# SPDX-License-Identifier: CC0-1.0 android_deps = [ dependency('libexif', required : get_option('android')), dependency('libjpeg', required : get_option('android')), ] android_enabled = true foreach dep : android_deps if not dep.found() android_enabled = false subdir_done() endif endforeach if android_enabled libyuv_dep = dependency('libyuv', required : false) # Fallback to a subproject if libyuv isn't found, as it's typically not # provided by distributions. if not libyuv_dep.found() cmake = import('cmake') libyuv_vars = cmake.subproject_options() libyuv_vars.add_cmake_defines({'CMAKE_POSITION_INDEPENDENT_CODE': 'ON'}) libyuv_vars.set_override_option('cpp_std', 'c++17') libyuv_vars.append_compile_args('cpp', '-Wno-sign-compare', '-Wno-unused-variable', '-Wno-unused-parameter') libyuv_vars.append_link_args('-ljpeg') libyuv = cmake.subproject('libyuv', options : libyuv_vars) libyuv_dep = libyuv.dependency('yuv') endif android_deps += [libyuv_dep] endif android_hal_sources = files([ 'camera3_hal.cpp', 'camera_hal_manager.cpp', 'camera_device.cpp', 'camera_metadata.cpp', 'camera_ops.cpp', 'camera_stream.cpp', 'camera_worker.cpp', 'jpeg/encoder_libjpeg.cpp', 'jpeg/exif.cpp', 'jpeg/post_processor_jpeg.cpp', 'jpeg/thumbnailer.cpp', ]) android_camera_metadata_sources = files([ 'metadata/camera_metadata.c', ]) android_camera_metadata = static_library('camera_metadata', android_camera_metadata_sources, c_args : '-Wno-shadow', include_directories : android_includes) f='/libcamera/pinchartl/libcamera.git/tree/src/ipa/ipu3/ipu3.cpp?h=rpi/streams/next&id=726d6087c00c1e29b014b04d6044b303d30e4111'>treecommitdiff
path: root/src/ipa/ipu3/ipu3.cpp
blob: bcc3863b9e147bec6c0362aa6623e4e8c0f79e0c (plain)
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/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
 * Copyright (C) 2020, Google Inc.
 *
 * ipu3.cpp - 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/log.h>
#include <libcamera/base/utils.h>

#include <libcamera/control_ids.h>
#include <libcamera/framebuffer.h>
#include <libcamera/ipa/ipa_interface.h>
#include <libcamera/ipa/ipa_module_info.h>
#include <libcamera/ipa/ipu3_ipa_interface.h>
#include <libcamera/request.h>

#include "libcamera/internal/mapped_framebuffer.h"

#include "algorithms/agc.h"
#include "algorithms/algorithm.h"
#include "algorithms/awb.h"
#include "algorithms/blc.h"
#include "algorithms/tone_mapping.h"
#include "libipa/camera_sensor_helper.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;

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 events
 * 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 constructed and placed in an ordered list.
 *
 * 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.
 *
 * When the event \a EventFillParams occurs 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 as part of the \a EventStatReady event. At
 * this event we run the algorithms to parse the statistics and cache any
 * results for the next \a EventFillParams event.
 *
 * The individual algorithms are split into modular components that are called
 * iteratively to allow them to process statistics from the ImgU in a defined
 * order.
 *
 * The current implementation supports three core algorithms:
 * - Automatic white balance (AWB)
 * - Automatic gain and exposure control (AGC)
 * - 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 shutter 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:
	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 processEvent(const IPU3Event &event) override;

private:
	void updateControls(const IPACameraSensorInfo &sensorInfo,
			    const ControlInfoMap &sensorControls,
			    ControlInfoMap *ipaControls);
	void updateSessionConfiguration(const IPACameraSensorInfo &sensorInfo,
					const ControlInfoMap &sensorControls);
	void processControls(unsigned int frame, const ControlList &controls);
	void fillParams(unsigned int frame, ipu3_uapi_params *params);
	void parseStatistics(unsigned int frame,
			     int64_t frameTimestamp,
			     const ipu3_uapi_stats_3a *stats);

	void setControls(unsigned int frame);
	void calculateBdsGrid(const Size &bdsOutputSize);

	std::map<unsigned int, MappedFrameBuffer> buffers_;

	ControlInfoMap ctrls_;

	IPACameraSensorInfo sensorInfo_;

	/* Camera sensor controls. */
	uint32_t defVBlank_;
	uint32_t exposure_;
	uint32_t minExposure_;
	uint32_t maxExposure_;
	uint32_t gain_;
	uint32_t minGain_;
	uint32_t maxGain_;

	/* Interface to the Camera Helper */
	std::unique_ptr<CameraSensorHelper> camHelper_;

	/* Maintain the algorithms used by the IPA */
	std::list<std::unique_ptr<ipa::ipu3::Algorithm>> algorithms_;

	/* Local parameter storage */
	struct IPAContext context_;
};

/**
 * \brief Compute IPASessionConfiguration using the sensor information and the
 * sensor V4L2 controls
 */
void IPAIPU3::updateSessionConfiguration(const IPACameraSensorInfo &sensorInfo,
					 const ControlInfoMap &sensorControls)
{
	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>();

	utils::Duration lineDuration = sensorInfo.lineLength * 1.0s
				     / sensorInfo.pixelRate;

	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.agc.minShutterSpeed = minExposure * lineDuration;
	context_.configuration.agc.maxShutterSpeed = maxExposure * 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{};

	/*
	 * 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.
	 */
	double lineDuration = sensorInfo.lineLength / (sensorInfo.pixelRate / 1e6);
	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]);

	*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_ = CameraSensorHelperFactory::create(settings.sensorModel);
	if (camHelper_ == nullptr) {
		LOG(IPAIPU3, Error)
			<< "Failed to create camera sensor helper for "
			<< settings.sensorModel;
		return -ENODEV;
	}

	/* Construct our Algorithms */
	algorithms_.push_back(std::make_unique<algorithms::Agc>());
	algorithms_.push_back(std::make_unique<algorithms::Awb>());
	algorithms_.push_back(std::make_unique<algorithms::BlackLevelCorrection>());
	algorithms_.push_back(std::make_unique<algorithms::ToneMapping>());

	/* 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()
{
}

/**
 * \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)