src/ipa/rkisp1/meson.build


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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)

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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 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_;

	utils::Duration lineDuration_;

	/* 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 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>();

	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,