.03512, + -0.44073, 1.34131, 0.09943, + -0.11035, -0.93919, 2.04954 + ] + }, + { + "ct": 4605, + "ccm": + [ + 1.49865, -0.41638, -0.08227, + -0.39445, 1.70114, -0.30669, + 0.01319, -0.88009, 1.86689 + ] + }, + { + "ct": 5658, + "ccm": + [ + 1.38601, -0.23128, -0.15472, + -0.37641, 1.70444, -0.32803, + -0.01575, -0.71466, 1.73041 + ] + } + ] + } + }, + { + "rpi.sharpen": { } + } + ] +} diff --git a/src/ipa/rpi/vc4/data/imx462.json b/src/ipa/rpi/vc4/data/imx462.json new file mode 100644 index 00000000..40a56842 --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx462.json @@ -0,0 +1,215 @@ +{ + "version": 2.0, + "target": "bcm2835", + "description": "This is an interim tuning only. Please consider doing a more formal tuning for your application.", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 3840 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 6813, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 890, + "reference_Y": 12900 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 2.67 + } + }, + { + "rpi.geq": + { + "offset": 187, + "slope": 0.00842 + } + }, + { + "rpi.sdn": { } + }, + { + "rpi.awb": + { + "bayes": 0 + } + }, + { + "rpi.agc": + { + "speed": 0.2, + "metering_modes": + { + "matrix": + { + "weights": + [ + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] + }, + "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 + ] + } + }, + "exposure_modes": + { + "normal": + { + "shutter": [ 10, 30000, 60000 ], + "gain": [ 1.0, 2.0, 8.0 ] + }, + "short": + { + "shutter": [ 10, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 12.0 ] + } + }, + "constraint_modes": + { + "normal": [ ], + "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 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.16, + 10000, 0.16 + ] + } + }, + { + "rpi.alsc": + { + "omega": 1.3, + "n_iter": 100, + "luminance_strength": 0.7, + "luminance_lut": + [ + 2.844, 2.349, 2.018, 1.775, 1.599, 1.466, 1.371, 1.321, 1.306, 1.316, 1.357, 1.439, 1.552, 1.705, 1.915, 2.221, + 2.576, 2.151, 1.851, 1.639, 1.478, 1.358, 1.272, 1.231, 1.218, 1.226, 1.262, 1.335, 1.438, 1.571, 1.766, 2.067, + 2.381, 2.005, 1.739, 1.545, 1.389, 1.278, 1.204, 1.166, 1.153, 1.161, 1.194, 1.263, 1.356, 1.489, 1.671, 1.943, + 2.242, 1.899, 1.658, 1.481, 1.329, 1.225, 1.156, 1.113, 1.096, 1.107, 1.143, 1.201, 1.289, 1.423, 1.607, 1.861, + 2.152, 1.831, 1.602, 1.436, 1.291, 1.193, 1.121, 1.069, 1.047, 1.062, 1.107, 1.166, 1.249, 1.384, 1.562, 1.801, + 2.104, 1.795, 1.572, 1.407, 1.269, 1.174, 1.099, 1.041, 1.008, 1.029, 1.083, 1.146, 1.232, 1.364, 1.547, 1.766, + 2.104, 1.796, 1.572, 1.403, 1.264, 1.171, 1.097, 1.036, 1.001, 1.025, 1.077, 1.142, 1.231, 1.363, 1.549, 1.766, + 2.148, 1.827, 1.594, 1.413, 1.276, 1.184, 1.114, 1.062, 1.033, 1.049, 1.092, 1.153, 1.242, 1.383, 1.577, 1.795, + 2.211, 1.881, 1.636, 1.455, 1.309, 1.214, 1.149, 1.104, 1.081, 1.089, 1.125, 1.184, 1.273, 1.423, 1.622, 1.846, + 2.319, 1.958, 1.698, 1.516, 1.362, 1.262, 1.203, 1.156, 1.137, 1.142, 1.171, 1.229, 1.331, 1.484, 1.682, 1.933, + 2.459, 2.072, 1.789, 1.594, 1.441, 1.331, 1.261, 1.219, 1.199, 1.205, 1.232, 1.301, 1.414, 1.571, 1.773, 2.052, + 2.645, 2.206, 1.928, 1.728, 1.559, 1.451, 1.352, 1.301, 1.282, 1.289, 1.319, 1.395, 1.519, 1.685, 1.904, 2.227 + ], + "sigma": 0.005, + "sigma_Cb": 0.005 + } + }, + { + "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.sharpen": { } + }, + { + "rpi.ccm": + { + "ccms": [ + { + "ct": 3900, + "ccm": + [ + 1.54659, -0.17707, -0.36953, + -0.51471, 1.72733, -0.21262, + 0.06667, -0.92279, 1.85612 + ] + } + ] + } + } + ] +}
\ 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..fa25ee86 --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx477.json @@ -0,0 +1,700 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 27242, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 830, + "reference_Y": 17755 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 2.767 + } + }, + { + "rpi.geq": + { + "offset": 204, + "slope": 0.01078 + } + }, + { + "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": + [ + 2360.0, 0.6009, 0.3093, + 2848.0, 0.5071, 0.4, + 2903.0, 0.4905, 0.4392, + 3628.0, 0.4261, 0.5564, + 3643.0, 0.4228, 0.5623, + 4660.0, 0.3529, 0.68, + 5579.0, 0.3227, 0.7, + 6125.0, 0.3129, 0.71, + 6671.0, 0.3065, 0.72, + 7217.0, 0.3014, 0.73, + 7763.0, 0.295, 0.74, + 9505.0, 0.2524, 0.7856 + ], + "sensitivity_r": 1.05, + "sensitivity_b": 1.05, + "transverse_pos": 0.0238, + "transverse_neg": 0.04429 + } + }, + { + "rpi.agc": + { + "channels": [ + { + "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, 0.3, + 1000, 0.3 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.3, + 1000, 0.3 + ] + }, + { + "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": 0.125, + "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, 0.3, + 1000, 0.3 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.3, + 1000, 0.3 + ] + }, + { + "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": 1.5, + "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, 0.3, + 1000, 0.3 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.3, + 1000, 0.3 + ] + }, + { + "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": 0.5, + "calibrations_Cr": [ + { + "ct": 2960, + "table": + [ + 2.088, 2.086, 2.082, 2.081, 2.077, 2.071, 2.068, 2.068, 2.072, 2.073, 2.075, 2.078, 2.084, 2.092, 2.095, 2.098, + 2.086, 2.084, 2.079, 2.078, 2.075, 2.068, 2.064, 2.063, 2.068, 2.071, 2.072, 2.075, 2.081, 2.089, 2.092, 2.094, + 2.083, 2.081, 2.077, 2.072, 2.069, 2.062, 2.059, 2.059, 2.063, 2.067, 2.069, 2.072, 2.079, 2.088, 2.089, 2.089, + 2.081, 2.077, 2.072, 2.068, 2.065, 2.058, 2.055, 2.054, 2.057, 2.062, 2.066, 2.069, 2.077, 2.084, 2.086, 2.086, + 2.078, 2.075, 2.069, 2.065, 2.061, 2.055, 2.052, 2.049, 2.051, 2.056, 2.062, 2.065, 2.072, 2.079, 2.081, 2.079, + 2.079, 2.075, 2.069, 2.064, 2.061, 2.053, 2.049, 2.046, 2.049, 2.051, 2.057, 2.062, 2.069, 2.075, 2.077, 2.075, + 2.082, 2.079, 2.072, 2.065, 2.061, 2.054, 2.049, 2.047, 2.049, 2.051, 2.056, 2.061, 2.066, 2.073, 2.073, 2.069, + 2.086, 2.082, 2.075, 2.068, 2.062, 2.054, 2.051, 2.049, 2.051, 2.052, 2.056, 2.061, 2.066, 2.073, 2.073, 2.072, + 2.088, 2.086, 2.079, 2.074, 2.066, 2.057, 2.051, 2.051, 2.054, 2.055, 2.056, 2.061, 2.067, 2.072, 2.073, 2.072, + 2.091, 2.087, 2.079, 2.075, 2.068, 2.057, 2.052, 2.052, 2.056, 2.055, 2.055, 2.059, 2.066, 2.072, 2.072, 2.072, + 2.093, 2.088, 2.081, 2.077, 2.069, 2.059, 2.054, 2.054, 2.057, 2.056, 2.056, 2.058, 2.066, 2.072, 2.073, 2.073, + 2.095, 2.091, 2.084, 2.078, 2.075, 2.067, 2.057, 2.057, 2.059, 2.059, 2.058, 2.059, 2.068, 2.073, 2.075, 2.078 + ] + }, + { + "ct": 4850, + "table": + [ + 2.973, 2.968, 2.956, 2.943, 2.941, 2.932, 2.923, 2.921, 2.924, 2.929, 2.931, 2.939, 2.953, 2.965, 2.966, 2.976, + 2.969, 2.962, 2.951, 2.941, 2.934, 2.928, 2.919, 2.918, 2.919, 2.923, 2.927, 2.933, 2.945, 2.957, 2.962, 2.962, + 2.964, 2.956, 2.944, 2.932, 2.929, 2.924, 2.915, 2.914, 2.915, 2.919, 2.924, 2.928, 2.941, 2.952, 2.958, 2.959, + 2.957, 2.951, 2.939, 2.928, 2.924, 2.919, 2.913, 2.911, 2.911, 2.915, 2.919, 2.925, 2.936, 2.947, 2.952, 2.953, + 2.954, 2.947, 2.935, 2.924, 2.919, 2.915, 2.908, 2.906, 2.906, 2.907, 2.914, 2.921, 2.932, 2.941, 2.943, 2.942, + 2.953, 2.946, 2.932, 2.921, 2.916, 2.911, 2.904, 2.902, 2.901, 2.904, 2.909, 2.919, 2.926, 2.937, 2.939, 2.939, + 2.953, 2.947, 2.932, 2.918, 2.915, 2.909, 2.903, 2.901, 2.901, 2.906, 2.911, 2.918, 2.924, 2.936, 2.936, 2.932, + 2.956, 2.948, 2.934, 2.919, 2.916, 2.908, 2.903, 2.901, 2.902, 2.907, 2.909, 2.917, 2.926, 2.936, 2.939, 2.939, + 2.957, 2.951, 2.936, 2.923, 2.917, 2.907, 2.904, 2.901, 2.902, 2.908, 2.911, 2.919, 2.929, 2.939, 2.942, 2.942, + 2.961, 2.951, 2.936, 2.922, 2.918, 2.906, 2.904, 2.901, 2.901, 2.907, 2.911, 2.921, 2.931, 2.941, 2.942, 2.944, + 2.964, 2.954, 2.936, 2.924, 2.918, 2.909, 2.905, 2.905, 2.905, 2.907, 2.912, 2.923, 2.933, 2.942, 2.944, 2.944, + 2.964, 2.958, 2.943, 2.927, 2.921, 2.914, 2.909, 2.907, 2.907, 2.912, 2.916, 2.928, 2.936, 2.944, 2.947, 2.952 + ] + }, + { + "ct": 5930, + "table": + [ + 3.312, 3.308, 3.301, 3.294, 3.288, 3.277, 3.268, 3.261, 3.259, 3.261, 3.267, 3.273, 3.285, 3.301, 3.303, 3.312, + 3.308, 3.304, 3.294, 3.291, 3.283, 3.271, 3.263, 3.259, 3.257, 3.258, 3.261, 3.268, 3.278, 3.293, 3.299, 3.299, + 3.302, 3.296, 3.288, 3.282, 3.276, 3.267, 3.259, 3.254, 3.252, 3.253, 3.256, 3.261, 3.273, 3.289, 3.292, 3.292, + 3.296, 3.289, 3.282, 3.276, 3.269, 3.263, 3.256, 3.251, 3.248, 3.249, 3.251, 3.257, 3.268, 3.279, 3.284, 3.284, + 3.292, 3.285, 3.279, 3.271, 3.264, 3.257, 3.249, 3.243, 3.241, 3.241, 3.246, 3.252, 3.261, 3.274, 3.275, 3.273, + 3.291, 3.285, 3.276, 3.268, 3.259, 3.251, 3.242, 3.239, 3.236, 3.238, 3.244, 3.248, 3.258, 3.268, 3.269, 3.265, + 3.294, 3.288, 3.275, 3.266, 3.257, 3.248, 3.239, 3.238, 3.237, 3.238, 3.243, 3.246, 3.255, 3.264, 3.264, 3.257, + 3.297, 3.293, 3.279, 3.268, 3.258, 3.249, 3.238, 3.237, 3.239, 3.239, 3.243, 3.245, 3.255, 3.264, 3.264, 3.263, + 3.301, 3.295, 3.281, 3.271, 3.259, 3.248, 3.237, 3.237, 3.239, 3.241, 3.243, 3.246, 3.257, 3.265, 3.266, 3.264, + 3.306, 3.295, 3.279, 3.271, 3.261, 3.247, 3.235, 3.234, 3.239, 3.239, 3.243, 3.247, 3.258, 3.265, 3.265, 3.264, + 3.308, 3.297, 3.279, 3.272, 3.261, 3.249, 3.239, 3.239, 3.241, 3.243, 3.245, 3.248, 3.261, 3.265, 3.266, 3.265, + 3.309, 3.301, 3.286, 3.276, 3.267, 3.256, 3.246, 3.242, 3.244, 3.244, 3.249, 3.253, 3.263, 3.267, 3.271, 3.274 + ] + } + ], + "calibrations_Cb": [ + { + "ct": 2960, + "table": + [ + 2.133, 2.134, 2.139, 2.143, 2.148, 2.155, 2.158, 2.158, 2.158, 2.161, 2.161, 2.162, 2.159, 2.156, 2.152, 2.151, + 2.132, 2.133, 2.135, 2.142, 2.147, 2.153, 2.158, 2.158, 2.158, 2.158, 2.159, 2.159, 2.157, 2.154, 2.151, 2.148, + 2.133, 2.133, 2.135, 2.142, 2.149, 2.154, 2.158, 2.158, 2.157, 2.156, 2.158, 2.157, 2.155, 2.153, 2.148, 2.146, + 2.133, 2.133, 2.138, 2.145, 2.149, 2.154, 2.158, 2.159, 2.158, 2.155, 2.157, 2.156, 2.153, 2.149, 2.146, 2.144, + 2.133, 2.134, 2.139, 2.146, 2.149, 2.154, 2.158, 2.159, 2.159, 2.156, 2.154, 2.154, 2.149, 2.145, 2.143, 2.139, + 2.135, 2.135, 2.139, 2.146, 2.151, 2.155, 2.158, 2.159, 2.158, 2.156, 2.153, 2.151, 2.146, 2.143, 2.139, 2.136, + 2.135, 2.135, 2.138, 2.145, 2.151, 2.154, 2.157, 2.158, 2.157, 2.156, 2.153, 2.151, 2.147, 2.143, 2.141, 2.137, + 2.135, 2.134, 2.135, 2.141, 2.149, 2.154, 2.157, 2.157, 2.157, 2.157, 2.157, 2.153, 2.149, 2.146, 2.142, 2.139, + 2.132, 2.133, 2.135, 2.139, 2.148, 2.153, 2.158, 2.159, 2.159, 2.161, 2.161, 2.157, 2.154, 2.149, 2.144, 2.141, + 2.132, 2.133, 2.135, 2.141, 2.149, 2.155, 2.161, 2.161, 2.162, 2.162, 2.163, 2.159, 2.154, 2.149, 2.144, 2.138, + 2.136, 2.136, 2.137, 2.143, 2.149, 2.156, 2.162, 2.163, 2.162, 2.163, 2.164, 2.161, 2.157, 2.152, 2.146, 2.138, + 2.137, 2.137, 2.141, 2.147, 2.152, 2.157, 2.162, 2.162, 2.159, 2.161, 2.162, 2.162, 2.157, 2.152, 2.148, 2.148 + ] + }, + { + "ct": 4850, + "table": + [ + 1.463, 1.464, 1.471, 1.478, 1.479, 1.483, 1.484, 1.486, 1.486, 1.484, 1.483, 1.481, 1.478, 1.475, 1.471, 1.468, + 1.463, 1.463, 1.468, 1.476, 1.479, 1.482, 1.484, 1.487, 1.486, 1.484, 1.483, 1.482, 1.478, 1.473, 1.469, 1.468, + 1.463, 1.464, 1.468, 1.476, 1.479, 1.483, 1.484, 1.486, 1.486, 1.485, 1.484, 1.482, 1.477, 1.473, 1.469, 1.468, + 1.463, 1.464, 1.469, 1.477, 1.481, 1.483, 1.485, 1.487, 1.487, 1.485, 1.485, 1.482, 1.478, 1.474, 1.469, 1.468, + 1.465, 1.465, 1.471, 1.478, 1.481, 1.484, 1.486, 1.488, 1.488, 1.487, 1.485, 1.482, 1.477, 1.472, 1.468, 1.467, + 1.465, 1.466, 1.472, 1.479, 1.482, 1.485, 1.486, 1.488, 1.488, 1.486, 1.484, 1.479, 1.475, 1.472, 1.468, 1.466, + 1.466, 1.466, 1.472, 1.478, 1.482, 1.484, 1.485, 1.488, 1.487, 1.485, 1.483, 1.479, 1.475, 1.472, 1.469, 1.468, + 1.465, 1.466, 1.469, 1.476, 1.481, 1.485, 1.485, 1.486, 1.486, 1.485, 1.483, 1.479, 1.477, 1.474, 1.471, 1.469, + 1.464, 1.465, 1.469, 1.476, 1.481, 1.484, 1.485, 1.487, 1.487, 1.486, 1.485, 1.481, 1.478, 1.475, 1.471, 1.469, + 1.463, 1.464, 1.469, 1.477, 1.481, 1.485, 1.485, 1.488, 1.488, 1.487, 1.486, 1.481, 1.478, 1.475, 1.471, 1.468, + 1.464, 1.465, 1.471, 1.478, 1.482, 1.486, 1.486, 1.488, 1.488, 1.487, 1.486, 1.481, 1.478, 1.475, 1.472, 1.468, + 1.465, 1.466, 1.472, 1.481, 1.483, 1.487, 1.487, 1.488, 1.488, 1.486, 1.485, 1.481, 1.479, 1.476, 1.473, 1.472 + ] + }, + { + "ct": 5930, + "table": + [ + 1.443, 1.444, 1.448, 1.453, 1.459, 1.463, 1.465, 1.467, 1.469, 1.469, 1.467, 1.466, 1.462, 1.457, 1.454, 1.451, + 1.443, 1.444, 1.445, 1.451, 1.459, 1.463, 1.465, 1.467, 1.469, 1.469, 1.467, 1.465, 1.461, 1.456, 1.452, 1.451, + 1.444, 1.444, 1.445, 1.451, 1.459, 1.463, 1.466, 1.468, 1.469, 1.469, 1.467, 1.465, 1.461, 1.456, 1.452, 1.449, + 1.444, 1.444, 1.447, 1.452, 1.459, 1.464, 1.467, 1.469, 1.471, 1.469, 1.467, 1.466, 1.461, 1.456, 1.452, 1.449, + 1.444, 1.445, 1.448, 1.452, 1.459, 1.465, 1.469, 1.471, 1.471, 1.471, 1.468, 1.465, 1.461, 1.455, 1.451, 1.449, + 1.445, 1.446, 1.449, 1.453, 1.461, 1.466, 1.469, 1.471, 1.472, 1.469, 1.467, 1.465, 1.459, 1.455, 1.451, 1.447, + 1.446, 1.446, 1.449, 1.453, 1.461, 1.466, 1.469, 1.469, 1.469, 1.469, 1.467, 1.465, 1.459, 1.455, 1.452, 1.449, + 1.446, 1.446, 1.447, 1.451, 1.459, 1.466, 1.469, 1.469, 1.469, 1.469, 1.467, 1.465, 1.461, 1.457, 1.454, 1.451, + 1.444, 1.444, 1.447, 1.451, 1.459, 1.466, 1.469, 1.469, 1.471, 1.471, 1.468, 1.466, 1.462, 1.458, 1.454, 1.452, + 1.444, 1.444, 1.448, 1.453, 1.459, 1.466, 1.469, 1.471, 1.472, 1.472, 1.468, 1.466, 1.462, 1.458, 1.454, 1.449, + 1.446, 1.447, 1.449, 1.454, 1.461, 1.466, 1.471, 1.471, 1.471, 1.471, 1.468, 1.466, 1.462, 1.459, 1.455, 1.449, + 1.447, 1.447, 1.452, 1.457, 1.462, 1.468, 1.472, 1.472, 1.471, 1.471, 1.468, 1.466, 1.462, 1.459, 1.456, 1.455 + ] + } + ], + "luminance_lut": + [ + 1.548, 1.499, 1.387, 1.289, 1.223, 1.183, 1.164, 1.154, 1.153, 1.169, 1.211, 1.265, 1.345, 1.448, 1.581, 1.619, + 1.513, 1.412, 1.307, 1.228, 1.169, 1.129, 1.105, 1.098, 1.103, 1.127, 1.157, 1.209, 1.272, 1.361, 1.481, 1.583, + 1.449, 1.365, 1.257, 1.175, 1.124, 1.085, 1.062, 1.054, 1.059, 1.079, 1.113, 1.151, 1.211, 1.293, 1.407, 1.488, + 1.424, 1.324, 1.222, 1.139, 1.089, 1.056, 1.034, 1.031, 1.034, 1.049, 1.075, 1.115, 1.164, 1.241, 1.351, 1.446, + 1.412, 1.297, 1.203, 1.119, 1.069, 1.039, 1.021, 1.016, 1.022, 1.032, 1.052, 1.086, 1.135, 1.212, 1.321, 1.439, + 1.406, 1.287, 1.195, 1.115, 1.059, 1.028, 1.014, 1.012, 1.015, 1.026, 1.041, 1.074, 1.125, 1.201, 1.302, 1.425, + 1.406, 1.294, 1.205, 1.126, 1.062, 1.031, 1.013, 1.009, 1.011, 1.019, 1.042, 1.079, 1.129, 1.203, 1.302, 1.435, + 1.415, 1.318, 1.229, 1.146, 1.076, 1.039, 1.019, 1.014, 1.017, 1.031, 1.053, 1.093, 1.144, 1.219, 1.314, 1.436, + 1.435, 1.348, 1.246, 1.164, 1.094, 1.059, 1.036, 1.032, 1.037, 1.049, 1.072, 1.114, 1.167, 1.257, 1.343, 1.462, + 1.471, 1.385, 1.278, 1.189, 1.124, 1.084, 1.064, 1.061, 1.069, 1.078, 1.101, 1.146, 1.207, 1.298, 1.415, 1.496, + 1.522, 1.436, 1.323, 1.228, 1.169, 1.118, 1.101, 1.094, 1.099, 1.113, 1.146, 1.194, 1.265, 1.353, 1.474, 1.571, + 1.578, 1.506, 1.378, 1.281, 1.211, 1.156, 1.135, 1.134, 1.139, 1.158, 1.194, 1.251, 1.327, 1.427, 1.559, 1.611 + ], + "sigma": 0.00121, + "sigma_Cb": 0.00115 + } + }, + { + "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": 2850, + "ccm": + [ + 1.97469, -0.71439, -0.26031, + -0.43521, 2.09769, -0.66248, + -0.04826, -0.84642, 1.89468 + ] + }, + { + "ct": 2960, + "ccm": + [ + 2.12952, -0.91185, -0.21768, + -0.38018, 1.90789, -0.52771, + 0.03988, -1.10079, 2.06092 + ] + }, + { + "ct": 3580, + "ccm": + [ + 2.03422, -0.80048, -0.23374, + -0.39089, 1.97221, -0.58132, + -0.08969, -0.61439, 1.70408 + ] + }, + { + "ct": 4559, + "ccm": + [ + 2.15423, -0.98143, -0.17279, + -0.38131, 2.14763, -0.76632, + -0.10069, -0.54383, 1.64452 + ] + }, + { + "ct": 5881, + "ccm": + [ + 2.18464, -0.95493, -0.22971, + -0.36826, 2.00298, -0.63471, + -0.15219, -0.38055, 1.53274 + ] + }, + { + "ct": 7600, + "ccm": + [ + 2.30687, -0.97295, -0.33392, + -0.30872, 2.32779, -1.01908, + -0.17761, -0.55891, 1.73651 + ] + } + ] + } + }, + { + "rpi.sharpen": { } + }, + { + "rpi.hdr": + { + "MultiExposureUnmerged": + { + "cadence": [ 1, 2 ], + "channel_map": + { + "short": 1, + "long": 2 + } + } + } + } + ] +}
\ 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..472f33fe --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx477_noir.json @@ -0,0 +1,656 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 27242, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 830, + "reference_Y": 17755 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 2.767 + } + }, + { + "rpi.geq": + { + "offset": 204, + "slope": 0.01078 + } + }, + { + "rpi.sdn": { } + }, + { + "rpi.awb": + { + "bayes": 0 + } + }, + { + "rpi.agc": + { + "channels": [ + { + "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, 0.3, + 1000, 0.3 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.3, + 1000, 0.3 + ] + }, + { + "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": 0.125, + "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, 0.3, + 1000, 0.3 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.3, + 1000, 0.3 + ] + }, + { + "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": 1.5, + "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, 0.3, + 1000, 0.3 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.3, + 1000, 0.3 + ] + }, + { + "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": 0.5, + "calibrations_Cr": [ + { + "ct": 2960, + "table": + [ + 2.088, 2.086, 2.082, 2.081, 2.077, 2.071, 2.068, 2.068, 2.072, 2.073, 2.075, 2.078, 2.084, 2.092, 2.095, 2.098, + 2.086, 2.084, 2.079, 2.078, 2.075, 2.068, 2.064, 2.063, 2.068, 2.071, 2.072, 2.075, 2.081, 2.089, 2.092, 2.094, + 2.083, 2.081, 2.077, 2.072, 2.069, 2.062, 2.059, 2.059, 2.063, 2.067, 2.069, 2.072, 2.079, 2.088, 2.089, 2.089, + 2.081, 2.077, 2.072, 2.068, 2.065, 2.058, 2.055, 2.054, 2.057, 2.062, 2.066, 2.069, 2.077, 2.084, 2.086, 2.086, + 2.078, 2.075, 2.069, 2.065, 2.061, 2.055, 2.052, 2.049, 2.051, 2.056, 2.062, 2.065, 2.072, 2.079, 2.081, 2.079, + 2.079, 2.075, 2.069, 2.064, 2.061, 2.053, 2.049, 2.046, 2.049, 2.051, 2.057, 2.062, 2.069, 2.075, 2.077, 2.075, + 2.082, 2.079, 2.072, 2.065, 2.061, 2.054, 2.049, 2.047, 2.049, 2.051, 2.056, 2.061, 2.066, 2.073, 2.073, 2.069, + 2.086, 2.082, 2.075, 2.068, 2.062, 2.054, 2.051, 2.049, 2.051, 2.052, 2.056, 2.061, 2.066, 2.073, 2.073, 2.072, + 2.088, 2.086, 2.079, 2.074, 2.066, 2.057, 2.051, 2.051, 2.054, 2.055, 2.056, 2.061, 2.067, 2.072, 2.073, 2.072, + 2.091, 2.087, 2.079, 2.075, 2.068, 2.057, 2.052, 2.052, 2.056, 2.055, 2.055, 2.059, 2.066, 2.072, 2.072, 2.072, + 2.093, 2.088, 2.081, 2.077, 2.069, 2.059, 2.054, 2.054, 2.057, 2.056, 2.056, 2.058, 2.066, 2.072, 2.073, 2.073, + 2.095, 2.091, 2.084, 2.078, 2.075, 2.067, 2.057, 2.057, 2.059, 2.059, 2.058, 2.059, 2.068, 2.073, 2.075, 2.078 + ] + }, + { + "ct": 4850, + "table": + [ + 2.973, 2.968, 2.956, 2.943, 2.941, 2.932, 2.923, 2.921, 2.924, 2.929, 2.931, 2.939, 2.953, 2.965, 2.966, 2.976, + 2.969, 2.962, 2.951, 2.941, 2.934, 2.928, 2.919, 2.918, 2.919, 2.923, 2.927, 2.933, 2.945, 2.957, 2.962, 2.962, + 2.964, 2.956, 2.944, 2.932, 2.929, 2.924, 2.915, 2.914, 2.915, 2.919, 2.924, 2.928, 2.941, 2.952, 2.958, 2.959, + 2.957, 2.951, 2.939, 2.928, 2.924, 2.919, 2.913, 2.911, 2.911, 2.915, 2.919, 2.925, 2.936, 2.947, 2.952, 2.953, + 2.954, 2.947, 2.935, 2.924, 2.919, 2.915, 2.908, 2.906, 2.906, 2.907, 2.914, 2.921, 2.932, 2.941, 2.943, 2.942, + 2.953, 2.946, 2.932, 2.921, 2.916, 2.911, 2.904, 2.902, 2.901, 2.904, 2.909, 2.919, 2.926, 2.937, 2.939, 2.939, + 2.953, 2.947, 2.932, 2.918, 2.915, 2.909, 2.903, 2.901, 2.901, 2.906, 2.911, 2.918, 2.924, 2.936, 2.936, 2.932, + 2.956, 2.948, 2.934, 2.919, 2.916, 2.908, 2.903, 2.901, 2.902, 2.907, 2.909, 2.917, 2.926, 2.936, 2.939, 2.939, + 2.957, 2.951, 2.936, 2.923, 2.917, 2.907, 2.904, 2.901, 2.902, 2.908, 2.911, 2.919, 2.929, 2.939, 2.942, 2.942, + 2.961, 2.951, 2.936, 2.922, 2.918, 2.906, 2.904, 2.901, 2.901, 2.907, 2.911, 2.921, 2.931, 2.941, 2.942, 2.944, + 2.964, 2.954, 2.936, 2.924, 2.918, 2.909, 2.905, 2.905, 2.905, 2.907, 2.912, 2.923, 2.933, 2.942, 2.944, 2.944, + 2.964, 2.958, 2.943, 2.927, 2.921, 2.914, 2.909, 2.907, 2.907, 2.912, 2.916, 2.928, 2.936, 2.944, 2.947, 2.952 + ] + }, + { + "ct": 5930, + "table": + [ + 3.312, 3.308, 3.301, 3.294, 3.288, 3.277, 3.268, 3.261, 3.259, 3.261, 3.267, 3.273, 3.285, 3.301, 3.303, 3.312, + 3.308, 3.304, 3.294, 3.291, 3.283, 3.271, 3.263, 3.259, 3.257, 3.258, 3.261, 3.268, 3.278, 3.293, 3.299, 3.299, + 3.302, 3.296, 3.288, 3.282, 3.276, 3.267, 3.259, 3.254, 3.252, 3.253, 3.256, 3.261, 3.273, 3.289, 3.292, 3.292, + 3.296, 3.289, 3.282, 3.276, 3.269, 3.263, 3.256, 3.251, 3.248, 3.249, 3.251, 3.257, 3.268, 3.279, 3.284, 3.284, + 3.292, 3.285, 3.279, 3.271, 3.264, 3.257, 3.249, 3.243, 3.241, 3.241, 3.246, 3.252, 3.261, 3.274, 3.275, 3.273, + 3.291, 3.285, 3.276, 3.268, 3.259, 3.251, 3.242, 3.239, 3.236, 3.238, 3.244, 3.248, 3.258, 3.268, 3.269, 3.265, + 3.294, 3.288, 3.275, 3.266, 3.257, 3.248, 3.239, 3.238, 3.237, 3.238, 3.243, 3.246, 3.255, 3.264, 3.264, 3.257, + 3.297, 3.293, 3.279, 3.268, 3.258, 3.249, 3.238, 3.237, 3.239, 3.239, 3.243, 3.245, 3.255, 3.264, 3.264, 3.263, + 3.301, 3.295, 3.281, 3.271, 3.259, 3.248, 3.237, 3.237, 3.239, 3.241, 3.243, 3.246, 3.257, 3.265, 3.266, 3.264, + 3.306, 3.295, 3.279, 3.271, 3.261, 3.247, 3.235, 3.234, 3.239, 3.239, 3.243, 3.247, 3.258, 3.265, 3.265, 3.264, + 3.308, 3.297, 3.279, 3.272, 3.261, 3.249, 3.239, 3.239, 3.241, 3.243, 3.245, 3.248, 3.261, 3.265, 3.266, 3.265, + 3.309, 3.301, 3.286, 3.276, 3.267, 3.256, 3.246, 3.242, 3.244, 3.244, 3.249, 3.253, 3.263, 3.267, 3.271, 3.274 + ] + } + ], + "calibrations_Cb": [ + { + "ct": 2960, + "table": + [ + 2.133, 2.134, 2.139, 2.143, 2.148, 2.155, 2.158, 2.158, 2.158, 2.161, 2.161, 2.162, 2.159, 2.156, 2.152, 2.151, + 2.132, 2.133, 2.135, 2.142, 2.147, 2.153, 2.158, 2.158, 2.158, 2.158, 2.159, 2.159, 2.157, 2.154, 2.151, 2.148, + 2.133, 2.133, 2.135, 2.142, 2.149, 2.154, 2.158, 2.158, 2.157, 2.156, 2.158, 2.157, 2.155, 2.153, 2.148, 2.146, + 2.133, 2.133, 2.138, 2.145, 2.149, 2.154, 2.158, 2.159, 2.158, 2.155, 2.157, 2.156, 2.153, 2.149, 2.146, 2.144, + 2.133, 2.134, 2.139, 2.146, 2.149, 2.154, 2.158, 2.159, 2.159, 2.156, 2.154, 2.154, 2.149, 2.145, 2.143, 2.139, + 2.135, 2.135, 2.139, 2.146, 2.151, 2.155, 2.158, 2.159, 2.158, 2.156, 2.153, 2.151, 2.146, 2.143, 2.139, 2.136, + 2.135, 2.135, 2.138, 2.145, 2.151, 2.154, 2.157, 2.158, 2.157, 2.156, 2.153, 2.151, 2.147, 2.143, 2.141, 2.137, + 2.135, 2.134, 2.135, 2.141, 2.149, 2.154, 2.157, 2.157, 2.157, 2.157, 2.157, 2.153, 2.149, 2.146, 2.142, 2.139, + 2.132, 2.133, 2.135, 2.139, 2.148, 2.153, 2.158, 2.159, 2.159, 2.161, 2.161, 2.157, 2.154, 2.149, 2.144, 2.141, + 2.132, 2.133, 2.135, 2.141, 2.149, 2.155, 2.161, 2.161, 2.162, 2.162, 2.163, 2.159, 2.154, 2.149, 2.144, 2.138, + 2.136, 2.136, 2.137, 2.143, 2.149, 2.156, 2.162, 2.163, 2.162, 2.163, 2.164, 2.161, 2.157, 2.152, 2.146, 2.138, + 2.137, 2.137, 2.141, 2.147, 2.152, 2.157, 2.162, 2.162, 2.159, 2.161, 2.162, 2.162, 2.157, 2.152, 2.148, 2.148 + ] + }, + { + "ct": 4850, + "table": + [ + 1.463, 1.464, 1.471, 1.478, 1.479, 1.483, 1.484, 1.486, 1.486, 1.484, 1.483, 1.481, 1.478, 1.475, 1.471, 1.468, + 1.463, 1.463, 1.468, 1.476, 1.479, 1.482, 1.484, 1.487, 1.486, 1.484, 1.483, 1.482, 1.478, 1.473, 1.469, 1.468, + 1.463, 1.464, 1.468, 1.476, 1.479, 1.483, 1.484, 1.486, 1.486, 1.485, 1.484, 1.482, 1.477, 1.473, 1.469, 1.468, + 1.463, 1.464, 1.469, 1.477, 1.481, 1.483, 1.485, 1.487, 1.487, 1.485, 1.485, 1.482, 1.478, 1.474, 1.469, 1.468, + 1.465, 1.465, 1.471, 1.478, 1.481, 1.484, 1.486, 1.488, 1.488, 1.487, 1.485, 1.482, 1.477, 1.472, 1.468, 1.467, + 1.465, 1.466, 1.472, 1.479, 1.482, 1.485, 1.486, 1.488, 1.488, 1.486, 1.484, 1.479, 1.475, 1.472, 1.468, 1.466, + 1.466, 1.466, 1.472, 1.478, 1.482, 1.484, 1.485, 1.488, 1.487, 1.485, 1.483, 1.479, 1.475, 1.472, 1.469, 1.468, + 1.465, 1.466, 1.469, 1.476, 1.481, 1.485, 1.485, 1.486, 1.486, 1.485, 1.483, 1.479, 1.477, 1.474, 1.471, 1.469, + 1.464, 1.465, 1.469, 1.476, 1.481, 1.484, 1.485, 1.487, 1.487, 1.486, 1.485, 1.481, 1.478, 1.475, 1.471, 1.469, + 1.463, 1.464, 1.469, 1.477, 1.481, 1.485, 1.485, 1.488, 1.488, 1.487, 1.486, 1.481, 1.478, 1.475, 1.471, 1.468, + 1.464, 1.465, 1.471, 1.478, 1.482, 1.486, 1.486, 1.488, 1.488, 1.487, 1.486, 1.481, 1.478, 1.475, 1.472, 1.468, + 1.465, 1.466, 1.472, 1.481, 1.483, 1.487, 1.487, 1.488, 1.488, 1.486, 1.485, 1.481, 1.479, 1.476, 1.473, 1.472 + ] + }, + { + "ct": 5930, + "table": + [ + 1.443, 1.444, 1.448, 1.453, 1.459, 1.463, 1.465, 1.467, 1.469, 1.469, 1.467, 1.466, 1.462, 1.457, 1.454, 1.451, + 1.443, 1.444, 1.445, 1.451, 1.459, 1.463, 1.465, 1.467, 1.469, 1.469, 1.467, 1.465, 1.461, 1.456, 1.452, 1.451, + 1.444, 1.444, 1.445, 1.451, 1.459, 1.463, 1.466, 1.468, 1.469, 1.469, 1.467, 1.465, 1.461, 1.456, 1.452, 1.449, + 1.444, 1.444, 1.447, 1.452, 1.459, 1.464, 1.467, 1.469, 1.471, 1.469, 1.467, 1.466, 1.461, 1.456, 1.452, 1.449, + 1.444, 1.445, 1.448, 1.452, 1.459, 1.465, 1.469, 1.471, 1.471, 1.471, 1.468, 1.465, 1.461, 1.455, 1.451, 1.449, + 1.445, 1.446, 1.449, 1.453, 1.461, 1.466, 1.469, 1.471, 1.472, 1.469, 1.467, 1.465, 1.459, 1.455, 1.451, 1.447, + 1.446, 1.446, 1.449, 1.453, 1.461, 1.466, 1.469, 1.469, 1.469, 1.469, 1.467, 1.465, 1.459, 1.455, 1.452, 1.449, + 1.446, 1.446, 1.447, 1.451, 1.459, 1.466, 1.469, 1.469, 1.469, 1.469, 1.467, 1.465, 1.461, 1.457, 1.454, 1.451, + 1.444, 1.444, 1.447, 1.451, 1.459, 1.466, 1.469, 1.469, 1.471, 1.471, 1.468, 1.466, 1.462, 1.458, 1.454, 1.452, + 1.444, 1.444, 1.448, 1.453, 1.459, 1.466, 1.469, 1.471, 1.472, 1.472, 1.468, 1.466, 1.462, 1.458, 1.454, 1.449, + 1.446, 1.447, 1.449, 1.454, 1.461, 1.466, 1.471, 1.471, 1.471, 1.471, 1.468, 1.466, 1.462, 1.459, 1.455, 1.449, + 1.447, 1.447, 1.452, 1.457, 1.462, 1.468, 1.472, 1.472, 1.471, 1.471, 1.468, 1.466, 1.462, 1.459, 1.456, 1.455 + ] + } + ], + "luminance_lut": + [ + 1.548, 1.499, 1.387, 1.289, 1.223, 1.183, 1.164, 1.154, 1.153, 1.169, 1.211, 1.265, 1.345, 1.448, 1.581, 1.619, + 1.513, 1.412, 1.307, 1.228, 1.169, 1.129, 1.105, 1.098, 1.103, 1.127, 1.157, 1.209, 1.272, 1.361, 1.481, 1.583, + 1.449, 1.365, 1.257, 1.175, 1.124, 1.085, 1.062, 1.054, 1.059, 1.079, 1.113, 1.151, 1.211, 1.293, 1.407, 1.488, + 1.424, 1.324, 1.222, 1.139, 1.089, 1.056, 1.034, 1.031, 1.034, 1.049, 1.075, 1.115, 1.164, 1.241, 1.351, 1.446, + 1.412, 1.297, 1.203, 1.119, 1.069, 1.039, 1.021, 1.016, 1.022, 1.032, 1.052, 1.086, 1.135, 1.212, 1.321, 1.439, + 1.406, 1.287, 1.195, 1.115, 1.059, 1.028, 1.014, 1.012, 1.015, 1.026, 1.041, 1.074, 1.125, 1.201, 1.302, 1.425, + 1.406, 1.294, 1.205, 1.126, 1.062, 1.031, 1.013, 1.009, 1.011, 1.019, 1.042, 1.079, 1.129, 1.203, 1.302, 1.435, + 1.415, 1.318, 1.229, 1.146, 1.076, 1.039, 1.019, 1.014, 1.017, 1.031, 1.053, 1.093, 1.144, 1.219, 1.314, 1.436, + 1.435, 1.348, 1.246, 1.164, 1.094, 1.059, 1.036, 1.032, 1.037, 1.049, 1.072, 1.114, 1.167, 1.257, 1.343, 1.462, + 1.471, 1.385, 1.278, 1.189, 1.124, 1.084, 1.064, 1.061, 1.069, 1.078, 1.101, 1.146, 1.207, 1.298, 1.415, 1.496, + 1.522, 1.436, 1.323, 1.228, 1.169, 1.118, 1.101, 1.094, 1.099, 1.113, 1.146, 1.194, 1.265, 1.353, 1.474, 1.571, + 1.578, 1.506, 1.378, 1.281, 1.211, 1.156, 1.135, 1.134, 1.139, 1.158, 1.194, 1.251, 1.327, 1.427, 1.559, 1.611 + ], + "sigma": 0.00121, + "sigma_Cb": 0.00115 + } + }, + { + "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": 2360, + "ccm": + [ + 1.66078, -0.23588, -0.42491, + -0.47456, 1.82763, -0.35307, + -0.00545, -1.44729, 2.45273 + ] + }, + { + "ct": 2870, + "ccm": + [ + 1.78373, -0.55344, -0.23029, + -0.39951, 1.69701, -0.29751, + 0.01986, -1.06525, 2.04539 + ] + }, + { + "ct": 2970, + "ccm": + [ + 1.73511, -0.56973, -0.16537, + -0.36338, 1.69878, -0.33539, + -0.02354, -0.76813, 1.79168 + ] + }, + { + "ct": 3000, + "ccm": + [ + 2.06374, -0.92218, -0.14156, + -0.41721, 1.69289, -0.27568, + -0.00554, -0.92741, 1.93295 + ] + }, + { + "ct": 3700, + "ccm": + [ + 2.13792, -1.08136, -0.05655, + -0.34739, 1.58989, -0.24249, + -0.00349, -0.76789, 1.77138 + ] + }, + { + "ct": 3870, + "ccm": + [ + 1.83834, -0.70528, -0.13307, + -0.30499, 1.60523, -0.30024, + -0.05701, -0.58313, 1.64014 + ] + }, + { + "ct": 4000, + "ccm": + [ + 2.15741, -1.10295, -0.05447, + -0.34631, 1.61158, -0.26528, + -0.02723, -0.70288, 1.73011 + ] + }, + { + "ct": 4400, + "ccm": + [ + 2.05729, -0.95007, -0.10723, + -0.41712, 1.78606, -0.36894, + -0.11899, -0.55727, 1.67626 + ] + }, + { + "ct": 4715, + "ccm": + [ + 1.90255, -0.77478, -0.12777, + -0.31338, 1.88197, -0.56858, + -0.06001, -0.61785, 1.67786 + ] + }, + { + "ct": 5920, + "ccm": + [ + 1.98691, -0.84671, -0.14019, + -0.26581, 1.70615, -0.44035, + -0.09532, -0.47332, 1.56864 + ] + }, + { + "ct": 9050, + "ccm": + [ + 2.09255, -0.76541, -0.32714, + -0.28973, 2.27462, -0.98489, + -0.17299, -0.61275, 1.78574 + ] + } + ] + } + }, + { + "rpi.sharpen": { } + }, + { + "rpi.hdr": + { + "MultiExposureUnmerged": + { + "cadence": [ 1, 2 ], + "channel_map": + { + "short": 1, + "long": 2 + } + } + } + } + ] +} 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..9dc32eb1 --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx477_scientific.json @@ -0,0 +1,488 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 27242, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 830, + "reference_Y": 17755 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 2.767 + } + }, + { + "rpi.geq": + { + "offset": 204, + "slope": 0.01078 + } + }, + { + "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": + [ + 2000.0, 0.6331025775790707, 0.27424225990946915, + 2200.0, 0.5696117366212947, 0.3116091368689487, + 2400.0, 0.5204264653110015, 0.34892179554105873, + 2600.0, 0.48148675531667223, 0.38565229719076793, + 2800.0, 0.450085403501908, 0.42145684622485047, + 3000.0, 0.42436130159169017, 0.45611835670028816, + 3200.0, 0.40300023695527337, 0.48950766215198593, + 3400.0, 0.3850520052612984, 0.5215567075837261, + 3600.0, 0.36981508088230314, 0.5522397906415475, + 4100.0, 0.333468007836758, 0.5909770465167908, + 4600.0, 0.31196097364221376, 0.6515706327327178, + 5100.0, 0.2961860409294588, 0.7068178946570284, + 5600.0, 0.2842607232745885, 0.7564837749584288, + 6100.0, 0.2750265787051251, 0.8006183524920533, + 6600.0, 0.2677057225584924, 0.8398879225373039, + 7100.0, 0.2617955199757274, 0.8746456080032436, + 7600.0, 0.25693714288250125, 0.905569559506562, + 8100.0, 0.25287531441063316, 0.9331696750390895, + 8600.0, 0.24946601483331993, 0.9576820904825795 + ], + "sensitivity_r": 1.05, + "sensitivity_b": 1.05, + "transverse_pos": 0.0238, + "transverse_neg": 0.04429, + "coarse_step": 0.1 + } + }, + { + "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, 0.3, + 1000, 0.3 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.3, + 1000, 0.3 + ] + }, + { + "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.contrast": + { + "ce_enable": 0, + "gamma_curve": + [ + 0, 0, + 512, 2304, + 1024, 4608, + 1536, 6573, + 2048, 8401, + 2560, 9992, + 3072, 11418, + 3584, 12719, + 4096, 13922, + 4608, 15045, + 5120, 16103, + 5632, 17104, + 6144, 18056, + 6656, 18967, + 7168, 19839, + 7680, 20679, + 8192, 21488, + 9216, 23028, + 10240, 24477, + 11264, 25849, + 12288, 27154, + 13312, 28401, + 14336, 29597, + 15360, 30747, + 16384, 31856, + 17408, 32928, + 18432, 33966, + 19456, 34973, + 20480, 35952, + 22528, 37832, + 24576, 39621, + 26624, 41330, + 28672, 42969, + 30720, 44545, + 32768, 46065, + 34816, 47534, + 36864, 48956, + 38912, 50336, + 40960, 51677, + 43008, 52982, + 45056, 54253, + 47104, 55493, + 49152, 56704, + 51200, 57888, + 53248, 59046, + 55296, 60181, + 57344, 61292, + 59392, 62382, + 61440, 63452, + 63488, 64503, + 65535, 65535 + ] + } + }, + { + "rpi.ccm": + { + "ccms": [ + { + "ct": 2000, + "ccm": + [ + 1.5813882365848004, -0.35293683714581114, -0.27378771561617715, + -0.4347297185453639, 1.5792631087746074, -0.12102601986382337, + 0.2322290578987574, -1.4382672640468128, 2.1386425781770755 + ] + }, + { + "ct": 2200, + "ccm": + [ + 1.6322048484088305, -0.45932286857238486, -0.21373542690252198, + -0.3970719209901105, 1.5877868651467202, -0.17249380832122455, + 0.20753774825903412, -1.2660673594740142, 2.005654261091916 + ] + }, + { + "ct": 2400, + "ccm": + [ + 1.6766610071470398, -0.5447101051688111, -0.16838641107407676, + -0.3659845183388154, 1.592223692670396, -0.2127091997471162, + 0.1833964516767549, -1.1339155942419321, 1.9089342978542396 + ] + }, + { + "ct": 2600, + "ccm": + [ + 1.7161984340622154, -0.6152585785678794, -0.1331100845092582, + -0.33972082628066275, 1.5944888273736966, -0.2453979465898787, + 0.1615577497676328, -1.0298684958833109, 1.8357854177422053 + ] + }, + { + "ct": 2800, + "ccm": + [ + 1.7519307259815728, -0.6748682080165339, -0.10515169074540848, + -0.3171703484479931, 1.5955820297498486, -0.2727395854813966, + 0.14230870739974305, -0.9460976023551511, 1.778709391659538 + ] + }, + { + "ct": 3000, + "ccm": + [ + 1.7846716625128374, -0.7261240476375332, -0.08274697420358428, + -0.2975654035173307, 1.5960425637021738, -0.2961043416505157, + 0.12546426281675097, -0.8773434727076518, 1.7330356805246685 + ] + }, + { + "ct": 3200, + "ccm": + [ + 1.8150085872943436, -0.7708109672515514, -0.06469468211419174, + -0.2803468940646277, 1.596168842967451, -0.3164044170681625, + 0.11071494533513807, -0.8199772290209191, 1.69572135046367 + ] + }, + { + "ct": 3400, + "ccm": + [ + 1.8433668304932087, -0.8102060605062592, -0.05013485852801454, + -0.2650934036324084, 1.5961288492969294, -0.33427554893845535, + 0.0977478941863518, -0.7714303112098978, 1.6647070820146963 + ] + }, + { + "ct": 3600, + "ccm": + [ + 1.8700575831917468, -0.8452518300291346, -0.03842644337477299, + -0.2514794528347016, 1.5960178299141876, -0.3501774949366156, + 0.08628520830733245, -0.729841503339915, 1.638553343939267 + ] + }, + { + "ct": 4100, + "ccm": + [ + 1.8988700903560716, -0.8911278803351247, -0.018848644425650693, + -0.21487101487384094, 1.599236541382614, -0.39405450457918206, + 0.08251488056482173, -0.7178919368326191, 1.6267009056502704 + ] + }, + { + "ct": 4600, + "ccm": + [ + 1.960355191764125, -0.9624344812121991, -0.0017122408632169205, + -0.19444620905212898, 1.5978493736948447, -0.416727638296156, + 0.06310261513271084, -0.6483790952487849, 1.5834605477213093 + ] + }, + { + "ct": 5100, + "ccm": + [ + 2.014680536961399, -1.0195930302148566, 0.007728256612638915, + -0.17751999660735496, 1.5977081555831, -0.4366085498741474, + 0.04741267583041334, -0.5950327902073489, 1.5512919847321853 + ] + }, + { + "ct": 5600, + "ccm": + [ + 2.062652337917251, -1.0658386679125478, 0.011886354256281267, + -0.16319197721451495, 1.598363237584736, -0.45422061523742235, + 0.03465810928795378, -0.5535454108047286, 1.5269025836946852 + ] + }, + { + "ct": 6100, + "ccm": + [ + 2.104985902038069, -1.103597868736314, 0.012503517136539277, + -0.15090797064906178, 1.5994703078166095, -0.4698414300864995, + 0.02421766063474242, -0.5208922818196823, 1.5081270847783788 + ] + }, + { + "ct": 6600, + "ccm": + [ + 2.1424988751299714, -1.134760232367728, 0.010730356010435522, + -0.14021846798466234, 1.600822462230719, -0.48379204794526487, + 0.015521315410496622, -0.49463630325832275, 1.4933313534840327 + ] + }, + { + "ct": 7100, + "ccm": + [ + 2.1758034100130925, -1.1607558481037359, 0.007452724895469076, + -0.13085694672641826, 1.6022648614493245, -0.4962330524084075, + 0.008226943206113427, -0.4733077192319791, 1.4815336120437468 + ] + }, + { + "ct": 7600, + "ccm": + [ + 2.205529206931895, -1.1826662383072108, 0.0032019529917605167, + -0.122572009780486, 1.6037258133595753, -0.5073973734282445, + 0.0020132587619863425, -0.4556590236414181, 1.471939788496745 + ] + }, + { + "ct": 8100, + "ccm": + [ + 2.232224969223067, -1.2013672897252885, -0.0016234598095482985, + -0.11518026734442414, 1.6051544769439803, -0.5174558699422255, + -0.0033378143542219835, -0.4408590373867774, 1.4640252230667452 + ] + }, + { + "ct": 8600, + "ccm": + [ + 2.256082295891265, -1.2173210549996634, -0.0067231350481711675, + -0.10860272839843167, 1.6065150139140594, -0.5264728573611493, + -0.007952618707984149, -0.4284003574050791, 1.4574646927117558 + ] + } + ] + } + }, + { + "rpi.sharpen": { } + } + ] +}
\ No newline at end of file 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..55e4adc1 --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx477_v1.json @@ -0,0 +1,525 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 27242, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 830, + "reference_Y": 17755 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 2.767 + } + }, + { + "rpi.geq": + { + "offset": 204, + "slope": 0.01078 + } + }, + { + "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": + [ + 2360.0, 0.6009, 0.3093, + 2870.0, 0.5047, 0.3936, + 2970.0, 0.4782, 0.4221, + 3700.0, 0.4212, 0.4923, + 3870.0, 0.4037, 0.5166, + 4000.0, 0.3965, 0.5271, + 4400.0, 0.3703, 0.5666, + 4715.0, 0.3411, 0.6147, + 5920.0, 0.3108, 0.6687, + 9050.0, 0.2524, 0.7856 + ], + "sensitivity_r": 1.05, + "sensitivity_b": 1.05, + "transverse_pos": 0.0238, + "transverse_neg": 0.04429 + } + }, + { + "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, 0.3, + 1000, 0.3 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.3, + 1000, 0.3 + ] + }, + { + "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": 0.5, + "calibrations_Cr": [ + { + "ct": 2960, + "table": + [ + 2.088, 2.086, 2.082, 2.081, 2.077, 2.071, 2.068, 2.068, 2.072, 2.073, 2.075, 2.078, 2.084, 2.092, 2.095, 2.098, + 2.086, 2.084, 2.079, 2.078, 2.075, 2.068, 2.064, 2.063, 2.068, 2.071, 2.072, 2.075, 2.081, 2.089, 2.092, 2.094, + 2.083, 2.081, 2.077, 2.072, 2.069, 2.062, 2.059, 2.059, 2.063, 2.067, 2.069, 2.072, 2.079, 2.088, 2.089, 2.089, + 2.081, 2.077, 2.072, 2.068, 2.065, 2.058, 2.055, 2.054, 2.057, 2.062, 2.066, 2.069, 2.077, 2.084, 2.086, 2.086, + 2.078, 2.075, 2.069, 2.065, 2.061, 2.055, 2.052, 2.049, 2.051, 2.056, 2.062, 2.065, 2.072, 2.079, 2.081, 2.079, + 2.079, 2.075, 2.069, 2.064, 2.061, 2.053, 2.049, 2.046, 2.049, 2.051, 2.057, 2.062, 2.069, 2.075, 2.077, 2.075, + 2.082, 2.079, 2.072, 2.065, 2.061, 2.054, 2.049, 2.047, 2.049, 2.051, 2.056, 2.061, 2.066, 2.073, 2.073, 2.069, + 2.086, 2.082, 2.075, 2.068, 2.062, 2.054, 2.051, 2.049, 2.051, 2.052, 2.056, 2.061, 2.066, 2.073, 2.073, 2.072, + 2.088, 2.086, 2.079, 2.074, 2.066, 2.057, 2.051, 2.051, 2.054, 2.055, 2.056, 2.061, 2.067, 2.072, 2.073, 2.072, + 2.091, 2.087, 2.079, 2.075, 2.068, 2.057, 2.052, 2.052, 2.056, 2.055, 2.055, 2.059, 2.066, 2.072, 2.072, 2.072, + 2.093, 2.088, 2.081, 2.077, 2.069, 2.059, 2.054, 2.054, 2.057, 2.056, 2.056, 2.058, 2.066, 2.072, 2.073, 2.073, + 2.095, 2.091, 2.084, 2.078, 2.075, 2.067, 2.057, 2.057, 2.059, 2.059, 2.058, 2.059, 2.068, 2.073, 2.075, 2.078 + ] + }, + { + "ct": 4850, + "table": + [ + 2.973, 2.968, 2.956, 2.943, 2.941, 2.932, 2.923, 2.921, 2.924, 2.929, 2.931, 2.939, 2.953, 2.965, 2.966, 2.976, + 2.969, 2.962, 2.951, 2.941, 2.934, 2.928, 2.919, 2.918, 2.919, 2.923, 2.927, 2.933, 2.945, 2.957, 2.962, 2.962, + 2.964, 2.956, 2.944, 2.932, 2.929, 2.924, 2.915, 2.914, 2.915, 2.919, 2.924, 2.928, 2.941, 2.952, 2.958, 2.959, + 2.957, 2.951, 2.939, 2.928, 2.924, 2.919, 2.913, 2.911, 2.911, 2.915, 2.919, 2.925, 2.936, 2.947, 2.952, 2.953, + 2.954, 2.947, 2.935, 2.924, 2.919, 2.915, 2.908, 2.906, 2.906, 2.907, 2.914, 2.921, 2.932, 2.941, 2.943, 2.942, + 2.953, 2.946, 2.932, 2.921, 2.916, 2.911, 2.904, 2.902, 2.901, 2.904, 2.909, 2.919, 2.926, 2.937, 2.939, 2.939, + 2.953, 2.947, 2.932, 2.918, 2.915, 2.909, 2.903, 2.901, 2.901, 2.906, 2.911, 2.918, 2.924, 2.936, 2.936, 2.932, + 2.956, 2.948, 2.934, 2.919, 2.916, 2.908, 2.903, 2.901, 2.902, 2.907, 2.909, 2.917, 2.926, 2.936, 2.939, 2.939, + 2.957, 2.951, 2.936, 2.923, 2.917, 2.907, 2.904, 2.901, 2.902, 2.908, 2.911, 2.919, 2.929, 2.939, 2.942, 2.942, + 2.961, 2.951, 2.936, 2.922, 2.918, 2.906, 2.904, 2.901, 2.901, 2.907, 2.911, 2.921, 2.931, 2.941, 2.942, 2.944, + 2.964, 2.954, 2.936, 2.924, 2.918, 2.909, 2.905, 2.905, 2.905, 2.907, 2.912, 2.923, 2.933, 2.942, 2.944, 2.944, + 2.964, 2.958, 2.943, 2.927, 2.921, 2.914, 2.909, 2.907, 2.907, 2.912, 2.916, 2.928, 2.936, 2.944, 2.947, 2.952 + ] + }, + { + "ct": 5930, + "table": + [ + 3.312, 3.308, 3.301, 3.294, 3.288, 3.277, 3.268, 3.261, 3.259, 3.261, 3.267, 3.273, 3.285, 3.301, 3.303, 3.312, + 3.308, 3.304, 3.294, 3.291, 3.283, 3.271, 3.263, 3.259, 3.257, 3.258, 3.261, 3.268, 3.278, 3.293, 3.299, 3.299, + 3.302, 3.296, 3.288, 3.282, 3.276, 3.267, 3.259, 3.254, 3.252, 3.253, 3.256, 3.261, 3.273, 3.289, 3.292, 3.292, + 3.296, 3.289, 3.282, 3.276, 3.269, 3.263, 3.256, 3.251, 3.248, 3.249, 3.251, 3.257, 3.268, 3.279, 3.284, 3.284, + 3.292, 3.285, 3.279, 3.271, 3.264, 3.257, 3.249, 3.243, 3.241, 3.241, 3.246, 3.252, 3.261, 3.274, 3.275, 3.273, + 3.291, 3.285, 3.276, 3.268, 3.259, 3.251, 3.242, 3.239, 3.236, 3.238, 3.244, 3.248, 3.258, 3.268, 3.269, 3.265, + 3.294, 3.288, 3.275, 3.266, 3.257, 3.248, 3.239, 3.238, 3.237, 3.238, 3.243, 3.246, 3.255, 3.264, 3.264, 3.257, + 3.297, 3.293, 3.279, 3.268, 3.258, 3.249, 3.238, 3.237, 3.239, 3.239, 3.243, 3.245, 3.255, 3.264, 3.264, 3.263, + 3.301, 3.295, 3.281, 3.271, 3.259, 3.248, 3.237, 3.237, 3.239, 3.241, 3.243, 3.246, 3.257, 3.265, 3.266, 3.264, + 3.306, 3.295, 3.279, 3.271, 3.261, 3.247, 3.235, 3.234, 3.239, 3.239, 3.243, 3.247, 3.258, 3.265, 3.265, 3.264, + 3.308, 3.297, 3.279, 3.272, 3.261, 3.249, 3.239, 3.239, 3.241, 3.243, 3.245, 3.248, 3.261, 3.265, 3.266, 3.265, + 3.309, 3.301, 3.286, 3.276, 3.267, 3.256, 3.246, 3.242, 3.244, 3.244, 3.249, 3.253, 3.263, 3.267, 3.271, 3.274 + ] + } + ], + "calibrations_Cb": [ + { + "ct": 2960, + "table": + [ + 2.133, 2.134, 2.139, 2.143, 2.148, 2.155, 2.158, 2.158, 2.158, 2.161, 2.161, 2.162, 2.159, 2.156, 2.152, 2.151, + 2.132, 2.133, 2.135, 2.142, 2.147, 2.153, 2.158, 2.158, 2.158, 2.158, 2.159, 2.159, 2.157, 2.154, 2.151, 2.148, + 2.133, 2.133, 2.135, 2.142, 2.149, 2.154, 2.158, 2.158, 2.157, 2.156, 2.158, 2.157, 2.155, 2.153, 2.148, 2.146, + 2.133, 2.133, 2.138, 2.145, 2.149, 2.154, 2.158, 2.159, 2.158, 2.155, 2.157, 2.156, 2.153, 2.149, 2.146, 2.144, + 2.133, 2.134, 2.139, 2.146, 2.149, 2.154, 2.158, 2.159, 2.159, 2.156, 2.154, 2.154, 2.149, 2.145, 2.143, 2.139, + 2.135, 2.135, 2.139, 2.146, 2.151, 2.155, 2.158, 2.159, 2.158, 2.156, 2.153, 2.151, 2.146, 2.143, 2.139, 2.136, + 2.135, 2.135, 2.138, 2.145, 2.151, 2.154, 2.157, 2.158, 2.157, 2.156, 2.153, 2.151, 2.147, 2.143, 2.141, 2.137, + 2.135, 2.134, 2.135, 2.141, 2.149, 2.154, 2.157, 2.157, 2.157, 2.157, 2.157, 2.153, 2.149, 2.146, 2.142, 2.139, + 2.132, 2.133, 2.135, 2.139, 2.148, 2.153, 2.158, 2.159, 2.159, 2.161, 2.161, 2.157, 2.154, 2.149, 2.144, 2.141, + 2.132, 2.133, 2.135, 2.141, 2.149, 2.155, 2.161, 2.161, 2.162, 2.162, 2.163, 2.159, 2.154, 2.149, 2.144, 2.138, + 2.136, 2.136, 2.137, 2.143, 2.149, 2.156, 2.162, 2.163, 2.162, 2.163, 2.164, 2.161, 2.157, 2.152, 2.146, 2.138, + 2.137, 2.137, 2.141, 2.147, 2.152, 2.157, 2.162, 2.162, 2.159, 2.161, 2.162, 2.162, 2.157, 2.152, 2.148, 2.148 + ] + }, + { + "ct": 4850, + "table": + [ + 1.463, 1.464, 1.471, 1.478, 1.479, 1.483, 1.484, 1.486, 1.486, 1.484, 1.483, 1.481, 1.478, 1.475, 1.471, 1.468, + 1.463, 1.463, 1.468, 1.476, 1.479, 1.482, 1.484, 1.487, 1.486, 1.484, 1.483, 1.482, 1.478, 1.473, 1.469, 1.468, + 1.463, 1.464, 1.468, 1.476, 1.479, 1.483, 1.484, 1.486, 1.486, 1.485, 1.484, 1.482, 1.477, 1.473, 1.469, 1.468, + 1.463, 1.464, 1.469, 1.477, 1.481, 1.483, 1.485, 1.487, 1.487, 1.485, 1.485, 1.482, 1.478, 1.474, 1.469, 1.468, + 1.465, 1.465, 1.471, 1.478, 1.481, 1.484, 1.486, 1.488, 1.488, 1.487, 1.485, 1.482, 1.477, 1.472, 1.468, 1.467, + 1.465, 1.466, 1.472, 1.479, 1.482, 1.485, 1.486, 1.488, 1.488, 1.486, 1.484, 1.479, 1.475, 1.472, 1.468, 1.466, + 1.466, 1.466, 1.472, 1.478, 1.482, 1.484, 1.485, 1.488, 1.487, 1.485, 1.483, 1.479, 1.475, 1.472, 1.469, 1.468, + 1.465, 1.466, 1.469, 1.476, 1.481, 1.485, 1.485, 1.486, 1.486, 1.485, 1.483, 1.479, 1.477, 1.474, 1.471, 1.469, + 1.464, 1.465, 1.469, 1.476, 1.481, 1.484, 1.485, 1.487, 1.487, 1.486, 1.485, 1.481, 1.478, 1.475, 1.471, 1.469, + 1.463, 1.464, 1.469, 1.477, 1.481, 1.485, 1.485, 1.488, 1.488, 1.487, 1.486, 1.481, 1.478, 1.475, 1.471, 1.468, + 1.464, 1.465, 1.471, 1.478, 1.482, 1.486, 1.486, 1.488, 1.488, 1.487, 1.486, 1.481, 1.478, 1.475, 1.472, 1.468, + 1.465, 1.466, 1.472, 1.481, 1.483, 1.487, 1.487, 1.488, 1.488, 1.486, 1.485, 1.481, 1.479, 1.476, 1.473, 1.472 + ] + }, + { + "ct": 5930, + "table": + [ + 1.443, 1.444, 1.448, 1.453, 1.459, 1.463, 1.465, 1.467, 1.469, 1.469, 1.467, 1.466, 1.462, 1.457, 1.454, 1.451, + 1.443, 1.444, 1.445, 1.451, 1.459, 1.463, 1.465, 1.467, 1.469, 1.469, 1.467, 1.465, 1.461, 1.456, 1.452, 1.451, + 1.444, 1.444, 1.445, 1.451, 1.459, 1.463, 1.466, 1.468, 1.469, 1.469, 1.467, 1.465, 1.461, 1.456, 1.452, 1.449, + 1.444, 1.444, 1.447, 1.452, 1.459, 1.464, 1.467, 1.469, 1.471, 1.469, 1.467, 1.466, 1.461, 1.456, 1.452, 1.449, + 1.444, 1.445, 1.448, 1.452, 1.459, 1.465, 1.469, 1.471, 1.471, 1.471, 1.468, 1.465, 1.461, 1.455, 1.451, 1.449, + 1.445, 1.446, 1.449, 1.453, 1.461, 1.466, 1.469, 1.471, 1.472, 1.469, 1.467, 1.465, 1.459, 1.455, 1.451, 1.447, + 1.446, 1.446, 1.449, 1.453, 1.461, 1.466, 1.469, 1.469, 1.469, 1.469, 1.467, 1.465, 1.459, 1.455, 1.452, 1.449, + 1.446, 1.446, 1.447, 1.451, 1.459, 1.466, 1.469, 1.469, 1.469, 1.469, 1.467, 1.465, 1.461, 1.457, 1.454, 1.451, + 1.444, 1.444, 1.447, 1.451, 1.459, 1.466, 1.469, 1.469, 1.471, 1.471, 1.468, 1.466, 1.462, 1.458, 1.454, 1.452, + 1.444, 1.444, 1.448, 1.453, 1.459, 1.466, 1.469, 1.471, 1.472, 1.472, 1.468, 1.466, 1.462, 1.458, 1.454, 1.449, + 1.446, 1.447, 1.449, 1.454, 1.461, 1.466, 1.471, 1.471, 1.471, 1.471, 1.468, 1.466, 1.462, 1.459, 1.455, 1.449, + 1.447, 1.447, 1.452, 1.457, 1.462, 1.468, 1.472, 1.472, 1.471, 1.471, 1.468, 1.466, 1.462, 1.459, 1.456, 1.455 + ] + } + ], + "luminance_lut": + [ + 1.548, 1.499, 1.387, 1.289, 1.223, 1.183, 1.164, 1.154, 1.153, 1.169, 1.211, 1.265, 1.345, 1.448, 1.581, 1.619, + 1.513, 1.412, 1.307, 1.228, 1.169, 1.129, 1.105, 1.098, 1.103, 1.127, 1.157, 1.209, 1.272, 1.361, 1.481, 1.583, + 1.449, 1.365, 1.257, 1.175, 1.124, 1.085, 1.062, 1.054, 1.059, 1.079, 1.113, 1.151, 1.211, 1.293, 1.407, 1.488, + 1.424, 1.324, 1.222, 1.139, 1.089, 1.056, 1.034, 1.031, 1.034, 1.049, 1.075, 1.115, 1.164, 1.241, 1.351, 1.446, + 1.412, 1.297, 1.203, 1.119, 1.069, 1.039, 1.021, 1.016, 1.022, 1.032, 1.052, 1.086, 1.135, 1.212, 1.321, 1.439, + 1.406, 1.287, 1.195, 1.115, 1.059, 1.028, 1.014, 1.012, 1.015, 1.026, 1.041, 1.074, 1.125, 1.201, 1.302, 1.425, + 1.406, 1.294, 1.205, 1.126, 1.062, 1.031, 1.013, 1.009, 1.011, 1.019, 1.042, 1.079, 1.129, 1.203, 1.302, 1.435, + 1.415, 1.318, 1.229, 1.146, 1.076, 1.039, 1.019, 1.014, 1.017, 1.031, 1.053, 1.093, 1.144, 1.219, 1.314, 1.436, + 1.435, 1.348, 1.246, 1.164, 1.094, 1.059, 1.036, 1.032, 1.037, 1.049, 1.072, 1.114, 1.167, 1.257, 1.343, 1.462, + 1.471, 1.385, 1.278, 1.189, 1.124, 1.084, 1.064, 1.061, 1.069, 1.078, 1.101, 1.146, 1.207, 1.298, 1.415, 1.496, + 1.522, 1.436, 1.323, 1.228, 1.169, 1.118, 1.101, 1.094, 1.099, 1.113, 1.146, 1.194, 1.265, 1.353, 1.474, 1.571, + 1.578, 1.506, 1.378, 1.281, 1.211, 1.156, 1.135, 1.134, 1.139, 1.158, 1.194, 1.251, 1.327, 1.427, 1.559, 1.611 + ], + "sigma": 0.00121, + "sigma_Cb": 0.00115 + } + }, + { + "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": 2360, + "ccm": + [ + 1.66078, -0.23588, -0.42491, + -0.47456, 1.82763, -0.35307, + -0.00545, -1.44729, 2.45273 + ] + }, + { + "ct": 2870, + "ccm": + [ + 1.78373, -0.55344, -0.23029, + -0.39951, 1.69701, -0.29751, + 0.01986, -1.06525, 2.04539 + ] + }, + { + "ct": 2970, + "ccm": + [ + 1.73511, -0.56973, -0.16537, + -0.36338, 1.69878, -0.33539, + -0.02354, -0.76813, 1.79168 + ] + }, + { + "ct": 3000, + "ccm": + [ + 2.06374, -0.92218, -0.14156, + -0.41721, 1.69289, -0.27568, + -0.00554, -0.92741, 1.93295 + ] + }, + { + "ct": 3700, + "ccm": + [ + 2.13792, -1.08136, -0.05655, + -0.34739, 1.58989, -0.24249, + -0.00349, -0.76789, 1.77138 + ] + }, + { + "ct": 3870, + "ccm": + [ + 1.83834, -0.70528, -0.13307, + -0.30499, 1.60523, -0.30024, + -0.05701, -0.58313, 1.64014 + ] + }, + { + "ct": 4000, + "ccm": + [ + 2.15741, -1.10295, -0.05447, + -0.34631, 1.61158, -0.26528, + -0.02723, -0.70288, 1.73011 + ] + }, + { + "ct": 4400, + "ccm": + [ + 2.05729, -0.95007, -0.10723, + -0.41712, 1.78606, -0.36894, + -0.11899, -0.55727, 1.67626 + ] + }, + { + "ct": 4715, + "ccm": + [ + 1.90255, -0.77478, -0.12777, + -0.31338, 1.88197, -0.56858, + -0.06001, -0.61785, 1.67786 + ] + }, + { + "ct": 5920, + "ccm": + [ + 1.98691, -0.84671, -0.14019, + -0.26581, 1.70615, -0.44035, + -0.09532, -0.47332, 1.56864 + ] + }, + { + "ct": 9050, + "ccm": + [ + 2.09255, -0.76541, -0.32714, + -0.28973, 2.27462, -0.98489, + -0.17299, -0.61275, 1.78574 + ] + } + ] + } + }, + { + "rpi.sharpen": { } + } + ] +}
\ 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..ce194256 --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx519.json @@ -0,0 +1,427 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 13841, + "reference_gain": 2.0, + "reference_aperture": 1.0, + "reference_lux": 900, + "reference_Y": 12064 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 2.776 + } + }, + { + "rpi.geq": + { + "offset": 189, + "slope": 0.01495 + } + }, + { + "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": 7900 + }, + "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": 8000 + } + }, + "bayes": 1, + "ct_curve": + [ + 2890.0, 0.7328, 0.3734, + 3550.0, 0.6228, 0.4763, + 4500.0, 0.5208, 0.5825, + 5700.0, 0.4467, 0.6671, + 7900.0, 0.3858, 0.7411 + ], + "sensitivity_r": 1.0, + "sensitivity_b": 1.0, + "transverse_pos": 0.02027, + "transverse_neg": 0.01935 + } + }, + { + "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, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + } + }, + { + "rpi.alsc": + { + "omega": 1.3, + "n_iter": 100, + "luminance_strength": 0.5, + "calibrations_Cr": [ + { + "ct": 3000, + "table": + [ + 1.527, 1.521, 1.508, 1.493, 1.476, 1.455, 1.442, 1.441, 1.441, 1.441, 1.448, 1.467, 1.483, 1.494, 1.503, 1.504, + 1.525, 1.513, 1.496, 1.477, 1.461, 1.434, 1.418, 1.409, 1.409, 1.416, 1.429, 1.449, 1.469, 1.485, 1.495, 1.503, + 1.517, 1.506, 1.485, 1.461, 1.434, 1.412, 1.388, 1.376, 1.376, 1.386, 1.405, 1.429, 1.449, 1.471, 1.488, 1.495, + 1.512, 1.496, 1.471, 1.442, 1.412, 1.388, 1.361, 1.344, 1.344, 1.358, 1.384, 1.405, 1.431, 1.456, 1.479, 1.489, + 1.508, 1.488, 1.458, 1.425, 1.393, 1.361, 1.343, 1.322, 1.321, 1.342, 1.358, 1.385, 1.416, 1.445, 1.471, 1.484, + 1.507, 1.482, 1.453, 1.418, 1.382, 1.349, 1.322, 1.318, 1.318, 1.321, 1.345, 1.373, 1.405, 1.437, 1.465, 1.483, + 1.507, 1.482, 1.453, 1.418, 1.382, 1.349, 1.322, 1.313, 1.313, 1.321, 1.345, 1.373, 1.405, 1.437, 1.465, 1.483, + 1.507, 1.485, 1.455, 1.422, 1.387, 1.355, 1.333, 1.319, 1.321, 1.333, 1.351, 1.381, 1.411, 1.441, 1.467, 1.483, + 1.508, 1.489, 1.463, 1.432, 1.401, 1.372, 1.355, 1.333, 1.333, 1.351, 1.369, 1.393, 1.422, 1.448, 1.471, 1.484, + 1.511, 1.494, 1.472, 1.444, 1.416, 1.398, 1.372, 1.361, 1.361, 1.369, 1.393, 1.411, 1.436, 1.458, 1.477, 1.487, + 1.511, 1.496, 1.478, 1.455, 1.436, 1.416, 1.399, 1.391, 1.391, 1.397, 1.411, 1.429, 1.451, 1.466, 1.479, 1.487, + 1.511, 1.495, 1.478, 1.462, 1.448, 1.432, 1.419, 1.419, 1.419, 1.419, 1.429, 1.445, 1.459, 1.471, 1.482, 1.487 + ] + }, + { + "ct": 6000, + "table": + [ + 2.581, 2.573, 2.558, 2.539, 2.514, 2.487, 2.473, 2.471, 2.471, 2.471, 2.479, 2.499, 2.517, 2.532, 2.543, 2.544, + 2.575, 2.559, 2.539, 2.521, 2.491, 2.458, 2.435, 2.421, 2.421, 2.429, 2.449, 2.477, 2.499, 2.519, 2.534, 2.543, + 2.561, 2.549, 2.521, 2.491, 2.457, 2.423, 2.393, 2.375, 2.375, 2.387, 2.412, 2.444, 2.475, 2.499, 2.519, 2.532, + 2.552, 2.531, 2.498, 2.459, 2.423, 2.391, 2.349, 2.325, 2.325, 2.344, 2.374, 2.412, 2.444, 2.476, 2.505, 2.519, + 2.543, 2.518, 2.479, 2.435, 2.392, 2.349, 2.324, 2.285, 2.283, 2.313, 2.344, 2.374, 2.417, 2.457, 2.489, 2.506, + 2.541, 2.511, 2.469, 2.421, 2.372, 2.326, 2.284, 2.277, 2.279, 2.283, 2.313, 2.357, 2.401, 2.443, 2.479, 2.504, + 2.541, 2.511, 2.469, 2.421, 2.372, 2.326, 2.284, 2.267, 2.267, 2.281, 2.313, 2.357, 2.401, 2.443, 2.479, 2.504, + 2.541, 2.512, 2.472, 2.425, 2.381, 2.338, 2.302, 2.278, 2.279, 2.301, 2.324, 2.364, 2.407, 2.447, 2.481, 2.504, + 2.544, 2.519, 2.483, 2.441, 2.401, 2.363, 2.338, 2.302, 2.302, 2.324, 2.355, 2.385, 2.423, 2.459, 2.488, 2.506, + 2.549, 2.527, 2.497, 2.463, 2.427, 2.401, 2.363, 2.345, 2.345, 2.355, 2.385, 2.412, 2.444, 2.473, 2.497, 2.509, + 2.552, 2.532, 2.507, 2.481, 2.459, 2.427, 2.402, 2.389, 2.389, 2.394, 2.412, 2.444, 2.465, 2.481, 2.499, 2.511, + 2.553, 2.533, 2.508, 2.489, 2.475, 2.454, 2.429, 2.429, 2.429, 2.429, 2.439, 2.463, 2.481, 2.492, 2.504, 2.511 + ] + } + ], + "calibrations_Cb": [ + { + "ct": 3000, + "table": + [ + 3.132, 3.126, 3.116, 3.103, 3.097, 3.091, 3.087, 3.086, 3.088, 3.091, 3.092, 3.102, 3.113, 3.121, 3.141, 3.144, + 3.149, 3.132, 3.123, 3.108, 3.101, 3.096, 3.091, 3.089, 3.091, 3.092, 3.101, 3.107, 3.116, 3.129, 3.144, 3.153, + 3.161, 3.149, 3.129, 3.121, 3.108, 3.103, 3.101, 3.101, 3.101, 3.103, 3.107, 3.116, 3.125, 3.134, 3.153, 3.159, + 3.176, 3.161, 3.144, 3.129, 3.124, 3.121, 3.117, 3.118, 3.118, 3.119, 3.122, 3.125, 3.134, 3.146, 3.159, 3.171, + 3.183, 3.176, 3.157, 3.144, 3.143, 3.143, 3.139, 3.141, 3.141, 3.141, 3.141, 3.141, 3.146, 3.161, 3.171, 3.179, + 3.189, 3.183, 3.165, 3.157, 3.156, 3.157, 3.159, 3.163, 3.163, 3.163, 3.163, 3.161, 3.163, 3.169, 3.179, 3.187, + 3.199, 3.189, 3.171, 3.165, 3.164, 3.167, 3.171, 3.173, 3.173, 3.172, 3.171, 3.169, 3.169, 3.175, 3.187, 3.189, + 3.206, 3.196, 3.177, 3.171, 3.165, 3.167, 3.171, 3.173, 3.173, 3.172, 3.171, 3.171, 3.173, 3.177, 3.192, 3.194, + 3.209, 3.197, 3.178, 3.171, 3.164, 3.161, 3.159, 3.161, 3.162, 3.164, 3.167, 3.171, 3.173, 3.181, 3.193, 3.198, + 3.204, 3.194, 3.176, 3.165, 3.161, 3.156, 3.154, 3.154, 3.159, 3.161, 3.164, 3.168, 3.173, 3.182, 3.198, 3.199, + 3.199, 3.191, 3.176, 3.169, 3.161, 3.157, 3.153, 3.153, 3.156, 3.161, 3.164, 3.168, 3.173, 3.186, 3.196, 3.199, + 3.199, 3.188, 3.179, 3.173, 3.165, 3.157, 3.153, 3.154, 3.156, 3.159, 3.167, 3.171, 3.176, 3.185, 3.193, 3.198 + ] + }, + { + "ct": 6000, + "table": + [ + 1.579, 1.579, 1.577, 1.574, 1.573, 1.571, 1.571, 1.571, 1.571, 1.569, 1.569, 1.571, 1.572, 1.574, 1.577, 1.578, + 1.584, 1.579, 1.578, 1.575, 1.573, 1.572, 1.571, 1.572, 1.572, 1.571, 1.571, 1.572, 1.573, 1.576, 1.578, 1.579, + 1.587, 1.584, 1.579, 1.578, 1.575, 1.573, 1.573, 1.575, 1.575, 1.574, 1.573, 1.574, 1.576, 1.578, 1.581, 1.581, + 1.591, 1.587, 1.584, 1.579, 1.578, 1.579, 1.579, 1.581, 1.581, 1.581, 1.578, 1.577, 1.578, 1.581, 1.585, 1.586, + 1.595, 1.591, 1.587, 1.585, 1.585, 1.586, 1.587, 1.587, 1.588, 1.588, 1.585, 1.584, 1.584, 1.586, 1.589, 1.589, + 1.597, 1.595, 1.591, 1.589, 1.591, 1.593, 1.595, 1.596, 1.597, 1.597, 1.595, 1.594, 1.592, 1.592, 1.593, 1.593, + 1.601, 1.597, 1.593, 1.592, 1.593, 1.595, 1.598, 1.599, 1.602, 1.601, 1.598, 1.596, 1.595, 1.596, 1.595, 1.595, + 1.601, 1.599, 1.594, 1.593, 1.593, 1.595, 1.598, 1.599, 1.602, 1.601, 1.598, 1.597, 1.597, 1.597, 1.597, 1.597, + 1.602, 1.599, 1.594, 1.593, 1.592, 1.593, 1.595, 1.597, 1.597, 1.598, 1.598, 1.597, 1.597, 1.597, 1.598, 1.598, + 1.599, 1.598, 1.594, 1.592, 1.591, 1.591, 1.592, 1.595, 1.596, 1.597, 1.597, 1.597, 1.597, 1.599, 1.599, 1.599, + 1.598, 1.596, 1.594, 1.593, 1.592, 1.592, 1.592, 1.594, 1.595, 1.597, 1.597, 1.597, 1.598, 1.599, 1.599, 1.599, + 1.597, 1.595, 1.594, 1.594, 1.593, 1.592, 1.593, 1.595, 1.595, 1.597, 1.598, 1.598, 1.598, 1.599, 1.599, 1.599 + ] + } + ], + "luminance_lut": + [ + 2.887, 2.754, 2.381, 2.105, 1.859, 1.678, 1.625, 1.623, 1.623, 1.624, 1.669, 1.849, 2.092, 2.362, 2.723, 2.838, + 2.754, 2.443, 2.111, 1.905, 1.678, 1.542, 1.455, 1.412, 1.412, 1.452, 1.535, 1.665, 1.893, 2.096, 2.413, 2.723, + 2.443, 2.216, 1.911, 1.678, 1.537, 1.372, 1.288, 1.245, 1.245, 1.283, 1.363, 1.527, 1.665, 1.895, 2.193, 2.413, + 2.318, 2.057, 1.764, 1.541, 1.372, 1.282, 1.159, 1.113, 1.113, 1.151, 1.269, 1.363, 1.527, 1.749, 2.034, 2.278, + 2.259, 1.953, 1.671, 1.452, 1.283, 1.159, 1.107, 1.018, 1.017, 1.097, 1.151, 1.269, 1.437, 1.655, 1.931, 2.222, + 2.257, 1.902, 1.624, 1.408, 1.239, 1.111, 1.019, 1.011, 1.005, 1.014, 1.098, 1.227, 1.395, 1.608, 1.883, 2.222, + 2.257, 1.902, 1.624, 1.408, 1.239, 1.111, 1.016, 1.001, 1.001, 1.007, 1.098, 1.227, 1.395, 1.608, 1.883, 2.222, + 2.257, 1.946, 1.666, 1.448, 1.281, 1.153, 1.093, 1.013, 1.008, 1.089, 1.143, 1.269, 1.437, 1.654, 1.934, 2.226, + 2.309, 2.044, 1.756, 1.532, 1.363, 1.259, 1.153, 1.093, 1.093, 1.143, 1.264, 1.354, 1.524, 1.746, 2.035, 2.284, + 2.425, 2.201, 1.896, 1.662, 1.519, 1.363, 1.259, 1.214, 1.214, 1.264, 1.354, 1.519, 1.655, 1.888, 2.191, 2.413, + 2.724, 2.417, 2.091, 1.888, 1.662, 1.519, 1.419, 1.373, 1.373, 1.425, 1.521, 1.655, 1.885, 2.089, 2.409, 2.722, + 2.858, 2.724, 2.356, 2.085, 1.842, 1.658, 1.581, 1.577, 1.577, 1.579, 1.653, 1.838, 2.084, 2.359, 2.722, 2.842 + ], + "sigma": 0.00372, + "sigma_Cb": 0.00244 + } + }, + { + "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": 2890, + "ccm": + [ + 1.36754, -0.18448, -0.18306, + -0.32356, 1.44826, -0.12471, + -0.00412, -0.69936, 1.70348 + ] + }, + { + "ct": 2920, + "ccm": + [ + 1.26704, 0.01624, -0.28328, + -0.28516, 1.38934, -0.10419, + -0.04854, -0.82211, 1.87066 + ] + }, + { + "ct": 3550, + "ccm": + [ + 1.42836, -0.27235, -0.15601, + -0.28751, 1.41075, -0.12325, + -0.01812, -0.54849, 1.56661 + ] + }, + { + "ct": 4500, + "ccm": + [ + 1.36328, -0.19569, -0.16759, + -0.25254, 1.52248, -0.26994, + -0.01575, -0.53155, 1.54729 + ] + }, + { + "ct": 5700, + "ccm": + [ + 1.49207, -0.37245, -0.11963, + -0.21493, 1.40005, -0.18512, + -0.03781, -0.38779, 1.42561 + ] + }, + { + "ct": 7900, + "ccm": + [ + 1.34849, -0.05425, -0.29424, + -0.22182, 1.77684, -0.55502, + -0.07403, -0.55336, 1.62739 + ] + } + ] + } + }, + { + "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..4de6f079 --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx708.json @@ -0,0 +1,671 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 10672, + "reference_gain": 1.12, + "reference_aperture": 1.0, + "reference_lux": 977, + "reference_Y": 8627 + } + }, + { + "rpi.noise": + { + "reference_constant": 16.0, + "reference_slope": 4.0 + } + }, + { + "rpi.geq": + { + "offset": 215, + "slope": 0.00287 + } + }, + { + "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, 0.8733, 0.2606, + 2821.0, 0.7707, 0.3245, + 2925.0, 0.7338, 0.3499, + 2926.0, 0.7193, 0.3603, + 2951.0, 0.7144, 0.3639, + 2954.0, 0.7111, 0.3663, + 3578.0, 0.6038, 0.4516, + 3717.0, 0.5861, 0.4669, + 3784.0, 0.5786, 0.4737, + 4485.0, 0.5113, 0.5368, + 4615.0, 0.4994, 0.5486, + 4671.0, 0.4927, 0.5554, + 5753.0, 0.4274, 0.6246, + 5773.0, 0.4265, 0.6256, + 7433.0, 0.3723, 0.6881 + ], + "sensitivity_r": 1.05, + "sensitivity_b": 1.05, + "transverse_pos": 0.03148, + "transverse_neg": 0.03061 + } + }, + { + "rpi.agc": + { + "channels": [ + { + "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, 15000, 30000, 60000, 120000 ], + "gain": [ 1.0, 1.0, 2.0, 4.0, 6.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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, 0.2, + 1000, 0.2 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.2, + 1000, 0.2 + ] + }, + { + "bound": "UPPER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.8, + 1000, 0.8 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ], + "startup_frames": 5, + "convergence_frames": 6, + "speed": 0.15 + }, + { + "base_ev": 0.125, + "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, 15000, 30000, 60000, 120000 ], + "gain": [ 1.0, 1.0, 2.0, 4.0, 6.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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, 0.2, + 1000, 0.2 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.2, + 1000, 0.2 + ] + }, + { + "bound": "UPPER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.8, + 1000, 0.8 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ], + "startup_frames": 5, + "convergence_frames": 6, + "speed": 0.15 + }, + { + "base_ev": 1.5, + "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, 15000, 30000, 60000, 120000 ], + "gain": [ 1.0, 1.0, 2.0, 4.0, 6.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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, 0.2, + 1000, 0.2 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.2, + 1000, 0.2 + ] + }, + { + "bound": "UPPER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.8, + 1000, 0.8 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ], + "startup_frames": 5, + "convergence_frames": 6, + "speed": 0.15 + } + ] + } + }, + { + "rpi.alsc": + { + "omega": 1.3, + "n_iter": 100, + "luminance_strength": 0.5, + "calibrations_Cr": [ + { + "ct": 3000, + "table": + [ + 1.562, 1.566, 1.566, 1.556, 1.533, 1.506, 1.475, 1.475, 1.475, 1.475, 1.506, 1.533, 1.555, 1.563, 1.562, 1.555, + 1.563, 1.564, 1.561, 1.538, 1.508, 1.482, 1.449, 1.436, 1.436, 1.449, 1.481, 1.508, 1.537, 1.557, 1.558, 1.557, + 1.564, 1.563, 1.554, 1.522, 1.482, 1.449, 1.421, 1.403, 1.403, 1.419, 1.449, 1.481, 1.519, 1.549, 1.557, 1.559, + 1.564, 1.563, 1.545, 1.506, 1.462, 1.421, 1.403, 1.378, 1.378, 1.402, 1.419, 1.459, 1.503, 1.541, 1.557, 1.559, + 1.564, 1.562, 1.537, 1.494, 1.447, 1.404, 1.378, 1.364, 1.364, 1.377, 1.402, 1.444, 1.491, 1.532, 1.556, 1.559, + 1.564, 1.559, 1.532, 1.487, 1.438, 1.395, 1.365, 1.359, 1.359, 1.364, 1.393, 1.436, 1.484, 1.527, 1.555, 1.558, + 1.564, 1.559, 1.532, 1.487, 1.438, 1.395, 1.365, 1.356, 1.356, 1.364, 1.393, 1.436, 1.484, 1.527, 1.554, 1.557, + 1.564, 1.561, 1.536, 1.492, 1.444, 1.402, 1.374, 1.364, 1.363, 1.373, 1.401, 1.442, 1.489, 1.531, 1.554, 1.557, + 1.564, 1.563, 1.544, 1.504, 1.458, 1.418, 1.397, 1.374, 1.374, 1.395, 1.416, 1.456, 1.501, 1.538, 1.556, 1.557, + 1.564, 1.562, 1.551, 1.518, 1.477, 1.441, 1.418, 1.397, 1.397, 1.416, 1.438, 1.474, 1.514, 1.546, 1.556, 1.556, + 1.562, 1.562, 1.558, 1.534, 1.499, 1.476, 1.441, 1.426, 1.426, 1.438, 1.473, 1.496, 1.531, 1.552, 1.556, 1.555, + 1.561, 1.564, 1.564, 1.552, 1.525, 1.497, 1.466, 1.461, 1.461, 1.464, 1.495, 1.523, 1.548, 1.556, 1.556, 1.552 + ] + }, + { + "ct": 5000, + "table": + [ + 2.609, 2.616, 2.617, 2.607, 2.573, 2.527, 2.483, 2.481, 2.481, 2.483, 2.529, 2.573, 2.604, 2.613, 2.613, 2.604, + 2.609, 2.615, 2.608, 2.576, 2.533, 2.489, 2.439, 2.418, 2.418, 2.439, 2.491, 2.532, 2.577, 2.605, 2.609, 2.607, + 2.611, 2.611, 2.597, 2.551, 2.489, 2.439, 2.391, 2.364, 2.364, 2.391, 2.439, 2.491, 2.551, 2.592, 2.607, 2.609, + 2.612, 2.608, 2.583, 2.526, 2.457, 2.391, 2.362, 2.318, 2.318, 2.362, 2.391, 2.458, 2.526, 2.581, 2.607, 2.611, + 2.612, 2.604, 2.571, 2.507, 2.435, 2.362, 2.317, 2.293, 2.294, 2.318, 2.363, 2.434, 2.508, 2.568, 2.604, 2.612, + 2.611, 2.602, 2.564, 2.496, 2.419, 2.349, 2.293, 2.284, 2.284, 2.294, 2.347, 2.421, 2.497, 2.562, 2.603, 2.611, + 2.609, 2.601, 2.564, 2.496, 2.419, 2.349, 2.293, 2.278, 2.278, 2.294, 2.347, 2.421, 2.497, 2.562, 2.602, 2.609, + 2.609, 2.602, 2.568, 2.503, 2.429, 2.361, 2.311, 2.292, 2.292, 2.309, 2.357, 2.429, 2.504, 2.567, 2.602, 2.609, + 2.606, 2.604, 2.579, 2.519, 2.449, 2.384, 2.348, 2.311, 2.311, 2.346, 2.383, 2.449, 2.521, 2.577, 2.604, 2.608, + 2.604, 2.603, 2.586, 2.537, 2.474, 2.418, 2.384, 2.348, 2.348, 2.383, 2.417, 2.476, 2.538, 2.586, 2.601, 2.603, + 2.603, 2.605, 2.596, 2.561, 2.508, 2.474, 2.418, 2.396, 2.396, 2.417, 2.474, 2.511, 2.562, 2.596, 2.603, 2.602, + 2.601, 2.607, 2.606, 2.589, 2.549, 2.507, 2.456, 2.454, 2.454, 2.458, 2.508, 2.554, 2.594, 2.605, 2.605, 2.602 + ] + } + ], + "calibrations_Cb": [ + { + "ct": 3000, + "table": + [ + 3.221, 3.226, 3.231, 3.236, 3.239, 3.243, 3.245, 3.247, 3.249, 3.253, 3.255, 3.254, 3.253, 3.242, 3.235, 3.226, + 3.225, 3.231, 3.235, 3.238, 3.241, 3.244, 3.246, 3.247, 3.249, 3.254, 3.256, 3.255, 3.252, 3.248, 3.241, 3.232, + 3.226, 3.234, 3.239, 3.243, 3.243, 3.245, 3.247, 3.248, 3.251, 3.255, 3.256, 3.256, 3.254, 3.249, 3.244, 3.236, + 3.232, 3.238, 3.245, 3.245, 3.246, 3.247, 3.248, 3.251, 3.251, 3.256, 3.257, 3.257, 3.256, 3.254, 3.249, 3.239, + 3.232, 3.243, 3.246, 3.246, 3.246, 3.247, 3.248, 3.251, 3.253, 3.257, 3.258, 3.258, 3.257, 3.256, 3.254, 3.239, + 3.232, 3.242, 3.246, 3.247, 3.246, 3.246, 3.248, 3.251, 3.252, 3.253, 3.256, 3.255, 3.255, 3.254, 3.251, 3.239, + 3.233, 3.241, 3.244, 3.245, 3.244, 3.245, 3.246, 3.249, 3.251, 3.252, 3.253, 3.252, 3.252, 3.252, 3.249, 3.238, + 3.238, 3.241, 3.246, 3.246, 3.245, 3.245, 3.247, 3.249, 3.251, 3.252, 3.253, 3.253, 3.252, 3.252, 3.249, 3.239, + 3.235, 3.241, 3.245, 3.245, 3.245, 3.245, 3.246, 3.247, 3.251, 3.254, 3.253, 3.255, 3.256, 3.255, 3.251, 3.241, + 3.226, 3.235, 3.241, 3.241, 3.241, 3.241, 3.243, 3.245, 3.246, 3.252, 3.253, 3.254, 3.256, 3.254, 3.241, 3.237, + 3.205, 3.213, 3.213, 3.214, 3.214, 3.214, 3.214, 3.213, 3.213, 3.216, 3.218, 3.216, 3.214, 3.213, 3.211, 3.208, + 3.205, 3.205, 3.212, 3.212, 3.212, 3.213, 3.211, 3.211, 3.211, 3.213, 3.216, 3.214, 3.213, 3.211, 3.208, 3.196 + ] + }, + { + "ct": 5000, + "table": + [ + 1.645, 1.646, 1.649, 1.653, 1.654, 1.657, 1.659, 1.661, 1.663, 1.662, 1.661, 1.659, 1.656, 1.651, 1.645, 1.642, + 1.646, 1.649, 1.652, 1.654, 1.656, 1.659, 1.662, 1.663, 1.664, 1.664, 1.662, 1.661, 1.657, 1.653, 1.649, 1.644, + 1.648, 1.652, 1.654, 1.656, 1.658, 1.662, 1.665, 1.668, 1.668, 1.668, 1.665, 1.662, 1.658, 1.655, 1.652, 1.646, + 1.649, 1.653, 1.656, 1.658, 1.661, 1.665, 1.667, 1.671, 1.673, 1.671, 1.668, 1.663, 1.659, 1.656, 1.654, 1.647, + 1.649, 1.655, 1.657, 1.659, 1.661, 1.666, 1.671, 1.674, 1.675, 1.673, 1.671, 1.664, 1.659, 1.656, 1.654, 1.648, + 1.649, 1.654, 1.656, 1.659, 1.661, 1.666, 1.673, 1.676, 1.676, 1.675, 1.671, 1.664, 1.659, 1.656, 1.654, 1.648, + 1.649, 1.654, 1.656, 1.658, 1.659, 1.665, 1.672, 1.675, 1.675, 1.674, 1.668, 1.662, 1.658, 1.655, 1.654, 1.646, + 1.652, 1.655, 1.657, 1.659, 1.661, 1.665, 1.671, 1.673, 1.673, 1.672, 1.668, 1.662, 1.658, 1.655, 1.654, 1.647, + 1.652, 1.655, 1.657, 1.659, 1.661, 1.664, 1.667, 1.671, 1.672, 1.668, 1.666, 1.662, 1.659, 1.656, 1.654, 1.647, + 1.647, 1.652, 1.655, 1.656, 1.657, 1.661, 1.664, 1.665, 1.665, 1.665, 1.663, 1.661, 1.657, 1.655, 1.647, 1.647, + 1.639, 1.642, 1.644, 1.645, 1.646, 1.648, 1.648, 1.648, 1.649, 1.649, 1.649, 1.646, 1.645, 1.642, 1.639, 1.636, + 1.639, 1.641, 1.642, 1.644, 1.645, 1.646, 1.647, 1.647, 1.648, 1.648, 1.647, 1.645, 1.642, 1.639, 1.636, 1.633 + ] + } + ], + "luminance_lut": + [ + 2.644, 2.396, 2.077, 1.863, 1.682, 1.535, 1.392, 1.382, 1.382, 1.382, 1.515, 1.657, 1.826, 2.035, 2.351, 2.604, + 2.497, 2.229, 1.947, 1.733, 1.539, 1.424, 1.296, 1.249, 1.249, 1.285, 1.401, 1.519, 1.699, 1.908, 2.183, 2.456, + 2.389, 2.109, 1.848, 1.622, 1.424, 1.296, 1.201, 1.146, 1.146, 1.188, 1.285, 1.401, 1.591, 1.811, 2.065, 2.347, + 2.317, 2.026, 1.771, 1.535, 1.339, 1.201, 1.145, 1.069, 1.069, 1.134, 1.188, 1.318, 1.505, 1.734, 1.983, 2.273, + 2.276, 1.972, 1.715, 1.474, 1.281, 1.148, 1.069, 1.033, 1.024, 1.065, 1.134, 1.262, 1.446, 1.679, 1.929, 2.233, + 2.268, 1.941, 1.682, 1.441, 1.251, 1.119, 1.033, 1.013, 1.013, 1.024, 1.105, 1.231, 1.415, 1.649, 1.898, 2.227, + 2.268, 1.941, 1.682, 1.441, 1.251, 1.119, 1.033, 1.001, 1.001, 1.024, 1.105, 1.231, 1.415, 1.649, 1.898, 2.227, + 2.268, 1.951, 1.694, 1.456, 1.265, 1.131, 1.044, 1.026, 1.019, 1.039, 1.118, 1.246, 1.429, 1.663, 1.912, 2.227, + 2.291, 1.992, 1.738, 1.505, 1.311, 1.175, 1.108, 1.044, 1.041, 1.106, 1.161, 1.292, 1.478, 1.707, 1.955, 2.252, + 2.347, 2.058, 1.803, 1.581, 1.384, 1.245, 1.175, 1.108, 1.108, 1.161, 1.239, 1.364, 1.551, 1.773, 2.023, 2.311, + 2.438, 2.156, 1.884, 1.674, 1.484, 1.373, 1.245, 1.199, 1.199, 1.239, 1.363, 1.463, 1.647, 1.858, 2.123, 2.406, + 2.563, 2.305, 1.998, 1.792, 1.615, 1.472, 1.339, 1.322, 1.322, 1.326, 1.456, 1.593, 1.767, 1.973, 2.273, 2.532 + ], + "sigma": 0.00178, + "sigma_Cb": 0.00217 + } + }, + { + "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": 2964, + "ccm": + [ + 1.72129, -0.45961, -0.26169, + -0.30042, 1.56924, -0.26882, + 0.15133, -1.13293, 1.98161 + ] + }, + { + "ct": 3610, + "ccm": + [ + 1.54474, -0.35082, -0.19391, + -0.36989, 1.67926, -0.30936, + -0.00524, -0.55197, 1.55722 + ] + }, + { + "ct": 4640, + "ccm": + [ + 1.52972, -0.35168, -0.17804, + -0.28309, 1.67098, -0.38788, + 0.01695, -0.57209, 1.55515 + ] + }, + { + "ct": 5910, + "ccm": + [ + 1.56879, -0.42159, -0.14719, + -0.27275, 1.59354, -0.32079, + -0.02862, -0.40662, 1.43525 + ] + }, + { + "ct": 7590, + "ccm": + [ + 1.41424, -0.21092, -0.20332, + -0.17646, 1.71734, -0.54087, + 0.01297, -0.63111, 1.61814 + ] + } + ] + } + }, + { + "rpi.sharpen": { } + }, + { + "rpi.af": + { + "ranges": + { + "normal": + { + "min": 0.0, + "max": 12.0, + "default": 1.0 + }, + "macro": + { + "min": 3.0, + "max": 15.0, + "default": 4.0 + } + }, + "speeds": + { + "normal": + { + "step_coarse": 1.0, + "step_fine": 0.25, + "contrast_ratio": 0.75, + "pdaf_gain": -0.02, + "pdaf_squelch": 0.125, + "max_slew": 2.0, + "pdaf_frames": 20, + "dropout_frames": 6, + "step_frames": 4 + } + }, + "conf_epsilon": 8, + "conf_thresh": 16, + "conf_clip": 512, + "skip_frames": 5, + "map": [ 0.0, 445, 15.0, 925 ] + } + }, + { + "rpi.hdr": + { + "MultiExposureUnmerged": + { + "cadence": [ 1, 2 ], + "channel_map": + { + "short": 1, + "long": 2 + } + } + } + } + ] +}
\ No newline at end of file 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..7b7ee874 --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx708_noir.json @@ -0,0 +1,770 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 10672, + "reference_gain": 1.12, + "reference_aperture": 1.0, + "reference_lux": 977, + "reference_Y": 8627 + } + }, + { + "rpi.noise": + { + "reference_constant": 16.0, + "reference_slope": 4.0 + } + }, + { + "rpi.geq": + { + "offset": 215, + "slope": 0.00287 + } + }, + { + "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": 0, + "ct_curve": + [ + 2498.0, 0.8733, 0.2606, + 2821.0, 0.7707, 0.3245, + 2925.0, 0.7338, 0.3499, + 2926.0, 0.7193, 0.3603, + 2951.0, 0.7144, 0.3639, + 2954.0, 0.7111, 0.3663, + 3578.0, 0.6038, 0.4516, + 3717.0, 0.5861, 0.4669, + 3784.0, 0.5786, 0.4737, + 4485.0, 0.5113, 0.5368, + 4615.0, 0.4994, 0.5486, + 4671.0, 0.4927, 0.5554, + 5753.0, 0.4274, 0.6246, + 5773.0, 0.4265, 0.6256, + 7433.0, 0.3723, 0.6881 + ], + "sensitivity_r": 1.05, + "sensitivity_b": 1.05, + "transverse_pos": 0.03148, + "transverse_neg": 0.03061 + } + }, + { + "rpi.agc": + { + "channels": [ + { + "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, 15000, 30000, 60000, 120000 ], + "gain": [ 1.0, 1.0, 2.0, 4.0, 6.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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, 0.2, + 1000, 0.2 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.2, + 1000, 0.2 + ] + }, + { + "bound": "UPPER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.8, + 1000, 0.8 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ], + "startup_frames": 5, + "convergence_frames": 6, + "speed": 0.15 + }, + { + "base_ev": 0.125, + "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, 15000, 30000, 60000, 120000 ], + "gain": [ 1.0, 1.0, 2.0, 4.0, 6.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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, 0.2, + 1000, 0.2 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.2, + 1000, 0.2 + ] + }, + { + "bound": "UPPER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.8, + 1000, 0.8 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ], + "startup_frames": 5, + "convergence_frames": 6, + "speed": 0.15 + }, + { + "base_ev": 1.5, + "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, 15000, 30000, 60000, 120000 ], + "gain": [ 1.0, 1.0, 2.0, 4.0, 6.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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, 0.2, + 1000, 0.2 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.2, + 1000, 0.2 + ] + }, + { + "bound": "UPPER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.8, + 1000, 0.8 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ], + "startup_frames": 5, + "convergence_frames": 6, + "speed": 0.15 + } + ] + } + }, + { + "rpi.alsc": + { + "omega": 1.3, + "n_iter": 100, + "luminance_strength": 0.5, + "calibrations_Cr": [ + { + "ct": 3000, + "table": + [ + 1.562, 1.566, 1.566, 1.556, 1.533, 1.506, 1.475, 1.475, 1.475, 1.475, 1.506, 1.533, 1.555, 1.563, 1.562, 1.555, + 1.563, 1.564, 1.561, 1.538, 1.508, 1.482, 1.449, 1.436, 1.436, 1.449, 1.481, 1.508, 1.537, 1.557, 1.558, 1.557, + 1.564, 1.563, 1.554, 1.522, 1.482, 1.449, 1.421, 1.403, 1.403, 1.419, 1.449, 1.481, 1.519, 1.549, 1.557, 1.559, + 1.564, 1.563, 1.545, 1.506, 1.462, 1.421, 1.403, 1.378, 1.378, 1.402, 1.419, 1.459, 1.503, 1.541, 1.557, 1.559, + 1.564, 1.562, 1.537, 1.494, 1.447, 1.404, 1.378, 1.364, 1.364, 1.377, 1.402, 1.444, 1.491, 1.532, 1.556, 1.559, + 1.564, 1.559, 1.532, 1.487, 1.438, 1.395, 1.365, 1.359, 1.359, 1.364, 1.393, 1.436, 1.484, 1.527, 1.555, 1.558, + 1.564, 1.559, 1.532, 1.487, 1.438, 1.395, 1.365, 1.356, 1.356, 1.364, 1.393, 1.436, 1.484, 1.527, 1.554, 1.557, + 1.564, 1.561, 1.536, 1.492, 1.444, 1.402, 1.374, 1.364, 1.363, 1.373, 1.401, 1.442, 1.489, 1.531, 1.554, 1.557, + 1.564, 1.563, 1.544, 1.504, 1.458, 1.418, 1.397, 1.374, 1.374, 1.395, 1.416, 1.456, 1.501, 1.538, 1.556, 1.557, + 1.564, 1.562, 1.551, 1.518, 1.477, 1.441, 1.418, 1.397, 1.397, 1.416, 1.438, 1.474, 1.514, 1.546, 1.556, 1.556, + 1.562, 1.562, 1.558, 1.534, 1.499, 1.476, 1.441, 1.426, 1.426, 1.438, 1.473, 1.496, 1.531, 1.552, 1.556, 1.555, + 1.561, 1.564, 1.564, 1.552, 1.525, 1.497, 1.466, 1.461, 1.461, 1.464, 1.495, 1.523, 1.548, 1.556, 1.556, 1.552 + ] + }, + { + "ct": 5000, + "table": + [ + 2.609, 2.616, 2.617, 2.607, 2.573, 2.527, 2.483, 2.481, 2.481, 2.483, 2.529, 2.573, 2.604, 2.613, 2.613, 2.604, + 2.609, 2.615, 2.608, 2.576, 2.533, 2.489, 2.439, 2.418, 2.418, 2.439, 2.491, 2.532, 2.577, 2.605, 2.609, 2.607, + 2.611, 2.611, 2.597, 2.551, 2.489, 2.439, 2.391, 2.364, 2.364, 2.391, 2.439, 2.491, 2.551, 2.592, 2.607, 2.609, + 2.612, 2.608, 2.583, 2.526, 2.457, 2.391, 2.362, 2.318, 2.318, 2.362, 2.391, 2.458, 2.526, 2.581, 2.607, 2.611, + 2.612, 2.604, 2.571, 2.507, 2.435, 2.362, 2.317, 2.293, 2.294, 2.318, 2.363, 2.434, 2.508, 2.568, 2.604, 2.612, + 2.611, 2.602, 2.564, 2.496, 2.419, 2.349, 2.293, 2.284, 2.284, 2.294, 2.347, 2.421, 2.497, 2.562, 2.603, 2.611, + 2.609, 2.601, 2.564, 2.496, 2.419, 2.349, 2.293, 2.278, 2.278, 2.294, 2.347, 2.421, 2.497, 2.562, 2.602, 2.609, + 2.609, 2.602, 2.568, 2.503, 2.429, 2.361, 2.311, 2.292, 2.292, 2.309, 2.357, 2.429, 2.504, 2.567, 2.602, 2.609, + 2.606, 2.604, 2.579, 2.519, 2.449, 2.384, 2.348, 2.311, 2.311, 2.346, 2.383, 2.449, 2.521, 2.577, 2.604, 2.608, + 2.604, 2.603, 2.586, 2.537, 2.474, 2.418, 2.384, 2.348, 2.348, 2.383, 2.417, 2.476, 2.538, 2.586, 2.601, 2.603, + 2.603, 2.605, 2.596, 2.561, 2.508, 2.474, 2.418, 2.396, 2.396, 2.417, 2.474, 2.511, 2.562, 2.596, 2.603, 2.602, + 2.601, 2.607, 2.606, 2.589, 2.549, 2.507, 2.456, 2.454, 2.454, 2.458, 2.508, 2.554, 2.594, 2.605, 2.605, 2.602 + ] + } + ], + "calibrations_Cb": [ + { + "ct": 3000, + "table": + [ + 3.221, 3.226, 3.231, 3.236, 3.239, 3.243, 3.245, 3.247, 3.249, 3.253, 3.255, 3.254, 3.253, 3.242, 3.235, 3.226, + 3.225, 3.231, 3.235, 3.238, 3.241, 3.244, 3.246, 3.247, 3.249, 3.254, 3.256, 3.255, 3.252, 3.248, 3.241, 3.232, + 3.226, 3.234, 3.239, 3.243, 3.243, 3.245, 3.247, 3.248, 3.251, 3.255, 3.256, 3.256, 3.254, 3.249, 3.244, 3.236, + 3.232, 3.238, 3.245, 3.245, 3.246, 3.247, 3.248, 3.251, 3.251, 3.256, 3.257, 3.257, 3.256, 3.254, 3.249, 3.239, + 3.232, 3.243, 3.246, 3.246, 3.246, 3.247, 3.248, 3.251, 3.253, 3.257, 3.258, 3.258, 3.257, 3.256, 3.254, 3.239, + 3.232, 3.242, 3.246, 3.247, 3.246, 3.246, 3.248, 3.251, 3.252, 3.253, 3.256, 3.255, 3.255, 3.254, 3.251, 3.239, + 3.233, 3.241, 3.244, 3.245, 3.244, 3.245, 3.246, 3.249, 3.251, 3.252, 3.253, 3.252, 3.252, 3.252, 3.249, 3.238, + 3.238, 3.241, 3.246, 3.246, 3.245, 3.245, 3.247, 3.249, 3.251, 3.252, 3.253, 3.253, 3.252, 3.252, 3.249, 3.239, + 3.235, 3.241, 3.245, 3.245, 3.245, 3.245, 3.246, 3.247, 3.251, 3.254, 3.253, 3.255, 3.256, 3.255, 3.251, 3.241, + 3.226, 3.235, 3.241, 3.241, 3.241, 3.241, 3.243, 3.245, 3.246, 3.252, 3.253, 3.254, 3.256, 3.254, 3.241, 3.237, + 3.205, 3.213, 3.213, 3.214, 3.214, 3.214, 3.214, 3.213, 3.213, 3.216, 3.218, 3.216, 3.214, 3.213, 3.211, 3.208, + 3.205, 3.205, 3.212, 3.212, 3.212, 3.213, 3.211, 3.211, 3.211, 3.213, 3.216, 3.214, 3.213, 3.211, 3.208, 3.196 + ] + }, + { + "ct": 5000, + "table": + [ + 1.645, 1.646, 1.649, 1.653, 1.654, 1.657, 1.659, 1.661, 1.663, 1.662, 1.661, 1.659, 1.656, 1.651, 1.645, 1.642, + 1.646, 1.649, 1.652, 1.654, 1.656, 1.659, 1.662, 1.663, 1.664, 1.664, 1.662, 1.661, 1.657, 1.653, 1.649, 1.644, + 1.648, 1.652, 1.654, 1.656, 1.658, 1.662, 1.665, 1.668, 1.668, 1.668, 1.665, 1.662, 1.658, 1.655, 1.652, 1.646, + 1.649, 1.653, 1.656, 1.658, 1.661, 1.665, 1.667, 1.671, 1.673, 1.671, 1.668, 1.663, 1.659, 1.656, 1.654, 1.647, + 1.649, 1.655, 1.657, 1.659, 1.661, 1.666, 1.671, 1.674, 1.675, 1.673, 1.671, 1.664, 1.659, 1.656, 1.654, 1.648, + 1.649, 1.654, 1.656, 1.659, 1.661, 1.666, 1.673, 1.676, 1.676, 1.675, 1.671, 1.664, 1.659, 1.656, 1.654, 1.648, + 1.649, 1.654, 1.656, 1.658, 1.659, 1.665, 1.672, 1.675, 1.675, 1.674, 1.668, 1.662, 1.658, 1.655, 1.654, 1.646, + 1.652, 1.655, 1.657, 1.659, 1.661, 1.665, 1.671, 1.673, 1.673, 1.672, 1.668, 1.662, 1.658, 1.655, 1.654, 1.647, + 1.652, 1.655, 1.657, 1.659, 1.661, 1.664, 1.667, 1.671, 1.672, 1.668, 1.666, 1.662, 1.659, 1.656, 1.654, 1.647, + 1.647, 1.652, 1.655, 1.656, 1.657, 1.661, 1.664, 1.665, 1.665, 1.665, 1.663, 1.661, 1.657, 1.655, 1.647, 1.647, + 1.639, 1.642, 1.644, 1.645, 1.646, 1.648, 1.648, 1.648, 1.649, 1.649, 1.649, 1.646, 1.645, 1.642, 1.639, 1.636, + 1.639, 1.641, 1.642, 1.644, 1.645, 1.646, 1.647, 1.647, 1.648, 1.648, 1.647, 1.645, 1.642, 1.639, 1.636, 1.633 + ] + } + ], + "luminance_lut": + [ + 2.644, 2.396, 2.077, 1.863, 1.682, 1.535, 1.392, 1.382, 1.382, 1.382, 1.515, 1.657, 1.826, 2.035, 2.351, 2.604, + 2.497, 2.229, 1.947, 1.733, 1.539, 1.424, 1.296, 1.249, 1.249, 1.285, 1.401, 1.519, 1.699, 1.908, 2.183, 2.456, + 2.389, 2.109, 1.848, 1.622, 1.424, 1.296, 1.201, 1.146, 1.146, 1.188, 1.285, 1.401, 1.591, 1.811, 2.065, 2.347, + 2.317, 2.026, 1.771, 1.535, 1.339, 1.201, 1.145, 1.069, 1.069, 1.134, 1.188, 1.318, 1.505, 1.734, 1.983, 2.273, + 2.276, 1.972, 1.715, 1.474, 1.281, 1.148, 1.069, 1.033, 1.024, 1.065, 1.134, 1.262, 1.446, 1.679, 1.929, 2.233, + 2.268, 1.941, 1.682, 1.441, 1.251, 1.119, 1.033, 1.013, 1.013, 1.024, 1.105, 1.231, 1.415, 1.649, 1.898, 2.227, + 2.268, 1.941, 1.682, 1.441, 1.251, 1.119, 1.033, 1.001, 1.001, 1.024, 1.105, 1.231, 1.415, 1.649, 1.898, 2.227, + 2.268, 1.951, 1.694, 1.456, 1.265, 1.131, 1.044, 1.026, 1.019, 1.039, 1.118, 1.246, 1.429, 1.663, 1.912, 2.227, + 2.291, 1.992, 1.738, 1.505, 1.311, 1.175, 1.108, 1.044, 1.041, 1.106, 1.161, 1.292, 1.478, 1.707, 1.955, 2.252, + 2.347, 2.058, 1.803, 1.581, 1.384, 1.245, 1.175, 1.108, 1.108, 1.161, 1.239, 1.364, 1.551, 1.773, 2.023, 2.311, + 2.438, 2.156, 1.884, 1.674, 1.484, 1.373, 1.245, 1.199, 1.199, 1.239, 1.363, 1.463, 1.647, 1.858, 2.123, 2.406, + 2.563, 2.305, 1.998, 1.792, 1.615, 1.472, 1.339, 1.322, 1.322, 1.326, 1.456, 1.593, 1.767, 1.973, 2.273, 2.532 + ], + "sigma": 0.00178, + "sigma_Cb": 0.00217 + } + }, + { + "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": 2498, + "ccm": + [ + 1.14912, 0.28638, -0.43551, + -0.49691, 1.60391, -0.10701, + -0.10513, -1.09534, 2.20047 + ] + }, + { + "ct": 2821, + "ccm": + [ + 1.18251, 0.15501, -0.33752, + -0.44304, 1.58495, -0.14191, + -0.05077, -0.96422, 2.01498 + ] + }, + { + "ct": 2925, + "ccm": + [ + 1.18668, 0.00195, -0.18864, + -0.41617, 1.50514, -0.08897, + -0.02675, -0.91143, 1.93818 + ] + }, + { + "ct": 2926, + "ccm": + [ + 1.50948, -0.44421, -0.06527, + -0.37241, 1.41726, -0.04486, + 0.07098, -0.84694, 1.77596 + ] + }, + { + "ct": 2951, + "ccm": + [ + 1.52743, -0.47333, -0.05411, + -0.36485, 1.40764, -0.04279, + 0.08672, -0.90479, 1.81807 + ] + }, + { + "ct": 2954, + "ccm": + [ + 1.51683, -0.46841, -0.04841, + -0.36288, 1.39914, -0.03625, + 0.06421, -0.82034, 1.75613 + ] + }, + { + "ct": 3578, + "ccm": + [ + 1.59888, -0.59105, -0.00784, + -0.29366, 1.32037, -0.02671, + 0.06627, -0.76465, 1.69838 + ] + }, + { + "ct": 3717, + "ccm": + [ + 1.59063, -0.58059, -0.01003, + -0.29583, 1.32715, -0.03132, + 0.03613, -0.67431, 1.63817 + ] + }, + { + "ct": 3784, + "ccm": + [ + 1.59379, -0.58861, -0.00517, + -0.29178, 1.33292, -0.04115, + 0.03541, -0.66162, 1.62622 + ] + }, + { + "ct": 4485, + "ccm": + [ + 1.40761, -0.34561, -0.06201, + -0.32388, 1.57221, -0.24832, + -0.01014, -0.63427, 1.64441 + ] + }, + { + "ct": 4615, + "ccm": + [ + 1.41537, -0.35832, -0.05705, + -0.31429, 1.56019, -0.24591, + -0.01761, -0.61859, 1.63621 + ] + }, + { + "ct": 4671, + "ccm": + [ + 1.42941, -0.38178, -0.04764, + -0.31421, 1.55925, -0.24504, + -0.01141, -0.62987, 1.64129 + ] + }, + { + "ct": 5753, + "ccm": + [ + 1.64549, -0.63329, -0.01221, + -0.22431, 1.36423, -0.13992, + -0.00831, -0.55373, 1.56204 + ] + }, + { + "ct": 5773, + "ccm": + [ + 1.63668, -0.63557, -0.00111, + -0.21919, 1.36234, -0.14315, + -0.00399, -0.57428, 1.57827 + ] + }, + { + "ct": 7433, + "ccm": + [ + 1.36007, -0.09277, -0.26729, + -0.36886, 2.09249, -0.72363, + -0.12573, -0.76761, 1.89334 + ] + }, + { + "ct": 55792, + "ccm": + [ + 1.65091, -0.63689, -0.01401, + -0.22277, 1.35752, -0.13475, + -0.00943, -0.55091, 1.56033 + ] + } + ] + } + }, + { + "rpi.sharpen": { } + }, + { + "rpi.af": + { + "ranges": + { + "normal": + { + "min": 0.0, + "max": 12.0, + "default": 1.0 + }, + "macro": + { + "min": 3.0, + "max": 15.0, + "default": 4.0 + } + }, + "speeds": + { + "normal": + { + "step_coarse": 1.0, + "step_fine": 0.25, + "contrast_ratio": 0.75, + "pdaf_gain": -0.02, + "pdaf_squelch": 0.125, + "max_slew": 2.0, + "pdaf_frames": 20, + "dropout_frames": 6, + "step_frames": 4 + } + }, + "conf_epsilon": 8, + "conf_thresh": 16, + "conf_clip": 512, + "skip_frames": 5, + "map": [ 0.0, 445, 15.0, 925 ] + } + }, + { + "rpi.hdr": + { + "MultiExposureUnmerged": + { + "cadence": [ 1, 2 ], + "channel_map": + { + "short": 1, + "long": 2 + } + } + } + } + ] +}
\ No newline at end of file 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..6f45aafc --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx708_wide.json @@ -0,0 +1,682 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 9989, + "reference_gain": 1.23, + "reference_aperture": 1.0, + "reference_lux": 980, + "reference_Y": 8345 + } + }, + { + "rpi.noise": + { + "reference_constant": 16.0, + "reference_slope": 4.0 + } + }, + { + "rpi.geq": + { + "offset": 215, + "slope": 0.00287 + } + }, + { + "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": + [ + 2750.0, 0.7881, 0.2849, + 2940.0, 0.7559, 0.3103, + 3650.0, 0.6291, 0.4206, + 4625.0, 0.5336, 0.5161, + 5715.0, 0.4668, 0.5898 + ], + "sensitivity_r": 1.05, + "sensitivity_b": 1.05, + "transverse_pos": 0.01165, + "transverse_neg": 0.01601 + } + }, + { + "rpi.agc": + { + "channels": [ + { + "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, 15000, 30000, 60000, 120000 ], + "gain": [ 1.0, 1.0, 2.0, 4.0, 6.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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, 0.2, + 1000, 0.2 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.2, + 1000, 0.2 + ] + }, + { + "bound": "UPPER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.8, + 1000, 0.8 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ], + "startup_frames": 5, + "convergence_frames": 6, + "speed": 0.15 + }, + { + "base_ev": 0.125, + "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, 15000, 30000, 60000, 120000 ], + "gain": [ 1.0, 1.0, 2.0, 4.0, 6.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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, 0.2, + 1000, 0.2 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.2, + 1000, 0.2 + ] + }, + { + "bound": "UPPER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.8, + 1000, 0.8 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ], + "startup_frames": 5, + "convergence_frames": 6, + "speed": 0.15 + }, + { + "base_ev": 1.5, + "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, 15000, 30000, 60000, 120000 ], + "gain": [ 1.0, 1.0, 2.0, 4.0, 6.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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, 0.2, + 1000, 0.2 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.2, + 1000, 0.2 + ] + }, + { + "bound": "UPPER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.8, + 1000, 0.8 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ], + "startup_frames": 5, + "convergence_frames": 6, + "speed": 0.15 + } + ] + } + }, + { + "rpi.alsc": + { + "omega": 1.3, + "n_iter": 100, + "luminance_strength": 0.5, + "calibrations_Cr": [ + { + "ct": 3000, + "table": + [ + 1.529, 1.526, 1.522, 1.506, 1.489, 1.473, 1.458, 1.456, 1.456, 1.458, 1.474, 1.493, 1.513, 1.531, 1.541, 1.544, + 1.527, 1.523, 1.511, 1.491, 1.474, 1.459, 1.445, 1.441, 1.441, 1.446, 1.461, 1.479, 1.499, 1.521, 1.536, 1.541, + 1.524, 1.515, 1.498, 1.477, 1.459, 1.444, 1.431, 1.426, 1.426, 1.435, 1.446, 1.466, 1.487, 1.507, 1.528, 1.538, + 1.522, 1.512, 1.491, 1.468, 1.447, 1.431, 1.423, 1.417, 1.418, 1.425, 1.435, 1.455, 1.479, 1.499, 1.523, 1.537, + 1.522, 1.509, 1.485, 1.463, 1.441, 1.423, 1.416, 1.413, 1.415, 1.418, 1.429, 1.449, 1.473, 1.495, 1.521, 1.538, + 1.522, 1.508, 1.483, 1.461, 1.438, 1.421, 1.413, 1.412, 1.412, 1.415, 1.428, 1.447, 1.471, 1.493, 1.519, 1.538, + 1.522, 1.509, 1.484, 1.462, 1.439, 1.421, 1.414, 1.411, 1.412, 1.416, 1.428, 1.447, 1.471, 1.493, 1.519, 1.537, + 1.523, 1.511, 1.487, 1.465, 1.443, 1.424, 1.417, 1.413, 1.415, 1.419, 1.429, 1.451, 1.473, 1.494, 1.519, 1.536, + 1.524, 1.514, 1.493, 1.471, 1.451, 1.434, 1.424, 1.419, 1.419, 1.428, 1.437, 1.457, 1.477, 1.498, 1.521, 1.538, + 1.527, 1.521, 1.503, 1.481, 1.462, 1.449, 1.434, 1.429, 1.429, 1.437, 1.451, 1.469, 1.488, 1.508, 1.527, 1.539, + 1.529, 1.527, 1.515, 1.495, 1.477, 1.462, 1.449, 1.444, 1.444, 1.451, 1.467, 1.481, 1.499, 1.519, 1.535, 1.543, + 1.534, 1.531, 1.527, 1.512, 1.492, 1.476, 1.463, 1.461, 1.461, 1.464, 1.479, 1.495, 1.515, 1.533, 1.543, 1.546 + ] + }, + { + "ct": 5000, + "table": + [ + 2.603, 2.599, 2.591, 2.567, 2.539, 2.515, 2.489, 2.489, 2.489, 2.491, 2.516, 2.543, 2.574, 2.597, 2.614, 2.617, + 2.596, 2.591, 2.571, 2.542, 2.516, 2.489, 2.464, 2.458, 2.458, 2.469, 2.492, 2.518, 2.547, 2.576, 2.602, 2.614, + 2.591, 2.576, 2.546, 2.519, 2.489, 2.464, 2.437, 2.427, 2.427, 2.441, 2.467, 2.492, 2.525, 2.553, 2.586, 2.605, + 2.588, 2.568, 2.534, 2.503, 2.472, 2.437, 2.423, 2.409, 2.411, 2.425, 2.441, 2.475, 2.513, 2.541, 2.577, 2.602, + 2.588, 2.565, 2.527, 2.494, 2.461, 2.425, 2.409, 2.399, 2.403, 2.409, 2.431, 2.466, 2.503, 2.534, 2.571, 2.601, + 2.586, 2.561, 2.525, 2.491, 2.454, 2.418, 2.399, 2.396, 2.395, 2.402, 2.424, 2.461, 2.501, 2.531, 2.567, 2.599, + 2.583, 2.559, 2.525, 2.491, 2.454, 2.418, 2.398, 2.393, 2.393, 2.401, 2.423, 2.459, 2.498, 2.531, 2.566, 2.597, + 2.583, 2.559, 2.526, 2.494, 2.458, 2.421, 2.404, 2.397, 2.399, 2.404, 2.426, 2.461, 2.501, 2.531, 2.566, 2.596, + 2.583, 2.563, 2.531, 2.501, 2.469, 2.435, 2.419, 2.405, 2.404, 2.422, 2.435, 2.471, 2.505, 2.537, 2.572, 2.596, + 2.585, 2.571, 2.539, 2.516, 2.486, 2.458, 2.435, 2.424, 2.424, 2.435, 2.459, 2.489, 2.521, 2.546, 2.579, 2.601, + 2.589, 2.578, 2.557, 2.532, 2.506, 2.483, 2.458, 2.449, 2.449, 2.459, 2.485, 2.507, 2.535, 2.563, 2.591, 2.605, + 2.589, 2.586, 2.575, 2.551, 2.525, 2.503, 2.481, 2.476, 2.476, 2.481, 2.504, 2.526, 2.555, 2.583, 2.604, 2.611 + ] + } + ], + "calibrations_Cb": [ + { + "ct": 3000, + "table": + [ + 3.311, 3.339, 3.369, 3.374, 3.371, 3.363, 3.356, 3.353, 3.353, 3.353, 3.357, 3.362, 3.362, 3.356, 3.328, 3.311, + 3.321, 3.354, 3.374, 3.374, 3.368, 3.359, 3.352, 3.349, 3.347, 3.347, 3.349, 3.357, 3.361, 3.359, 3.343, 3.324, + 3.334, 3.368, 3.375, 3.374, 3.365, 3.356, 3.349, 3.347, 3.346, 3.346, 3.347, 3.349, 3.358, 3.361, 3.357, 3.336, + 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": 2868, + "ccm": + [ + 1.58923, -0.36649, -0.22273, + -0.43591, 1.84858, -0.41268, + 0.02948, -0.77666, 1.74718 + ] + }, + { + "ct": 2965, + "ccm": + [ + 1.73397, -0.42794, -0.30603, + -0.36504, 1.72431, -0.35926, + 0.12765, -1.10933, 1.98168 + ] + }, + { + "ct": 3603, + "ccm": + [ + 1.61787, -0.42704, -0.19084, + -0.37819, 1.74588, -0.36769, + 0.00961, -0.59807, 1.58847 + ] + }, + { + "ct": 4620, + "ccm": + [ + 1.55581, -0.35422, -0.20158, + -0.31805, 1.79309, -0.47505, + -0.01256, -0.54489, 1.55746 + ] + }, + { + "ct": 5901, + "ccm": + [ + 1.64439, -0.48855, -0.15585, + -0.29149, 1.67122, -0.37972, + -0.03111, -0.44052, 1.47163 + ] + }, + { + "ct": 7610, + "ccm": + [ + 1.48667, -0.26072, -0.22595, + -0.21815, 1.86724, -0.64909, + -0.00985, -0.64485, 1.65471 + ] + } + ] + } + }, + { + "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 ] + } + }, + { + "rpi.hdr": + { + "MultiExposureUnmerged": + { + "cadence": [ 1, 2 ], + "channel_map": + { + "short": 1, + "long": 2 + } + } + } + } + ] +}
\ No newline at end of file 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..b9a5227e --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx708_wide_noir.json @@ -0,0 +1,673 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 9989, + "reference_gain": 1.23, + "reference_aperture": 1.0, + "reference_lux": 980, + "reference_Y": 8345 + } + }, + { + "rpi.noise": + { + "reference_constant": 16.0, + "reference_slope": 4.0 + } + }, + { + "rpi.geq": + { + "offset": 215, + "slope": 0.00287 + } + }, + { + "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": 0, + "ct_curve": + [ + 2750.0, 0.7881, 0.2849, + 2940.0, 0.7559, 0.3103, + 3650.0, 0.6291, 0.4206, + 4625.0, 0.5336, 0.5161, + 5715.0, 0.4668, 0.5898 + ], + "sensitivity_r": 1.05, + "sensitivity_b": 1.05, + "transverse_pos": 0.01165, + "transverse_neg": 0.01601 + } + }, + { + "rpi.agc": + { + "channels": [ + { + "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, 15000, 30000, 60000, 120000 ], + "gain": [ 1.0, 1.0, 2.0, 4.0, 6.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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, 0.2, + 1000, 0.2 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.2, + 1000, 0.2 + ] + }, + { + "bound": "UPPER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.8, + 1000, 0.8 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ], + "startup_frames": 5, + "convergence_frames": 6, + "speed": 0.15 + }, + { + "base_ev": 0.125, + "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, 15000, 30000, 60000, 120000 ], + "gain": [ 1.0, 1.0, 2.0, 4.0, 6.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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, 0.2, + 1000, 0.2 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.2, + 1000, 0.2 + ] + }, + { + "bound": "UPPER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.8, + 1000, 0.8 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ], + "startup_frames": 5, + "convergence_frames": 6, + "speed": 0.15 + }, + { + "base_ev": 1.5, + "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, 15000, 30000, 60000, 120000 ], + "gain": [ 1.0, 1.0, 2.0, 4.0, 6.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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, 0.2, + 1000, 0.2 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.2, + 1000, 0.2 + ] + }, + { + "bound": "UPPER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.8, + 1000, 0.8 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ], + "startup_frames": 5, + "convergence_frames": 6, + "speed": 0.15 + } + ] + } + }, + { + "rpi.alsc": + { + "omega": 1.3, + "n_iter": 100, + "luminance_strength": 0.5, + "calibrations_Cr": [ + { + "ct": 3000, + "table": + [ + 1.529, 1.526, 1.522, 1.506, 1.489, 1.473, 1.458, 1.456, 1.456, 1.458, 1.474, 1.493, 1.513, 1.531, 1.541, 1.544, + 1.527, 1.523, 1.511, 1.491, 1.474, 1.459, 1.445, 1.441, 1.441, 1.446, 1.461, 1.479, 1.499, 1.521, 1.536, 1.541, + 1.524, 1.515, 1.498, 1.477, 1.459, 1.444, 1.431, 1.426, 1.426, 1.435, 1.446, 1.466, 1.487, 1.507, 1.528, 1.538, + 1.522, 1.512, 1.491, 1.468, 1.447, 1.431, 1.423, 1.417, 1.418, 1.425, 1.435, 1.455, 1.479, 1.499, 1.523, 1.537, + 1.522, 1.509, 1.485, 1.463, 1.441, 1.423, 1.416, 1.413, 1.415, 1.418, 1.429, 1.449, 1.473, 1.495, 1.521, 1.538, + 1.522, 1.508, 1.483, 1.461, 1.438, 1.421, 1.413, 1.412, 1.412, 1.415, 1.428, 1.447, 1.471, 1.493, 1.519, 1.538, + 1.522, 1.509, 1.484, 1.462, 1.439, 1.421, 1.414, 1.411, 1.412, 1.416, 1.428, 1.447, 1.471, 1.493, 1.519, 1.537, + 1.523, 1.511, 1.487, 1.465, 1.443, 1.424, 1.417, 1.413, 1.415, 1.419, 1.429, 1.451, 1.473, 1.494, 1.519, 1.536, + 1.524, 1.514, 1.493, 1.471, 1.451, 1.434, 1.424, 1.419, 1.419, 1.428, 1.437, 1.457, 1.477, 1.498, 1.521, 1.538, + 1.527, 1.521, 1.503, 1.481, 1.462, 1.449, 1.434, 1.429, 1.429, 1.437, 1.451, 1.469, 1.488, 1.508, 1.527, 1.539, + 1.529, 1.527, 1.515, 1.495, 1.477, 1.462, 1.449, 1.444, 1.444, 1.451, 1.467, 1.481, 1.499, 1.519, 1.535, 1.543, + 1.534, 1.531, 1.527, 1.512, 1.492, 1.476, 1.463, 1.461, 1.461, 1.464, 1.479, 1.495, 1.515, 1.533, 1.543, 1.546 + ] + }, + { + "ct": 5000, + "table": + [ + 2.603, 2.599, 2.591, 2.567, 2.539, 2.515, 2.489, 2.489, 2.489, 2.491, 2.516, 2.543, 2.574, 2.597, 2.614, 2.617, + 2.596, 2.591, 2.571, 2.542, 2.516, 2.489, 2.464, 2.458, 2.458, 2.469, 2.492, 2.518, 2.547, 2.576, 2.602, 2.614, + 2.591, 2.576, 2.546, 2.519, 2.489, 2.464, 2.437, 2.427, 2.427, 2.441, 2.467, 2.492, 2.525, 2.553, 2.586, 2.605, + 2.588, 2.568, 2.534, 2.503, 2.472, 2.437, 2.423, 2.409, 2.411, 2.425, 2.441, 2.475, 2.513, 2.541, 2.577, 2.602, + 2.588, 2.565, 2.527, 2.494, 2.461, 2.425, 2.409, 2.399, 2.403, 2.409, 2.431, 2.466, 2.503, 2.534, 2.571, 2.601, + 2.586, 2.561, 2.525, 2.491, 2.454, 2.418, 2.399, 2.396, 2.395, 2.402, 2.424, 2.461, 2.501, 2.531, 2.567, 2.599, + 2.583, 2.559, 2.525, 2.491, 2.454, 2.418, 2.398, 2.393, 2.393, 2.401, 2.423, 2.459, 2.498, 2.531, 2.566, 2.597, + 2.583, 2.559, 2.526, 2.494, 2.458, 2.421, 2.404, 2.397, 2.399, 2.404, 2.426, 2.461, 2.501, 2.531, 2.566, 2.596, + 2.583, 2.563, 2.531, 2.501, 2.469, 2.435, 2.419, 2.405, 2.404, 2.422, 2.435, 2.471, 2.505, 2.537, 2.572, 2.596, + 2.585, 2.571, 2.539, 2.516, 2.486, 2.458, 2.435, 2.424, 2.424, 2.435, 2.459, 2.489, 2.521, 2.546, 2.579, 2.601, + 2.589, 2.578, 2.557, 2.532, 2.506, 2.483, 2.458, 2.449, 2.449, 2.459, 2.485, 2.507, 2.535, 2.563, 2.591, 2.605, + 2.589, 2.586, 2.575, 2.551, 2.525, 2.503, 2.481, 2.476, 2.476, 2.481, 2.504, 2.526, 2.555, 2.583, 2.604, 2.611 + ] + } + ], + "calibrations_Cb": [ + { + "ct": 3000, + "table": + [ + 3.311, 3.339, 3.369, 3.374, 3.371, 3.363, 3.356, 3.353, 3.353, 3.353, 3.357, 3.362, 3.362, 3.356, 3.328, 3.311, + 3.321, 3.354, 3.374, 3.374, 3.368, 3.359, 3.352, 3.349, 3.347, 3.347, 3.349, 3.357, 3.361, 3.359, 3.343, 3.324, + 3.334, 3.368, 3.375, 3.374, 3.365, 3.356, 3.349, 3.347, 3.346, 3.346, 3.347, 3.349, 3.358, 3.361, 3.357, 3.336, + 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 ] + } + }, + { + "rpi.hdr": + { + "MultiExposureUnmerged": + { + "cadence": [ 1, 2 ], + "channel_map": + { + "short": 1, + "long": 2 + } + } + } + } + ] +}
\ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/meson.build b/src/ipa/rpi/vc4/data/meson.build new file mode 100644 index 00000000..7a8001ee --- /dev/null +++ b/src/ipa/rpi/vc4/data/meson.build @@ -0,0 +1,33 @@ +# SPDX-License-Identifier: CC0-1.0 + +conf_files = files([ + 'imx219.json', + 'imx219_noir.json', + 'imx283.json', + 'imx290.json', + 'imx296.json', + 'imx296_mono.json', + 'imx327.json', + 'imx378.json', + 'imx415.json', + 'imx462.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', + 'ov64a40.json', + 'ov7251_mono.json', + 'ov9281_mono.json', + 'se327m12.json', + 'uncalibrated.json', +]) + +install_data(conf_files, + install_dir : ipa_data_dir / 'rpi' / 'vc4', + install_tag : 'runtime') diff --git a/src/ipa/rpi/vc4/data/ov5647.json b/src/ipa/rpi/vc4/data/ov5647.json new file mode 100644 index 00000000..40c6059c --- /dev/null +++ b/src/ipa/rpi/vc4/data/ov5647.json @@ -0,0 +1,696 @@ +{ + "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": + { + "channels": [ + { + "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 + }, + { + "base_ev": 1.25, + "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, + "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": 0.5, + "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, + 1.561, 1.537, 1.525, 1.524, 1.526, 1.532, 1.537, 1.539, 1.538, 1.537, 1.532, 1.529, 1.529, 1.537, 1.546, 1.556, + 1.561, 1.536, 1.524, 1.522, 1.525, 1.532, 1.538, 1.538, 1.537, 1.533, 1.528, 1.526, 1.527, 1.536, 1.546, 1.555, + 1.561, 1.537, 1.522, 1.521, 1.524, 1.531, 1.536, 1.537, 1.534, 1.529, 1.526, 1.522, 1.523, 1.534, 1.547, 1.555, + 1.561, 1.538, 1.524, 1.522, 1.526, 1.531, 1.535, 1.535, 1.534, 1.527, 1.524, 1.522, 1.522, 1.535, 1.549, 1.556, + 1.558, 1.543, 1.532, 1.526, 1.526, 1.529, 1.534, 1.535, 1.533, 1.526, 1.523, 1.522, 1.524, 1.537, 1.552, 1.557, + 1.555, 1.546, 1.541, 1.528, 1.527, 1.528, 1.531, 1.533, 1.531, 1.527, 1.522, 1.522, 1.526, 1.536, 1.552, 1.561, + 1.555, 1.547, 1.542, 1.538, 1.526, 1.526, 1.529, 1.531, 1.529, 1.528, 1.519, 1.519, 1.527, 1.531, 1.543, 1.561 + ] + } + ], + "calibrations_Cb": [ + { + "ct": 3000, + "table": + [ + 1.684, 1.688, 1.691, 1.697, 1.709, 1.722, 1.735, 1.745, 1.747, 1.745, 1.731, 1.719, 1.709, 1.705, 1.699, 1.699, + 1.684, 1.689, 1.694, 1.708, 1.721, 1.735, 1.747, 1.762, 1.762, 1.758, 1.745, 1.727, 1.716, 1.707, 1.701, 1.699, + 1.684, 1.691, 1.704, 1.719, 1.734, 1.755, 1.772, 1.786, 1.789, 1.788, 1.762, 1.745, 1.724, 1.709, 1.702, 1.698, + 1.682, 1.694, 1.709, 1.729, 1.755, 1.773, 1.798, 1.815, 1.817, 1.808, 1.788, 1.762, 1.733, 1.714, 1.704, 1.699, + 1.682, 1.693, 1.713, 1.742, 1.772, 1.798, 1.815, 1.829, 1.831, 1.821, 1.807, 1.773, 1.742, 1.716, 1.703, 1.699, + 1.681, 1.693, 1.713, 1.742, 1.772, 1.799, 1.828, 1.839, 1.839, 1.828, 1.807, 1.774, 1.742, 1.715, 1.699, 1.695, + 1.679, 1.691, 1.712, 1.739, 1.771, 1.798, 1.825, 1.829, 1.831, 1.818, 1.801, 1.774, 1.738, 1.712, 1.695, 1.691, + 1.676, 1.685, 1.703, 1.727, 1.761, 1.784, 1.801, 1.817, 1.817, 1.801, 1.779, 1.761, 1.729, 1.706, 1.691, 1.684, + 1.669, 1.678, 1.692, 1.714, 1.741, 1.764, 1.784, 1.795, 1.795, 1.779, 1.761, 1.738, 1.713, 1.696, 1.683, 1.679, + 1.664, 1.671, 1.679, 1.693, 1.716, 1.741, 1.762, 1.769, 1.769, 1.753, 1.738, 1.713, 1.701, 1.687, 1.681, 1.676, + 1.661, 1.664, 1.671, 1.679, 1.693, 1.714, 1.732, 1.739, 1.739, 1.729, 1.708, 1.701, 1.685, 1.679, 1.676, 1.677, + 1.659, 1.661, 1.664, 1.671, 1.679, 1.693, 1.712, 1.714, 1.714, 1.708, 1.701, 1.687, 1.679, 1.672, 1.673, 1.677 + ] + }, + { + "ct": 5000, + "table": + [ + 1.177, 1.183, 1.187, 1.191, 1.197, 1.206, 1.213, 1.215, 1.215, 1.215, 1.211, 1.204, 1.196, 1.191, 1.183, 1.182, + 1.179, 1.185, 1.191, 1.196, 1.206, 1.217, 1.224, 1.229, 1.229, 1.226, 1.221, 1.212, 1.202, 1.195, 1.188, 1.182, + 1.183, 1.191, 1.196, 1.206, 1.217, 1.229, 1.239, 1.245, 1.245, 1.245, 1.233, 1.221, 1.212, 1.199, 1.193, 1.187, + 1.183, 1.192, 1.201, 1.212, 1.229, 1.241, 1.252, 1.259, 1.259, 1.257, 1.245, 1.233, 1.217, 1.201, 1.194, 1.192, + 1.183, 1.192, 1.202, 1.219, 1.238, 1.252, 1.261, 1.269, 1.268, 1.261, 1.257, 1.241, 1.223, 1.204, 1.194, 1.191, + 1.182, 1.192, 1.202, 1.219, 1.239, 1.255, 1.266, 1.271, 1.271, 1.265, 1.258, 1.242, 1.223, 1.205, 1.192, 1.191, + 1.181, 1.189, 1.199, 1.218, 1.239, 1.254, 1.262, 1.268, 1.268, 1.258, 1.253, 1.241, 1.221, 1.204, 1.191, 1.187, + 1.179, 1.184, 1.193, 1.211, 1.232, 1.243, 1.254, 1.257, 1.256, 1.253, 1.242, 1.232, 1.216, 1.199, 1.187, 1.183, + 1.174, 1.179, 1.187, 1.202, 1.218, 1.232, 1.243, 1.246, 1.246, 1.239, 1.232, 1.218, 1.207, 1.191, 1.183, 1.179, + 1.169, 1.175, 1.181, 1.189, 1.202, 1.218, 1.229, 1.232, 1.232, 1.224, 1.218, 1.207, 1.199, 1.185, 1.181, 1.174, + 1.164, 1.168, 1.175, 1.179, 1.189, 1.201, 1.209, 1.213, 1.213, 1.209, 1.201, 1.198, 1.186, 1.181, 1.174, 1.173, + 1.161, 1.166, 1.171, 1.175, 1.179, 1.189, 1.197, 1.198, 1.198, 1.197, 1.196, 1.186, 1.182, 1.175, 1.173, 1.173 + ] + }, + { + "ct": 6500, + "table": + [ + 1.166, 1.171, 1.173, 1.178, 1.187, 1.193, 1.201, 1.205, 1.205, 1.205, 1.199, 1.191, 1.184, 1.179, 1.174, 1.171, + 1.166, 1.172, 1.176, 1.184, 1.195, 1.202, 1.209, 1.216, 1.216, 1.213, 1.208, 1.201, 1.189, 1.182, 1.176, 1.171, + 1.166, 1.173, 1.183, 1.195, 1.202, 1.214, 1.221, 1.228, 1.229, 1.228, 1.221, 1.209, 1.201, 1.186, 1.179, 1.174, + 1.165, 1.174, 1.187, 1.201, 1.214, 1.223, 1.235, 1.241, 1.242, 1.241, 1.229, 1.221, 1.205, 1.188, 1.181, 1.177, + 1.165, 1.174, 1.189, 1.207, 1.223, 1.235, 1.242, 1.253, 1.252, 1.245, 1.241, 1.228, 1.211, 1.189, 1.181, 1.178, + 1.164, 1.173, 1.189, 1.207, 1.224, 1.238, 1.249, 1.255, 1.255, 1.249, 1.242, 1.228, 1.211, 1.191, 1.179, 1.176, + 1.163, 1.172, 1.187, 1.207, 1.223, 1.237, 1.245, 1.253, 1.252, 1.243, 1.237, 1.228, 1.207, 1.188, 1.176, 1.173, + 1.159, 1.167, 1.179, 1.199, 1.217, 1.227, 1.237, 1.241, 1.241, 1.237, 1.228, 1.217, 1.201, 1.184, 1.174, 1.169, + 1.156, 1.164, 1.172, 1.189, 1.205, 1.217, 1.226, 1.229, 1.229, 1.222, 1.217, 1.204, 1.192, 1.177, 1.171, 1.166, + 1.154, 1.159, 1.166, 1.177, 1.189, 1.205, 1.213, 1.216, 1.216, 1.209, 1.204, 1.192, 1.183, 1.172, 1.168, 1.162, + 1.152, 1.155, 1.161, 1.166, 1.177, 1.188, 1.195, 1.198, 1.199, 1.196, 1.187, 1.183, 1.173, 1.168, 1.163, 1.162, + 1.151, 1.154, 1.158, 1.162, 1.168, 1.177, 1.183, 1.184, 1.184, 1.184, 1.182, 1.172, 1.168, 1.165, 1.162, 1.161 + ] + } + ], + "luminance_lut": + [ + 2.236, 2.111, 1.912, 1.741, 1.579, 1.451, 1.379, 1.349, 1.349, 1.361, 1.411, 1.505, 1.644, 1.816, 2.034, 2.159, + 2.139, 1.994, 1.796, 1.625, 1.467, 1.361, 1.285, 1.248, 1.239, 1.265, 1.321, 1.408, 1.536, 1.703, 1.903, 2.087, + 2.047, 1.898, 1.694, 1.511, 1.373, 1.254, 1.186, 1.152, 1.142, 1.166, 1.226, 1.309, 1.441, 1.598, 1.799, 1.978, + 1.999, 1.824, 1.615, 1.429, 1.281, 1.179, 1.113, 1.077, 1.071, 1.096, 1.153, 1.239, 1.357, 1.525, 1.726, 1.915, + 1.976, 1.773, 1.563, 1.374, 1.222, 1.119, 1.064, 1.032, 1.031, 1.049, 1.099, 1.188, 1.309, 1.478, 1.681, 1.893, + 1.973, 1.756, 1.542, 1.351, 1.196, 1.088, 1.028, 1.011, 1.004, 1.029, 1.077, 1.169, 1.295, 1.459, 1.663, 1.891, + 1.973, 1.761, 1.541, 1.349, 1.193, 1.087, 1.031, 1.006, 1.006, 1.023, 1.075, 1.169, 1.298, 1.463, 1.667, 1.891, + 1.982, 1.789, 1.568, 1.373, 1.213, 1.111, 1.051, 1.029, 1.024, 1.053, 1.106, 1.199, 1.329, 1.495, 1.692, 1.903, + 2.015, 1.838, 1.621, 1.426, 1.268, 1.159, 1.101, 1.066, 1.068, 1.099, 1.166, 1.259, 1.387, 1.553, 1.751, 1.937, + 2.076, 1.911, 1.692, 1.507, 1.346, 1.236, 1.169, 1.136, 1.139, 1.174, 1.242, 1.349, 1.475, 1.641, 1.833, 2.004, + 2.193, 2.011, 1.798, 1.604, 1.444, 1.339, 1.265, 1.235, 1.237, 1.273, 1.351, 1.461, 1.598, 1.758, 1.956, 2.125, + 2.263, 2.154, 1.916, 1.711, 1.549, 1.432, 1.372, 1.356, 1.356, 1.383, 1.455, 1.578, 1.726, 1.914, 2.119, 2.211 + ], + "sigma": 0.006, + "sigma_Cb": 0.00208 + } + }, + { + "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": 2873, + "ccm": + [ + 1.88195, -0.26249, -0.61946, + -0.63842, 2.11535, -0.47693, + -0.13531, -0.99739, 2.13271 + ] + }, + { + "ct": 2965, + "ccm": + [ + 2.15048, -0.51859, -0.63189, + -0.53572, 1.92585, -0.39013, + 0.01831, -1.48576, 2.46744 + ] + }, + { + "ct": 3606, + "ccm": + [ + 1.97522, -0.43847, -0.53675, + -0.56151, 1.99765, -0.43614, + -0.12438, -0.77056, 1.89493 + ] + }, + { + "ct": 4700, + "ccm": + [ + 2.00971, -0.51461, -0.49511, + -0.52109, 2.01003, -0.48894, + -0.09527, -0.67318, 1.76845 + ] + }, + { + "ct": 5890, + "ccm": + [ + 2.13616, -0.65283, -0.48333, + -0.48364, 1.93115, -0.44751, + -0.13465, -0.54831, 1.68295 + ] + }, + { + "ct": 7600, + "ccm": + [ + 2.06599, -0.39161, -0.67439, + -0.50883, 2.27467, -0.76583, + -0.13961, -0.66121, 1.80081 + ] + } + ] + } + }, + { + "rpi.sharpen": { } + }, + { + "rpi.hdr": + { + "MultiExposureUnmerged": + { + "cadence": [ 1, 2 ], + "channel_map": + { + "short": 1, + "long": 2 + } + } + } + } + ] +} 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..488b7119 --- /dev/null +++ b/src/ipa/rpi/vc4/data/ov5647_noir.json @@ -0,0 +1,412 @@ +{ + "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": + { + "bayes": 0 + } + }, + { + "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, + 1.561, 1.537, 1.525, 1.524, 1.526, 1.532, 1.537, 1.539, 1.538, 1.537, 1.532, 1.529, 1.529, 1.537, 1.546, 1.556, + 1.561, 1.536, 1.524, 1.522, 1.525, 1.532, 1.538, 1.538, 1.537, 1.533, 1.528, 1.526, 1.527, 1.536, 1.546, 1.555, + 1.561, 1.537, 1.522, 1.521, 1.524, 1.531, 1.536, 1.537, 1.534, 1.529, 1.526, 1.522, 1.523, 1.534, 1.547, 1.555, + 1.561, 1.538, 1.524, 1.522, 1.526, 1.531, 1.535, 1.535, 1.534, 1.527, 1.524, 1.522, 1.522, 1.535, 1.549, 1.556, + 1.558, 1.543, 1.532, 1.526, 1.526, 1.529, 1.534, 1.535, 1.533, 1.526, 1.523, 1.522, 1.524, 1.537, 1.552, 1.557, + 1.555, 1.546, 1.541, 1.528, 1.527, 1.528, 1.531, 1.533, 1.531, 1.527, 1.522, 1.522, 1.526, 1.536, 1.552, 1.561, + 1.555, 1.547, 1.542, 1.538, 1.526, 1.526, 1.529, 1.531, 1.529, 1.528, 1.519, 1.519, 1.527, 1.531, 1.543, 1.561 + ] + } + ], + "calibrations_Cb": [ + { + "ct": 3000, + "table": + [ + 1.684, 1.688, 1.691, 1.697, 1.709, 1.722, 1.735, 1.745, 1.747, 1.745, 1.731, 1.719, 1.709, 1.705, 1.699, 1.699, + 1.684, 1.689, 1.694, 1.708, 1.721, 1.735, 1.747, 1.762, 1.762, 1.758, 1.745, 1.727, 1.716, 1.707, 1.701, 1.699, + 1.684, 1.691, 1.704, 1.719, 1.734, 1.755, 1.772, 1.786, 1.789, 1.788, 1.762, 1.745, 1.724, 1.709, 1.702, 1.698, + 1.682, 1.694, 1.709, 1.729, 1.755, 1.773, 1.798, 1.815, 1.817, 1.808, 1.788, 1.762, 1.733, 1.714, 1.704, 1.699, + 1.682, 1.693, 1.713, 1.742, 1.772, 1.798, 1.815, 1.829, 1.831, 1.821, 1.807, 1.773, 1.742, 1.716, 1.703, 1.699, + 1.681, 1.693, 1.713, 1.742, 1.772, 1.799, 1.828, 1.839, 1.839, 1.828, 1.807, 1.774, 1.742, 1.715, 1.699, 1.695, + 1.679, 1.691, 1.712, 1.739, 1.771, 1.798, 1.825, 1.829, 1.831, 1.818, 1.801, 1.774, 1.738, 1.712, 1.695, 1.691, + 1.676, 1.685, 1.703, 1.727, 1.761, 1.784, 1.801, 1.817, 1.817, 1.801, 1.779, 1.761, 1.729, 1.706, 1.691, 1.684, + 1.669, 1.678, 1.692, 1.714, 1.741, 1.764, 1.784, 1.795, 1.795, 1.779, 1.761, 1.738, 1.713, 1.696, 1.683, 1.679, + 1.664, 1.671, 1.679, 1.693, 1.716, 1.741, 1.762, 1.769, 1.769, 1.753, 1.738, 1.713, 1.701, 1.687, 1.681, 1.676, + 1.661, 1.664, 1.671, 1.679, 1.693, 1.714, 1.732, 1.739, 1.739, 1.729, 1.708, 1.701, 1.685, 1.679, 1.676, 1.677, + 1.659, 1.661, 1.664, 1.671, 1.679, 1.693, 1.712, 1.714, 1.714, 1.708, 1.701, 1.687, 1.679, 1.672, 1.673, 1.677 + ] + }, + { + "ct": 5000, + "table": + [ + 1.177, 1.183, 1.187, 1.191, 1.197, 1.206, 1.213, 1.215, 1.215, 1.215, 1.211, 1.204, 1.196, 1.191, 1.183, 1.182, + 1.179, 1.185, 1.191, 1.196, 1.206, 1.217, 1.224, 1.229, 1.229, 1.226, 1.221, 1.212, 1.202, 1.195, 1.188, 1.182, + 1.183, 1.191, 1.196, 1.206, 1.217, 1.229, 1.239, 1.245, 1.245, 1.245, 1.233, 1.221, 1.212, 1.199, 1.193, 1.187, + 1.183, 1.192, 1.201, 1.212, 1.229, 1.241, 1.252, 1.259, 1.259, 1.257, 1.245, 1.233, 1.217, 1.201, 1.194, 1.192, + 1.183, 1.192, 1.202, 1.219, 1.238, 1.252, 1.261, 1.269, 1.268, 1.261, 1.257, 1.241, 1.223, 1.204, 1.194, 1.191, + 1.182, 1.192, 1.202, 1.219, 1.239, 1.255, 1.266, 1.271, 1.271, 1.265, 1.258, 1.242, 1.223, 1.205, 1.192, 1.191, + 1.181, 1.189, 1.199, 1.218, 1.239, 1.254, 1.262, 1.268, 1.268, 1.258, 1.253, 1.241, 1.221, 1.204, 1.191, 1.187, + 1.179, 1.184, 1.193, 1.211, 1.232, 1.243, 1.254, 1.257, 1.256, 1.253, 1.242, 1.232, 1.216, 1.199, 1.187, 1.183, + 1.174, 1.179, 1.187, 1.202, 1.218, 1.232, 1.243, 1.246, 1.246, 1.239, 1.232, 1.218, 1.207, 1.191, 1.183, 1.179, + 1.169, 1.175, 1.181, 1.189, 1.202, 1.218, 1.229, 1.232, 1.232, 1.224, 1.218, 1.207, 1.199, 1.185, 1.181, 1.174, + 1.164, 1.168, 1.175, 1.179, 1.189, 1.201, 1.209, 1.213, 1.213, 1.209, 1.201, 1.198, 1.186, 1.181, 1.174, 1.173, + 1.161, 1.166, 1.171, 1.175, 1.179, 1.189, 1.197, 1.198, 1.198, 1.197, 1.196, 1.186, 1.182, 1.175, 1.173, 1.173 + ] + }, + { + "ct": 6500, + "table": + [ + 1.166, 1.171, 1.173, 1.178, 1.187, 1.193, 1.201, 1.205, 1.205, 1.205, 1.199, 1.191, 1.184, 1.179, 1.174, 1.171, + 1.166, 1.172, 1.176, 1.184, 1.195, 1.202, 1.209, 1.216, 1.216, 1.213, 1.208, 1.201, 1.189, 1.182, 1.176, 1.171, + 1.166, 1.173, 1.183, 1.195, 1.202, 1.214, 1.221, 1.228, 1.229, 1.228, 1.221, 1.209, 1.201, 1.186, 1.179, 1.174, + 1.165, 1.174, 1.187, 1.201, 1.214, 1.223, 1.235, 1.241, 1.242, 1.241, 1.229, 1.221, 1.205, 1.188, 1.181, 1.177, + 1.165, 1.174, 1.189, 1.207, 1.223, 1.235, 1.242, 1.253, 1.252, 1.245, 1.241, 1.228, 1.211, 1.189, 1.181, 1.178, + 1.164, 1.173, 1.189, 1.207, 1.224, 1.238, 1.249, 1.255, 1.255, 1.249, 1.242, 1.228, 1.211, 1.191, 1.179, 1.176, + 1.163, 1.172, 1.187, 1.207, 1.223, 1.237, 1.245, 1.253, 1.252, 1.243, 1.237, 1.228, 1.207, 1.188, 1.176, 1.173, + 1.159, 1.167, 1.179, 1.199, 1.217, 1.227, 1.237, 1.241, 1.241, 1.237, 1.228, 1.217, 1.201, 1.184, 1.174, 1.169, + 1.156, 1.164, 1.172, 1.189, 1.205, 1.217, 1.226, 1.229, 1.229, 1.222, 1.217, 1.204, 1.192, 1.177, 1.171, 1.166, + 1.154, 1.159, 1.166, 1.177, 1.189, 1.205, 1.213, 1.216, 1.216, 1.209, 1.204, 1.192, 1.183, 1.172, 1.168, 1.162, + 1.152, 1.155, 1.161, 1.166, 1.177, 1.188, 1.195, 1.198, 1.199, 1.196, 1.187, 1.183, 1.173, 1.168, 1.163, 1.162, + 1.151, 1.154, 1.158, 1.162, 1.168, 1.177, 1.183, 1.184, 1.184, 1.184, 1.182, 1.172, 1.168, 1.165, 1.162, 1.161 + ] + } + ], + "luminance_lut": + [ + 2.236, 2.111, 1.912, 1.741, 1.579, 1.451, 1.379, 1.349, 1.349, 1.361, 1.411, 1.505, 1.644, 1.816, 2.034, 2.159, + 2.139, 1.994, 1.796, 1.625, 1.467, 1.361, 1.285, 1.248, 1.239, 1.265, 1.321, 1.408, 1.536, 1.703, 1.903, 2.087, + 2.047, 1.898, 1.694, 1.511, 1.373, 1.254, 1.186, 1.152, 1.142, 1.166, 1.226, 1.309, 1.441, 1.598, 1.799, 1.978, + 1.999, 1.824, 1.615, 1.429, 1.281, 1.179, 1.113, 1.077, 1.071, 1.096, 1.153, 1.239, 1.357, 1.525, 1.726, 1.915, + 1.976, 1.773, 1.563, 1.374, 1.222, 1.119, 1.064, 1.032, 1.031, 1.049, 1.099, 1.188, 1.309, 1.478, 1.681, 1.893, + 1.973, 1.756, 1.542, 1.351, 1.196, 1.088, 1.028, 1.011, 1.004, 1.029, 1.077, 1.169, 1.295, 1.459, 1.663, 1.891, + 1.973, 1.761, 1.541, 1.349, 1.193, 1.087, 1.031, 1.006, 1.006, 1.023, 1.075, 1.169, 1.298, 1.463, 1.667, 1.891, + 1.982, 1.789, 1.568, 1.373, 1.213, 1.111, 1.051, 1.029, 1.024, 1.053, 1.106, 1.199, 1.329, 1.495, 1.692, 1.903, + 2.015, 1.838, 1.621, 1.426, 1.268, 1.159, 1.101, 1.066, 1.068, 1.099, 1.166, 1.259, 1.387, 1.553, 1.751, 1.937, + 2.076, 1.911, 1.692, 1.507, 1.346, 1.236, 1.169, 1.136, 1.139, 1.174, 1.242, 1.349, 1.475, 1.641, 1.833, 2.004, + 2.193, 2.011, 1.798, 1.604, 1.444, 1.339, 1.265, 1.235, 1.237, 1.273, 1.351, 1.461, 1.598, 1.758, 1.956, 2.125, + 2.263, 2.154, 1.916, 1.711, 1.549, 1.432, 1.372, 1.356, 1.356, 1.383, 1.455, 1.578, 1.726, 1.914, 2.119, 2.211 + ], + "sigma": 0.006, + "sigma_Cb": 0.00208 + } + }, + { + "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": 2500, + "ccm": + [ + 1.70741, -0.05307, -0.65433, + -0.62822, 1.68836, -0.06014, + -0.04452, -1.87628, 2.92079 + ] + }, + { + "ct": 2803, + "ccm": + [ + 1.74383, -0.18731, -0.55652, + -0.56491, 1.67772, -0.11281, + -0.01522, -1.60635, 2.62157 + ] + }, + { + "ct": 2912, + "ccm": + [ + 1.75215, -0.22221, -0.52995, + -0.54568, 1.63522, -0.08954, + 0.02633, -1.56997, 2.54364 + ] + }, + { + "ct": 2914, + "ccm": + [ + 1.72423, -0.28939, -0.43484, + -0.55188, 1.62925, -0.07737, + 0.01959, -1.28661, 2.26702 + ] + }, + { + "ct": 3605, + "ccm": + [ + 1.80381, -0.43646, -0.36735, + -0.46505, 1.56814, -0.10309, + 0.00929, -1.00424, 1.99495 + ] + }, + { + "ct": 4540, + "ccm": + [ + 1.85263, -0.46545, -0.38719, + -0.44136, 1.68443, -0.24307, + 0.04108, -0.85599, 1.81491 + ] + }, + { + "ct": 5699, + "ccm": + [ + 1.98595, -0.63542, -0.35054, + -0.34623, 1.54146, -0.19522, + 0.00411, -0.70936, 1.70525 + ] + }, + { + "ct": 8625, + "ccm": + [ + 2.21637, -0.56663, -0.64974, + -0.41133, 1.96625, -0.55492, + -0.02307, -0.83529, 1.85837 + ] + } + ] + } + }, + { + "rpi.sharpen": { } + } + ] +}
\ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/ov64a40.json b/src/ipa/rpi/vc4/data/ov64a40.json new file mode 100644 index 00000000..096f0b1e --- /dev/null +++ b/src/ipa/rpi/vc4/data/ov64a40.json @@ -0,0 +1,422 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 17861, + "reference_gain": 2.0, + "reference_aperture": 1.0, + "reference_lux": 1073, + "reference_Y": 9022 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 2.984 + } + }, + { + "rpi.geq": + { + "offset": 215, + "slope": 0.01121 + } + }, + { + "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 + }, + }, + "bayes": 1, + "ct_curve": + [ + 2300.0, 1.0522, 0.4091, + 2700.0, 0.7884, 0.4327, + 3000.0, 0.7597, 0.4421, + 4000.0, 0.5972, 0.5404, + 4150.0, 0.5598, 0.5779, + 6500.0, 0.4388, 0.7582 + ], + "sensitivity_r": 1.0, + "sensitivity_b": 1.0, + "transverse_pos": 0.0558, + "transverse_neg": 0.04278 + } + }, + { + "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, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + } + }, + "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 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + } + }, + { + "rpi.alsc": + { + "omega": 1.3, + "n_iter": 100, + "luminance_strength": 0.8, + "calibrations_Cr": [ + { + "ct": 6500, + "table": + [ + 2.437, 2.415, 2.392, 2.378, 2.369, 2.353, 2.344, 2.336, 2.329, 2.325, 2.325, 2.325, 2.333, 2.344, 2.366, 2.381, + 2.434, 2.405, 2.386, 2.369, 2.361, 2.334, 2.314, 2.302, 2.295, 2.289, 2.289, 2.303, 2.327, 2.334, 2.356, 2.378, + 2.434, 2.405, 2.385, 2.363, 2.334, 2.314, 2.289, 2.277, 2.269, 2.262, 2.262, 2.283, 2.303, 2.328, 2.352, 2.375, + 2.434, 2.405, 2.385, 2.348, 2.315, 2.289, 2.277, 2.258, 2.251, 2.242, 2.249, 2.258, 2.283, 2.321, 2.352, 2.375, + 2.434, 2.413, 2.385, 2.343, 2.311, 2.282, 2.258, 2.251, 2.229, 2.233, 2.242, 2.251, 2.281, 2.321, 2.356, 2.375, + 2.437, 2.418, 2.388, 2.343, 2.311, 2.282, 2.251, 2.229, 2.221, 2.226, 2.233, 2.251, 2.281, 2.322, 2.361, 2.381, + 2.444, 2.422, 2.393, 2.351, 2.314, 2.284, 2.251, 2.227, 2.221, 2.227, 2.234, 2.256, 2.287, 2.326, 2.366, 2.389, + 2.445, 2.424, 2.395, 2.353, 2.316, 2.287, 2.266, 2.251, 2.228, 2.234, 2.251, 2.259, 2.289, 2.331, 2.371, 2.395, + 2.445, 2.424, 2.399, 2.364, 2.329, 2.308, 2.287, 2.266, 2.259, 2.254, 2.259, 2.283, 2.304, 2.343, 2.375, 2.395, + 2.445, 2.425, 2.407, 2.385, 2.364, 2.329, 2.308, 2.299, 2.291, 2.284, 2.284, 2.304, 2.335, 2.354, 2.381, 2.399, + 2.449, 2.427, 2.418, 2.407, 2.385, 2.364, 2.349, 2.338, 2.333, 2.326, 2.326, 2.335, 2.354, 2.374, 2.389, 2.408, + 2.458, 2.441, 2.427, 2.411, 2.403, 2.395, 2.391, 2.383, 2.375, 2.369, 2.369, 2.369, 2.369, 2.385, 2.408, 2.418 + ] + } + ], + "calibrations_Cb": [ + { + "ct": 6500, + "table": + [ + 1.297, 1.297, 1.289, 1.289, 1.289, 1.291, 1.293, 1.294, 1.294, 1.294, 1.294, 1.296, 1.298, 1.304, 1.312, 1.313, + 1.297, 1.289, 1.286, 1.286, 1.287, 1.289, 1.292, 1.294, 1.294, 1.294, 1.294, 1.294, 1.296, 1.298, 1.306, 1.312, + 1.289, 1.286, 1.283, 1.283, 1.285, 1.287, 1.291, 1.294, 1.294, 1.292, 1.291, 1.289, 1.293, 1.294, 1.298, 1.304, + 1.283, 1.282, 1.279, 1.281, 1.282, 1.285, 1.287, 1.294, 1.294, 1.291, 1.289, 1.289, 1.289, 1.293, 1.294, 1.298, + 1.281, 1.279, 1.279, 1.279, 1.281, 1.283, 1.287, 1.292, 1.292, 1.291, 1.291, 1.289, 1.289, 1.291, 1.294, 1.297, + 1.279, 1.277, 1.277, 1.279, 1.281, 1.282, 1.286, 1.289, 1.291, 1.291, 1.291, 1.291, 1.289, 1.291, 1.293, 1.297, + 1.277, 1.275, 1.275, 1.278, 1.279, 1.281, 1.284, 1.287, 1.289, 1.291, 1.291, 1.291, 1.289, 1.289, 1.292, 1.297, + 1.277, 1.275, 1.274, 1.275, 1.277, 1.278, 1.279, 1.284, 1.285, 1.285, 1.286, 1.288, 1.289, 1.289, 1.292, 1.297, + 1.277, 1.272, 1.272, 1.274, 1.274, 1.277, 1.279, 1.282, 1.284, 1.284, 1.285, 1.286, 1.288, 1.289, 1.292, 1.297, + 1.277, 1.272, 1.272, 1.273, 1.274, 1.276, 1.279, 1.282, 1.284, 1.284, 1.286, 1.286, 1.288, 1.289, 1.293, 1.297, + 1.279, 1.272, 1.271, 1.272, 1.274, 1.276, 1.279, 1.283, 1.284, 1.284, 1.285, 1.286, 1.288, 1.291, 1.294, 1.299, + 1.281, 1.274, 1.271, 1.271, 1.273, 1.276, 1.278, 1.282, 1.284, 1.284, 1.285, 1.286, 1.286, 1.291, 1.295, 1.302 + ] + } + ], + "luminance_lut": + [ + 3.811, 3.611, 3.038, 2.632, 2.291, 2.044, 1.967, 1.957, 1.957, 1.957, 2.009, 2.222, 2.541, 2.926, 3.455, 3.652, + 3.611, 3.135, 2.636, 2.343, 2.044, 1.846, 1.703, 1.626, 1.626, 1.671, 1.796, 1.983, 2.266, 2.549, 3.007, 3.455, + 3.135, 2.781, 2.343, 2.044, 1.831, 1.554, 1.411, 1.337, 1.337, 1.379, 1.502, 1.749, 1.983, 2.266, 2.671, 3.007, + 2.903, 2.538, 2.149, 1.831, 1.554, 1.401, 1.208, 1.145, 1.145, 1.183, 1.339, 1.502, 1.749, 2.072, 2.446, 2.801, + 2.812, 2.389, 2.018, 1.684, 1.401, 1.208, 1.139, 1.028, 1.028, 1.109, 1.183, 1.339, 1.604, 1.939, 2.309, 2.723, + 2.799, 2.317, 1.948, 1.606, 1.327, 1.139, 1.028, 1.019, 1.001, 1.021, 1.109, 1.272, 1.531, 1.869, 2.246, 2.717, + 2.799, 2.317, 1.948, 1.606, 1.327, 1.139, 1.027, 1.006, 1.001, 1.007, 1.109, 1.272, 1.531, 1.869, 2.246, 2.717, + 2.799, 2.372, 1.997, 1.661, 1.378, 1.184, 1.118, 1.019, 1.012, 1.103, 1.158, 1.326, 1.589, 1.926, 2.302, 2.717, + 2.884, 2.507, 2.116, 1.795, 1.511, 1.361, 1.184, 1.118, 1.118, 1.158, 1.326, 1.461, 1.726, 2.056, 2.434, 2.799, + 3.083, 2.738, 2.303, 1.989, 1.783, 1.511, 1.361, 1.291, 1.291, 1.337, 1.461, 1.726, 1.942, 2.251, 2.657, 2.999, + 3.578, 3.083, 2.589, 2.303, 1.989, 1.783, 1.637, 1.563, 1.563, 1.613, 1.743, 1.942, 2.251, 2.537, 2.999, 3.492, + 3.764, 3.578, 2.999, 2.583, 2.237, 1.986, 1.913, 1.905, 1.905, 1.905, 1.962, 2.196, 2.525, 2.932, 3.492, 3.659 + ], + "sigma": 0.005, + "sigma_Cb": 0.005 + } + }, + { + "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": 2300, + "ccm": + [ + 1.77644, -0.14825, -0.62819, + -0.25816, 1.66348, -0.40532, + -0.21633, -1.95132, 3.16765 + ] + }, + { + "ct": 2700, + "ccm": + [ + 1.53605, 0.03047, -0.56652, + -0.27159, 1.78525, -0.51366, + -0.13581, -1.22128, 2.35709 + ] + }, + { + "ct": 3000, + "ccm": + [ + 1.72928, -0.18819, -0.54108, + -0.44398, 2.04756, -0.60358, + -0.13203, -0.94711, 2.07913 + ] + }, + { + "ct": 4000, + "ccm": + [ + 1.69895, -0.23055, -0.46841, + -0.33934, 1.80391, -0.46456, + -0.13902, -0.75385, 1.89287 + ] + }, + { + "ct": 4150, + "ccm": + [ + 2.08494, -0.68698, -0.39796, + -0.37928, 1.78795, -0.40867, + -0.11537, -0.74686, 1.86223 + ] + }, + { + "ct": 6500, + "ccm": + [ + 1.69813, -0.27304, -0.42509, + -0.23364, 1.87586, -0.64221, + -0.07587, -0.62348, 1.69935 + ] + } + ] + } + }, + { + "rpi.sharpen": { } + }, + { + "rpi.af": + { + "ranges": + { + "normal": + { + "min": 0.0, + "max": 12.0, + "default": 1.0 + }, + "macro": + { + "min": 3.0, + "max": 15.0, + "default": 4.0 + } + }, + "speeds": + { + "normal": + { + "step_coarse": 1.0, + "step_fine": 0.25, + "contrast_ratio": 0.75, + "pdaf_gain": -0.02, + "pdaf_squelch": 0.125, + "max_slew": 2.0, + "pdaf_frames": 0, + "dropout_frames": 0, + "step_frames": 4 + } + }, + "conf_epsilon": 8, + "conf_thresh": 16, + "conf_clip": 512, + "skip_frames": 5, + "map": [ 0.0, 0, 15.0, 1023 ] + } + } + ] +}
\ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/ov7251_mono.json b/src/ipa/rpi/vc4/data/ov7251_mono.json new file mode 100644 index 00000000..a9d05a01 --- /dev/null +++ b/src/ipa/rpi/vc4/data/ov7251_mono.json @@ -0,0 +1,136 @@ +{ + "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 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 30000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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, 0.4, + 1000, 0.4 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + } + }, + { + "rpi.alsc": + { + "n_iter": 0, + "luminance_strength": 1.0, + "corner_strength": 1.5 + } + }, + { + "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/data/ov9281_mono.json b/src/ipa/rpi/vc4/data/ov9281_mono.json new file mode 100644 index 00000000..a9d05a01 --- /dev/null +++ b/src/ipa/rpi/vc4/data/ov9281_mono.json @@ -0,0 +1,136 @@ +{ + "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 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 30000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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, 0.4, + 1000, 0.4 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + } + }, + { + "rpi.alsc": + { + "n_iter": 0, + "luminance_strength": 1.0, + "corner_strength": 1.5 + } + }, + { + "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/data/se327m12.json b/src/ipa/rpi/vc4/data/se327m12.json new file mode 100644 index 00000000..948169db --- /dev/null +++ b/src/ipa/rpi/vc4/data/se327m12.json @@ -0,0 +1,432 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 3840 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 6873, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 800, + "reference_Y": 12293 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 1.986 + } + }, + { + "rpi.geq": + { + "offset": 207, + "slope": 0.00539 + } + }, + { + "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": + [ + 2900.0, 0.9217, 0.3657, + 3600.0, 0.7876, 0.4651, + 4600.0, 0.6807, 0.5684, + 5800.0, 0.5937, 0.6724, + 8100.0, 0.5447, 0.7403 + ], + "sensitivity_r": 1.0, + "sensitivity_b": 1.0, + "transverse_pos": 0.0162, + "transverse_neg": 0.0204 + } + }, + { + "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, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + } + }, + { + "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..cdc56b32 --- /dev/null +++ b/src/ipa/rpi/vc4/data/uncalibrated.json @@ -0,0 +1,131 @@ +{ + "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 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 30000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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, 0.4, + 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..c10fa17e --- /dev/null +++ b/src/ipa/rpi/vc4/meson.build @@ -0,0 +1,45 @@ +# 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_common_lib, + rpi_ipa_controller_lib +] + +vc4_ipa_includes = [ + ipa_includes, +] + +vc4_ipa_sources = files([ + 'vc4.cpp', +]) + +vc4_ipa_includes += include_directories('..') + +mod = shared_module(ipa_name, vc4_ipa_sources, + name_prefix : '', + include_directories : vc4_ipa_includes, + dependencies : [vc4_ipa_deps, libipa_dep], + 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/vc4.cpp b/src/ipa/rpi/vc4/vc4.cpp new file mode 100644 index 00000000..ba43e474 --- /dev/null +++ b/src/ipa/rpi/vc4/vc4.cpp @@ -0,0 +1,597 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019-2021, Raspberry Pi Ltd + * + * Raspberry Pi VC4/BCM2835 ISP IPA. + */ + +#include <string.h> +#include <sys/mman.h> + +#include <linux/bcm2835-isp.h> + +#include <libcamera/base/log.h> +#include <libcamera/base/span.h> +#include <libcamera/control_ids.h> +#include <libcamera/ipa/ipa_module_info.h> + +#include "common/ipa_base.h" +#include "controller/af_status.h" +#include "controller/agc_algorithm.h" +#include "controller/alsc_status.h" +#include "controller/awb_status.h" +#include "controller/black_level_status.h" +#include "controller/ccm_status.h" +#include "controller/contrast_status.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/noise_status.h" +#include "controller/sharpen_status.h" + +namespace libcamera { + +LOG_DECLARE_CATEGORY(IPARPI) + +namespace ipa::RPi { + +class IpaVc4 final : public IpaBase +{ +public: + IpaVc4() + : IpaBase(), lsTable_(nullptr) + { + } + + ~IpaVc4() + { + if (lsTable_) + munmap(lsTable_, MaxLsGridSize); + } + +private: + int32_t platformInit(const InitParams ¶ms, InitResult *result) override; + int32_t platformStart(const ControlList &controls, StartResult *result) override; + int32_t platformConfigure(const ConfigParams ¶ms, ConfigResult *result) override; + + void platformPrepareIsp(const PrepareParams ¶ms, RPiController::Metadata &rpiMetadata) override; + RPiController::StatisticsPtr platformProcessStats(Span<uint8_t> mem) override; + + void handleControls(const ControlList &controls) override; + bool validateIspControls(); + + void applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls); + void applyDG(const struct AgcPrepareStatus *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); + + /* VC4 ISP controls. */ + ControlInfoMap ispCtrls_; + + /* LS table allocation passed in from the pipeline handler. */ + SharedFD lsTableHandle_; + void *lsTable_; +}; + +int32_t IpaVc4::platformInit([[maybe_unused]] const InitParams ¶ms, [[maybe_unused]] InitResult *result) +{ + const std::string &target = controller_.getTarget(); + + if (target != "bcm2835") { + LOG(IPARPI, Error) + << "Tuning data file target returned \"" << target << "\"" + << ", expected \"bcm2835\""; + return -EINVAL; + } + + return 0; +} + +int32_t IpaVc4::platformStart([[maybe_unused]] const ControlList &controls, + [[maybe_unused]] StartResult *result) +{ + return 0; +} + +int32_t IpaVc4::platformConfigure(const ConfigParams ¶ms, [[maybe_unused]] ConfigResult *result) +{ + ispCtrls_ = params.ispControls; + if (!validateIspControls()) { + LOG(IPARPI, Error) << "ISP control validation failed."; + return -1; + } + + /* Store the lens shading table pointer and handle if available. */ + if (params.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(params.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; + } + } + } + + return 0; +} + +void IpaVc4::platformPrepareIsp([[maybe_unused]] const PrepareParams ¶ms, + RPiController::Metadata &rpiMetadata) +{ + ControlList ctrls(ispCtrls_); + + /* 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); + + AgcPrepareStatus *dgStatus = rpiMetadata.getLocked<AgcPrepareStatus>("agc.prepare_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); +} + +RPiController::StatisticsPtr IpaVc4::platformProcessStats(Span<uint8_t> mem) +{ + using namespace RPiController; + + const bcm2835_isp_stats *stats = reinterpret_cast<bcm2835_isp_stats *>(mem.data()); + StatisticsPtr statistics = std::make_shared<Statistics>(Statistics::AgcStatsPos::PreWb, + Statistics::ColourStatsPos::PostLsc); + const Controller::HardwareConfig &hw = controller_.getHardwareConfig(); + unsigned int i; + + /* 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 }); + + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.getAlgorithm("agc")); + if (!agc) { + LOG(IPARPI, Debug) << "No AGC algorithm - not copying statistics"; + statistics->agcRegions.init(0); + } else { + statistics->agcRegions.init(hw.agcRegions); + const std::vector<double> &weights = agc->getWeights(); + for (i = 0; i < statistics->agcRegions.numRegions(); i++) { + uint64_t rSum = (stats->agc_stats[i].r_sum << scale) * weights[i]; + uint64_t gSum = (stats->agc_stats[i].g_sum << scale) * weights[i]; + uint64_t bSum = (stats->agc_stats[i].b_sum << scale) * weights[i]; + uint32_t counted = stats->agc_stats[i].counted * weights[i]; + uint32_t notcounted = stats->agc_stats[i].notcounted * weights[i]; + statistics->agcRegions.set(i, { { rSum, gSum, bSum }, + counted, + 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] }); + + if (statsMetadataOutput_) { + Span<const uint8_t> statsSpan(reinterpret_cast<const uint8_t *>(stats), + sizeof(bcm2835_isp_stats)); + libcameraMetadata_.set(controls::rpi::Bcm2835StatsOutput, statsSpan); + } + + return statistics; +} + +void IpaVc4::handleControls(const ControlList &controls) +{ + 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 }, + }; + + for (auto const &ctrl : controls) { + switch (ctrl.first) { + case controls::draft::NOISE_REDUCTION_MODE: { + RPiController::DenoiseAlgorithm *sdn = dynamic_cast<RPiController::DenoiseAlgorithm *>( + controller_.getAlgorithm("SDN")); + /* Some platforms may have a combined "denoise" algorithm instead. */ + if (!sdn) + sdn = dynamic_cast<RPiController::DenoiseAlgorithm *>( + controller_.getAlgorithm("denoise")); + if (!sdn) { + LOG(IPARPI, Warning) + << "Could not set NOISE_REDUCTION_MODE - no SDN algorithm"; + return; + } + + int32_t idx = ctrl.second.get<int32_t>(); + auto mode = DenoiseModeTable.find(idx); + if (mode != DenoiseModeTable.end()) + sdn->setMode(mode->second); + break; + } + } + } +} + +bool IpaVc4::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; +} + +void IpaVc4::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 IpaVc4::applyDG(const struct AgcPrepareStatus *dgStatus, ControlList &ctrls) +{ + ctrls.set(V4L2_CID_DIGITAL_GAIN, + static_cast<int32_t>(dgStatus->digitalGain * 1000)); +} + +void IpaVc4::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 IpaVc4::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 IpaVc4::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 IpaVc4::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 IpaVc4::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 IpaVc4::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 IpaVc4::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 IpaVc4::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); + 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 IpaVc4::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 IpaVc4::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, + "rpi/vc4", + "rpi/vc4", +}; + +IPAInterface *ipaCreate() +{ + return new ipa::RPi::IpaVc4(); +} + +} /* extern "C" */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/agc.cpp b/src/ipa/simple/algorithms/agc.cpp new file mode 100644 index 00000000..72aade14 --- /dev/null +++ b/src/ipa/simple/algorithms/agc.cpp @@ -0,0 +1,139 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Red Hat Inc. + * + * Exposure and gain + */ + +#include "agc.h" + +#include <stdint.h> + +#include <libcamera/base/log.h> + +namespace libcamera { + +LOG_DEFINE_CATEGORY(IPASoftExposure) + +namespace ipa::soft::algorithms { + +/* + * The number of bins to use for the optimal exposure calculations. + */ +static constexpr unsigned int kExposureBinsCount = 5; + +/* + * The exposure is optimal when the mean sample value of the histogram is + * in the middle of the range. + */ +static constexpr float kExposureOptimal = kExposureBinsCount / 2.0; + +/* + * This implements the hysteresis for the exposure adjustment. + * It is small enough to have the exposure close to the optimal, and is big + * enough to prevent the exposure from wobbling around the optimal value. + */ +static constexpr float kExposureSatisfactory = 0.2; + +Agc::Agc() +{ +} + +void Agc::updateExposure(IPAContext &context, IPAFrameContext &frameContext, double exposureMSV) +{ + /* + * kExpDenominator of 10 gives ~10% increment/decrement; + * kExpDenominator of 5 - about ~20% + */ + static constexpr uint8_t kExpDenominator = 10; + static constexpr uint8_t kExpNumeratorUp = kExpDenominator + 1; + static constexpr uint8_t kExpNumeratorDown = kExpDenominator - 1; + + double next; + int32_t &exposure = frameContext.sensor.exposure; + double &again = frameContext.sensor.gain; + + if (exposureMSV < kExposureOptimal - kExposureSatisfactory) { + next = exposure * kExpNumeratorUp / kExpDenominator; + if (next - exposure < 1) + exposure += 1; + else + exposure = next; + if (exposure >= context.configuration.agc.exposureMax) { + next = again * kExpNumeratorUp / kExpDenominator; + if (next - again < context.configuration.agc.againMinStep) + again += context.configuration.agc.againMinStep; + else + again = next; + } + } + + if (exposureMSV > kExposureOptimal + kExposureSatisfactory) { + if (exposure == context.configuration.agc.exposureMax && + again > context.configuration.agc.againMin) { + next = again * kExpNumeratorDown / kExpDenominator; + if (again - next < context.configuration.agc.againMinStep) + again -= context.configuration.agc.againMinStep; + else + again = next; + } else { + next = exposure * kExpNumeratorDown / kExpDenominator; + if (exposure - next < 1) + exposure -= 1; + else + exposure = next; + } + } + + exposure = std::clamp(exposure, context.configuration.agc.exposureMin, + context.configuration.agc.exposureMax); + again = std::clamp(again, context.configuration.agc.againMin, + context.configuration.agc.againMax); + + LOG(IPASoftExposure, Debug) + << "exposureMSV " << exposureMSV + << " exp " << exposure << " again " << again; +} + +void Agc::process(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + const SwIspStats *stats, + [[maybe_unused]] ControlList &metadata) +{ + /* + * Calculate Mean Sample Value (MSV) according to formula from: + * https://www.araa.asn.au/acra/acra2007/papers/paper84final.pdf + */ + const auto &histogram = stats->yHistogram; + const unsigned int blackLevelHistIdx = + context.activeState.blc.level / (256 / SwIspStats::kYHistogramSize); + const unsigned int histogramSize = + SwIspStats::kYHistogramSize - blackLevelHistIdx; + const unsigned int yHistValsPerBin = histogramSize / kExposureBinsCount; + const unsigned int yHistValsPerBinMod = + histogramSize / (histogramSize % kExposureBinsCount + 1); + int exposureBins[kExposureBinsCount] = {}; + unsigned int denom = 0; + unsigned int num = 0; + + for (unsigned int i = 0; i < histogramSize; i++) { + unsigned int idx = (i - (i / yHistValsPerBinMod)) / yHistValsPerBin; + exposureBins[idx] += histogram[blackLevelHistIdx + i]; + } + + for (unsigned int i = 0; i < kExposureBinsCount; i++) { + LOG(IPASoftExposure, Debug) << i << ": " << exposureBins[i]; + denom += exposureBins[i]; + num += exposureBins[i] * (i + 1); + } + + float exposureMSV = (denom == 0 ? 0 : static_cast<float>(num) / denom); + updateExposure(context, frameContext, exposureMSV); +} + +REGISTER_IPA_ALGORITHM(Agc, "Agc") + +} /* namespace ipa::soft::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/agc.h b/src/ipa/simple/algorithms/agc.h new file mode 100644 index 00000000..112d9f5a --- /dev/null +++ b/src/ipa/simple/algorithms/agc.h @@ -0,0 +1,33 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Red Hat Inc. + * + * Exposure and gain + */ + +#pragma once + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::soft::algorithms { + +class Agc : public Algorithm +{ +public: + Agc(); + ~Agc() = default; + + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const SwIspStats *stats, + ControlList &metadata) override; + +private: + void updateExposure(IPAContext &context, IPAFrameContext &frameContext, double exposureMSV); +}; + +} /* namespace ipa::soft::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/algorithm.h b/src/ipa/simple/algorithms/algorithm.h new file mode 100644 index 00000000..41f63170 --- /dev/null +++ b/src/ipa/simple/algorithms/algorithm.h @@ -0,0 +1,22 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024 Red Hat, Inc. + * + * Software ISP control algorithm interface + */ + +#pragma once + +#include <libipa/algorithm.h> + +#include "module.h" + +namespace libcamera { + +namespace ipa::soft { + +using Algorithm = libcamera::ipa::Algorithm<Module>; + +} /* namespace ipa::soft */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/awb.cpp b/src/ipa/simple/algorithms/awb.cpp new file mode 100644 index 00000000..195de41d --- /dev/null +++ b/src/ipa/simple/algorithms/awb.cpp @@ -0,0 +1,69 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Red Hat Inc. + * + * Auto white balance + */ + +#include "awb.h" + +#include <numeric> +#include <stdint.h> + +#include <libcamera/base/log.h> + +#include "simple/ipa_context.h" + +namespace libcamera { + +LOG_DEFINE_CATEGORY(IPASoftAwb) + +namespace ipa::soft::algorithms { + +int Awb::configure(IPAContext &context, + [[maybe_unused]] const IPAConfigInfo &configInfo) +{ + auto &gains = context.activeState.gains; + gains.red = gains.green = gains.blue = 1.0; + + return 0; +} + +void Awb::process(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + const SwIspStats *stats, + [[maybe_unused]] ControlList &metadata) +{ + const SwIspStats::Histogram &histogram = stats->yHistogram; + const uint8_t blackLevel = context.activeState.blc.level; + + /* + * Black level must be subtracted to get the correct AWB ratios, they + * would be off if they were computed from the whole brightness range + * rather than from the sensor range. + */ + const uint64_t nPixels = std::accumulate( + histogram.begin(), histogram.end(), 0); + const uint64_t offset = blackLevel * nPixels; + const uint64_t sumR = stats->sumR_ - offset / 4; + const uint64_t sumG = stats->sumG_ - offset / 2; + const uint64_t sumB = stats->sumB_ - offset / 4; + + /* + * Calculate red and blue gains for AWB. + * Clamp max gain at 4.0, this also avoids 0 division. + */ + auto &gains = context.activeState.gains; + gains.red = sumR <= sumG / 4 ? 4.0 : static_cast<double>(sumG) / sumR; + gains.blue = sumB <= sumG / 4 ? 4.0 : static_cast<double>(sumG) / sumB; + /* Green gain is fixed to 1.0 */ + + LOG(IPASoftAwb, Debug) << "gain R/B " << gains.red << "/" << gains.blue; +} + +REGISTER_IPA_ALGORITHM(Awb, "Awb") + +} /* namespace ipa::soft::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/awb.h b/src/ipa/simple/algorithms/awb.h new file mode 100644 index 00000000..db1496cd --- /dev/null +++ b/src/ipa/simple/algorithms/awb.h @@ -0,0 +1,32 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Red Hat Inc. + * + * Auto white balance + */ + +#pragma once + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::soft::algorithms { + +class Awb : public Algorithm +{ +public: + Awb() = default; + ~Awb() = default; + + int configure(IPAContext &context, const IPAConfigInfo &configInfo) override; + void process(IPAContext &context, + const uint32_t frame, + IPAFrameContext &frameContext, + const SwIspStats *stats, + ControlList &metadata) override; +}; + +} /* namespace ipa::soft::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/blc.cpp b/src/ipa/simple/algorithms/blc.cpp new file mode 100644 index 00000000..1d7d370b --- /dev/null +++ b/src/ipa/simple/algorithms/blc.cpp @@ -0,0 +1,98 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Red Hat Inc. + * + * Black level handling + */ + +#include "blc.h" + +#include <numeric> + +#include <libcamera/base/log.h> + +namespace libcamera { + +namespace ipa::soft::algorithms { + +LOG_DEFINE_CATEGORY(IPASoftBL) + +BlackLevel::BlackLevel() +{ +} + +int BlackLevel::init([[maybe_unused]] IPAContext &context, + const YamlObject &tuningData) +{ + auto blackLevel = tuningData["blackLevel"].get<int16_t>(); + if (blackLevel.has_value()) { + /* + * Convert 16 bit values from the tuning file to 8 bit black + * level for the SoftISP. + */ + definedLevel_ = blackLevel.value() >> 8; + } + return 0; +} + +int BlackLevel::configure(IPAContext &context, + [[maybe_unused]] const IPAConfigInfo &configInfo) +{ + if (definedLevel_.has_value()) + context.configuration.black.level = definedLevel_; + context.activeState.blc.level = + context.configuration.black.level.value_or(255); + return 0; +} + +void BlackLevel::process(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + const SwIspStats *stats, + [[maybe_unused]] ControlList &metadata) +{ + if (context.configuration.black.level.has_value()) + return; + + if (frameContext.sensor.exposure == exposure_ && + frameContext.sensor.gain == gain_) { + return; + } + + const SwIspStats::Histogram &histogram = stats->yHistogram; + + /* + * The constant is selected to be "good enough", not overly + * conservative or aggressive. There is no magic about the given value. + */ + constexpr float ignoredPercentage = 0.02; + const unsigned int total = + std::accumulate(begin(histogram), end(histogram), 0); + const unsigned int pixelThreshold = ignoredPercentage * total; + const unsigned int histogramRatio = 256 / SwIspStats::kYHistogramSize; + const unsigned int currentBlackIdx = + context.activeState.blc.level / histogramRatio; + + for (unsigned int i = 0, seen = 0; + i < currentBlackIdx && i < SwIspStats::kYHistogramSize; + i++) { + seen += histogram[i]; + if (seen >= pixelThreshold) { + context.activeState.blc.level = i * histogramRatio; + exposure_ = frameContext.sensor.exposure; + gain_ = frameContext.sensor.gain; + LOG(IPASoftBL, Debug) + << "Auto-set black level: " + << i << "/" << SwIspStats::kYHistogramSize + << " (" << 100 * (seen - histogram[i]) / total << "% below, " + << 100 * seen / total << "% at or below)"; + break; + } + }; +} + +REGISTER_IPA_ALGORITHM(BlackLevel, "BlackLevel") + +} /* namespace ipa::soft::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/blc.h b/src/ipa/simple/algorithms/blc.h new file mode 100644 index 00000000..52d59cab --- /dev/null +++ b/src/ipa/simple/algorithms/blc.h @@ -0,0 +1,40 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Red Hat Inc. + * + * Black level handling + */ + +#pragma once + +#include <optional> +#include <stdint.h> + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::soft::algorithms { + +class BlackLevel : public Algorithm +{ +public: + BlackLevel(); + ~BlackLevel() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + int configure(IPAContext &context, const IPAConfigInfo &configInfo) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const SwIspStats *stats, + ControlList &metadata) override; + +private: + int32_t exposure_; + double gain_; + std::optional<uint8_t> definedLevel_; +}; + +} /* namespace ipa::soft::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/lut.cpp b/src/ipa/simple/algorithms/lut.cpp new file mode 100644 index 00000000..0ba2391f --- /dev/null +++ b/src/ipa/simple/algorithms/lut.cpp @@ -0,0 +1,123 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Red Hat Inc. + * + * Color lookup tables construction + */ + +#include "lut.h" + +#include <algorithm> +#include <cmath> +#include <optional> +#include <stdint.h> + +#include <libcamera/base/log.h> + +#include "simple/ipa_context.h" + +#include "control_ids.h" + +namespace libcamera { + +LOG_DEFINE_CATEGORY(IPASoftLut) + +namespace ipa::soft::algorithms { + +int Lut::init(IPAContext &context, + [[maybe_unused]] const YamlObject &tuningData) +{ + context.ctrlMap[&controls::Contrast] = ControlInfo(0.0f, 2.0f, 1.0f); + return 0; +} + +int Lut::configure(IPAContext &context, + [[maybe_unused]] const IPAConfigInfo &configInfo) +{ + /* Gamma value is fixed */ + context.configuration.gamma = 0.5; + context.activeState.knobs.contrast = std::optional<double>(); + updateGammaTable(context); + + return 0; +} + +void Lut::queueRequest(typename Module::Context &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] typename Module::FrameContext &frameContext, + const ControlList &controls) +{ + const auto &contrast = controls.get(controls::Contrast); + if (contrast.has_value()) { + context.activeState.knobs.contrast = contrast; + LOG(IPASoftLut, Debug) << "Setting contrast to " << contrast.value(); + } +} + +void Lut::updateGammaTable(IPAContext &context) +{ + auto &gammaTable = context.activeState.gamma.gammaTable; + const auto blackLevel = context.activeState.blc.level; + const unsigned int blackIndex = blackLevel * gammaTable.size() / 256; + const auto contrast = context.activeState.knobs.contrast.value_or(1.0); + + std::fill(gammaTable.begin(), gammaTable.begin() + blackIndex, 0); + const float divisor = gammaTable.size() - blackIndex - 1.0; + for (unsigned int i = blackIndex; i < gammaTable.size(); i++) { + double normalized = (i - blackIndex) / divisor; + /* Convert 0..2 to 0..infinity; avoid actual inifinity at tan(pi/2) */ + double contrastExp = tan(std::clamp(contrast * M_PI_4, 0.0, M_PI_2 - 0.00001)); + /* Apply simple S-curve */ + if (normalized < 0.5) + normalized = 0.5 * std::pow(normalized / 0.5, contrastExp); + else + normalized = 1.0 - 0.5 * std::pow((1.0 - normalized) / 0.5, contrastExp); + gammaTable[i] = UINT8_MAX * + std::pow(normalized, context.configuration.gamma); + } + + context.activeState.gamma.blackLevel = blackLevel; + context.activeState.gamma.contrast = contrast; +} + +void Lut::prepare(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + [[maybe_unused]] DebayerParams *params) +{ + /* + * Update the gamma table if needed. This means if black level changes + * and since the black level gets updated only if a lower value is + * observed, it's not permanently prone to minor fluctuations or + * rounding errors. + */ + if (context.activeState.gamma.blackLevel != context.activeState.blc.level || + context.activeState.gamma.contrast != context.activeState.knobs.contrast) + updateGammaTable(context); + + auto &gains = context.activeState.gains; + auto &gammaTable = context.activeState.gamma.gammaTable; + const unsigned int gammaTableSize = gammaTable.size(); + + for (unsigned int i = 0; i < DebayerParams::kRGBLookupSize; i++) { + const double div = static_cast<double>(DebayerParams::kRGBLookupSize) / + gammaTableSize; + /* Apply gamma after gain! */ + unsigned int idx; + idx = std::min({ static_cast<unsigned int>(i * gains.red / div), + gammaTableSize - 1 }); + params->red[i] = gammaTable[idx]; + idx = std::min({ static_cast<unsigned int>(i * gains.green / div), + gammaTableSize - 1 }); + params->green[i] = gammaTable[idx]; + idx = std::min({ static_cast<unsigned int>(i * gains.blue / div), + gammaTableSize - 1 }); + params->blue[i] = gammaTable[idx]; + } +} + +REGISTER_IPA_ALGORITHM(Lut, "Lut") + +} /* namespace ipa::soft::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/lut.h b/src/ipa/simple/algorithms/lut.h new file mode 100644 index 00000000..889f864b --- /dev/null +++ b/src/ipa/simple/algorithms/lut.h @@ -0,0 +1,40 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Red Hat Inc. + * + * Color lookup tables construction + */ + +#pragma once + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::soft::algorithms { + +class Lut : public Algorithm +{ +public: + Lut() = default; + ~Lut() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + int configure(IPAContext &context, const IPAConfigInfo &configInfo) override; + void queueRequest(typename Module::Context &context, + const uint32_t frame, + typename Module::FrameContext &frameContext, + const ControlList &controls) + override; + void prepare(IPAContext &context, + const uint32_t frame, + IPAFrameContext &frameContext, + DebayerParams *params) override; + +private: + void updateGammaTable(IPAContext &context); +}; + +} /* namespace ipa::soft::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/meson.build b/src/ipa/simple/algorithms/meson.build new file mode 100644 index 00000000..37a2eb53 --- /dev/null +++ b/src/ipa/simple/algorithms/meson.build @@ -0,0 +1,8 @@ +# SPDX-License-Identifier: CC0-1.0 + +soft_simple_ipa_algorithms = files([ + 'awb.cpp', + 'agc.cpp', + 'blc.cpp', + 'lut.cpp', +]) diff --git a/src/ipa/simple/data/meson.build b/src/ipa/simple/data/meson.build new file mode 100644 index 00000000..92795ee4 --- /dev/null +++ b/src/ipa/simple/data/meson.build @@ -0,0 +1,10 @@ +# SPDX-License-Identifier: CC0-1.0 + +conf_files = files([ + 'uncalibrated.yaml', +]) + +# The install_dir must match the name from the IPAModuleInfo +install_data(conf_files, + install_dir : ipa_data_dir / 'simple', + install_tag : 'runtime') diff --git a/src/ipa/simple/data/uncalibrated.yaml b/src/ipa/simple/data/uncalibrated.yaml new file mode 100644 index 00000000..3f147112 --- /dev/null +++ b/src/ipa/simple/data/uncalibrated.yaml @@ -0,0 +1,10 @@ +# SPDX-License-Identifier: CC0-1.0 +%YAML 1.1 +--- +version: 1 +algorithms: + - BlackLevel: + - Awb: + - Lut: + - Agc: +... diff --git a/src/ipa/simple/ipa_context.cpp b/src/ipa/simple/ipa_context.cpp new file mode 100644 index 00000000..3f94bbeb --- /dev/null +++ b/src/ipa/simple/ipa_context.cpp @@ -0,0 +1,102 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Google Inc. + * Copyright (C) 2024 Red Hat Inc. + * + * Software ISP IPA Context + */ + +#include "ipa_context.h" + +/** + * \file ipa_context.h + * \brief Context and state information shared between the algorithms + */ + +namespace libcamera::ipa::soft { + +/** + * \struct IPASessionConfiguration + * \brief Session configuration for the IPA module + * + * The session configuration contains all IPA configuration parameters that + * remain constant during the capture session, from IPA module start to stop. + * It is typically set during the configure() operation of the IPA module, but + * may also be updated in the start() operation. + */ + +/** + * \struct IPAActiveState + * \brief The active state of the IPA algorithms + * + * The IPA is fed with the statistics generated from the latest frame processed. + * The statistics are then processed by the IPA algorithms to compute parameters + * required for the next frame capture and processing. The current state of the + * algorithms is reflected through the IPAActiveState to store the values most + * recently computed by the IPA algorithms. + */ + +/** + * \struct IPAContext + * \brief Global IPA context data shared between all algorithms + * + * \var IPAContext::configuration + * \brief The IPA session configuration, immutable during the session + * + * \var IPAContext::frameContexts + * \brief Ring buffer of the IPAFrameContext(s) + * + * \var IPAContext::activeState + * \brief The current state of IPA algorithms + */ + +/** + * \var IPASessionConfiguration::gamma + * \brief Gamma value to be used in the raw image processing + */ + +/** + * \var IPAActiveState::black + * \brief Context for the Black Level algorithm + * + * \var IPAActiveState::black.level + * \brief Current determined black level + */ + +/** + * \var IPAActiveState::gains + * \brief Context for gains in the Colors algorithm + * + * \var IPAActiveState::gains.red + * \brief Gain of red color + * + * \var IPAActiveState::gains.green + * \brief Gain of green color + * + * \var IPAActiveState::gains.blue + * \brief Gain of blue color + */ + +/** + * \var IPAActiveState::agc + * \brief Context for the AGC algorithm + * + * \var IPAActiveState::agc.exposure + * \brief Current exposure value + * + * \var IPAActiveState::agc.again + * \brief Current analog gain value + */ + +/** + * \var IPAActiveState::gamma + * \brief Context for gamma in the Colors algorithm + * + * \var IPAActiveState::gamma.gammaTable + * \brief Computed gamma table + * + * \var IPAActiveState::gamma.blackLevel + * \brief Black level used for the gamma table computation + */ + +} /* namespace libcamera::ipa::soft */ diff --git a/src/ipa/simple/ipa_context.h b/src/ipa/simple/ipa_context.h new file mode 100644 index 00000000..4af51306 --- /dev/null +++ b/src/ipa/simple/ipa_context.h @@ -0,0 +1,77 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024 Red Hat, Inc. + * + * Simple pipeline IPA Context + */ + +#pragma once + +#include <array> +#include <optional> +#include <stdint.h> + +#include <libcamera/controls.h> + +#include <libipa/fc_queue.h> + +namespace libcamera { + +namespace ipa::soft { + +struct IPASessionConfiguration { + float gamma; + struct { + int32_t exposureMin, exposureMax; + double againMin, againMax, againMinStep; + } agc; + struct { + std::optional<uint8_t> level; + } black; +}; + +struct IPAActiveState { + struct { + uint8_t level; + } blc; + + struct { + double red; + double green; + double blue; + } gains; + + static constexpr unsigned int kGammaLookupSize = 1024; + struct { + std::array<double, kGammaLookupSize> gammaTable; + uint8_t blackLevel; + double contrast; + } gamma; + struct { + /* 0..2 range, 1.0 = normal */ + std::optional<double> contrast; + } knobs; +}; + +struct IPAFrameContext : public FrameContext { + struct { + int32_t exposure; + double gain; + } sensor; +}; + +struct IPAContext { + IPAContext(unsigned int frameContextSize) + : frameContexts(frameContextSize) + { + } + + IPASessionConfiguration configuration; + IPAActiveState activeState; + FCQueue<IPAFrameContext> frameContexts; + ControlInfoMap::Map ctrlMap; +}; + +} /* namespace ipa::soft */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/meson.build b/src/ipa/simple/meson.build new file mode 100644 index 00000000..2f9f15f4 --- /dev/null +++ b/src/ipa/simple/meson.build @@ -0,0 +1,31 @@ +# SPDX-License-Identifier: CC0-1.0 + +subdir('algorithms') +subdir('data') + +ipa_name = 'ipa_soft_simple' + +soft_simple_sources = files([ + 'ipa_context.cpp', + 'soft_simple.cpp', +]) + +soft_simple_sources += soft_simple_ipa_algorithms + +mod = shared_module(ipa_name, soft_simple_sources, + name_prefix : '', + include_directories : [ipa_includes], + dependencies : [libcamera_private, libipa_dep], + 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 + +ipa_names += ipa_name diff --git a/src/ipa/simple/module.h b/src/ipa/simple/module.h new file mode 100644 index 00000000..8d4d53fb --- /dev/null +++ b/src/ipa/simple/module.h @@ -0,0 +1,30 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024 Red Hat, Inc. + * + * Software ISP IPA Module + */ + +#pragma once + +#include <libcamera/controls.h> + +#include <libcamera/ipa/soft_ipa_interface.h> + +#include "libcamera/internal/software_isp/debayer_params.h" +#include "libcamera/internal/software_isp/swisp_stats.h" + +#include <libipa/module.h> + +#include "ipa_context.h" + +namespace libcamera { + +namespace ipa::soft { + +using Module = ipa::Module<IPAContext, IPAFrameContext, IPAConfigInfo, + DebayerParams, SwIspStats>; + +} /* namespace ipa::soft */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/soft_simple.cpp b/src/ipa/simple/soft_simple.cpp new file mode 100644 index 00000000..b26e4e15 --- /dev/null +++ b/src/ipa/simple/soft_simple.cpp @@ -0,0 +1,350 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2023, Linaro Ltd + * + * Simple Software Image Processing Algorithm module + */ + +#include <stdint.h> +#include <sys/mman.h> + +#include <linux/v4l2-controls.h> + +#include <libcamera/base/file.h> +#include <libcamera/base/log.h> +#include <libcamera/base/shared_fd.h> + +#include <libcamera/control_ids.h> +#include <libcamera/controls.h> + +#include <libcamera/ipa/ipa_interface.h> +#include <libcamera/ipa/ipa_module_info.h> +#include <libcamera/ipa/soft_ipa_interface.h> + +#include "libcamera/internal/software_isp/debayer_params.h" +#include "libcamera/internal/software_isp/swisp_stats.h" +#include "libcamera/internal/yaml_parser.h" + +#include "libipa/camera_sensor_helper.h" + +#include "module.h" + +namespace libcamera { +LOG_DEFINE_CATEGORY(IPASoft) + +namespace ipa::soft { + +/* Maximum number of frame contexts to be held */ +static constexpr uint32_t kMaxFrameContexts = 16; + +class IPASoftSimple : public ipa::soft::IPASoftInterface, public Module +{ +public: + IPASoftSimple() + : context_(kMaxFrameContexts) + { + } + + ~IPASoftSimple(); + + int init(const IPASettings &settings, + const SharedFD &fdStats, + const SharedFD &fdParams, + const ControlInfoMap &sensorInfoMap, + ControlInfoMap *ipaControls) override; + int configure(const IPAConfigInfo &configInfo) override; + + int start() override; + void stop() override; + + void queueRequest(const uint32_t frame, const ControlList &controls) override; + void computeParams(const uint32_t frame) override; + void processStats(const uint32_t frame, const uint32_t bufferId, + const ControlList &sensorControls) override; + +protected: + std::string logPrefix() const override; + +private: + void updateExposure(double exposureMSV); + + DebayerParams *params_; + SwIspStats *stats_; + std::unique_ptr<CameraSensorHelper> camHelper_; + ControlInfoMap sensorInfoMap_; + + /* Local parameter storage */ + struct IPAContext context_; +}; + +IPASoftSimple::~IPASoftSimple() +{ + if (stats_) + munmap(stats_, sizeof(SwIspStats)); + if (params_) + munmap(params_, sizeof(DebayerParams)); +} + +int IPASoftSimple::init(const IPASettings &settings, + const SharedFD &fdStats, + const SharedFD &fdParams, + const ControlInfoMap &sensorInfoMap, + ControlInfoMap *ipaControls) +{ + camHelper_ = CameraSensorHelperFactoryBase::create(settings.sensorModel); + if (!camHelper_) { + LOG(IPASoft, Warning) + << "Failed to create camera sensor helper for " + << settings.sensorModel; + } + + /* Load the tuning data file */ + File file(settings.configurationFile); + if (!file.open(File::OpenModeFlag::ReadOnly)) { + int ret = file.error(); + LOG(IPASoft, Error) + << "Failed to open configuration file " + << settings.configurationFile << ": " << strerror(-ret); + return ret; + } + + std::unique_ptr<libcamera::YamlObject> data = YamlParser::parse(file); + if (!data) + return -EINVAL; + + /* \todo Use the IPA configuration file for real. */ + unsigned int version = (*data)["version"].get<uint32_t>(0); + LOG(IPASoft, Debug) << "Tuning file version " << version; + + if (!data->contains("algorithms")) { + LOG(IPASoft, Error) << "Tuning file doesn't contain algorithms"; + return -EINVAL; + } + + int ret = createAlgorithms(context_, (*data)["algorithms"]); + if (ret) + return ret; + + params_ = nullptr; + stats_ = nullptr; + + if (!fdStats.isValid()) { + LOG(IPASoft, Error) << "Invalid Statistics handle"; + return -ENODEV; + } + + if (!fdParams.isValid()) { + LOG(IPASoft, Error) << "Invalid Parameters handle"; + return -ENODEV; + } + + { + void *mem = mmap(nullptr, sizeof(DebayerParams), PROT_WRITE, + MAP_SHARED, fdParams.get(), 0); + if (mem == MAP_FAILED) { + LOG(IPASoft, Error) << "Unable to map Parameters"; + return -errno; + } + + params_ = static_cast<DebayerParams *>(mem); + } + + { + void *mem = mmap(nullptr, sizeof(SwIspStats), PROT_READ, + MAP_SHARED, fdStats.get(), 0); + if (mem == MAP_FAILED) { + LOG(IPASoft, Error) << "Unable to map Statistics"; + return -errno; + } + + stats_ = static_cast<SwIspStats *>(mem); + } + + ControlInfoMap::Map ctrlMap = context_.ctrlMap; + *ipaControls = ControlInfoMap(std::move(ctrlMap), controls::controls); + + /* + * Check if the sensor driver supports the controls required by the + * Soft IPA. + * Don't save the min and max control values yet, as e.g. the limits + * for V4L2_CID_EXPOSURE depend on the configured sensor resolution. + */ + if (sensorInfoMap.find(V4L2_CID_EXPOSURE) == sensorInfoMap.end()) { + LOG(IPASoft, Error) << "Don't have exposure control"; + return -EINVAL; + } + + if (sensorInfoMap.find(V4L2_CID_ANALOGUE_GAIN) == sensorInfoMap.end()) { + LOG(IPASoft, Error) << "Don't have gain control"; + return -EINVAL; + } + + return 0; +} + +int IPASoftSimple::configure(const IPAConfigInfo &configInfo) +{ + sensorInfoMap_ = configInfo.sensorControls; + + const ControlInfo &exposureInfo = sensorInfoMap_.find(V4L2_CID_EXPOSURE)->second; + const ControlInfo &gainInfo = sensorInfoMap_.find(V4L2_CID_ANALOGUE_GAIN)->second; + + /* Clear the IPA context before the streaming session. */ + context_.configuration = {}; + context_.activeState = {}; + context_.frameContexts.clear(); + + context_.configuration.agc.exposureMin = exposureInfo.min().get<int32_t>(); + context_.configuration.agc.exposureMax = exposureInfo.max().get<int32_t>(); + if (!context_.configuration.agc.exposureMin) { + LOG(IPASoft, Warning) << "Minimum exposure is zero, that can't be linear"; + context_.configuration.agc.exposureMin = 1; + } + + int32_t againMin = gainInfo.min().get<int32_t>(); + int32_t againMax = gainInfo.max().get<int32_t>(); + + if (camHelper_) { + context_.configuration.agc.againMin = camHelper_->gain(againMin); + context_.configuration.agc.againMax = camHelper_->gain(againMax); + context_.configuration.agc.againMinStep = + (context_.configuration.agc.againMax - + context_.configuration.agc.againMin) / + 100.0; + if (camHelper_->blackLevel().has_value()) { + /* + * The black level from camHelper_ is a 16 bit value, software ISP + * works with 8 bit pixel values, both regardless of the actual + * sensor pixel width. Hence we obtain the pixel-based black value + * by dividing the value from the helper by 256. + */ + context_.configuration.black.level = + camHelper_->blackLevel().value() / 256; + } + } else { + /* + * The camera sensor gain (g) is usually not equal to the value written + * into the gain register (x). But the way how the AGC algorithm changes + * the gain value to make the total exposure closer to the optimum + * assumes that g(x) is not too far from linear function. If the minimal + * gain is 0, the g(x) is likely to be far from the linear, like + * g(x) = a / (b * x + c). To avoid unexpected changes to the gain by + * the AGC algorithm (abrupt near one edge, and very small near the + * other) we limit the range of the gain values used. + */ + context_.configuration.agc.againMax = againMax; + if (!againMin) { + LOG(IPASoft, Warning) + << "Minimum gain is zero, that can't be linear"; + context_.configuration.agc.againMin = + std::min(100, againMin / 2 + againMax / 2); + } + context_.configuration.agc.againMinStep = 1.0; + } + + for (auto const &algo : algorithms()) { + int ret = algo->configure(context_, configInfo); + if (ret) + return ret; + } + + LOG(IPASoft, Info) + << "Exposure " << context_.configuration.agc.exposureMin << "-" + << context_.configuration.agc.exposureMax + << ", gain " << context_.configuration.agc.againMin << "-" + << context_.configuration.agc.againMax + << " (" << context_.configuration.agc.againMinStep << ")"; + + return 0; +} + +int IPASoftSimple::start() +{ + return 0; +} + +void IPASoftSimple::stop() +{ + context_.frameContexts.clear(); +} + +void IPASoftSimple::queueRequest(const uint32_t frame, const ControlList &controls) +{ + IPAFrameContext &frameContext = context_.frameContexts.alloc(frame); + + for (auto const &algo : algorithms()) + algo->queueRequest(context_, frame, frameContext, controls); +} + +void IPASoftSimple::computeParams(const uint32_t frame) +{ + IPAFrameContext &frameContext = context_.frameContexts.get(frame); + for (auto const &algo : algorithms()) + algo->prepare(context_, frame, frameContext, params_); + setIspParams.emit(); +} + +void IPASoftSimple::processStats(const uint32_t frame, + [[maybe_unused]] const uint32_t bufferId, + const ControlList &sensorControls) +{ + IPAFrameContext &frameContext = context_.frameContexts.get(frame); + + frameContext.sensor.exposure = + sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>(); + int32_t again = sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>(); + frameContext.sensor.gain = camHelper_ ? camHelper_->gain(again) : again; + + /* + * Software ISP currently does not produce any metadata. Use an empty + * ControlList for now. + * + * \todo Implement proper metadata handling + */ + ControlList metadata(controls::controls); + for (auto const &algo : algorithms()) + algo->process(context_, frame, frameContext, stats_, metadata); + + /* Sanity check */ + if (!sensorControls.contains(V4L2_CID_EXPOSURE) || + !sensorControls.contains(V4L2_CID_ANALOGUE_GAIN)) { + LOG(IPASoft, Error) << "Control(s) missing"; + return; + } + + ControlList ctrls(sensorInfoMap_); + + auto &againNew = frameContext.sensor.gain; + ctrls.set(V4L2_CID_EXPOSURE, frameContext.sensor.exposure); + ctrls.set(V4L2_CID_ANALOGUE_GAIN, + static_cast<int32_t>(camHelper_ ? camHelper_->gainCode(againNew) : againNew)); + + setSensorControls.emit(ctrls); +} + +std::string IPASoftSimple::logPrefix() const +{ + return "IPASoft"; +} + +} /* namespace ipa::soft */ + +/* + * External IPA module interface + */ +extern "C" { +const struct IPAModuleInfo ipaModuleInfo = { + IPA_MODULE_API_VERSION, + 0, + "simple", + "simple", +}; + +IPAInterface *ipaCreate() +{ + return new ipa::soft::IPASoftSimple(); +} + +} /* extern "C" */ + +} /* namespace libcamera */ diff --git a/src/ipa/vimc/data/meson.build b/src/ipa/vimc/data/meson.build new file mode 100644 index 00000000..628d6a29 --- /dev/null +++ b/src/ipa/vimc/data/meson.build @@ -0,0 +1,9 @@ +# SPDX-License-Identifier: CC0-1.0 + +conf_files = files([ + 'vimc.conf', +]) + +install_data(conf_files, + install_dir : ipa_data_dir / 'vimc', + install_tag : 'runtime') diff --git a/src/ipa/vimc/data/vimc.conf b/src/ipa/vimc/data/vimc.conf new file mode 100644 index 00000000..8e73b161 --- /dev/null +++ b/src/ipa/vimc/data/vimc.conf @@ -0,0 +1,3 @@ +# SPDX-License-Identifier: LGPL-2.1-or-later +# +# Dummy configuration file for the vimc IPA. diff --git a/src/ipa/vimc/meson.build b/src/ipa/vimc/meson.build index 435c7d31..2cc5f80b 100644 --- a/src/ipa/vimc/meson.build +++ b/src/ipa/vimc/meson.build @@ -1,15 +1,23 @@ -ipa_vimc_sources = [ - ['ipa_vimc', 'LGPL-2.1-or-later'], - ['ipa_vimc_isolate', 'Proprietary'], -] - -foreach t : ipa_vimc_sources - ipa = shared_module(t[0], 'vimc.cpp', - name_prefix : '', - include_directories : [ipa_includes, libipa_includes], - dependencies : libcamera_dep, - link_with : libipa, - install : true, - install_dir : ipa_install_dir, - cpp_args : '-DLICENSE="' + t[1] + '"') -endforeach +# SPDX-License-Identifier: CC0-1.0 + +ipa_name = 'ipa_vimc' + +mod = shared_module(ipa_name, 'vimc.cpp', + name_prefix : '', + include_directories : [ipa_includes], + dependencies : [libcamera_private, libipa_dep], + 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/vimc/vimc.cpp b/src/ipa/vimc/vimc.cpp index 6e2095b5..a1351a0f 100644 --- a/src/ipa/vimc/vimc.cpp +++ b/src/ipa/vimc/vimc.cpp @@ -2,10 +2,9 @@ /* * Copyright (C) 2019, Google Inc. * - * ipa_vimc.cpp - Vimc Image Processing Algorithm module + * Vimc Image Processing Algorithm module */ - -#include <ipa/ipa_vimc.h> +#include <libcamera/ipa/vimc_ipa_interface.h> #include <fcntl.h> #include <string.h> @@ -14,35 +13,49 @@ #include <iostream> -#include <ipa/ipa_interface.h> -#include <ipa/ipa_module_info.h> +#include <libcamera/base/file.h> +#include <libcamera/base/flags.h> +#include <libcamera/base/log.h> -#include <libipa/ipa_interface_wrapper.h> +#include <libcamera/ipa/ipa_interface.h> +#include <libcamera/ipa/ipa_module_info.h> -#include "log.h" +#include "libcamera/internal/mapped_framebuffer.h" namespace libcamera { LOG_DEFINE_CATEGORY(IPAVimc) -class IPAVimc : public IPAInterface +class IPAVimc : public ipa::vimc::IPAVimcInterface { public: IPAVimc(); ~IPAVimc(); - int init() override; - void configure(const std::map<unsigned int, IPAStream> &streamConfig, - const std::map<unsigned int, const ControlInfoMap &> &entityControls) override {} - void mapBuffers(const std::vector<IPABuffer> &buffers) override {} - void unmapBuffers(const std::vector<unsigned int> &ids) override {} - void processEvent(const IPAOperationData &event) override {} + int init(const IPASettings &settings, + const ipa::vimc::IPAOperationCode code, + const Flags<ipa::vimc::TestFlag> inFlags, + Flags<ipa::vimc::TestFlag> *outFlags) override; + + int start() override; + void stop() override; + + int configure(const IPACameraSensorInfo &sensorInfo, + const std::map<unsigned int, IPAStream> &streamConfig, + const std::map<unsigned int, ControlInfoMap> &entityControls) override; + + void mapBuffers(const std::vector<IPABuffer> &buffers) override; + void unmapBuffers(const std::vector<unsigned int> &ids) override; + + void queueRequest(uint32_t frame, const ControlList &controls) override; + void computeParams(uint32_t frame, uint32_t bufferId) override; private: void initTrace(); - void trace(enum IPAOperationCode operation); + void trace(enum ipa::vimc::IPAOperationCode operation); int fd_; + std::map<unsigned int, MappedFrameBuffer> buffers_; }; IPAVimc::IPAVimc() @@ -53,27 +66,110 @@ IPAVimc::IPAVimc() IPAVimc::~IPAVimc() { - if (fd_) + if (fd_ != -1) ::close(fd_); } -int IPAVimc::init() +int IPAVimc::init(const IPASettings &settings, + const ipa::vimc::IPAOperationCode code, + const Flags<ipa::vimc::TestFlag> inFlags, + Flags<ipa::vimc::TestFlag> *outFlags) +{ + trace(ipa::vimc::IPAOperationInit); + + LOG(IPAVimc, Debug) + << "initializing vimc IPA with configuration file " + << settings.configurationFile; + + LOG(IPAVimc, Debug) << "Got opcode " << code; + + LOG(IPAVimc, Debug) + << "Flag 2 was " + << (inFlags & ipa::vimc::TestFlag::Flag2 ? "" : "not ") + << "set"; + + *outFlags |= ipa::vimc::TestFlag::Flag1; + + File conf(settings.configurationFile); + if (!conf.open(File::OpenModeFlag::ReadOnly)) { + LOG(IPAVimc, Error) << "Failed to open configuration file"; + return -EINVAL; + } + + return 0; +} + +int IPAVimc::start() { - trace(IPAOperationInit); + trace(ipa::vimc::IPAOperationStart); - LOG(IPAVimc, Debug) << "initializing vimc IPA!"; + LOG(IPAVimc, Debug) << "start vimc IPA!"; return 0; } +void IPAVimc::stop() +{ + trace(ipa::vimc::IPAOperationStop); + + LOG(IPAVimc, Debug) << "stop vimc IPA!"; +} + +int IPAVimc::configure([[maybe_unused]] const IPACameraSensorInfo &sensorInfo, + [[maybe_unused]] const std::map<unsigned int, IPAStream> &streamConfig, + [[maybe_unused]] const std::map<unsigned int, ControlInfoMap> &entityControls) +{ + LOG(IPAVimc, Debug) << "configure()"; + + return 0; +} + +void IPAVimc::mapBuffers(const std::vector<IPABuffer> &buffers) +{ + for (const IPABuffer &buffer : buffers) { + const FrameBuffer fb(buffer.planes); + buffers_.emplace(std::piecewise_construct, + std::forward_as_tuple(buffer.id), + std::forward_as_tuple(&fb, MappedFrameBuffer::MapFlag::Read)); + } +} + +void IPAVimc::unmapBuffers(const std::vector<unsigned int> &ids) +{ + for (unsigned int id : ids) { + auto it = buffers_.find(id); + if (it == buffers_.end()) + continue; + + buffers_.erase(it); + } +} + +void IPAVimc::queueRequest([[maybe_unused]] uint32_t frame, + [[maybe_unused]] const ControlList &controls) +{ +} + +void IPAVimc::computeParams([[maybe_unused]] uint32_t frame, uint32_t bufferId) +{ + auto it = buffers_.find(bufferId); + if (it == buffers_.end()) { + LOG(IPAVimc, Error) << "Could not find parameter buffer"; + return; + } + + Flags<ipa::vimc::TestFlag> flags; + paramsComputed.emit(bufferId, flags); +} + void IPAVimc::initTrace() { struct stat fifoStat; - int ret = stat(VIMC_IPA_FIFO_PATH, &fifoStat); + int ret = stat(ipa::vimc::VimcIPAFIFOPath.c_str(), &fifoStat); if (ret) return; - ret = ::open(VIMC_IPA_FIFO_PATH, O_WRONLY); + ret = ::open(ipa::vimc::VimcIPAFIFOPath.c_str(), O_WRONLY | O_CLOEXEC); if (ret < 0) { ret = errno; LOG(IPAVimc, Error) << "Failed to open vimc IPA test FIFO: " @@ -84,7 +180,7 @@ void IPAVimc::initTrace() fd_ = ret; } -void IPAVimc::trace(enum IPAOperationCode operation) +void IPAVimc::trace(enum ipa::vimc::IPAOperationCode operation) { if (fd_ < 0) return; @@ -105,14 +201,13 @@ extern "C" { const struct IPAModuleInfo ipaModuleInfo = { IPA_MODULE_API_VERSION, 0, - "PipelineHandlerVimc", - "Dummy IPA for Vimc", - LICENSE, + "vimc", + "vimc", }; -struct ipa_context *ipaCreate() +IPAInterface *ipaCreate() { - return new IPAInterfaceWrapper(std::make_unique<IPAVimc>()); + return new IPAVimc(); } } |