/* SPDX-License-Identifier: LGPL-2.1-or-later */ /* * Copyright (C) 2021, Ideas On Board * * ipu3_awb.cpp - AWB control algorithm */ #include "ipu3_awb.h" #include <cmath> #include <numeric> #include <unordered_map> #include <libcamera/base/log.h> namespace libcamera { namespace ipa::ipu3 { LOG_DEFINE_CATEGORY(IPU3Awb) static constexpr uint32_t kMinZonesCounted = 16; static constexpr uint32_t kMinGreenLevelInZone = 32; /** * \struct IspStatsRegion * \brief RGB statistics for a given region * * The IspStatsRegion structure is intended to abstract the ISP specific * statistics and use an agnostic algorithm to compute AWB. * * \var IspStatsRegion::counted * \brief Number of pixels used to calculate the sums * * \var IspStatsRegion::uncounted * \brief Remaining number of pixels in the region * * \var IspStatsRegion::rSum * \brief Sum of the red values in the region * * \var IspStatsRegion::gSum * \brief Sum of the green values in the region * * \var IspStatsRegion::bSum * \brief Sum of the blue values in the region */ /** * \struct 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 */ /** * \struct Ipu3AwbCell * \brief Memory layout for each cell in AWB metadata * * The Ipu3AwbCell structure is used to get individual values * such as red average or saturation ratio in a particular cell. * * \var Ipu3AwbCell::greenRedAvg * \brief Green average for red lines in the cell * * \var Ipu3AwbCell::redAvg * \brief Red average in the cell * * \var Ipu3AwbCell::blueAvg * \brief blue average in the cell * * \var Ipu3AwbCell::greenBlueAvg * \brief Green average for blue lines * * \var Ipu3AwbCell::satRatio * \brief Saturation ratio in the cell * * \var Ipu3AwbCell::padding * \brief array of unused bytes for padding */ /* 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 settings for Auto White Balance replicated from the Kernel*/ static const struct ipu3_uapi_awb_config_s imguCssAwbDefaults = { .rgbs_thr_gr = 8191, .rgbs_thr_r = 8191, .rgbs_thr_gb = 8191, .rgbs_thr_b = 8191 | IPU3_UAPI_AWB_RGBS_THR_B_EN | IPU3_UAPI_AWB_RGBS_THR_B_INCL_SAT, .grid = { .width = 160, .height = 36, .block_width_log2 = 3, .block_height_log2 = 4, .height_per_slice = 1, /* Overridden by kernel. */ .x_start = 0, .y_start = 0, .x_end = 0, .y_end = 0, }, }; /* 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 }; /* Default settings for Gamma correction */ const struct ipu3_uapi_gamma_corr_lut imguCssGammaLut = { { 63, 79, 95, 111, 127, 143, 159, 175, 191, 207, 223, 239, 255, 271, 287, 303, 319, 335, 351, 367, 383, 399, 415, 431, 447, 463, 479, 495, 511, 527, 543, 559, 575, 591, 607, 623, 639, 655, 671, 687, 703, 719, 735, 751, 767, 783, 799, 815, 831, 847, 863, 879, 895, 911, 927, 943, 959, 975, 991, 1007, 1023, 1039, 1055, 1071, 1087, 1103, 1119, 1135, 1151, 1167, 1183, 1199, 1215, 1231, 1247, 1263, 1279, 1295, 1311, 1327, 1343, 1359, 1375, 1391, 1407, 1423, 1439, 1455, 1471, 1487, 1503, 1519, 1535, 1551, 1567, 1583, 1599, 1615, 1631, 1647, 1663, 1679, 1695, 1711, 1727, 1743, 1759, 1775, 1791, 1807, 1823, 1839, 1855, 1871, 1887, 1903, 1919, 1935, 1951, 1967, 1983, 1999, 2015, 2031, 2047, 2063, 2079, 2095, 2111, 2143, 2175, 2207, 2239, 2271, 2303, 2335, 2367, 2399, 2431, 2463, 2495, 2527, 2559, 2591, 2623, 2655, 2687, 2719, 2751, 2783, 2815, 2847, 2879, 2911, 2943, 2975, 3007, 3039, 3071, 3103, 3135, 3167, 3199, 3231, 3263, 3295, 3327, 3359, 3391, 3423, 3455, 3487, 3519, 3551, 3583, 3615, 3647, 3679, 3711, 3743, 3775, 3807, 3839, 3871, 3903, 3935, 3967, 3999, 4031, 4063, 4095, 4127, 4159, 4223, 4287, 4351, 4415, 4479, 4543, 4607, 4671, 4735, 4799, 4863, 4927, 4991, 5055, 5119, 5183, 5247, 5311, 5375, 5439, 5503, 5567, 5631, 5695, 5759, 5823, 5887, 5951, 6015, 6079, 6143, 6207, 6271, 6335, 6399, 6463, 6527, 6591, 6655, 6719, 6783, 6847, 6911, 6975, 7039, 7103, 7167, 7231, 7295, 7359, 7423, 7487, 7551, 7615, 7679, 7743, 7807, 7871, 7935, 7999, 8063, 8127, 8191 } }; IPU3Awb::IPU3Awb() : Algorithm() { asyncResults_.blueGain = 1.0; asyncResults_.greenGain = 1.0; asyncResults_.redGain = 1.0; asyncResults_.temperatureK = 4500; } IPU3Awb::~IPU3Awb() { } void IPU3Awb::initialise(ipu3_uapi_params ¶ms, const Size &bdsOutputSize, struct ipu3_uapi_grid_config &bdsGrid) { params.use.acc_awb = 1; params.acc_param.awb.config = imguCssAwbDefaults; awbGrid_ = bdsGrid; params.acc_param.awb.config.grid = awbGrid_; params.use.acc_bnr = 1; params.acc_param.bnr = imguCssBnrDefaults; /** * Optical center is column (respectively row) startminus X (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.column_size = bdsOutputSize.width; params.acc_param.bnr.opt_center.x_reset = awbGrid_.x_start - (bdsOutputSize.width / 2); params.acc_param.bnr.opt_center.y_reset = awbGrid_.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.use.acc_ccm = 1; params.acc_param.ccm = imguCssCcmDefault; params.use.acc_gamma = 1; params.acc_param.gamma.gc_lut = imguCssGammaLut; params.acc_param.gamma.gc_ctrl.enable = 1; zones_.reserve(kAwbStatsSizeX * kAwbStatsSizeY); } /** * The function estimates the correlated color temperature using * from 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 blackbody 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 */ uint32_t IPU3Awb::estimateCCT(double red, double green, double blue) { /* Convert the RGB values to CIE tristimulus values (XYZ) */ double X = (-0.14282) * (red) + (1.54924) * (green) + (-0.95641) * (blue); double Y = (-0.32466) * (red) + (1.57837) * (green) + (-0.73191) * (blue); double Z = (-0.68202) * (red) + (0.77073) * (green) + (0.56332) * (blue); /* Calculate the normalized chromaticity values */ double x = X / (X + Y + Z); double y = Y / (X + Y + Z); /* Calculate CCT */ double n = (x - 0.3320) / (0.1858 - y); return 449 * n * n * n + 3525 * n * n + 6823.3 * n + 5520.33; } /* Generate an RGB vector with the average values for each region */ void IPU3Awb::generateZones(std::vector<RGB> &zones) { for (unsigned int i = 0; i < kAwbStatsSizeX * kAwbStatsSizeY; i++) { RGB zone; double counted = awbStats_[i].counted; if (counted >= kMinZonesCounted) { zone.G = awbStats_[i].gSum / counted; if (zone.G >= kMinGreenLevelInZone) { zone.R = awbStats_[i].rSum / counted; zone.B = awbStats_[i].bSum / counted; zones.push_back(zone); } } } } /* Translate the IPU3 statistics into the default statistics region array */ void IPU3Awb::generateAwbStats(const ipu3_uapi_stats_3a *stats) { uint32_t regionWidth = round(awbGrid_.width / static_cast<double>(kAwbStatsSizeX)); uint32_t regionHeight = round(awbGrid_.height / static_cast<double>(kAwbStatsSizeY)); /* * Generate a (kAwbStatsSizeX x kAwbStatsSizeY) array from the IPU3 grid which is * (awbGrid_.width x awbGrid_.height). */ for (unsigned int j = 0; j < kAwbStatsSizeY * regionHeight; j++) { for (unsigned int i = 0; i < kAwbStatsSizeX * regionWidth; i++) { uint32_t cellPosition = j * awbGrid_.width + i; uint32_t cellX = (cellPosition / regionWidth) % kAwbStatsSizeX; uint32_t cellY = ((cellPosition / awbGrid_.width) / regionHeight) % kAwbStatsSizeY; uint32_t awbRegionPosition = cellY * kAwbStatsSizeX + cellX; cellPosition *= 8; /* Cast the initial IPU3 structure to simplify the reading */ Ipu3AwbCell *currentCell = reinterpret_cast<Ipu3AwbCell *>(const_cast<uint8_t *>(&stats->awb_raw_buffer.meta_data[cellPosition])); if (currentCell->satRatio == 0) { /* The cell is not saturated, use the current cell */ awbStats_[awbRegionPosition].counted++; uint32_t greenValue = currentCell->greenRedAvg + currentCell->greenBlueAvg; awbStats_[awbRegionPosition].gSum += greenValue / 2; awbStats_[awbRegionPosition].rSum += currentCell->redAvg; awbStats_[awbRegionPosition].bSum += currentCell->blueAvg; } } } } void IPU3Awb::clearAwbStats() { for (unsigned int i = 0; i < kAwbStatsSizeX * kAwbStatsSizeY; i++) { awbStats_[i].bSum = 0; awbStats_[i].rSum = 0; awbStats_[i].gSum = 0; awbStats_[i].counted = 0; awbStats_[i].uncounted = 0; } } void IPU3Awb::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> &redDerivative(zones_); std::vector<RGB> blueDerivative(redDerivative); std::sort(redDerivative.begin(), redDerivative.end(), [](RGB const &a, RGB const &b) { return a.G * b.R < b.G * a.R; }); std::sort(blueDerivative.begin(), blueDerivative.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 = redDerivative.size() / 4; RGB sumRed(0, 0, 0); RGB sumBlue(0, 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); asyncResults_.redGain = redGain; asyncResults_.greenGain = 1.0; asyncResults_.blueGain = blueGain; } void IPU3Awb::calculateWBGains(const ipu3_uapi_stats_3a *stats) { ASSERT(stats->stats_3a_status.awb_en); zones_.clear(); clearAwbStats(); generateAwbStats(stats); generateZones(zones_); 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; } } void IPU3Awb::updateWbParameters(ipu3_uapi_params ¶ms, double agcGamma) { /* * Green gains should not be touched and considered 1. * Default is 16, so do not change it at all. * 4096 is the value for a gain of 1.0 */ params.acc_param.bnr.wb_gains.gr = 16; params.acc_param.bnr.wb_gains.r = 4096 * asyncResults_.redGain; params.acc_param.bnr.wb_gains.b = 4096 * asyncResults_.blueGain; params.acc_param.bnr.wb_gains.gb = 16; LOG(IPU3Awb, Debug) << "Color temperature estimated: " << asyncResults_.temperatureK << " and gamma calculated: " << agcGamma; /* The CCM matrix may change when color temperature will be used */ params.acc_param.ccm = imguCssCcmDefault; for (uint32_t i = 0; i < 256; i++) { double j = i / 255.0; double gamma = std::pow(j, 1.0 / agcGamma); /* The maximum value 255 is represented on 13 bits in the IPU3 */ params.acc_param.gamma.gc_lut.lut[i] = gamma * 8191; } } } /* namespace ipa::ipu3 */ } /* namespace libcamera */