diff --git a/.github/workflows/gen_orig.yml b/.github/workflows/gen_orig.yml new file mode 100644 index 000000000..cfc302a86 --- /dev/null +++ b/.github/workflows/gen_orig.yml @@ -0,0 +1,33 @@ +name: Generate source release tarball +run-name: Generating source release tarball +on: + push: + tags: # vX.Y.Z+rptYYYMMDD + - 'v[0-9]+.[0-9]+.[0-9]+\+rpt[0-9][0-9][0-9][0-9][0-9][0-9][0-9][0-9]' + workflow_dispatch: +jobs: + publish_tarball: + permissions: + contents: write + runs-on: ubuntu-latest + steps: + - name: Install dependencies + run: | # Local cmake needs to be removed for pybind11 to be detected + sudo rm -rf /usr/local/bin/cmake + sudo apt-get update + sudo apt-get install -y meson pkgconf cmake libgtest-dev libyaml-dev python3 python3-dev pybind11-dev python3-jinja2 python3-ply python3-yaml + - name: Check out repository code + uses: actions/checkout@v4 + with: + fetch-depth: 0 # Required for 'git describe' to work + - name: Generate tarball + run: | + meson setup build -Dpycamera=enabled + meson dist --no-tests --include-subprojects -C build + mv build/meson-dist/*.tar.xz "build/meson-dist/libcamera-${GITHUB_REF_NAME:1}.tar.xz" + - name: Release tarball + uses: softprops/action-gh-release@v1 + with: + files: build/meson-dist/*.tar.xz + - if: failure() + run: cat build/meson-logs/meson-log.txt diff --git a/Documentation/guides/pipeline-handler.rst b/Documentation/guides/pipeline-handler.rst index 26dc93589..a96dbe178 100644 --- a/Documentation/guides/pipeline-handler.rst +++ b/Documentation/guides/pipeline-handler.rst @@ -183,7 +183,7 @@ to the libcamera build options in the top level ``meson_options.txt``. option('pipelines', type : 'array', - choices : ['ipu3', 'rkisp1', 'rpi/vc4', 'simple', 'uvcvideo', 'vimc', 'vivid'], + choices : ['ipu3', 'rkisp1', 'rpi/pisp', 'rpi/vc4', 'simple', 'uvcvideo', 'vimc', 'vivid'], description : 'Select which pipeline handlers to include') diff --git a/include/libcamera/internal/bayer_format.h b/include/libcamera/internal/bayer_format.h index 78ba39699..164743f7e 100644 --- a/include/libcamera/internal/bayer_format.h +++ b/include/libcamera/internal/bayer_format.h @@ -34,6 +34,8 @@ class BayerFormat None = 0, CSI2 = 1, IPU3 = 2, + PISP1 = 3, + PISP2 = 4, }; constexpr BayerFormat() diff --git a/include/libcamera/ipa/meson.build b/include/libcamera/ipa/meson.build index f3b4881c9..c1d913f51 100644 --- a/include/libcamera/ipa/meson.build +++ b/include/libcamera/ipa/meson.build @@ -64,6 +64,7 @@ libcamera_generated_ipa_headers += custom_target('core_ipa_serializer_h', pipeline_ipa_mojom_mapping = { 'ipu3': 'ipu3.mojom', 'rkisp1': 'rkisp1.mojom', + 'rpi/pisp': 'raspberrypi.mojom', 'rpi/vc4': 'raspberrypi.mojom', 'vimc': 'vimc.mojom', } diff --git a/include/libcamera/meson.build b/include/libcamera/meson.build index bab858a37..6334e1641 100644 --- a/include/libcamera/meson.build +++ b/include/libcamera/meson.build @@ -36,6 +36,8 @@ controls_map = { 'controls': { 'draft': 'control_ids_draft.yaml', 'core': 'control_ids_core.yaml', + 'rpi/pisp': 'control_ids_rpi.yaml', + 'rpi/vc4': 'control_ids_rpi.yaml', }, 'properties': { diff --git a/include/linux/drm_fourcc.h b/include/linux/drm_fourcc.h index 1496e0970..da81a44d0 100644 --- a/include/linux/drm_fourcc.h +++ b/include/linux/drm_fourcc.h @@ -174,6 +174,10 @@ extern "C" { #define DRM_FORMAT_RGBA1010102 fourcc_code('R', 'A', '3', '0') /* [31:0] R:G:B:A 10:10:10:2 little endian */ #define DRM_FORMAT_BGRA1010102 fourcc_code('B', 'A', '3', '0') /* [31:0] B:G:R:A 10:10:10:2 little endian */ +/* 48 bpp RGB */ +#define DRM_FORMAT_RGB161616 fourcc_code('R', 'G', '4', '8') /* [48:0] R:G:B 16:16:16 little endian */ +#define DRM_FORMAT_BGR161616 fourcc_code('B', 'G', '4', '8') /* [48:0] R:G:B 16:16:16 little endian */ + /* 64 bpp RGB */ #define DRM_FORMAT_XRGB16161616 fourcc_code('X', 'R', '4', '8') /* [63:0] x:R:G:B 16:16:16:16 little endian */ #define DRM_FORMAT_XBGR16161616 fourcc_code('X', 'B', '4', '8') /* [63:0] x:B:G:R 16:16:16:16 little endian */ @@ -448,6 +452,7 @@ extern "C" { #define DRM_FORMAT_MOD_VENDOR_ALLWINNER 0x09 #define DRM_FORMAT_MOD_VENDOR_AMLOGIC 0x0a #define DRM_FORMAT_MOD_VENDOR_MIPI 0x0b +#define DRM_FORMAT_MOD_VENDOR_RPI 0x0c /* add more to the end as needed */ @@ -1554,6 +1559,10 @@ drm_fourcc_canonicalize_nvidia_format_mod(__u64 modifier) */ #define MIPI_FORMAT_MOD_CSI2_PACKED fourcc_mod_code(MIPI, 1) +#define PISP_FORMAT_MOD_COMPRESS_MODE1 fourcc_mod_code(RPI, 1) +#define PISP_FORMAT_MOD_COMPRESS_MODE2 fourcc_mod_code(RPI, 2) +#define PISP_FORMAT_MOD_VERIFICATION fourcc_mod_code(RPI, 3) + #if defined(__cplusplus) } #endif diff --git a/include/linux/media-bus-format.h b/include/linux/media-bus-format.h index 0dfc11ee2..d3c765775 100644 --- a/include/linux/media-bus-format.h +++ b/include/linux/media-bus-format.h @@ -88,6 +88,7 @@ #define MEDIA_BUS_FMT_YUYV12_2X12 0x201e #define MEDIA_BUS_FMT_YVYU12_2X12 0x201f #define MEDIA_BUS_FMT_Y14_1X14 0x202d +#define MEDIA_BUS_FMT_Y16_1X16 0x202e #define MEDIA_BUS_FMT_UYVY8_1X16 0x200f #define MEDIA_BUS_FMT_VYUY8_1X16 0x2010 #define MEDIA_BUS_FMT_YUYV8_1X16 0x2011 diff --git a/include/linux/videodev2.h b/include/linux/videodev2.h index bfb315d6d..6a312aa8d 100644 --- a/include/linux/videodev2.h +++ b/include/linux/videodev2.h @@ -550,6 +550,10 @@ struct v4l2_pix_format { #define V4L2_PIX_FMT_ARGB32 v4l2_fourcc('B', 'A', '2', '4') /* 32 ARGB-8-8-8-8 */ #define V4L2_PIX_FMT_XRGB32 v4l2_fourcc('B', 'X', '2', '4') /* 32 XRGB-8-8-8-8 */ +/* RGB formats (6 bytes per pixel) */ +#define V4L2_PIX_FMT_BGR48 v4l2_fourcc('B', 'G', 'R', '6') /* 16 BGR-16-16-16 */ +#define V4L2_PIX_FMT_RGB48 v4l2_fourcc('R', 'G', 'B', '6') /* 16 RGB-16-16-16 */ + /* Grey formats */ #define V4L2_PIX_FMT_GREY v4l2_fourcc('G', 'R', 'E', 'Y') /* 8 Greyscale */ #define V4L2_PIX_FMT_Y4 v4l2_fourcc('Y', '0', '4', ' ') /* 4 Greyscale */ @@ -752,6 +756,19 @@ struct v4l2_pix_format { #define V4L2_PIX_FMT_IPU3_SGRBG10 v4l2_fourcc('i', 'p', '3', 'G') /* IPU3 packed 10-bit GRBG bayer */ #define V4L2_PIX_FMT_IPU3_SRGGB10 v4l2_fourcc('i', 'p', '3', 'r') /* IPU3 packed 10-bit RGGB bayer */ +/* The pixel format for all our buffers (the precise format is found in the config buffer). */ +#define V4L2_PIX_FMT_RPI_BE v4l2_fourcc('R', 'P', 'B', 'P') +#define V4L2_PIX_FMT_PISP_COMP1_RGGB v4l2_fourcc('P', 'C', '1', 'R') +#define V4L2_PIX_FMT_PISP_COMP1_GRBG v4l2_fourcc('P', 'C', '1', 'G') +#define V4L2_PIX_FMT_PISP_COMP1_GBRG v4l2_fourcc('P', 'C', '1', 'g') +#define V4L2_PIX_FMT_PISP_COMP1_BGGR v4l2_fourcc('P', 'C', '1', 'B') +#define V4L2_PIX_FMT_PISP_COMP1_MONO v4l2_fourcc('P', 'C', '1', 'M') +#define V4L2_PIX_FMT_PISP_COMP2_RGGB v4l2_fourcc('P', 'C', '2', 'R') +#define V4L2_PIX_FMT_PISP_COMP2_GRBG v4l2_fourcc('P', 'C', '2', 'G') +#define V4L2_PIX_FMT_PISP_COMP2_GBRG v4l2_fourcc('P', 'C', '2', 'g') +#define V4L2_PIX_FMT_PISP_COMP2_BGGR v4l2_fourcc('P', 'C', '2', 'B') +#define V4L2_PIX_FMT_PISP_COMP2_MONO v4l2_fourcc('P', 'C', '2', 'M') + /* SDR formats - used only for Software Defined Radio devices */ #define V4L2_SDR_FMT_CU8 v4l2_fourcc('C', 'U', '0', '8') /* IQ u8 */ #define V4L2_SDR_FMT_CU16LE v4l2_fourcc('C', 'U', '1', '6') /* IQ u16le */ @@ -781,6 +798,15 @@ struct v4l2_pix_format { #define V4L2_META_FMT_RK_ISP1_PARAMS v4l2_fourcc('R', 'K', '1', 'P') /* Rockchip ISP1 3A Parameters */ #define V4L2_META_FMT_RK_ISP1_STAT_3A v4l2_fourcc('R', 'K', '1', 'S') /* Rockchip ISP1 3A Statistics */ +/* The metadata format identifier for BE configuration buffers. */ +#define V4L2_META_FMT_RPI_BE_CFG v4l2_fourcc('R', 'P', 'B', 'C') + +/* The metadata format identifier for FE configuration buffers. */ +#define V4L2_META_FMT_RPI_FE_CFG v4l2_fourcc('R', 'P', 'F', 'C') + +/* The metadata format identifier for FE stats buffers. */ +#define V4L2_META_FMT_RPI_FE_STATS v4l2_fourcc('R', 'P', 'F', 'S') + /* priv field value to indicates that subsequent fields are valid. */ #define V4L2_PIX_FMT_PRIV_MAGIC 0xfeedcafe diff --git a/meson.build b/meson.build index ee57cb780..5d6a33e87 100644 --- a/meson.build +++ b/meson.build @@ -199,6 +199,7 @@ pipelines_support = { 'imx8-isi': arch_arm, 'ipu3': arch_x86, 'rkisp1': arch_arm, + 'rpi/pisp': arch_arm, 'rpi/vc4': arch_arm, 'simple': arch_arm, 'uvcvideo': ['any'], diff --git a/meson_options.txt b/meson_options.txt index fad928af4..44f228aed 100644 --- a/meson_options.txt +++ b/meson_options.txt @@ -27,7 +27,7 @@ option('gstreamer', option('ipas', type : 'array', - choices : ['ipu3', 'rkisp1', 'rpi/vc4', 'vimc'], + choices : ['ipu3', 'rkisp1', 'rpi/pisp', 'rpi/vc4', 'vimc'], description : 'Select which IPA modules to build') option('lc-compliance', @@ -44,6 +44,7 @@ option('pipelines', 'imx8-isi', 'ipu3', 'rkisp1', + 'rpi/pisp', 'rpi/vc4', 'simple', 'uvcvideo', diff --git a/src/ipa/rpi/common/ipa_base.cpp b/src/ipa/rpi/common/ipa_base.cpp index 6ac9d5de2..891417637 100644 --- a/src/ipa/rpi/common/ipa_base.cpp +++ b/src/ipa/rpi/common/ipa_base.cpp @@ -24,6 +24,7 @@ #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" @@ -67,6 +68,7 @@ const ControlInfoMap::Map ipaControls{ { &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)) }, @@ -101,7 +103,8 @@ namespace ipa::RPi { IpaBase::IpaBase() : controller_(), frameLengths_(FrameLengthsQueueSize, 0s), frameCount_(0), - mistrustCount_(0), lastRunTimestamp_(0), firstStart_(true), flickerState_({ 0, 0s }) + mistrustCount_(0), lastRunTimestamp_(0), firstStart_(true), flickerState_({ 0, 0s }), + stitchSwapBuffers_(false), statsMetadataOutput_(false) { } @@ -282,18 +285,23 @@ void IpaBase::start(const ControlList &controls, StartResult *result) frameLengths_.clear(); frameLengths_.resize(FrameLengthsQueueSize, 0s); - /* SwitchMode may supply updated exposure/gain values to use. */ - AgcStatus agcStatus; - agcStatus.shutterTime = 0.0s; - agcStatus.analogueGain = 0.0; + /* + * SwitchMode may supply updated exposure/gain values to use. + * agcStatus_ will store these values for us to use until delayed_status values + * start to appear. + */ + agcStatus_.shutterTime = 0.0s; + agcStatus_.analogueGain = 0.0; - metadata.get("agc.status", agcStatus); - if (agcStatus.shutterTime && agcStatus.analogueGain) { + metadata.get("agc.status", agcStatus_); + if (agcStatus_.shutterTime && agcStatus_.analogueGain) { ControlList ctrls(sensorCtrls_); - applyAGC(&agcStatus, ctrls); + 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 @@ -397,11 +405,17 @@ void IpaBase::prepareIsp(const PrepareParams ¶ms) * 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("agc.status", agcStatus)) + if (!delayedMetadata.get("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 @@ -412,7 +426,7 @@ void IpaBase::prepareIsp(const PrepareParams ¶ms) /* Allow a 10% margin on the comparison below. */ Duration delta = (frameTimestamp - lastRunTimestamp_) * 1.0ns; if (lastRunTimestamp_ && frameCount_ > dropFrameCount_ && - delta < controllerMinFrameDuration * 0.9) { + 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 @@ -440,7 +454,9 @@ void IpaBase::prepareIsp(const PrepareParams ¶ms) controller_.prepare(&rpiMetadata); /* Actually prepare the ISP parameters for the frame. */ platformPrepareIsp(params, rpiMetadata); - } + platformPrepareAgc(rpiMetadata); + } else + platformPrepareAgc(rpiMetadata); frameCount_++; @@ -449,16 +465,15 @@ void IpaBase::prepareIsp(const PrepareParams ¶ms) reportMetadata(ipaContext); /* Ready to push the input buffer into the ISP. */ - prepareIspComplete.emit(params.buffers, false); + prepareIspComplete.emit(params.buffers, stitchSwapBuffers_); } void IpaBase::processStats(const ProcessParams ¶ms) { unsigned int ipaContext = params.ipaContext % rpiMetadata_.size(); + RPiController::Metadata &rpiMetadata = rpiMetadata_[ipaContext]; 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!"; @@ -472,14 +487,16 @@ void IpaBase::processStats(const ProcessParams ¶ms) 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(); - } + /* Do this even when we didn't call process, so that delayContext gets advanced. */ + struct AgcStatus agcStatus; + if (rpiMetadata.get("agc.status", agcStatus) == 0) { + ControlList ctrls(sensorCtrls_); + applyAGC(&agcStatus, ctrls); + rpiMetadata.set("agc.status", agcStatus); + setDelayedControls.emit(ctrls, ipaContext); + setCameraTimeoutValue(); } /* @@ -661,9 +678,21 @@ static const std::map AfPauseTable { controls::AfPauseResume, RPiController::AfAlgorithm::AfPauseResume }, }; +static const std::map 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(); @@ -735,7 +764,7 @@ void IpaBase::applyControls(const ControlList &controls) break; } - agc->setFixedAnalogueGain(0, ctrl.second.get()); + agc->setFixedGain(0, ctrl.second.get()); libcameraMetadata_.set(controls::AnalogueGain, ctrl.second.get()); @@ -1135,6 +1164,62 @@ void IpaBase::applyControls(const ControlList &controls) break; } + case controls::HDR_MODE: { + HdrAlgorithm *hdr = dynamic_cast(controller_.getAlgorithm("hdr")); + if (!hdr) { + LOG(IPARPI, Warning) << "No HDR algorithm available"; + break; + } + + auto mode = HdrModeTable.find(ctrl.second.get()); + if (mode == HdrModeTable.end()) { + LOG(IPARPI, Warning) << "Unrecognised HDR mode"; + break; + } + + AgcAlgorithm *agc = dynamic_cast(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(controller_.getAlgorithm("contrast")); + if (contrast) { + if (mode->second == "Off") + contrast->restoreCe(); + else + contrast->enableCe(false); + } + + DenoiseAlgorithm *denoise = + dynamic_cast(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(); + break; + } + default: LOG(IPARPI, Warning) << "Ctrl " << controls::controls.at(ctrl.first)->name() @@ -1197,9 +1282,15 @@ void IpaBase::reportMetadata(unsigned int ipaContext) AgcPrepareStatus *agcPrepareStatus = rpiMetadata.getLocked("agc.prepare_status"); if (agcPrepareStatus) { libcameraMetadata_.set(controls::AeLocked, agcPrepareStatus->locked); - libcameraMetadata_.set(controls::DigitalGain, agcPrepareStatus->digitalGain); } + const AgcStatus *agcStatus = rpiMetadata.getLocked("agc.delayed_status"); + if (agcStatus) + libcameraMetadata_.set(controls::DigitalGain, agcStatus->digitalGain); + else + libcameraMetadata_.set(controls::DigitalGain, agcStatus_.digitalGain); + /* The HDR metadata reporting will use this agcStatus too. */ + LuxStatus *luxStatus = rpiMetadata.getLocked("lux.status"); if (luxStatus) libcameraMetadata_.set(controls::Lux, luxStatus->lux); @@ -1282,6 +1373,34 @@ void IpaBase::reportMetadata(unsigned int ipaContext) 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 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_); } @@ -1317,7 +1436,7 @@ void IpaBase::applyFrameDurations(Duration minFrameDuration, Duration maxFrameDu agc->setMaxShutter(maxShutter); } -void IpaBase::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls) +void IpaBase::applyAGC(struct AgcStatus *agcStatus, ControlList &ctrls) { const int32_t minGainCode = helper_->gainCode(mode_.minAnalogueGain); const int32_t maxGainCode = helper_->gainCode(mode_.maxAnalogueGain); @@ -1346,6 +1465,19 @@ void IpaBase::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls) ctrls.set(V4L2_CID_EXPOSURE, exposureLines); ctrls.set(V4L2_CID_ANALOGUE_GAIN, gainCode); + /* + * We must update the digital gain to make up for any quantisation that happens, and + * communicate that back into the metadata so that it will appear as the "delayed" status. + * (Note that "exposure" is already the "actual" exposure.) + */ + double actualGain = helper_->gain(gainCode); + double ratio = agcStatus->analogueGain / actualGain; + ratio *= agcStatus->shutterTime / exposure; + double newDigitalGain = agcStatus->digitalGain * ratio; + agcStatus->digitalGain = newDigitalGain; + agcStatus->analogueGain = actualGain; + agcStatus->shutterTime = exposure; + /* * 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 diff --git a/src/ipa/rpi/common/ipa_base.h b/src/ipa/rpi/common/ipa_base.h index eaa9f7118..11aca074d 100644 --- a/src/ipa/rpi/common/ipa_base.h +++ b/src/ipa/rpi/common/ipa_base.h @@ -22,6 +22,7 @@ #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 { @@ -72,6 +73,7 @@ class IpaBase : public IPARPiInterface virtual void platformPrepareIsp(const PrepareParams ¶ms, RPiController::Metadata &rpiMetadata) = 0; + virtual void platformPrepareAgc(RPiController::Metadata &rpiMetadata) = 0; virtual RPiController::StatisticsPtr platformProcessStats(Span mem) = 0; void setMode(const IPACameraSensorInfo &sensorInfo); @@ -83,13 +85,10 @@ class IpaBase : public IPARPiInterface 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); + void applyAGC(struct AgcStatus *agcStatus, ControlList &ctrls); std::map buffers_; - bool lensPresent_; - bool monoSensor_; - ControlList libcameraMetadata_; std::array rpiMetadata_; @@ -123,6 +122,20 @@ class IpaBase : public IPARPiInterface int32_t mode; utils::Duration manualPeriod; } flickerState_; + +protected: + /* Remember the HDR status after a mode switch. */ + HdrStatus hdrStatus_; + + /* Remember the AGC status after a mode switch. */ + AgcStatus agcStatus_; + + /* Whether the stitch block (if available) needs to swap buffers. */ + bool stitchSwapBuffers_; + bool monoSensor_; + bool lensPresent_; + bool statsMetadataOutput_; + ControlList libcameraMetadata_; }; } /* namespace ipa::RPi */ diff --git a/src/ipa/rpi/controller/agc_algorithm.h b/src/ipa/rpi/controller/agc_algorithm.h index 534e38e2b..5f2185572 100644 --- a/src/ipa/rpi/controller/agc_algorithm.h +++ b/src/ipa/rpi/controller/agc_algorithm.h @@ -26,7 +26,7 @@ class AgcAlgorithm : public Algorithm virtual void setFixedShutter(unsigned int channel, libcamera::utils::Duration fixedShutter) = 0; virtual void setMaxShutter(libcamera::utils::Duration maxShutter) = 0; - virtual void setFixedAnalogueGain(unsigned int channel, double fixedAnalogueGain) = 0; + virtual void setFixedGain(unsigned int channel, double fixedGain) = 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; diff --git a/src/ipa/rpi/controller/agc_status.h b/src/ipa/rpi/controller/agc_status.h index 68f899585..3afe0cea9 100644 --- a/src/ipa/rpi/controller/agc_status.h +++ b/src/ipa/rpi/controller/agc_status.h @@ -30,6 +30,7 @@ struct AgcStatus { libcamera::utils::Duration targetExposureValue; /* (unfiltered) target total exposure AGC is aiming for */ libcamera::utils::Duration shutterTime; double analogueGain; + double digitalGain; std::string exposureMode; std::string constraintMode; std::string meteringMode; @@ -37,12 +38,11 @@ struct AgcStatus { libcamera::utils::Duration flickerPeriod; int floatingRegionEnable; libcamera::utils::Duration fixedShutter; - double fixedAnalogueGain; + double fixedGain; unsigned int channel; HdrStatus hdr; }; struct AgcPrepareStatus { - double digitalGain; int locked; }; diff --git a/src/ipa/rpi/controller/awb_algorithm.h b/src/ipa/rpi/controller/awb_algorithm.h index 8462c4db8..6009bdaca 100644 --- a/src/ipa/rpi/controller/awb_algorithm.h +++ b/src/ipa/rpi/controller/awb_algorithm.h @@ -16,6 +16,7 @@ class AwbAlgorithm : public Algorithm 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 enableAuto() = 0; 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 000000000..c2cff2f56 --- /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_algorithm.h - 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/rpi/agc.cpp b/src/ipa/rpi/controller/rpi/agc.cpp index 6549dedd0..33f6526f4 100644 --- a/src/ipa/rpi/controller/rpi/agc.cpp +++ b/src/ipa/rpi/controller/rpi/agc.cpp @@ -144,14 +144,14 @@ void Agc::setFixedShutter(unsigned int channelIndex, Duration fixedShutter) channelData_[channelIndex].channel.setFixedShutter(fixedShutter); } -void Agc::setFixedAnalogueGain(unsigned int channelIndex, double fixedAnalogueGain) +void Agc::setFixedGain(unsigned int channelIndex, double fixedGain) { if (checkChannel(channelIndex)) return; - LOG(RPiAgc, Debug) << "setFixedAnalogueGain " << fixedAnalogueGain + LOG(RPiAgc, Debug) << "setFixedGain " << fixedGain << " for channel " << channelIndex; - channelData_[channelIndex].channel.setFixedAnalogueGain(fixedAnalogueGain); + channelData_[channelIndex].channel.setFixedGain(fixedGain); } void Agc::setMeteringMode(std::string const &meteringModeName) diff --git a/src/ipa/rpi/controller/rpi/agc.h b/src/ipa/rpi/controller/rpi/agc.h index 7d26bdf6d..a94e2017b 100644 --- a/src/ipa/rpi/controller/rpi/agc.h +++ b/src/ipa/rpi/controller/rpi/agc.h @@ -35,8 +35,8 @@ class Agc : public AgcAlgorithm void setMaxShutter(libcamera::utils::Duration maxShutter) override; void setFixedShutter(unsigned int channelIndex, libcamera::utils::Duration fixedShutter) override; - void setFixedAnalogueGain(unsigned int channelIndex, - double fixedAnalogueGain) override; + void setFixedGain(unsigned int channelIndex, + double fixedGain) override; void setMeteringMode(std::string const &meteringModeName) override; void setExposureMode(std::string const &exposureModeName) override; void setConstraintMode(std::string const &contraintModeName) override; diff --git a/src/ipa/rpi/controller/rpi/agc_channel.cpp b/src/ipa/rpi/controller/rpi/agc_channel.cpp index 8116c6c1e..3ad9c564c 100644 --- a/src/ipa/rpi/controller/rpi/agc_channel.cpp +++ b/src/ipa/rpi/controller/rpi/agc_channel.cpp @@ -255,11 +255,13 @@ int AgcConfig::read(const libcamera::YamlObject ¶ms) desaturate = params["desaturate"].get(1); + maxDigitalGain = params["max_digital_gain"].get(4.0); + return 0; } AgcChannel::ExposureValues::ExposureValues() - : shutter(0s), analogueGain(0), + : shutter(0s), analogueGain(0), digitalGain(0), totalExposure(0s), totalExposureNoDG(0s) { } @@ -268,7 +270,7 @@ AgcChannel::AgcChannel() : meteringMode_(nullptr), exposureMode_(nullptr), constraintMode_(nullptr), frameCount_(0), lockCount_(0), lastTargetExposure_(0s), ev_(1.0), flickerPeriod_(0s), - maxShutter_(0s), fixedShutter_(0s), fixedAnalogueGain_(0.0) + maxShutter_(0s), fixedShutter_(0s), fixedGain_(0.0) { /* Set AWB default values in case early frames have no updates in metadata. */ awb_.gainR = 1.0; @@ -318,13 +320,13 @@ int AgcChannel::read(const libcamera::YamlObject ¶ms, void AgcChannel::disableAuto() { fixedShutter_ = status_.shutterTime; - fixedAnalogueGain_ = status_.analogueGain; + fixedGain_ = status_.analogueGain; } void AgcChannel::enableAuto() { fixedShutter_ = 0s; - fixedAnalogueGain_ = 0; + fixedGain_ = 0; } unsigned int AgcChannel::getConvergenceFrames() const @@ -333,7 +335,7 @@ unsigned int AgcChannel::getConvergenceFrames() const * If shutter and gain have been explicitly set, there is no * convergence to happen, so no need to drop any frames - return zero. */ - if (fixedShutter_ && fixedAnalogueGain_) + if (fixedShutter_ && fixedGain_) return 0; else return config_.convergenceFrames; @@ -369,15 +371,11 @@ void AgcChannel::setMaxShutter(Duration maxShutter) void AgcChannel::setFixedShutter(Duration fixedShutter) { fixedShutter_ = fixedShutter; - /* Set this in case someone calls disableAuto() straight after. */ - status_.shutterTime = limitShutter(fixedShutter_); } -void AgcChannel::setFixedAnalogueGain(double fixedAnalogueGain) +void AgcChannel::setFixedGain(double fixedGain) { - fixedAnalogueGain_ = fixedAnalogueGain; - /* Set this in case someone calls disableAuto() straight after. */ - status_.analogueGain = limitGain(fixedAnalogueGain); + fixedGain_ = fixedGain; } void AgcChannel::setMeteringMode(std::string const &meteringModeName) @@ -411,22 +409,10 @@ void AgcChannel::switchMode(CameraMode const &cameraMode, mode_ = cameraMode; Duration fixedShutter = limitShutter(fixedShutter_); - if (fixedShutter && 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 = fixedShutter_ * fixedAnalogueGain_; - target_.totalExposure = target_.totalExposureNoDG / minColourGain; - - /* Equivalent of filterExposure. This resets any "history". */ - filtered_ = target_; - - /* Equivalent of divideUpExposure. */ - filtered_.shutter = fixedShutter; - filtered_.analogueGain = fixedAnalogueGain_; + double fixedGain = limitGain(fixedGain_); + if (fixedShutter_ && fixedGain_) { + filtered_.totalExposureNoDG = fixedShutter * fixedGain; + filtered_.totalExposure = filtered_.totalExposureNoDG; } else if (status_.totalExposureValue) { /* * On a mode switch, various things could happen: @@ -439,12 +425,8 @@ void AgcChannel::switchMode(CameraMode const &cameraMode, */ double ratio = lastSensitivity / cameraMode.sensitivity; - target_.totalExposureNoDG *= ratio; - target_.totalExposure *= ratio; - filtered_.totalExposureNoDG *= ratio; filtered_.totalExposure *= ratio; - - divideUpExposure(); + filtered_.totalExposureNoDG = filtered_.totalExposure; } else { /* * We come through here on startup, when at least one of the shutter @@ -453,54 +435,30 @@ void AgcChannel::switchMode(CameraMode const &cameraMode, * for any that weren't set. */ - /* Equivalent of divideUpExposure. */ - filtered_.shutter = fixedShutter ? fixedShutter : config_.defaultExposureTime; - filtered_.analogueGain = fixedAnalogueGain_ ? fixedAnalogueGain_ : config_.defaultAnalogueGain; + Duration shutter = fixedShutter ? fixedShutter : config_.defaultExposureTime; + double gain = fixedGain ? fixedGain : config_.defaultAnalogueGain; + filtered_.totalExposure = shutter * gain; + filtered_.totalExposureNoDG = filtered_.totalExposure; } + /* Setting target_ to filtered_ removes any history from before the mode switch. */ + target_ = filtered_; + divideUpExposure(); + writeAndFinish(metadata, false); } void AgcChannel::prepare(Metadata *imageMetadata) { - Duration totalExposureValue = status_.totalExposureValue; - AgcStatus delayedStatus; + DeviceStatus deviceStatus; 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.shutterSpeed * - 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); - } + if (!imageMetadata->get("device.status", deviceStatus)) + prepareStatus.locked = updateLockStatus(deviceStatus); + + imageMetadata->set("agc.prepare_status", prepareStatus); } void AgcChannel::process(StatisticsPtr &stats, DeviceStatus const &deviceStatus, @@ -586,11 +544,11 @@ void AgcChannel::housekeepConfig() /* First fetch all the up-to-date settings, so no one else has to do it. */ status_.ev = ev_; status_.fixedShutter = limitShutter(fixedShutter_); - status_.fixedAnalogueGain = fixedAnalogueGain_; + status_.fixedGain = limitGain(fixedGain_); status_.flickerPeriod = flickerPeriod_; LOG(RPiAgc, Debug) << "ev " << status_.ev << " fixedShutter " - << status_.fixedShutter << " fixedAnalogueGain " - << status_.fixedAnalogueGain; + << status_.fixedShutter << " fixedGain " + << status_.fixedGain; /* * Make sure the "mode" pointers point to the up-to-date things, if * they've changed. @@ -637,6 +595,9 @@ void AgcChannel::fetchCurrentExposure(DeviceStatus const &deviceStatus) current_.analogueGain = deviceStatus.analogueGain; current_.totalExposure = 0s; /* this value is unused */ current_.totalExposureNoDG = current_.shutter * current_.analogueGain; + LOG(RPiAgc, Debug) << "Current frame: shutter " << current_.shutter + << " ag " << current_.analogueGain + << " (total " << current_.totalExposureNoDG << ")"; } void AgcChannel::fetchAwbStatus(Metadata *imageMetadata) @@ -693,9 +654,17 @@ static double computeInitialY(StatisticsPtr &stats, AwbStatus const &awb, double ySum; /* Factor in the AWB correction if needed. */ if (stats->agcStatsPos == Statistics::AgcStatsPos::PreWb) { - ySum = rSum * awb.gainR * .299 + - gSum * awb.gainG * .587 + - bSum * awb.gainB * .114; + /* + * We apply any extra gain that will automatically be added by the pipeline + * on account of low colour gains. This means that this statistic should then + * drive the exposure to the correct point. The hard-coded 0.1 here doesn't + * really mean anything, just stops arithmetic errors and extreme behaviour. + */ + double minColourGain = std::min({ awb.gainR, awb.gainG, awb.gainB, 1.0 }); + double extraGain = 1.0 / std::max({ minColourGain, 0.1 }); + ySum = rSum * awb.gainR * extraGain * .299 + + gSum * awb.gainG * extraGain * .587 + + bSum * awb.gainB * extraGain * .114; } else ySum = rSum * .299 + gSum * .587 + bSum * .114; @@ -774,17 +743,9 @@ void AgcChannel::computeGain(StatisticsPtr &statistics, Metadata *imageMetadata, void AgcChannel::computeTargetExposure(double gain) { - if (status_.fixedShutter && status_.fixedAnalogueGain) { - /* - * When ag and shutter 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); + if (status_.fixedShutter && status_.fixedGain) { target_.totalExposure = - status_.fixedShutter * status_.fixedAnalogueGain / minColourGain; + status_.fixedShutter * status_.fixedGain; } else { /* * The statistics reflect the image without digital gain, so the final @@ -796,11 +757,9 @@ void AgcChannel::computeTargetExposure(double gain) ? status_.fixedShutter : exposureMode_->shutter.back(); maxShutter = limitShutter(maxShutter); - Duration maxTotalExposure = - maxShutter * - (status_.fixedAnalogueGain != 0.0 - ? status_.fixedAnalogueGain - : exposureMode_->gain.back()); + double maxGain = status_.fixedGain ? status_.fixedGain : exposureMode_->gain.back(); + maxGain = limitGain(maxGain); + Duration maxTotalExposure = maxShutter * maxGain; target_.totalExposure = std::min(target_.totalExposure, maxTotalExposure); } LOG(RPiAgc, Debug) << "Target totalExposure " << target_.totalExposure; @@ -809,8 +768,6 @@ void AgcChannel::computeTargetExposure(double gain) 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) @@ -845,15 +802,8 @@ bool AgcChannel::applyChannelConstraints(const AgcChannelTotalExposures &channel 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; + filtered_.totalExposureNoDG = filtered_.totalExposure; + /* * 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 @@ -863,15 +813,14 @@ bool AgcChannel::applyDigitalGain(double gain, double targetY, bool channelBound * 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; + bool desaturate = config_.desaturate && !channelBound && + targetY > config_.fastReduceThreshold && gain < sqrt(targetY); + + if (desaturate) { + filtered_.totalExposureNoDG *= config_.fastReduceThreshold; + LOG(RPiAgc, Debug) << "Desaturating, exposure no dg " << filtered_.totalExposureNoDG; + } + return desaturate; } @@ -884,7 +833,7 @@ void AgcChannel::filterExposure() * AGC adapts instantly if both shutter and gain are directly specified * or we're in the startup phase. */ - if ((status_.fixedShutter && status_.fixedAnalogueGain) || + if ((status_.fixedShutter && status_.fixedGain) || frameCount_ <= config_.startupFrames) speed = 1.0; if (!filtered_.totalExposure) { @@ -903,8 +852,7 @@ void AgcChannel::filterExposure() filtered_.totalExposure = speed * target_.totalExposure + filtered_.totalExposure * (1.0 - speed); } - LOG(RPiAgc, Debug) << "After filtering, totalExposure " << filtered_.totalExposure - << " no dg " << filtered_.totalExposureNoDG; + LOG(RPiAgc, Debug) << "After filtering, totalExposure " << filtered_.totalExposure; } void AgcChannel::divideUpExposure() @@ -916,62 +864,69 @@ void AgcChannel::divideUpExposure() */ Duration exposureValue = filtered_.totalExposureNoDG; Duration shutterTime; - double analogueGain; + double gain; shutterTime = status_.fixedShutter ? status_.fixedShutter : exposureMode_->shutter[0]; shutterTime = limitShutter(shutterTime); - analogueGain = status_.fixedAnalogueGain != 0.0 ? status_.fixedAnalogueGain - : exposureMode_->gain[0]; - analogueGain = limitGain(analogueGain); - if (shutterTime * analogueGain < exposureValue) { + gain = status_.fixedGain != 0.0 ? status_.fixedGain + : exposureMode_->gain[0]; + gain = limitGain(gain); + if (shutterTime * gain < exposureValue) { for (unsigned int stage = 1; stage < exposureMode_->gain.size(); stage++) { if (!status_.fixedShutter) { Duration stageShutter = limitShutter(exposureMode_->shutter[stage]); - if (stageShutter * analogueGain >= exposureValue) { - shutterTime = exposureValue / analogueGain; + if (stageShutter * gain >= exposureValue) { + shutterTime = exposureValue / gain; break; } shutterTime = stageShutter; } - if (status_.fixedAnalogueGain == 0.0) { + if (status_.fixedGain == 0.0) { if (exposureMode_->gain[stage] * shutterTime >= exposureValue) { - analogueGain = exposureValue / shutterTime; + gain = exposureValue / shutterTime; break; } - analogueGain = exposureMode_->gain[stage]; - analogueGain = limitGain(analogueGain); + gain = exposureMode_->gain[stage]; + gain = limitGain(gain); } } } - LOG(RPiAgc, Debug) << "Divided up shutter and gain are " << shutterTime << " and " - << analogueGain; + /* - * Finally adjust shutter time for flicker avoidance (require both + * Adjust shutter time for flicker avoidance (require both * shutter and gain not to be fixed). */ - if (!status_.fixedShutter && !status_.fixedAnalogueGain && + if (!status_.fixedShutter && !status_.fixedGain && status_.flickerPeriod) { int flickerPeriods = shutterTime / status_.flickerPeriod; if (flickerPeriods) { Duration newShutterTime = flickerPeriods * status_.flickerPeriod; - analogueGain *= shutterTime / newShutterTime; - /* - * 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); + gain *= shutterTime / newShutterTime; shutterTime = newShutterTime; } LOG(RPiAgc, Debug) << "After flicker avoidance, shutter " - << shutterTime << " gain " << analogueGain; + << shutterTime << " gain " << gain; + } + + /* + * Now limit the analogue gain to the maximum allowed, so that we can figure + * out how much digital gain we need. + */ + double digitalGain = 1.0; + if (gain > mode_.maxAnalogueGain) { + digitalGain = gain / mode_.maxAnalogueGain; + gain = mode_.maxAnalogueGain; } + + filtered_.totalExposureNoDG = gain * shutterTime; + filtered_.totalExposure = filtered_.totalExposureNoDG * digitalGain; filtered_.shutter = shutterTime; - filtered_.analogueGain = analogueGain; + filtered_.analogueGain = gain; + filtered_.digitalGain = digitalGain; + LOG(RPiAgc, Debug) << "DivideUpExposure: " << shutterTime << " ag " << gain + << " dg " << digitalGain; } void AgcChannel::writeAndFinish(Metadata *imageMetadata, bool desaturate) @@ -980,6 +935,7 @@ void AgcChannel::writeAndFinish(Metadata *imageMetadata, bool desaturate) status_.targetExposureValue = desaturate ? 0s : target_.totalExposure; status_.shutterTime = filtered_.shutter; status_.analogueGain = filtered_.analogueGain; + status_.digitalGain = filtered_.digitalGain; /* * Write to metadata as well, in case anyone wants to update the camera * immediately. @@ -987,8 +943,6 @@ void AgcChannel::writeAndFinish(Metadata *imageMetadata, bool desaturate) imageMetadata->set("agc.status", status_); LOG(RPiAgc, Debug) << "Output written, total exposure requested is " << filtered_.totalExposure; - LOG(RPiAgc, Debug) << "Camera exposure update: shutter time " << filtered_.shutter - << " analogue gain " << filtered_.analogueGain; } Duration AgcChannel::limitShutter(Duration shutter) @@ -1017,6 +971,7 @@ double AgcChannel::limitGain(double gain) const if (!gain) return gain; - gain = std::max(gain, mode_.minAnalogueGain); + gain = std::clamp(gain, mode_.minAnalogueGain, + mode_.maxAnalogueGain * config_.maxDigitalGain); return gain; } diff --git a/src/ipa/rpi/controller/rpi/agc_channel.h b/src/ipa/rpi/controller/rpi/agc_channel.h index 4cf7233ee..99449e7ba 100644 --- a/src/ipa/rpi/controller/rpi/agc_channel.h +++ b/src/ipa/rpi/controller/rpi/agc_channel.h @@ -77,6 +77,7 @@ struct AgcConfig { double defaultAnalogueGain; double stableRegion; bool desaturate; + double maxDigitalGain; }; class AgcChannel @@ -91,7 +92,7 @@ class AgcChannel void setFlickerPeriod(libcamera::utils::Duration flickerPeriod); void setMaxShutter(libcamera::utils::Duration maxShutter); void setFixedShutter(libcamera::utils::Duration fixedShutter); - void setFixedAnalogueGain(double fixedAnalogueGain); + void setFixedGain(double fixedGain); void setMeteringMode(std::string const &meteringModeName); void setExposureMode(std::string const &exposureModeName); void setConstraintMode(std::string const &contraintModeName); @@ -129,6 +130,7 @@ class AgcChannel libcamera::utils::Duration shutter; double analogueGain; + double digitalGain; libcamera::utils::Duration totalExposure; libcamera::utils::Duration totalExposureNoDG; /* without digital gain */ }; @@ -147,7 +149,7 @@ class AgcChannel libcamera::utils::Duration flickerPeriod_; libcamera::utils::Duration maxShutter_; libcamera::utils::Duration fixedShutter_; - double fixedAnalogueGain_; + double fixedGain_; }; } /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/rpi/awb.cpp b/src/ipa/rpi/controller/rpi/awb.cpp index 5ae0c2fad..dde5785a0 100644 --- a/src/ipa/rpi/controller/rpi/awb.cpp +++ b/src/ipa/rpi/controller/rpi/awb.cpp @@ -220,6 +220,12 @@ void Awb::initialise() 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 */ diff --git a/src/ipa/rpi/controller/rpi/awb.h b/src/ipa/rpi/controller/rpi/awb.h index e7d49cd80..cde6a62f6 100644 --- a/src/ipa/rpi/controller/rpi/awb.h +++ b/src/ipa/rpi/controller/rpi/awb.h @@ -95,6 +95,7 @@ class Awb : public AwbAlgorithm 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 enableAuto() override; diff --git a/src/ipa/rpi/controller/rpi/black_level.cpp b/src/ipa/rpi/controller/rpi/black_level.cpp index 85baec3fc..2e3db51fe 100644 --- a/src/ipa/rpi/controller/rpi/black_level.cpp +++ b/src/ipa/rpi/controller/rpi/black_level.cpp @@ -22,7 +22,7 @@ LOG_DEFINE_CATEGORY(RPiBlackLevel) #define NAME "rpi.black_level" BlackLevel::BlackLevel(Controller *controller) - : Algorithm(controller) + : BlackLevelAlgorithm(controller) { } @@ -45,6 +45,14 @@ int BlackLevel::read(const libcamera::YamlObject ¶ms) 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) { /* diff --git a/src/ipa/rpi/controller/rpi/black_level.h b/src/ipa/rpi/controller/rpi/black_level.h index 2403f7f77..d8c41c621 100644 --- a/src/ipa/rpi/controller/rpi/black_level.h +++ b/src/ipa/rpi/controller/rpi/black_level.h @@ -6,19 +6,21 @@ */ #pragma once -#include "../algorithm.h" +#include "../black_level_algorithm.h" #include "../black_level_status.h" /* This is our implementation of the "black level algorithm". */ namespace RPiController { -class BlackLevel : public Algorithm +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: diff --git a/src/ipa/rpi/controller/rpi/hdr.cpp b/src/ipa/rpi/controller/rpi/hdr.cpp index fb580548d..28c2280a0 100644 --- a/src/ipa/rpi/controller/rpi/hdr.cpp +++ b/src/ipa/rpi/controller/rpi/hdr.cpp @@ -7,6 +7,8 @@ #include "hdr.h" +#include + #include #include "../agc_status.h" @@ -39,25 +41,52 @@ void HdrConfig::read(const libcamera::YamlObject ¶ms, const std::string &mod channelMap[v.get().value()] = k; /* Lens shading related parameters. */ - if (params.contains("spatial_gain")) { - spatialGain.read(params["spatial_gain"]); - diffusion = params["diffusion"].get(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; - } + if (params.contains("spatial_gain_curve")) { + spatialGainCurve.read(params["spatial_gain_curve"]); + } else if (params.contains("spatial_gain")) { + double spatialGain = params["spatial_gain"].get(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(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(0); - detailConstant = params["detail_constant"].get(50); - detailSlope = params["detail_slope"].get(8.0); + detailConstant = params["detail_constant"].get(0); + detailSlope = params["detail_slope"].get(0.0); iirStrength = params["iir_strength"].get(8.0); strength = params["strength"].get(1.5); if (tonemapEnable) tonemap.read(params["tonemap"]); + speed = params["speed"].get(1.0); + if (params.contains("hi_quantile_targets")) { + hiQuantileTargets = params["hi_quantile_targets"].getList().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(1.6); + if (params.contains("quantile_targets")) { + quantileTargets = params["quantile_targets"].getList().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(0.65); + powerMax = params["power_max"].get(1.0); + if (params.contains("contrast_adjustments")) { + contrastAdjustments = params["contrast_adjustments"].getList().value(); + } else + contrastAdjustments = { 0.5, 0.75 }; /* Read any stitch parameters. */ stitchEnable = params["stitch_enable"].get(0); @@ -159,7 +188,7 @@ void Hdr::prepare(Metadata *imageMetadata) } HdrConfig &config = it->second; - if (config.spatialGain.empty()) + if (config.spatialGainCurve.empty()) return; AlscStatus alscStatus{}; /* some compilers seem to require the braces */ @@ -205,10 +234,61 @@ bool Hdr::updateTonemap([[maybe_unused]] StatisticsPtr &stats, HdrConfig &config return true; /* - * If we wanted to build or adjust tonemaps dynamically, this would be the place - * to do it. But for now we seem to be getting by without. + * 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. */ + 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; } @@ -255,7 +335,7 @@ static void averageGains(std::vector &src, std::vector &dst, con void Hdr::updateGains(StatisticsPtr &stats, HdrConfig &config) { - if (config.spatialGain.empty()) + if (config.spatialGainCurve.empty()) return; /* When alternating exposures, only compute these gains for the short frame. */ @@ -270,7 +350,7 @@ void Hdr::updateGains(StatisticsPtr &stats, HdrConfig &config) double g = region.val.gSum / counted; double b = region.val.bSum / counted; double brightness = std::max({ r, g, b }) / 65535; - gains_[0][i] = config.spatialGain.eval(brightness); + gains_[0][i] = config.spatialGainCurve.eval(brightness); } /* Ping-pong between the two gains_ buffers. */ diff --git a/src/ipa/rpi/controller/rpi/hdr.h b/src/ipa/rpi/controller/rpi/hdr.h index 980aa3d18..ac855b223 100644 --- a/src/ipa/rpi/controller/rpi/hdr.h +++ b/src/ipa/rpi/controller/rpi/hdr.h @@ -26,7 +26,7 @@ struct HdrConfig { std::map channelMap; /* Lens shading related parameters. */ - Pwl spatialGain; /* Brightness to gain curve for different image regions. */ + Pwl spatialGainCurve; /* Brightness to gain curve for different image regions. */ unsigned int diffusion; /* How much to diffuse the gain spatially. */ /* Tonemap related parameters. */ @@ -36,6 +36,14 @@ struct HdrConfig { double iirStrength; double strength; Pwl tonemap; + /* These relate to adaptive tonemap calculation. */ + double speed; + std::vector hiQuantileTargets; /* quantiles to check for unsaturated images */ + double hiQuantileMaxGain; /* the max gain we'll apply when unsaturated */ + std::vector quantileTargets; /* target values for histogram quantiles */ + double powerMin; /* minimum tonemap power */ + double powerMax; /* maximum tonemap power */ + std::vector contrastAdjustments; /* any contrast adjustment factors */ /* Stitch related parameters. */ bool stitchEnable; diff --git a/src/ipa/rpi/pisp/data/imx219.json b/src/ipa/rpi/pisp/data/imx219.json new file mode 100644 index 000000000..5254e60da --- /dev/null +++ b/src/ipa/rpi/pisp/data/imx219.json @@ -0,0 +1,1187 @@ +{ + "version": 2.0, + "target": "pisp", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 21965, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 800, + "reference_Y": 11460 + } + }, + { + "rpi.dpc": + { + "strength": 1 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 3.661 + } + }, + { + "rpi.geq": + { + "offset": 239, + "slope": 0.00766 + } + }, + { + "rpi.denoise": + { + "normal": + { + "sdn": + { + "deviation": 1.6, + "strength": 0.5, + "deviation2": 3.2, + "deviation_no_tdn": 3.2, + "strength_no_tdn": 0.75 + }, + "cdn": + { + "deviation": 200, + "strength": 0.3 + }, + "tdn": + { + "deviation": 0.8, + "threshold": 0.05 + } + }, + "hdr": + { + "sdn": + { + "deviation": 1.6, + "strength": 0.5, + "deviation2": 3.2, + "deviation_no_tdn": 3.2, + "strength_no_tdn": 0.75 + }, + "cdn": + { + "deviation": 200, + "strength": 0.3 + }, + "tdn": + { + "deviation": 1.3, + "threshold": 0.1 + } + }, + "night": + { + "sdn": + { + "deviation": 1.6, + "strength": 0.5, + "deviation2": 3.2, + "deviation_no_tdn": 3.2, + "strength_no_tdn": 0.75 + }, + "cdn": + { + "deviation": 200, + "strength": 0.3 + }, + "tdn": + { + "deviation": 1.3, + "threshold": 0.1 + } + } + } + }, + { + "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": 7700 + }, + "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": + [ + 2860.0, 0.9514, 0.4156, + 2960.0, 0.9289, 0.4372, + 3603.0, 0.8305, 0.5251, + 4650.0, 0.6756, 0.6433, + 5858.0, 0.6193, 0.6807, + 7580.0, 0.5019, 0.7495 + ], + "sensitivity_r": 1.0, + "sensitivity_b": 1.0, + "transverse_pos": 0.03392, + "transverse_neg": 0.034 + } + }, + { + "rpi.agc": + { + "channels": [ + { + "comment": "Channel 0 is normal AGC", + "metering_modes": + { + "centre-weighted": + { + "weights": + [ + 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, + 0, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 0, + 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, + 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, + 1, 1, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 1, 1, + 1, 1, 2, 2, 2, 3, 3, 3, 3, 3, 2, 2, 2, 1, 1, + 1, 1, 2, 2, 3, 3, 3, 4, 3, 3, 3, 2, 2, 1, 1, + 1, 1, 2, 2, 3, 3, 4, 4, 4, 3, 3, 2, 2, 1, 1, + 1, 1, 2, 2, 3, 3, 3, 4, 3, 3, 3, 2, 2, 1, 1, + 1, 1, 2, 2, 2, 3, 3, 3, 3, 3, 2, 2, 2, 1, 1, + 1, 1, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 1, 1, + 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 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+ "spatial_gain": 2.0, + "power_min": 0.7, + "tonemap_enable": 1 + }, + "MultiExposure": + { + "cadence": [ 1, 2 ], + "channel_map": + { + "short": 1, + "long": 2 + }, + "stitch_enable": 1, + "spatial_gain": 2.0, + "power_min": 0.7, + "tonemap_enable": 1 + }, + "Night": + { + "cadence": [ 3 ], + "channel_map": + { + "short": 3 + }, + "tonemap_enable": 1, + "tonemap": + [ + 0, 0, + 5000, 20000, + 10000, 30000, + 20000, 47000, + 30000, 55000, + 65535, 65535 + ] + } + } + } + ] +} \ No newline at end of file diff --git a/src/ipa/rpi/pisp/data/meson.build b/src/ipa/rpi/pisp/data/meson.build new file mode 100644 index 000000000..26f8051be --- /dev/null +++ b/src/ipa/rpi/pisp/data/meson.build @@ -0,0 +1,21 @@ +# SPDX-License-Identifier: CC0-1.0 + +conf_files = files([ + 'imx219.json', + 'imx219_noir.json', + 'imx296.json', + 'imx296_mono.json', + 'imx477.json', + 'imx477_noir.json', + 'imx477_scientific.json', + 'imx708.json', + 'imx708_noir.json', + 'imx708_wide.json', + 'imx708_wide_noir.json', + 'ov5647.json', + 'ov5647_noir.json', + 'uncalibrated.json', +]) + +install_data(conf_files, + install_dir : ipa_data_dir / 'rpi' / 'pisp') diff --git a/src/ipa/rpi/pisp/data/ov5647.json b/src/ipa/rpi/pisp/data/ov5647.json new file mode 100644 index 000000000..d5156767c --- /dev/null +++ b/src/ipa/rpi/pisp/data/ov5647.json @@ -0,0 +1,1186 @@ +{ + "version": 2.0, + "target": "pisp", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 1024 + } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 29381, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 870, + "reference_Y": 12388 + } + }, + { + "rpi.dpc": + { + "strength": 1 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 4.371 + } + }, + { + "rpi.geq": + { + "offset": 280, + "slope": 0.02153 + } + }, + { + "rpi.denoise": + { + "normal": + { + "sdn": + { + "deviation": 1.6, + "strength": 0.5, + "deviation2": 3.2, + "deviation_no_tdn": 3.2, + "strength_no_tdn": 0.75 + }, + "cdn": + { + "deviation": 200, + "strength": 0.3 + }, + "tdn": + { + "deviation": 0.8, + "threshold": 0.05 + } + }, + "hdr": + { + "sdn": + { + "deviation": 1.6, + "strength": 0.5, + "deviation2": 3.2, + "deviation_no_tdn": 3.2, + "strength_no_tdn": 0.75 + }, + "cdn": + { + "deviation": 200, + "strength": 0.3 + }, + "tdn": + { + "deviation": 1.3, + "threshold": 0.1 + } + }, + "night": + { + "sdn": + { + "deviation": 1.6, + "strength": 0.5, + "deviation2": 3.2, + "deviation_no_tdn": 3.2, + "strength_no_tdn": 0.75 + }, + "cdn": + { + "deviation": 200, + "strength": 0.3 + }, + "tdn": + { + "deviation": 1.3, + "threshold": 0.1 + } + } + } + }, + { + "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 + ] + } + ], + 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3 + }, + "tonemap_enable": 1, + "tonemap": + [ + 0, 0, + 5000, 20000, + 10000, 30000, + 20000, 47000, + 30000, 55000, + 65535, 65535 + ] + } + } + } + ] +} \ No newline at end of file diff --git a/src/ipa/rpi/pisp/data/uncalibrated.json b/src/ipa/rpi/pisp/data/uncalibrated.json new file mode 100644 index 000000000..ff1e316ee --- /dev/null +++ b/src/ipa/rpi/pisp/data/uncalibrated.json @@ -0,0 +1,135 @@ +{ + "version": 2.0, + "target": "pisp", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.awb": + { + "use_derivatives": 0, + "bayes": 0 + } + }, + { + "rpi.agc": + { + "metering_modes": + { + "centre-weighted": + { + "weights": + [ + 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, + 0, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 0, + 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, + 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, + 1, 1, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 1, 1, + 1, 1, 2, 2, 2, 3, 3, 3, 3, 3, 2, 2, 2, 1, 1, + 1, 1, 2, 2, 3, 3, 3, 4, 3, 3, 3, 2, 2, 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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/pisp/meson.build b/src/ipa/rpi/pisp/meson.build new file mode 100644 index 000000000..b1daf9fc8 --- /dev/null +++ b/src/ipa/rpi/pisp/meson.build @@ -0,0 +1,49 @@ +# SPDX-License-Identifier: CC0-1.0 + +ipa_name = 'ipa_rpi_pisp' + +pisp_ipa_deps = [ + libcamera_private, + libatomic, + libpisp_dep, +] + +pisp_ipa_libs = [ + rpi_ipa_cam_helper_lib, + rpi_ipa_common_lib, + rpi_ipa_controller_lib +] + +pisp_ipa_includes = [ + ipa_includes, + libipa_includes, +] + +pisp_ipa_sources = files([ + 'pisp.cpp', +]) + +pisp_ipa_includes += include_directories('..') + +mod = shared_module(ipa_name, + [pisp_ipa_sources, libcamera_generated_ipa_headers], + name_prefix : '', + include_directories : pisp_ipa_includes, + dependencies : pisp_ipa_deps, + link_with : libipa, + link_whole : pisp_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/pisp/pisp.cpp b/src/ipa/rpi/pisp/pisp.cpp new file mode 100644 index 000000000..49579446a --- /dev/null +++ b/src/ipa/rpi/pisp/pisp.cpp @@ -0,0 +1,1097 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * pisp.cpp - Raspberry Pi PiSP IPA + */ +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include + +#include + +#include "libpisp/backend/backend.hpp" +#include "libpisp/frontend/frontend.hpp" + +#include "common/ipa_base.h" +#include "controller/af_status.h" +#include "controller/agc_algorithm.h" +#include "controller/alsc_status.h" +#include "controller/awb_algorithm.h" +#include "controller/awb_status.h" +#include "controller/black_level_algorithm.h" +#include "controller/black_level_status.h" +#include "controller/cac_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/hdr_status.h" +#include "controller/lux_status.h" +#include "controller/noise_status.h" +#include "controller/pwl.h" +#include "controller/saturation_status.h" +#include "controller/sharpen_status.h" +#include "controller/stitch_status.h" +#include "controller/tonemap_status.h" + +using namespace std::literals::chrono_literals; + +namespace libcamera { + +LOG_DECLARE_CATEGORY(IPARPI) + +namespace { + +constexpr unsigned int NumLscCells = PISP_BE_LSC_GRID_SIZE; +constexpr unsigned int NumLscVertexes = NumLscCells + 1; + +inline int32_t clampField(double value, std::size_t fieldBits, std::size_t fracBits = 0, + bool isSigned = false, const char *desc = nullptr) +{ + ASSERT(fracBits <= fieldBits && fieldBits <= 32); + + int min = -(isSigned << (fieldBits - 1)); + int max = (1 << (fieldBits - isSigned)) - 1; + int32_t val = + std::clamp(std::round(value * (1 << fracBits)), min, max); + + if (desc && val / (1 << fracBits) != value) + LOG(IPARPI, Warning) + << desc << " rounded/clamped to " << val / (1 << fracBits); + + return val; +} + +int generateLut(const RPiController::Pwl &pwl, uint32_t *lut, std::size_t lutSize, + unsigned int SlopeBits = 14, unsigned int PosBits = 16) +{ + if (pwl.empty()) + return -EINVAL; + + int lastY = 0; + for (unsigned int i = 0; i < lutSize; i++) { + int x, y; + if (i < 32) + x = i * 512; + else if (i < 48) + x = (i - 32) * 1024 + 16384; + else + x = std::min(65535u, (i - 48) * 2048 + 32768); + + y = pwl.eval(x); + if (y < 0 || (i && y < lastY)) { + LOG(IPARPI, Error) + << "Malformed PWL for Gamma, disabling!"; + return -1; + } + + if (i) { + unsigned int slope = y - lastY; + if (slope >= (1u << SlopeBits)) { + slope = (1u << SlopeBits) - 1; + LOG(IPARPI, Info) + << ("Maximum Gamma slope exceeded, adjusting!"); + y = lastY + slope; + } + lut[i - 1] |= slope << PosBits; + } + + lut[i] = y; + lastY = y; + } + + return 0; +} + +void packLscLut(uint32_t packed[NumLscVertexes][NumLscVertexes], + double const rgb[3][NumLscVertexes][NumLscVertexes]) +{ + for (unsigned int y = 0; y < NumLscVertexes; ++y) { + for (unsigned int x = 0; x < NumLscVertexes; ++x) { + /* Jointly encode RGB gains in one of 4 ranges: [0.5:1.5), [0:2), [0:4), [0:8) */ + double lo = std::min({ rgb[0][y][x], rgb[1][y][x], rgb[2][y][x] }); + double hi = std::max({ rgb[0][y][x], rgb[1][y][x], rgb[2][y][x] }); + uint32_t range; + double scale, offset; + if (lo >= 0.5 && hi < 1.5) { + range = 0; + scale = 1024.0; + offset = -511.5; + } else if (hi < 2.0) { + range = 1; + scale = 512.0; + offset = 0.5; + } else if (hi < 4.0) { + range = 2; + scale = 256.0; + offset = 0.5; + } else { + range = 3; + scale = 128.0; + offset = 0.5; + } + int r = clampField(offset + scale * rgb[0][y][x], 10); + int g = clampField(offset + scale * rgb[1][y][x], 10); + int b = clampField(offset + scale * rgb[2][y][x], 10); + packed[y][x] = (range << 30) | (b << 20) | (g << 10) | r; + } + } +} + +/* + * Resamples a srcW x srcH table with central sampling to destW x destH with + * corner sampling. + */ +void resampleTable(double *dest, int destW, int destH, double const *src, + int srcW, int srcH) +{ + /* + * 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 = srcW / (destW - 1); + for (int i = 0; i < destW; i++, x += xInc) { + xLo[i] = floor(x); + xf[i] = x - xLo[i]; + xHi[i] = xLo[i] < (srcW - 1) ? (xLo[i] + 1) : (srcW - 1); + xLo[i] = xLo[i] > 0 ? xLo[i] : 0; + } + + /* Now march over the output table generating the new values. */ + double y = -0.5, yInc = srcH / (destH - 1); + for (int j = 0; j < destH; j++, y += yInc) { + int yLo = floor(y); + double yf = y - yLo; + int yHi = yLo < (srcH - 1) ? (yLo + 1) : (srcH - 1); + yLo = yLo > 0 ? yLo : 0; + double const *rowAbove = src + yLo * srcW; + double const *rowBelow = src + yHi * srcW; + 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]; + *(dest++) = above * (1 - yf) + below * yf; + } + } +} + +} /* namespace */ + +using ::libpisp::BackEnd; +using ::libpisp::FrontEnd; + +namespace ipa::RPi { + +class IpaPiSP final : public IpaBase +{ +public: + IpaPiSP() + : IpaBase(), fe_(nullptr), be_(nullptr) + { + } + + ~IpaPiSP() + { + if (fe_) + munmap(fe_, sizeof(FrontEnd)); + if (be_) + munmap(be_, sizeof(BackEnd)); + } + +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; + void platformPrepareAgc(RPiController::Metadata &rpiMetadata) override; + RPiController::StatisticsPtr platformProcessStats(Span mem) override; + + void handleControls(const ControlList &controls) override; + + void applyWBG(const AwbStatus *awbStatus, double digitalGain, + pisp_be_global_config &global); + void applyDgOnly(double digitalGain, pisp_be_global_config &global); + void applyCAC(const CacStatus *cacStatus, pisp_be_global_config &global); + void applyContrast(const ContrastStatus *contrastStatus, + pisp_be_global_config &global); + void applyCCM(const CcmStatus *ccmStatus, pisp_be_global_config &global); + void applyBlackLevel(const BlackLevelStatus *blackLevelStatus, + pisp_be_global_config &global); + void applyLensShading(const AlscStatus *alscStatus, + pisp_be_global_config &global); + void applyDPC(const DpcStatus *dpcStatus, pisp_be_global_config &global); + void applySdn(const SdnStatus *sdnStatus, pisp_be_global_config &global); + void applyTdn(const TdnStatus *tdnStatus, const DeviceStatus *deviceStatus, + pisp_be_global_config &global); + void applyCdn(const CdnStatus *cdnStatus, pisp_be_global_config &global); + void applyGeq(const GeqStatus *geqStatus, pisp_be_global_config &global); + void applySaturation(const SaturationStatus *geqStatus, + pisp_be_global_config &global); + void applySharpen(const SharpenStatus *sharpenStatus, + pisp_be_global_config &global); + bool applyStitch(const StitchStatus *stitchStatus, const DeviceStatus *deviceStatus, + const AgcStatus *agcStatus, pisp_be_global_config &global); + void applyTonemap(const TonemapStatus *tonemapStatus, + pisp_be_global_config &global); + void applyFocusStats(const NoiseStatus *noiseStatus); + void applyAF(const struct AfStatus *afStatus, ControlList &lensCtrls); + + void setDefaultConfig(); + void setStatsAndDebin(); + void setHistogramWeights(); + + /* Frontend/Backend objects passed in from the pipeline handler. */ + SharedFD feFD_; + SharedFD beFD_; + FrontEnd *fe_; + BackEnd *be_; + + /* TDN/HDR runtime need the following state. */ + bool tdnReset_; + utils::Duration lastExposure_; + std::map lastStitchExposures_; + HdrStatus lastStitchHdrStatus_; +}; + +int32_t IpaPiSP::platformInit(const InitParams ¶ms, + [[maybe_unused]] InitResult *result) +{ + const std::string &target = controller_.getTarget(); + if (target != "pisp") { + LOG(IPARPI, Error) + << "Tuning data file target returned \"" << target << "\"" + << ", expected \"pisp\""; + return -EINVAL; + } + + /* Acquire the Frontend and Backend objects. */ + feFD_ = std::move(params.fe); + beFD_ = std::move(params.be); + + if (!feFD_.isValid() || !beFD_.isValid()) { + LOG(IPARPI, Error) << "Invalid FE/BE handles!"; + return -ENODEV; + } + + fe_ = static_cast(mmap(nullptr, sizeof(FrontEnd), + PROT_READ | PROT_WRITE, MAP_SHARED, + feFD_.get(), 0)); + be_ = static_cast(mmap(nullptr, sizeof(BackEnd), + PROT_READ | PROT_WRITE, MAP_SHARED, + beFD_.get(), 0)); + + if (!fe_ || !be_) { + LOG(IPARPI, Error) << "Unable to map FE/BE handles!"; + return -ENODEV; + } + + setDefaultConfig(); + + return 0; +} + +int32_t IpaPiSP::platformStart([[maybe_unused]] const ControlList &controls, + [[maybe_unused]] StartResult *result) +{ + tdnReset_ = true; + + /* Cause the stitch block to be reset correctly. */ + lastStitchHdrStatus_ = HdrStatus(); + + return 0; +} + +int32_t IpaPiSP::platformConfigure([[maybe_unused]] const ConfigParams ¶ms, + [[maybe_unused]] ConfigResult *result) +{ + setStatsAndDebin(); + return 0; +} + +void IpaPiSP::platformPrepareIsp([[maybe_unused]] const PrepareParams ¶ms, + RPiController::Metadata &rpiMetadata) +{ + std::scoped_lock l(rpiMetadata); + + pisp_be_global_config global; + be_->GetGlobal(global); + + global.bayer_enables &= ~(PISP_BE_BAYER_ENABLE_BLC + PISP_BE_BAYER_ENABLE_WBG + + PISP_BE_BAYER_ENABLE_GEQ + PISP_BE_BAYER_ENABLE_LSC + + PISP_BE_BAYER_ENABLE_SDN + PISP_BE_BAYER_ENABLE_CDN + + PISP_BE_BAYER_ENABLE_TDN_OUTPUT + PISP_BE_BAYER_ENABLE_TDN_INPUT + + PISP_BE_BAYER_ENABLE_STITCH_INPUT + PISP_BE_BAYER_ENABLE_STITCH_OUTPUT + + PISP_BE_BAYER_ENABLE_STITCH + PISP_BE_BAYER_ENABLE_TONEMAP); + /* We leave the YCbCr and inverse conversion enabled in case of false colour or sharpening. */ + global.rgb_enables &= ~(PISP_BE_RGB_ENABLE_GAMMA + PISP_BE_RGB_ENABLE_CCM + + PISP_BE_RGB_ENABLE_SHARPEN + PISP_BE_RGB_ENABLE_SAT_CONTROL); + + NoiseStatus *noiseStatus = rpiMetadata.getLocked("noise.status"); + + { + /* All Frontend config goes first, we do not want to hold the FE lock for long! */ + std::scoped_lock lf(*fe_); + + if (noiseStatus) + applyFocusStats(noiseStatus); + + BlackLevelStatus *blackLevelStatus = + rpiMetadata.getLocked("black_level.status"); + if (blackLevelStatus) + applyBlackLevel(blackLevelStatus, global); + + } + + CacStatus *cacStatus = rpiMetadata.getLocked("cac.status"); + if (cacStatus) + applyCAC(cacStatus, global); + + ContrastStatus *contrastStatus = + rpiMetadata.getLocked("contrast.status"); + if (contrastStatus) + applyContrast(contrastStatus, global); + + CcmStatus *ccmStatus = rpiMetadata.getLocked("ccm.status"); + if (ccmStatus) + applyCCM(ccmStatus, global); + + AlscStatus *alscStatus = rpiMetadata.getLocked("alsc.status"); + if (alscStatus) + applyLensShading(alscStatus, global); + + DpcStatus *dpcStatus = rpiMetadata.getLocked("dpc.status"); + if (dpcStatus) + applyDPC(dpcStatus, global); + + SdnStatus *sdnStatus = rpiMetadata.getLocked("sdn.status"); + if (sdnStatus) + applySdn(sdnStatus, global); + + DeviceStatus *deviceStatus = rpiMetadata.getLocked("device.status"); + TdnStatus *tdnStatus = rpiMetadata.getLocked("tdn.status"); + if (tdnStatus && deviceStatus) + applyTdn(tdnStatus, deviceStatus, global); + + CdnStatus *cdnStatus = rpiMetadata.getLocked("cdn.status"); + if (cdnStatus) + applyCdn(cdnStatus, global); + + GeqStatus *geqStatus = rpiMetadata.getLocked("geq.status"); + if (geqStatus) + applyGeq(geqStatus, global); + + SaturationStatus *saturationStatus = + rpiMetadata.getLocked("saturation.status"); + if (saturationStatus) + applySaturation(saturationStatus, global); + + SharpenStatus *sharpenStatus = rpiMetadata.getLocked("sharpen.status"); + if (sharpenStatus) + applySharpen(sharpenStatus, global); + + StitchStatus *stitchStatus = rpiMetadata.getLocked("stitch.status"); + if (stitchStatus) { + /* + * Note that it's the *delayed* AGC status that contains the HDR mode/channel + * info that pertains to this frame! + */ + AgcStatus *agcStatus = rpiMetadata.getLocked("agc.delayed_status"); + /* prepareIsp() will fetch this value. Maybe pass it back differently? */ + stitchSwapBuffers_ = applyStitch(stitchStatus, deviceStatus, agcStatus, global); + } else + lastStitchHdrStatus_ = HdrStatus(); + + TonemapStatus *tonemapStatus = rpiMetadata.getLocked("tonemap.status"); + if (tonemapStatus) + applyTonemap(tonemapStatus, global); + + be_->SetGlobal(global); + + /* Save this for TDN and HDR on the next frame. */ + lastExposure_ = deviceStatus->shutterSpeed * deviceStatus->analogueGain; + + /* Lens control */ + const AfStatus *afStatus = rpiMetadata.getLocked("af.status"); + if (afStatus) { + ControlList lensctrls(lensCtrls_); + applyAF(afStatus, lensctrls); + if (!lensctrls.empty()) + setLensControls.emit(lensctrls); + } +} + +void IpaPiSP::platformPrepareAgc(RPiController::Metadata &rpiMetadata) +{ + std::scoped_lock l(rpiMetadata); + + AgcStatus *delayedAgcStatus = rpiMetadata.getLocked("agc.delayed_status"); + /* If no delayed status, use the gain from the last mode switch. */ + double digitalGain = delayedAgcStatus ? delayedAgcStatus->digitalGain : agcStatus_.digitalGain; + AwbStatus *awbStatus = rpiMetadata.getLocked("awb.status"); + + pisp_be_global_config global; + be_->GetGlobal(global); + + { + /* All Frontend config goes first, we do not want to hold the FE lock for long! */ + std::scoped_lock lf(*fe_); + + if (awbStatus) { + /* Applies digital gain as well. */ + applyWBG(awbStatus, digitalGain, global); + } else { + /* Mono sensor fallback for digital gain. */ + applyDgOnly(digitalGain, global); + } + } + + be_->SetGlobal(global); +} + +RPiController::StatisticsPtr IpaPiSP::platformProcessStats(Span mem) +{ + using namespace RPiController; + + const pisp_statistics *stats = reinterpret_cast(mem.data()); + + unsigned int i; + StatisticsPtr statistics = + std::make_unique(Statistics::AgcStatsPos::PostWb, + Statistics::ColourStatsPos::PreLsc); + + /* RGB histograms are not used, so do not populate them. */ + statistics->yHist = RPiController::Histogram(stats->agc.histogram, + PISP_AGC_STATS_NUM_BINS); + + statistics->awbRegions.init({ PISP_AWB_STATS_SIZE, PISP_AWB_STATS_SIZE }); + for (i = 0; i < statistics->awbRegions.numRegions(); i++) + statistics->awbRegions.set(i, { { stats->awb.zones[i].R_sum, + stats->awb.zones[i].G_sum, + stats->awb.zones[i].B_sum }, + stats->awb.zones[i].counted, 0 }); + + /* AGC region sums only get collected on floating zones. */ + statistics->agcRegions.init({ 0, 0 }, PISP_FLOATING_STATS_NUM_ZONES); + for (i = 0; i < statistics->agcRegions.numRegions(); i++) + statistics->agcRegions.setFloating(i, + { { 0, 0, 0, stats->agc.floating[i].Y_sum }, + stats->agc.floating[i].counted, 0 }); + + statistics->focusRegions.init({ PISP_CDAF_STATS_SIZE, PISP_CDAF_STATS_SIZE }); + for (i = 0; i < statistics->focusRegions.numRegions(); i++) + statistics->focusRegions.set(i, { stats->cdaf.foms[i] >> 20, 0, 0 }); + + if (statsMetadataOutput_) { + Span statsSpan((uint8_t *)(stats), sizeof(pisp_statistics)); + libcameraMetadata_.set(controls::rpi::PispStatsOutput, statsSpan); + } + + return statistics; +} + +void IpaPiSP::handleControls(const ControlList &controls) +{ + for (auto const &ctrl : controls) { + switch (ctrl.first) { + case controls::HDR_MODE: + case controls::AE_METERING_MODE: + setHistogramWeights(); + break; + + case controls::draft::NOISE_REDUCTION_MODE: { + RPiController::DenoiseAlgorithm *denoise = dynamic_cast( + controller_.getAlgorithm("denoise")); + + if (!denoise) { + LOG(IPARPI, Warning) + << "Could not set NOISE_REDUCTION_MODE - no Denoise algorithm"; + return; + } + + if (ctrl.second.get() == controls::draft::NoiseReductionModeOff) + denoise->setMode(RPiController::DenoiseMode::Off); + else + denoise->setMode(RPiController::DenoiseMode::ColourHighQuality); + + break; + } + } + } +} + +void IpaPiSP::applyWBG(const AwbStatus *awbStatus, double digitalGain, + pisp_be_global_config &global) +{ + pisp_wbg_config wbg; + pisp_fe_rgby_config rgby = {}; + double minColourGain = std::min({ awbStatus->gainR, awbStatus->gainG, awbStatus->gainB, 1.0 }); + /* The 0.1 here doesn't mean much, but just stops arithmetic errors and extreme behaviour. */ + double extraGain = 1.0 / std::max({ minColourGain, 0.1 }); + + /* + * Apply an extra gain of 1 / minColourGain so as not to apply < 1 gains to any + * channels (which would cause saturated pixels to go cyan or magenta). + * Doing this doesn't really apply more gain than necessary, because one of the + * channels is always getting the minimum gain possible. For this reason we also + * don't change the values that we report externally. + */ + double gainR = awbStatus->gainR * extraGain; + double gainG = awbStatus->gainG * extraGain; + double gainB = awbStatus->gainB * extraGain; + + wbg.gain_r = clampField(digitalGain * gainR, 14, 10); + wbg.gain_g = clampField(digitalGain * gainG, 14, 10); + wbg.gain_b = clampField(digitalGain * gainB, 14, 10); + + /* + * The YCbCr conversion block should contain the appropriate YCbCr + * matrix. We should not rely on the CSC0 block as that might be + * programmed for RGB outputs. + */ + pisp_be_ccm_config csc; + be_->GetYcbcr(csc); + + /* The CSC coefficients already have the << 10 scaling applied. */ + rgby.gain_r = clampField(csc.coeffs[0] * gainR, 14); + rgby.gain_g = clampField(csc.coeffs[1] * gainG, 14); + rgby.gain_b = clampField(csc.coeffs[2] * gainB, 14); + + LOG(IPARPI, Debug) << "Applying WB R: " << awbStatus->gainR << " B: " + << awbStatus->gainB; + + be_->SetWbg(wbg); + fe_->SetRGBY(rgby); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_WBG; +} + +void IpaPiSP::applyDgOnly(double digitalGain, pisp_be_global_config &global) +{ + pisp_wbg_config wbg; + + wbg.gain_r = clampField(digitalGain, 14, 10); + wbg.gain_g = clampField(digitalGain, 14, 10); + wbg.gain_b = clampField(digitalGain, 14, 10); + + LOG(IPARPI, Debug) << "Applying DG (only) : " << digitalGain; + + be_->SetWbg(wbg); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_WBG; +} + +void IpaPiSP::applyContrast(const ContrastStatus *contrastStatus, + pisp_be_global_config &global) +{ + pisp_be_gamma_config gamma; + + if (!generateLut(contrastStatus->gammaCurve, gamma.lut, PISP_BE_GAMMA_LUT_SIZE)) { + be_->SetGamma(gamma); + global.rgb_enables |= PISP_BE_RGB_ENABLE_GAMMA; + } +} + +void IpaPiSP::applyCCM(const CcmStatus *ccmStatus, pisp_be_global_config &global) +{ + pisp_be_ccm_config ccm = {}; + + for (unsigned int i = 0; i < 9; i++) + ccm.coeffs[i] = clampField(ccmStatus->matrix[i], 14, 10, true); + + be_->SetCcm(ccm); + global.rgb_enables |= PISP_BE_RGB_ENABLE_CCM; +} + +void IpaPiSP::applyCAC(const CacStatus *cacStatus, pisp_be_global_config &global) +{ + pisp_be_cac_config cac = {}; + + for (int x = 0; x < PISP_BE_CAC_GRID_SIZE + 1; x++) { + for (int y = 0; y < PISP_BE_CAC_GRID_SIZE + 1; y++) { + cac.lut[y][x][0][0] = clampField(cacStatus->lutRx[y * (PISP_BE_CAC_GRID_SIZE + 1) + x], 7, 5, true); + cac.lut[y][x][0][1] = clampField(cacStatus->lutRy[y * (PISP_BE_CAC_GRID_SIZE + 1) + x], 7, 5, true); + cac.lut[y][x][1][0] = clampField(cacStatus->lutBx[y * (PISP_BE_CAC_GRID_SIZE + 1) + x], 7, 5, true); + cac.lut[y][x][1][1] = clampField(cacStatus->lutBy[y * (PISP_BE_CAC_GRID_SIZE + 1) + x], 7, 5, true); + } + } + + be_->SetCac(cac); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_CAC; +} + +void IpaPiSP::applyBlackLevel(const BlackLevelStatus *blackLevelStatus, pisp_be_global_config &global) +{ + pisp_bla_config bla; + + /* Set the Frontend to adjust the black level to 4096 (in 16-bits). */ + bla.black_level_r = blackLevelStatus->blackLevelR; + bla.black_level_gr = blackLevelStatus->blackLevelG; + bla.black_level_gb = blackLevelStatus->blackLevelG; + bla.black_level_b = blackLevelStatus->blackLevelB; + bla.output_black_level = 4096; + fe_->SetBla(bla); + + /* Frontend Stats and Backend black level correction. */ + bla.black_level_r = bla.black_level_gr = + bla.black_level_gb = bla.black_level_b = 4096; + bla.output_black_level = 0; + fe_->SetBlc(bla); + be_->SetBlc(bla); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_BLC; +} + +void IpaPiSP::applyLensShading(const AlscStatus *alscStatus, + pisp_be_global_config &global) +{ + pisp_be_lsc_extra lscExtra = {}; + pisp_be_lsc_config lsc = {}; + double rgb[3][NumLscVertexes][NumLscVertexes] = {}; + + resampleTable(&rgb[0][0][0], NumLscVertexes, NumLscVertexes, + alscStatus->r.data(), NumLscCells, NumLscCells); + resampleTable(&rgb[1][0][0], NumLscVertexes, NumLscVertexes, + alscStatus->g.data(), NumLscCells, NumLscCells); + resampleTable(&rgb[2][0][0], NumLscVertexes, NumLscVertexes, + alscStatus->b.data(), NumLscCells, NumLscCells); + packLscLut(lsc.lut_packed, rgb); + be_->SetLsc(lsc, lscExtra); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_LSC; +} + +void IpaPiSP::applyDPC(const DpcStatus *dpcStatus, pisp_be_global_config &global) +{ + pisp_be_dpc_config dpc = {}; + + switch (dpcStatus->strength) { + case 0: /* "off" */ + break; + case 1: /* "normal" */ + dpc.coeff_level = 1; + dpc.coeff_range = 8; + global.bayer_enables |= PISP_BE_BAYER_ENABLE_DPC; + break; + case 2: /* "strong" */ + dpc.coeff_level = 0; + dpc.coeff_range = 0; + global.bayer_enables |= PISP_BE_BAYER_ENABLE_DPC; + break; + default: + ASSERT(0); + } + + be_->SetDpc(dpc); +} + +void IpaPiSP::applySdn(const SdnStatus *sdnStatus, pisp_be_global_config &global) +{ + pisp_be_sdn_config sdn = {}; + + sdn.black_level = 4096; + /* leakage is "amount of the original pixel we let through", thus 1 - strength */ + sdn.leakage = clampField(1.0 - sdnStatus->strength, 8, 8); + sdn.noise_constant = clampField(sdnStatus->noiseConstant, 16); + sdn.noise_slope = clampField(sdnStatus->noiseSlope, 16, 8); + sdn.noise_constant2 = clampField(sdnStatus->noiseConstant2, 16); + sdn.noise_slope2 = clampField(sdnStatus->noiseSlope2, 16, 8); + be_->SetSdn(sdn); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_SDN; +} + +void IpaPiSP::applyTdn(const TdnStatus *tdnStatus, const DeviceStatus *deviceStatus, + pisp_be_global_config &global) +{ + utils::Duration exposure = deviceStatus->shutterSpeed * deviceStatus->analogueGain; + pisp_be_tdn_config tdn = {}; + + double ratio = tdnReset_ ? 1.0 : exposure / lastExposure_; + if (ratio >= 4.0) { + /* If the exposure ratio goes above 4x, we need to reset TDN. */ + ratio = 1; + tdnReset_ = true; + } + + LOG(IPARPI, Debug) << "TDN: exposure: " << exposure + << " last: " << lastExposure_ + << " ratio: " << ratio; + + tdn.black_level = 4096; + tdn.ratio = clampField(ratio, 16, 14); + tdn.noise_constant = clampField(tdnStatus->noiseConstant, 16); + tdn.noise_slope = clampField(tdnStatus->noiseSlope, 16, 8); + tdn.threshold = clampField(tdnStatus->threshold, 16, 16); + + global.bayer_enables |= PISP_BE_BAYER_ENABLE_TDN + PISP_BE_BAYER_ENABLE_TDN_OUTPUT; + + /* Only enable the TDN Input after a state reset. */ + if (!tdnReset_) { + global.bayer_enables |= PISP_BE_BAYER_ENABLE_TDN_INPUT; + tdn.reset = 0; + } else + tdn.reset = 1; + + be_->SetTdn(tdn); + tdnReset_ = false; +} + +void IpaPiSP::applyCdn(const CdnStatus *cdnStatus, pisp_be_global_config &global) +{ + pisp_be_cdn_config cdn = {}; + + cdn.thresh = clampField(cdnStatus->threshold, 16); + cdn.iir_strength = clampField(cdnStatus->strength, 8, 8); + cdn.g_adjust = clampField(0, 8, 8); + be_->SetCdn(cdn); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_CDN; +} + +void IpaPiSP::applyGeq(const GeqStatus *geqStatus, pisp_be_global_config &global) +{ + pisp_be_geq_config geq = {}; + + geq.min = 0; + geq.max = 0xffff; + geq.offset = clampField(geqStatus->offset, 16); + geq.slope_sharper = clampField(geqStatus->slope, 10, 10); + be_->SetGeq(geq); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_GEQ; +} + +void IpaPiSP::applySaturation(const SaturationStatus *saturationStatus, + pisp_be_global_config &global) +{ + pisp_be_sat_control_config saturation; + pisp_wbg_config wbg; + + saturation.shift_r = std::min(2, saturationStatus->shiftR); + saturation.shift_g = std::min(2, saturationStatus->shiftG); + saturation.shift_b = std::min(2, saturationStatus->shiftB); + be_->SetSatControl(saturation); + + be_->GetWbg(wbg); + wbg.gain_r >>= saturationStatus->shiftR; + wbg.gain_g >>= saturationStatus->shiftG; + wbg.gain_b >>= saturationStatus->shiftB; + be_->SetWbg(wbg); + + global.rgb_enables |= PISP_BE_RGB_ENABLE_SAT_CONTROL; +} + +void IpaPiSP::applySharpen(const SharpenStatus *sharpenStatus, + pisp_be_global_config &global) +{ + /* + * This threshold scaling is to normalise the VC4 and PiSP parameter + * scales in the tuning config. + */ + static constexpr double ThresholdScaling = 0.25; + const double scaling = sharpenStatus->threshold * ThresholdScaling; + + pisp_be_sh_fc_combine_config shfc; + pisp_be_sharpen_config sharpen; + + be_->InitialiseSharpen(sharpen, shfc); + sharpen.threshold_offset0 = clampField(sharpen.threshold_offset0 * scaling, 16); + sharpen.threshold_offset1 = clampField(sharpen.threshold_offset1 * scaling, 16); + sharpen.threshold_offset2 = clampField(sharpen.threshold_offset2 * scaling, 16); + sharpen.threshold_offset3 = clampField(sharpen.threshold_offset3 * scaling, 16); + sharpen.threshold_offset4 = clampField(sharpen.threshold_offset4 * scaling, 16); + sharpen.threshold_slope0 = clampField(sharpen.threshold_slope0 * scaling, 12); + sharpen.threshold_slope1 = clampField(sharpen.threshold_slope1 * scaling, 12); + sharpen.threshold_slope2 = clampField(sharpen.threshold_slope2 * scaling, 12); + sharpen.threshold_slope3 = clampField(sharpen.threshold_slope3 * scaling, 12); + sharpen.threshold_slope4 = clampField(sharpen.threshold_slope4 * scaling, 12); + sharpen.positive_strength = clampField(sharpen.positive_strength * sharpenStatus->strength, 12); + sharpen.negative_strength = clampField(sharpen.negative_strength * sharpenStatus->strength, 12); + sharpen.positive_pre_limit = clampField(sharpen.positive_pre_limit * sharpenStatus->limit, 16); + sharpen.positive_limit = clampField(sharpen.positive_limit * sharpenStatus->limit, 16); + sharpen.negative_pre_limit = clampField(sharpen.negative_pre_limit * sharpenStatus->limit, 16); + sharpen.negative_limit = clampField(sharpen.negative_limit * sharpenStatus->limit, 16); + + be_->SetSharpen(sharpen); + /* The conversion to YCbCr and back is always enabled. */ + global.rgb_enables |= PISP_BE_RGB_ENABLE_SHARPEN; +} + +bool IpaPiSP::applyStitch(const StitchStatus *stitchStatus, const DeviceStatus *deviceStatus, + const AgcStatus *agcStatus, pisp_be_global_config &global) +{ + /* + * Find out what HDR mode/channel this frame is. Normally this will be in the delayed + * HDR status (in the AGC status), though after a mode switch this will be absent and + * the information will have been stored in the hdrStatus_ field. + */ + const HdrStatus *hdrStatus = &hdrStatus_; + if (agcStatus) + hdrStatus = &agcStatus->hdr; + + bool modeChange = hdrStatus->mode != lastStitchHdrStatus_.mode; + bool channelChange = !modeChange && hdrStatus->channel != lastStitchHdrStatus_.channel; + lastStitchHdrStatus_ = *hdrStatus; + + /* Check for a change of HDR mode. That forces us to start over. */ + if (modeChange) + lastStitchExposures_.clear(); + + if (hdrStatus->channel != "short" && hdrStatus->channel != "long") { + /* The channel *must* be long or short, anything else does not make sense. */ + LOG(IPARPI, Warning) << "Stitch channel is not long or short"; + return false; + } + + /* Whatever happens, we're going to output this buffer now. */ + global.bayer_enables |= PISP_BE_BAYER_ENABLE_STITCH_OUTPUT; + + utils::Duration exposure = deviceStatus->shutterSpeed * deviceStatus->analogueGain; + lastStitchExposures_[hdrStatus->channel] = exposure; + + /* If the other channel hasn't been seen there's nothing more we can do. */ + std::string otherChannel = hdrStatus->channel == "short" ? "long" : "short"; + if (lastStitchExposures_.find(otherChannel) == lastStitchExposures_.end()) { + /* The first channel should be "short". */ + if (hdrStatus->channel != "short") + LOG(IPARPI, Warning) << "First frame is not short"; + return false; + } + + /* We have both channels, we need to enable stitching. */ + global.bayer_enables |= PISP_BE_BAYER_ENABLE_STITCH_INPUT + PISP_BE_BAYER_ENABLE_STITCH; + + utils::Duration otherExposure = lastStitchExposures_[otherChannel]; + bool phaseLong = hdrStatus->channel == "long"; + double ratio = phaseLong ? otherExposure / exposure : exposure / otherExposure; + + pisp_be_stitch_config stitch = {}; + stitch.exposure_ratio = clampField(ratio, 15, 15); + if (phaseLong) + stitch.exposure_ratio |= PISP_BE_STITCH_STREAMING_LONG; + /* These will be filled in correctly once we have implemented the HDR algorithm. */ + stitch.threshold_lo = stitchStatus->thresholdLo; + stitch.threshold_diff_power = stitchStatus->diffPower; + stitch.motion_threshold_256 = stitchStatus->motionThreshold; + be_->SetStitch(stitch); + + return channelChange; +} + +void IpaPiSP::applyTonemap(const TonemapStatus *tonemapStatus, pisp_be_global_config &global) +{ + pisp_be_tonemap_config tonemap = {}; + + tonemap.detail_constant = clampField(tonemapStatus->detailConstant, 16); + tonemap.detail_slope = clampField(tonemapStatus->detailSlope, 16, 8); + tonemap.iir_strength = clampField(tonemapStatus->iirStrength, 12, 4); + tonemap.strength = clampField(tonemapStatus->strength, 12, 8); + + if (!generateLut(tonemapStatus->tonemap, tonemap.lut, PISP_BE_TONEMAP_LUT_SIZE)) { + be_->SetTonemap(tonemap); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_TONEMAP; + } +} + +void IpaPiSP::applyFocusStats(const NoiseStatus *noiseStatus) +{ + pisp_fe_cdaf_stats_config cdaf; + fe_->GetCdafStats(cdaf); + + cdaf.noise_constant = noiseStatus->noiseConstant; + cdaf.noise_slope = noiseStatus->noiseSlope; + fe_->SetCdafStats(cdaf); +} + +void IpaPiSP::applyAF(const struct AfStatus *afStatus, ControlList &lensCtrls) +{ + if (afStatus->lensSetting) { + ControlValue v(afStatus->lensSetting.value()); + lensCtrls.set(V4L2_CID_FOCUS_ABSOLUTE, v); + } +} + +void IpaPiSP::setDefaultConfig() +{ + std::scoped_lock l(*fe_); + + pisp_be_global_config beGlobal; + + be_->GetGlobal(beGlobal); + /* + * Always go to YCbCr and back. We need them if the false colour block is enabled, + * and even for mono sensors if sharpening is enabled. So we're better off enabling + * them all the time. + */ + beGlobal.rgb_enables |= PISP_BE_RGB_ENABLE_YCBCR + PISP_BE_RGB_ENABLE_YCBCR_INVERSE; + + if (!monoSensor_) { + beGlobal.bayer_enables |= PISP_BE_BAYER_ENABLE_DEMOSAIC; + beGlobal.rgb_enables |= PISP_BE_RGB_ENABLE_FALSE_COLOUR; + } + be_->SetGlobal(beGlobal); + + /* + * Ask the AWB algorithm for reasonable gain values so that we can program the + * front end stats sensibly. We must also factor in the conversion to luminance. + */ + pisp_fe_rgby_config rgby = {}; + double gainR = 1.5, gainB = 1.5; + RPiController::AwbAlgorithm *awb = dynamic_cast( + controller_.getAlgorithm("awb")); + if (awb) + awb->initialValues(gainR, gainB); + /* The BT.601 RGB -> Y coefficients will do. The precise values are not critical. */ + rgby.gain_r = clampField(gainR * 0.299, 14, 10); + rgby.gain_g = clampField(1.0 * .587, 14, 10); + rgby.gain_b = clampField(gainB * .114, 14, 10); + fe_->SetRGBY(rgby); + + /* Also get sensible front end black level defaults, for the same reason. */ + uint16_t blackLevelR = 4096, blackLevelG = 4096, blackLevelB = 4096; + RPiController::BlackLevelAlgorithm *blackLevel = dynamic_cast( + controller_.getAlgorithm("black_level")); + if (blackLevel) + blackLevel->initialValues(blackLevelR, blackLevelG, blackLevelB); + /* The front end first equalises all the black levels to the same as green. */ + pisp_bla_config bla; + bla.black_level_r = blackLevelR; + bla.black_level_gr = blackLevelG; + bla.black_level_gb = blackLevelG; + bla.black_level_b = blackLevelB; + bla.output_black_level = blackLevelG; + fe_->SetBla(bla); + /* But for the statistics it removes the G black level from everything. */ + bla.black_level_r = blackLevelG; + bla.black_level_b = blackLevelG; + bla.output_black_level = 0; + fe_->SetBlc(bla); + + pisp_fe_global_config feGlobal; + fe_->GetGlobal(feGlobal); + feGlobal.enables |= PISP_FE_ENABLE_BLA + PISP_FE_ENABLE_BLC + PISP_FE_ENABLE_RGBY; + fe_->SetGlobal(feGlobal); +} + +void IpaPiSP::setStatsAndDebin() +{ + pisp_fe_crop_config crop{ 0, 0, mode_.width, mode_.height }; + + pisp_fe_awb_stats_config awb = {}; + awb.r_lo = awb.g_lo = awb.b_lo = 0; + awb.r_hi = awb.g_hi = awb.b_hi = 65535 * 0.98; + + pisp_fe_cdaf_stats_config cdaf = {}; + cdaf.mode = (1 << 4) + (1 << 2) + 1; /* Gr / Gb count with weights of (1, 1) */ + + { + std::scoped_lock l(*fe_); + pisp_fe_global_config feGlobal; + fe_->GetGlobal(feGlobal); + feGlobal.enables |= PISP_FE_ENABLE_AWB_STATS + PISP_FE_ENABLE_AGC_STATS + + PISP_FE_ENABLE_CDAF_STATS; + + fe_->SetGlobal(feGlobal); + fe_->SetStatsCrop(crop); + fe_->SetAwbStats(awb); + fe_->SetCdafStats(cdaf); + } + + /* + * Apply the correct AGC region weights to the Frontend. Need to do this + * out of the Frontend scoped lock. + */ + setHistogramWeights(); + + pisp_be_global_config beGlobal; + be_->GetGlobal(beGlobal); + + if (mode_.binX > 1 || mode_.binY > 1) { + pisp_be_debin_config debin; + + be_->GetDebin(debin); + debin.h_enable = (mode_.binX > 1); + debin.v_enable = (mode_.binY > 1); + be_->SetDebin(debin); + beGlobal.bayer_enables |= PISP_BE_BAYER_ENABLE_DEBIN; + } else + beGlobal.bayer_enables &= ~PISP_BE_BAYER_ENABLE_DEBIN; + + be_->SetGlobal(beGlobal); +} + +void IpaPiSP::setHistogramWeights() +{ + RPiController::AgcAlgorithm *agc = dynamic_cast( + controller_.getAlgorithm("agc")); + if (!agc) + return; + + const std::vector &weights = agc->getWeights(); + + pisp_fe_agc_stats_config config; + memset(&config, 0, sizeof(config)); + + /* + * The AGC software gives us a 15x15 table of weights which we + * map onto 16x16 in the hardware, ensuring the rightmost column + * and bottom row all have zero weight. We align everything to + * the native 2x2 Bayer pixel blocks. + */ + const Size &size = controller_.getHardwareConfig().agcZoneWeights; + int width = (mode_.width / size.width) & ~1; + int height = (mode_.height / size.height) & ~1; + config.offset_x = ((mode_.width - size.width * width) / 2) & ~1; + config.offset_y = ((mode_.height - size.height * height) / 2) & ~1; + config.size_x = width; + config.size_y = height; + + unsigned int idx = 0; + for (unsigned int row = 0; row < size.height; row++) { + unsigned int col = 0; + for (; col < size.width / 2; col++) { + int wt0 = clampField(weights[idx++], 4, 0, false, "agc weights"); + int wt1 = clampField(weights[idx++], 4, 0, false, "agc weights"); + config.weights[row * 8 + col] = (wt1 << 4) | wt0; + } + if (size.width & 1) + config.weights[row * 8 + col] = + clampField(weights[idx++], 4, 0, false, "agc weights"); + } + + std::scoped_lock l(*fe_); + fe_->SetAgcStats(config); +} + +} /* namespace ipa::RPi */ + +/* + * External IPA module interface + */ +extern "C" { +const IPAModuleInfo ipaModuleInfo = { + IPA_MODULE_API_VERSION, + 1, + "PipelineHandlerPiSP", + "rpi/pisp", +}; + +IPAInterface *ipaCreate() +{ + return new ipa::RPi::IpaPiSP(); +} + +} /* extern "C" */ + +} /* namespace libcamera */ diff --git a/src/ipa/rpi/vc4/data/imx219.json b/src/ipa/rpi/vc4/data/imx219.json index e8fce1643..a5d15ac0a 100644 --- a/src/ipa/rpi/vc4/data/imx219.json +++ b/src/ipa/rpi/vc4/data/imx219.json @@ -131,93 +131,306 @@ { "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": + "channels": [ { - "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 ] + "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 + ] }, - "long": { - "shutter": [ 100, 10000, 30000, 60000, 120000 ], - "gain": [ 1.0, 2.0, 4.0, 6.0, 12.0 ] - } - }, - "constraint_modes": - { - "normal": [ + "base_ev": 0.125, + "metering_modes": { - "bound": "LOWER", - "q_lo": 0.98, - "q_hi": 1.0, - "y_target": - [ - 0, 0.5, - 1000, 0.5 - ] - } - ], - "highlight": [ + "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": { - "bound": "LOWER", - "q_lo": 0.98, - "q_hi": 1.0, - "y_target": - [ - 0, 0.5, - 1000, 0.5 - ] + "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": { - "bound": "UPPER", - "q_lo": 0.98, - "q_hi": 1.0, - "y_target": - [ - 0, 0.8, - 1000, 0.8 + "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 + ] + } ] - } - ], - "shadows": [ + }, + "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": { - "bound": "LOWER", - "q_lo": 0.0, - "q_hi": 0.5, - "y_target": - [ - 0, 0.17, - 1000, 0.17 + "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 + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + } ] } }, @@ -463,6 +676,20 @@ }, { "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/imx219_noir.json b/src/ipa/rpi/vc4/data/imx219_noir.json index cfedb9431..bd748fec8 100644 --- a/src/ipa/rpi/vc4/data/imx219_noir.json +++ b/src/ipa/rpi/vc4/data/imx219_noir.json @@ -47,93 +47,306 @@ { "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": + "channels": [ { - "shutter": [ 100, 5000, 10000, 20000, 33333 ], - "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ] + "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 + ] }, - "long": { - "shutter": [ 100, 10000, 30000, 60000, 120000 ], - "gain": [ 1.0, 2.0, 4.0, 6.0, 12.0 ] - } - }, - "constraint_modes": - { - "normal": [ + "base_ev": 0.125, + "metering_modes": { - "bound": "LOWER", - "q_lo": 0.98, - "q_hi": 1.0, - "y_target": - [ - 0, 0.5, - 1000, 0.5 - ] - } - ], - "highlight": [ + "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": { - "bound": "LOWER", - "q_lo": 0.98, - "q_hi": 1.0, - "y_target": - [ - 0, 0.5, - 1000, 0.5 - ] + "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": { - "bound": "UPPER", - "q_lo": 0.98, - "q_hi": 1.0, - "y_target": - [ - 0, 0.8, - 1000, 0.8 + "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 + ] + } ] - } - ], - "shadows": [ + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + }, + { + "base_ev": 1.5, + "metering_modes": { - "bound": "LOWER", - "q_lo": 0.0, - "q_hi": 0.5, - "y_target": - [ - 0, 0.17, - 1000, 0.17 + "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 + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + } ] } }, @@ -397,6 +610,20 @@ }, { "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/imx290.json b/src/ipa/rpi/vc4/data/imx290.json index 8a7cadba3..8f41bf519 100644 --- a/src/ipa/rpi/vc4/data/imx290.json +++ b/src/ipa/rpi/vc4/data/imx290.json @@ -52,15 +52,24 @@ { "matrix": { - "weights": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ] + "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 ] + "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 ] + "weights": + [ + 2, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 + ] } }, "exposure_modes": diff --git a/src/ipa/rpi/vc4/data/imx296.json b/src/ipa/rpi/vc4/data/imx296.json index 7621f759f..8f24ce5b8 100644 --- a/src/ipa/rpi/vc4/data/imx296.json +++ b/src/ipa/rpi/vc4/data/imx296.json @@ -135,15 +135,24 @@ { "centre-weighted": { - "weights": [ 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ] + "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 ] + "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 ] + "weights": + [ + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] } }, "exposure_modes": @@ -431,4 +440,4 @@ } } ] -} +} \ 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 index d4140c81b..fe3315699 100644 --- a/src/ipa/rpi/vc4/data/imx296_mono.json +++ b/src/ipa/rpi/vc4/data/imx296_mono.json @@ -38,15 +38,24 @@ { "centre-weighted": { - "weights": [ 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ] + "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 ] + "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 ] + "weights": + [ + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] } }, "exposure_modes": @@ -228,4 +237,4 @@ } } ] -} +} \ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/imx378.json b/src/ipa/rpi/vc4/data/imx378.json index f7b68011b..363b47e19 100644 --- a/src/ipa/rpi/vc4/data/imx378.json +++ b/src/ipa/rpi/vc4/data/imx378.json @@ -133,15 +133,24 @@ { "centre-weighted": { - "weights": [ 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ] + "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 ] + "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 ] + "weights": + [ + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] } }, "exposure_modes": diff --git a/src/ipa/rpi/vc4/data/imx477.json b/src/ipa/rpi/vc4/data/imx477.json index 0e39d4197..fa25ee860 100644 --- a/src/ipa/rpi/vc4/data/imx477.json +++ b/src/ipa/rpi/vc4/data/imx477.json @@ -115,16 +115,16 @@ "ct_curve": [ 2360.0, 0.6009, 0.3093, - 2848.0, 0.5071, 0.4000, + 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, 0.6800, - 5579.0, 0.3227, 0.7000, - 6125.0, 0.3129, 0.7100, - 6671.0, 0.3065, 0.7200, - 7217.0, 0.3014, 0.7300, - 7763.0, 0.2950, 0.7400, + 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, @@ -136,93 +136,306 @@ { "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": + "channels": [ { - "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 ] + "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 + ] }, - "long": { - "shutter": [ 100, 10000, 30000, 60000, 120000 ], - "gain": [ 1.0, 2.0, 4.0, 6.0, 12.0 ] - } - }, - "constraint_modes": - { - "normal": [ + "base_ev": 0.125, + "metering_modes": { - "bound": "LOWER", - "q_lo": 0.98, - "q_hi": 1.0, - "y_target": - [ - 0, 0.3, - 1000, 0.3 - ] - } - ], - "highlight": [ + "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": { - "bound": "LOWER", - "q_lo": 0.98, - "q_hi": 1.0, - "y_target": - [ - 0, 0.3, - 1000, 0.3 - ] + "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": { - "bound": "UPPER", - "q_lo": 0.98, - "q_hi": 1.0, - "y_target": - [ - 0, 0.8, - 1000, 0.8 + "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 + ] + } ] - } - ], - "shadows": [ + }, + "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": { - "bound": "LOWER", - "q_lo": 0.0, - "q_hi": 0.5, - "y_target": - [ - 0, 0.17, - 1000, 0.17 + "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 + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + } ] } }, @@ -468,6 +681,20 @@ }, { "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 index 52d7f072d..27563500c 100644 --- a/src/ipa/rpi/vc4/data/imx477_noir.json +++ b/src/ipa/rpi/vc4/data/imx477_noir.json @@ -47,93 +47,306 @@ { "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": + "channels": [ { - "shutter": [ 100, 5000, 10000, 20000, 33333 ], - "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ] + "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 + ] }, - "long": { - "shutter": [ 100, 10000, 30000, 60000, 120000 ], - "gain": [ 1.0, 2.0, 4.0, 6.0, 12.0 ] - } - }, - "constraint_modes": - { - "normal": [ + "base_ev": 0.125, + "metering_modes": { - "bound": "LOWER", - "q_lo": 0.98, - "q_hi": 1.0, - "y_target": - [ - 0, 0.3, - 1000, 0.3 - ] - } - ], - "highlight": [ + "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": { - "bound": "LOWER", - "q_lo": 0.98, - "q_hi": 1.0, - "y_target": - [ - 0, 0.3, - 1000, 0.3 - ] + "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": { - "bound": "UPPER", - "q_lo": 0.98, - "q_hi": 1.0, - "y_target": - [ - 0, 0.8, - 1000, 0.8 + "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 + ] + } ] - } - ], - "shadows": [ + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + }, + { + "base_ev": 1.5, + "metering_modes": { - "bound": "LOWER", - "q_lo": 0.0, - "q_hi": 0.5, - "y_target": - [ - 0, 0.17, - 1000, 0.17 + "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 + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + } ] } }, @@ -424,6 +637,20 @@ }, { "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_scientific.json b/src/ipa/rpi/vc4/data/imx477_scientific.json index 26c692fdb..9dc32eb15 100644 --- a/src/ipa/rpi/vc4/data/imx477_scientific.json +++ b/src/ipa/rpi/vc4/data/imx477_scientific.json @@ -148,15 +148,24 @@ { "centre-weighted": { - "weights": [ 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ] + "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 ] + "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 ] + "weights": + [ + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] } }, "exposure_modes": diff --git a/src/ipa/rpi/vc4/data/imx477_v1.json b/src/ipa/rpi/vc4/data/imx477_v1.json index d64020091..55e4adc19 100644 --- a/src/ipa/rpi/vc4/data/imx477_v1.json +++ b/src/ipa/rpi/vc4/data/imx477_v1.json @@ -138,15 +138,24 @@ { "centre-weighted": { - "weights": [ 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ] + "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 ] + "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 ] + "weights": + [ + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] } }, "exposure_modes": diff --git a/src/ipa/rpi/vc4/data/imx519.json b/src/ipa/rpi/vc4/data/imx519.json index 1b0a77476..ce1942568 100644 --- a/src/ipa/rpi/vc4/data/imx519.json +++ b/src/ipa/rpi/vc4/data/imx519.json @@ -133,15 +133,24 @@ { "centre-weighted": { - "weights": [ 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ] + "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 ] + "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 ] + "weights": + [ + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] } }, "exposure_modes": diff --git a/src/ipa/rpi/vc4/data/imx708.json b/src/ipa/rpi/vc4/data/imx708.json index c40a59944..4de6f0796 100644 --- a/src/ipa/rpi/vc4/data/imx708.json +++ b/src/ipa/rpi/vc4/data/imx708.json @@ -139,85 +139,280 @@ { "rpi.agc": { - 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"long": { - "shutter": [ 1000, 30000, 60000, 90000, 120000 ], - "gain": [ 1.0, 2.0, 4.0, 6.0, 12.0 ] - } - }, - "constraint_modes": - { - "normal": [ + "base_ev": 1.5, + "metering_modes": { - "bound": "LOWER", - "q_lo": 0.98, - "q_hi": 1.0, - "y_target": - [ - 0, 0.2, - 1000, 0.2 - ] - } - ], - "highlight": [ + "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": { - "bound": "LOWER", - "q_lo": 0.98, - "q_hi": 1.0, - "y_target": - [ - 0, 0.2, - 1000, 0.2 - ] + "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": { - 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"long": { - "shutter": [ 100, 10000, 30000, 60000, 120000 ], - "gain": [ 1.0, 2.0, 4.0, 6.0, 12.0 ] - } - }, - "constraint_modes": - { - "normal": [ + "base_ev": 1.25, + "metering_modes": { - "bound": "LOWER", - "q_lo": 0.98, - "q_hi": 1.0, - "y_target": - [ - 0, 0.5, - 1000, 0.5 - ] - } - ], - "highlight": [ + "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": { - "bound": "LOWER", - "q_lo": 0.98, - "q_hi": 1.0, - "y_target": - [ - 0, 0.5, - 1000, 0.5 - ] + "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": { - "bound": "UPPER", - "q_lo": 0.98, - "q_hi": 1.0, - "y_target": - [ - 0, 0.8, - 1000, 0.8 + "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 + ] + } ] - } - ], - "shadows": [ + }, + "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": { - "bound": "LOWER", - "q_lo": 0.0, - "q_hi": 0.5, - "y_target": - [ - 0, 0.17, - 1000, 0.17 + "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 + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + } + ] } }, { @@ -464,6 +677,20 @@ }, { "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/ov5647_noir.json b/src/ipa/rpi/vc4/data/ov5647_noir.json index a6c6722f1..488b7119b 100644 --- a/src/ipa/rpi/vc4/data/ov5647_noir.json +++ b/src/ipa/rpi/vc4/data/ov5647_noir.json @@ -51,15 +51,24 @@ { "centre-weighted": { - "weights": [ 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ] + "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 ] + "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 ] + "weights": + [ + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] } }, "exposure_modes": diff --git a/src/ipa/rpi/vc4/data/ov9281_mono.json b/src/ipa/rpi/vc4/data/ov9281_mono.json index 2b7292ec7..a9d05a01b 100644 --- a/src/ipa/rpi/vc4/data/ov9281_mono.json +++ b/src/ipa/rpi/vc4/data/ov9281_mono.json @@ -35,7 +35,10 @@ { "centre-weighted": { - "weights": [ 4, 4, 4, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ] + "weights": + [ + 4, 4, 4, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 + ] } }, "exposure_modes": diff --git a/src/ipa/rpi/vc4/data/se327m12.json b/src/ipa/rpi/vc4/data/se327m12.json index 8552ed92b..948169db2 100644 --- a/src/ipa/rpi/vc4/data/se327m12.json +++ b/src/ipa/rpi/vc4/data/se327m12.json @@ -133,15 +133,24 @@ { "centre-weighted": { - "weights": [ 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ] + "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 ] + "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 ] + "weights": + [ + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] } }, "exposure_modes": diff --git a/src/ipa/rpi/vc4/data/uncalibrated.json b/src/ipa/rpi/vc4/data/uncalibrated.json index 7654defa6..cdc56b323 100644 --- a/src/ipa/rpi/vc4/data/uncalibrated.json +++ b/src/ipa/rpi/vc4/data/uncalibrated.json @@ -22,7 +22,10 @@ { "centre-weighted": { - "weights": [ 4, 4, 4, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ] + "weights": + [ + 4, 4, 4, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 + ] } }, "exposure_modes": diff --git a/src/ipa/rpi/vc4/vc4.cpp b/src/ipa/rpi/vc4/vc4.cpp index c165a5b8b..26d9d87b2 100644 --- a/src/ipa/rpi/vc4/vc4.cpp +++ b/src/ipa/rpi/vc4/vc4.cpp @@ -11,6 +11,7 @@ #include #include +#include #include #include @@ -56,13 +57,14 @@ class IpaVc4 final : public IpaBase int32_t platformConfigure(const ConfigParams ¶ms, ConfigResult *result) override; void platformPrepareIsp(const PrepareParams ¶ms, RPiController::Metadata &rpiMetadata) override; + void platformPrepareAgc([[maybe_unused]] RPiController::Metadata &rpiMetadata) override; RPiController::StatisticsPtr platformProcessStats(Span 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 applyDG(double digitalGain, const struct AwbStatus *awbStatus, 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); @@ -76,6 +78,7 @@ class IpaVc4 final : public IpaBase /* VC4 ISP controls. */ ControlInfoMap ispCtrls_; + ControlList ctrls_; /* LS table allocation passed in from the pipeline handler. */ SharedFD lsTableHandle_; @@ -105,6 +108,7 @@ int32_t IpaVc4::platformStart([[maybe_unused]] const ControlList &controls, int32_t IpaVc4::platformConfigure(const ConfigParams ¶ms, [[maybe_unused]] ConfigResult *result) { ispCtrls_ = params.ispControls; + ctrls_ = ControlList(ispCtrls_); if (!validateIspControls()) { LOG(IPARPI, Error) << "ISP control validation failed."; return -1; @@ -137,7 +141,7 @@ int32_t IpaVc4::platformConfigure(const ConfigParams ¶ms, [[maybe_unused]] C void IpaVc4::platformPrepareIsp([[maybe_unused]] const PrepareParams ¶ms, RPiController::Metadata &rpiMetadata) { - ControlList ctrls(ispCtrls_); + ControlList &ctrls = ctrls_; /* Lock the metadata buffer to avoid constant locks/unlocks. */ std::unique_lock lock(rpiMetadata); @@ -150,10 +154,6 @@ void IpaVc4::platformPrepareIsp([[maybe_unused]] const PrepareParams ¶ms, if (ccmStatus) applyCCM(ccmStatus, ctrls); - AgcPrepareStatus *dgStatus = rpiMetadata.getLocked("agc.prepare_status"); - if (dgStatus) - applyDG(dgStatus, ctrls); - AlscStatus *lsStatus = rpiMetadata.getLocked("alsc.status"); if (lsStatus) applyLS(lsStatus, ctrls); @@ -189,9 +189,18 @@ void IpaVc4::platformPrepareIsp([[maybe_unused]] const PrepareParams ¶ms, if (!lensctrls.empty()) setLensControls.emit(lensctrls); } +} + +void IpaVc4::platformPrepareAgc(RPiController::Metadata &rpiMetadata) +{ + AgcStatus *delayedAgcStatus = rpiMetadata.getLocked("agc.delayed_status"); + double digitalGain = delayedAgcStatus ? delayedAgcStatus->digitalGain : agcStatus_.digitalGain; + AwbStatus *awbStatus = rpiMetadata.getLocked("awb.status"); - if (!ctrls.empty()) - setIspControls.emit(ctrls); + applyDG(digitalGain, awbStatus, ctrls_); + + setIspControls.emit(ctrls_); + ctrls_ = ControlList(ispCtrls_); } RPiController::StatisticsPtr IpaVc4::platformProcessStats(Span mem) @@ -245,6 +254,11 @@ RPiController::StatisticsPtr IpaVc4::platformProcessStats(Span mem) stats->focus_stats[i].contrast_val_num[1][1], stats->focus_stats[i].contrast_val_num[1][0] }); + if (statsMetadataOutput_) { + Span statsSpan((uint8_t *)(stats), sizeof(bcm2835_isp_stats)); + libcameraMetadata_.set(controls::rpi::BCM2835StatsOutput, statsSpan); + } + return statistics; } @@ -322,10 +336,24 @@ void IpaVc4::applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls) static_cast(awbStatus->gainB * 1000)); } -void IpaVc4::applyDG(const struct AgcPrepareStatus *dgStatus, ControlList &ctrls) +void IpaVc4::applyDG(double digitalGain, + const struct AwbStatus *awbStatus, ControlList &ctrls) { + if (awbStatus) { + /* + * We must apply sufficient extra digital gain to stop any of the channel gains being + * less than 1, which would cause saturation artifacts. Note that one of the colour + * channels is still getting the minimum possible gain, so it's not a "real" gain + * increase. + */ + double minColourGain = std::min({ awbStatus->gainR, awbStatus->gainG, awbStatus->gainB, 1.0 }); + /* The 0.1 here doesn't mean much, but just stops arithmetic errors and extreme behaviour. */ + double extraGain = 1.0 / std::max({ minColourGain, 0.1 }); + digitalGain *= extraGain; + } + ctrls.set(V4L2_CID_DIGITAL_GAIN, - static_cast(dgStatus->digitalGain * 1000)); + static_cast(digitalGain * 1000)); } void IpaVc4::applyCCM(const struct CcmStatus *ccmStatus, ControlList &ctrls) diff --git a/src/libcamera/bayer_format.cpp b/src/libcamera/bayer_format.cpp index 3bf15fb48..27dee3881 100644 --- a/src/libcamera/bayer_format.cpp +++ b/src/libcamera/bayer_format.cpp @@ -164,12 +164,25 @@ const std::map bayerToFormat{ { formats::SGRBG16, V4L2PixelFormat(V4L2_PIX_FMT_SGRBG16) } }, { { BayerFormat::RGGB, 16, BayerFormat::Packing::None }, { formats::SRGGB16, V4L2PixelFormat(V4L2_PIX_FMT_SRGGB16) } }, + { { BayerFormat::BGGR, 16, BayerFormat::Packing::PISP1 }, + { formats::BGGR16_PISP_COMP1, V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_BGGR) } }, + { { BayerFormat::GBRG, 16, BayerFormat::Packing::PISP1 }, + { formats::GBRG16_PISP_COMP1, V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_GBRG) } }, + { { BayerFormat::GRBG, 16, BayerFormat::Packing::PISP1 }, + { formats::GRBG16_PISP_COMP1, V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_GRBG) } }, + { { BayerFormat::RGGB, 16, BayerFormat::Packing::PISP1 }, + { formats::RGGB16_PISP_COMP1, V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_RGGB) } }, { { BayerFormat::MONO, 8, BayerFormat::Packing::None }, { formats::R8, V4L2PixelFormat(V4L2_PIX_FMT_GREY) } }, { { BayerFormat::MONO, 10, BayerFormat::Packing::None }, { formats::R10, V4L2PixelFormat(V4L2_PIX_FMT_Y10) } }, + { { BayerFormat::MONO, 16, BayerFormat::Packing::None }, + { formats::R16, V4L2PixelFormat(V4L2_PIX_FMT_Y16) } }, + { { BayerFormat::MONO, 16, BayerFormat::Packing::PISP1 }, + { formats::MONO_PISP_COMP1, V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_MONO) } }, { { BayerFormat::MONO, 10, BayerFormat::Packing::CSI2 }, { formats::R10_CSI2P, V4L2PixelFormat(V4L2_PIX_FMT_Y10P) } }, + }; const std::unordered_map mbusCodeToBayer{ @@ -205,6 +218,10 @@ const std::unordered_map mbusCodeToBayer{ { MEDIA_BUS_FMT_SGBRG16_1X16, { BayerFormat::GBRG, 16, BayerFormat::Packing::None } }, { MEDIA_BUS_FMT_SGRBG16_1X16, { BayerFormat::GRBG, 16, BayerFormat::Packing::None } }, { MEDIA_BUS_FMT_SRGGB16_1X16, { BayerFormat::RGGB, 16, BayerFormat::Packing::None } }, + { MEDIA_BUS_FMT_SBGGR16_1X16, { BayerFormat::BGGR, 16, BayerFormat::Packing::PISP1 } }, + { MEDIA_BUS_FMT_SGBRG16_1X16, { BayerFormat::GBRG, 16, BayerFormat::Packing::PISP1 } }, + { MEDIA_BUS_FMT_SGRBG16_1X16, { BayerFormat::GRBG, 16, BayerFormat::Packing::PISP1 } }, + { MEDIA_BUS_FMT_SRGGB16_1X16, { BayerFormat::RGGB, 16, BayerFormat::Packing::PISP1 } }, { MEDIA_BUS_FMT_Y8_1X8, { BayerFormat::MONO, 8, BayerFormat::Packing::None } }, { MEDIA_BUS_FMT_Y10_1X10, { BayerFormat::MONO, 10, BayerFormat::Packing::None } }, { MEDIA_BUS_FMT_Y12_1X12, { BayerFormat::MONO, 12, BayerFormat::Packing::None } }, @@ -298,6 +315,10 @@ std::ostream &operator<<(std::ostream &out, const BayerFormat &f) out << "-CSI2P"; else if (f.packing == BayerFormat::Packing::IPU3) out << "-IPU3P"; + else if (f.packing == BayerFormat::Packing::PISP1) + out << "-PISP1"; + else if (f.packing == BayerFormat::Packing::PISP2) + out << "-PISP2"; return out; } diff --git a/src/libcamera/camera_sensor_properties.cpp b/src/libcamera/camera_sensor_properties.cpp index 27d6799a2..d8e1f9bea 100644 --- a/src/libcamera/camera_sensor_properties.cpp +++ b/src/libcamera/camera_sensor_properties.cpp @@ -137,6 +137,18 @@ const CameraSensorProperties *CameraSensorProperties::get(const std::string &sen { controls::draft::TestPatternModePn9, 4 }, }, } }, + { "imx708_noir", { + .unitCellSize = { 1400, 1400 }, + .testPatternModes = {}, + } }, + { "imx708_wide", { + .unitCellSize = { 1400, 1400 }, + .testPatternModes = {}, + } }, + { "imx708_wide_noir", { + .unitCellSize = { 1400, 1400 }, + .testPatternModes = {}, + } }, { "ov2685", { .unitCellSize = { 1750, 1750 }, .testPatternModes = { diff --git a/src/libcamera/control_ids_rpi.yaml b/src/libcamera/control_ids_rpi.yaml new file mode 100644 index 000000000..2e99fb3b8 --- /dev/null +++ b/src/libcamera/control_ids_rpi.yaml @@ -0,0 +1,49 @@ +# SPDX-License-Identifier: LGPL-2.1-or-later +# +# Copyright (C) 2023, Raspberry Pi Ltd +# +%YAML 1.1 +--- +# Raspberry Pi (VC4 and PiSP) specific vendor controls +vendor: rpi +controls: + - PispConfigDumpFile: + type: string + description: | + Triggers the Raspberry Pi PiSP pipeline handler to generate a JSON + formatted dump of the Backend configuration to the filename given by the + value of the control. + + - StatsOutputEnable: + type: bool + description: | + Toggles the IPA to output a binary dump of the Frontend statistics + through Request metadata control PispStatsOutput (for Pi 5) or + BCM2835StatsOutput (for Pi 4 and lower). + + \sa PispStatsOutput BCM2835StatsOutput + + - PispStatsOutput: + type: uint8_t + description: | + Span of the PiSP statistics for the current frame. This is sent in the + Request metadata if the StatsOutputEnable is set to true. The + statistics struct definition can be found in + https://github.com/raspberrypi/libpisp/blob/main/src/libpisp/frontend/pisp_statistics.h + + \sa StatsOutputEnable + + size: [n] + + - BCM2835StatsOutput: + type: uint8_t + description: | + Span of the BCM2835 statistics for the current frame. This is sent in + the Request metadata if the StatsOutputEnable is set to true. The + statistics struct definition can be found in include/linux/bcm2835-isp.h. + + \sa StatsOutputEnable + + size: [n] + +... \ No newline at end of file diff --git a/src/libcamera/formats.cpp b/src/libcamera/formats.cpp index 447e62380..86f3ffaeb 100644 --- a/src/libcamera/formats.cpp +++ b/src/libcamera/formats.cpp @@ -270,6 +270,26 @@ const std::map pixelFormatInfo{ .pixelsPerGroup = 1, .planes = {{ { 4, 1 }, { 0, 0 }, { 0, 0 } }}, } }, + { formats::BGR161616, { + .name = "BGR161616", + .format = formats::BGR161616, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_RGB48), }, + .bitsPerPixel = 48, + .colourEncoding = PixelFormatInfo::ColourEncodingRGB, + .packed = false, + .pixelsPerGroup = 1, + .planes = {{ { 3, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, + { formats::RGB161616, { + .name = "RGB161616", + .format = formats::RGB161616, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_BGR48), }, + .bitsPerPixel = 24, + .colourEncoding = PixelFormatInfo::ColourEncodingRGB, + .packed = false, + .pixelsPerGroup = 1, + .planes = {{ { 3, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, /* YUV packed formats. */ { formats::YUYV, { @@ -507,6 +527,16 @@ const std::map pixelFormatInfo{ .pixelsPerGroup = 1, .planes = {{ { 2, 1 }, { 0, 0 }, { 0, 0 } }}, } }, + { formats::R16, { + .name = "R16", + .format = formats::R16, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_Y16), }, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + .packed = false, + .pixelsPerGroup = 1, + .planes = {{ { 2, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, { formats::R10_CSI2P, { .name = "R10_CSI2P", .format = formats::R10_CSI2P, @@ -517,6 +547,16 @@ const std::map pixelFormatInfo{ .pixelsPerGroup = 4, .planes = {{ { 5, 1 }, { 0, 0 }, { 0, 0 } }}, } }, + { formats::MONO_PISP_COMP1, { + .name = "MONO_PISP_COMP1", + .format = formats::MONO_PISP_COMP1, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_MONO), }, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + .packed = true, + .pixelsPerGroup = 1, + .planes = {{ { 2, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, /* Bayer formats. */ { formats::SBGGR8, { @@ -880,7 +920,46 @@ const std::map pixelFormatInfo{ .pixelsPerGroup = 25, .planes = {{ { 32, 1 }, { 0, 0 }, { 0, 0 } }}, } }, - + { formats::BGGR16_PISP_COMP1, { + .name = "BGGR16_PISP_COMP1", + .format = formats::BGGR16_PISP_COMP1, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_BGGR), }, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + .packed = true, + .pixelsPerGroup = 2, + .planes = {{ { 2, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, + { formats::GBRG16_PISP_COMP1, { + .name = "GBRG16_PISP_COMP1", + .format = formats::GBRG16_PISP_COMP1, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_GBRG), }, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + .packed = true, + .pixelsPerGroup = 2, + .planes = {{ { 2, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, + { formats::GRBG16_PISP_COMP1, { + .name = "GRBG16_PISP_COMP1", + .format = formats::GRBG16_PISP_COMP1, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_GRBG), }, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + .packed = true, + .pixelsPerGroup = 2, + .planes = {{ { 2, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, + { formats::RGGB16_PISP_COMP1, { + .name = "RGGB16_PISP_COMP1", + .format = formats::RGGB16_PISP_COMP1, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_RGGB), }, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + .packed = true, + .pixelsPerGroup = 2, + .planes = {{ { 2, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, /* Compressed formats. */ { formats::MJPEG, { .name = "MJPEG", diff --git a/src/libcamera/formats.yaml b/src/libcamera/formats.yaml index 539ac0b33..d1316d235 100644 --- a/src/libcamera/formats.yaml +++ b/src/libcamera/formats.yaml @@ -11,6 +11,8 @@ formats: fourcc: DRM_FORMAT_R10 - R12: fourcc: DRM_FORMAT_R12 + - R16: + fourcc: DRM_FORMAT_R16 - RGB565: fourcc: DRM_FORMAT_RGB565 @@ -41,6 +43,11 @@ formats: - BGRA8888: fourcc: DRM_FORMAT_BGRA8888 + - RGB161616: + fourcc: DRM_FORMAT_RGB161616 + - BGR161616: + fourcc: DRM_FORMAT_BGR161616 + - YUYV: fourcc: DRM_FORMAT_YUYV - YVYU: @@ -183,4 +190,23 @@ formats: - SBGGR10_IPU3: fourcc: DRM_FORMAT_SBGGR10 mod: IPU3_FORMAT_MOD_PACKED + + - RGGB16_PISP_COMP1: + fourcc: DRM_FORMAT_SRGGB16 + mod: PISP_FORMAT_MOD_COMPRESS_MODE1 + - GRBG16_PISP_COMP1: + fourcc: DRM_FORMAT_SGRBG16 + mod: PISP_FORMAT_MOD_COMPRESS_MODE1 + - GBRG16_PISP_COMP1: + fourcc: DRM_FORMAT_SGBRG16 + mod: PISP_FORMAT_MOD_COMPRESS_MODE1 + - BGGR16_PISP_COMP1: + fourcc: DRM_FORMAT_SBGGR16 + mod: PISP_FORMAT_MOD_COMPRESS_MODE1 + - MONO_PISP_COMP1: + fourcc: DRM_FORMAT_R16 + mod: PISP_FORMAT_MOD_COMPRESS_MODE1 + - PISP_VERIFICATION: + fourcc: DRM_FORMAT_SBGGR16 + mod: PISP_FORMAT_MOD_VERIFICATION ... diff --git a/src/libcamera/pipeline/rpi/pisp/data/example.yaml b/src/libcamera/pipeline/rpi/pisp/data/example.yaml new file mode 100644 index 000000000..7b8e51f7a --- /dev/null +++ b/src/libcamera/pipeline/rpi/pisp/data/example.yaml @@ -0,0 +1,45 @@ +{ + "version": 1.0, + "target": "pisp", + + "pipeline_handler": + { + # Number of CFE config and stats buffers to allocate and use. A + # larger number minimises the possibility of dropping frames, + # but increases the latency for updating the HW configuration. + # + # "num_cfe_config_stats_buffers": 12, + + # Number of jobs to queue ahead to the CFE on startup. A larger + # number will increase latency for 3A changes, but may reduce + # avoidable frame drops. + # + # "num_cfe_config_queue": 2, + + # Override any request from the IPA to drop a number of startup + # frames. + # + # "disable_startup_frame_drops": false, + + # Custom timeout value (in ms) for camera to use. This overrides + # the value computed by the pipeline handler based on frame + # durations. + # + # Set this value to 0 to use the pipeline handler computed + # timeout value. + # + # "camera_timeout_value_ms": 0, + + # Disables temporal denoise functionality in the ISP pipeline. + # Disabling temporal denoise avoids allocating 2 additional + # Bayer framebuffers required for its operation. + # + # "disable_tdn": false, + + # Disables multiframe HDR functionality in the ISP pipeline. + # Disabling multiframe HDR avoids allocating 2 additional Bayer + # framebuffers required for its operation. + # + # "disable_hdr": false, + } +} diff --git a/src/libcamera/pipeline/rpi/pisp/data/meson.build b/src/libcamera/pipeline/rpi/pisp/data/meson.build new file mode 100644 index 000000000..17dfc435b --- /dev/null +++ b/src/libcamera/pipeline/rpi/pisp/data/meson.build @@ -0,0 +1,8 @@ +# SPDX-License-Identifier: CC0-1.0 + +conf_files = files([ + 'example.yaml', +]) + +install_data(conf_files, + install_dir : pipeline_data_dir / 'rpi' / 'pisp') diff --git a/src/libcamera/pipeline/rpi/pisp/meson.build b/src/libcamera/pipeline/rpi/pisp/meson.build new file mode 100644 index 000000000..1f0ca3ca0 --- /dev/null +++ b/src/libcamera/pipeline/rpi/pisp/meson.build @@ -0,0 +1,12 @@ +# SPDX-License-Identifier: CC0-1.0 + +libcamera_sources += files([ + 'pisp.cpp', +]) + +librt = cc.find_library('rt', required : true) +libpisp_dep = dependency('libpisp', fallback : ['libpisp', 'libpisp_dep']) + +libcamera_deps += [libpisp_dep, librt] + +subdir('data') diff --git a/src/libcamera/pipeline/rpi/pisp/pisp.cpp b/src/libcamera/pipeline/rpi/pisp/pisp.cpp new file mode 100644 index 000000000..295af770f --- /dev/null +++ b/src/libcamera/pipeline/rpi/pisp/pisp.cpp @@ -0,0 +1,2220 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * pisp.cpp - Pipeline handler for PiSP based Raspberry Pi devices + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +#include "libcamera/internal/device_enumerator.h" + +#include "libpisp/backend/backend.hpp" +#include "libpisp/common/logging.hpp" +#include "libpisp/common/utils.hpp" +#include "libpisp/common/version.hpp" +#include "libpisp/frontend/frontend.hpp" +#include "libpisp/variants/variant.hpp" + +#include "../common/pipeline_base.h" +#include "../common/rpi_stream.h" +#include "../common/shared_mem_object.h" + +namespace libcamera { + +LOG_DECLARE_CATEGORY(RPI) + +using StreamFlag = RPi::Stream::StreamFlag; +using StreamParams = RPi::RPiCameraConfiguration::StreamParams; + +namespace { + +enum class Cfe : unsigned int { Output0, Embedded, Stats, Config }; +enum class Isp : unsigned int { Input, Output0, Output1, TdnInput, TdnOutput, + StitchInput, StitchOutput, Config }; + +/* Offset for all compressed buffers; mode for TDN and Stitch. */ +constexpr unsigned int DefaultCompressionOffset = 2048; +constexpr unsigned int DefaultCompressionMode = 1; + +const std::vector> BayerToMbusCodeMap{ + { { BayerFormat::BGGR, 8, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SBGGR8_1X8, }, + { { BayerFormat::GBRG, 8, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGBRG8_1X8, }, + { { BayerFormat::GRBG, 8, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGRBG8_1X8, }, + { { BayerFormat::RGGB, 8, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SRGGB8_1X8, }, + { { BayerFormat::BGGR, 10, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SBGGR10_1X10, }, + { { BayerFormat::GBRG, 10, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGBRG10_1X10, }, + { { BayerFormat::GRBG, 10, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGRBG10_1X10, }, + { { BayerFormat::RGGB, 10, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SRGGB10_1X10, }, + { { BayerFormat::BGGR, 12, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SBGGR12_1X12, }, + { { BayerFormat::GBRG, 12, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGBRG12_1X12, }, + { { BayerFormat::GRBG, 12, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGRBG12_1X12, }, + { { BayerFormat::RGGB, 12, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SRGGB12_1X12, }, + { { BayerFormat::BGGR, 14, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SBGGR14_1X14, }, + { { BayerFormat::GBRG, 14, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGBRG14_1X14, }, + { { BayerFormat::GRBG, 14, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGRBG14_1X14, }, + { { BayerFormat::RGGB, 14, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SRGGB14_1X14, }, + { { BayerFormat::BGGR, 16, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SBGGR16_1X16, }, + { { BayerFormat::GBRG, 16, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGBRG16_1X16, }, + { { BayerFormat::GRBG, 16, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGRBG16_1X16, }, + { { BayerFormat::RGGB, 16, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SRGGB16_1X16, }, + { { BayerFormat::BGGR, 16, BayerFormat::Packing::PISP1 }, MEDIA_BUS_FMT_SBGGR16_1X16, }, + { { BayerFormat::GBRG, 16, BayerFormat::Packing::PISP1 }, MEDIA_BUS_FMT_SGBRG16_1X16, }, + { { BayerFormat::GRBG, 16, BayerFormat::Packing::PISP1 }, MEDIA_BUS_FMT_SGRBG16_1X16, }, + { { BayerFormat::RGGB, 16, BayerFormat::Packing::PISP1 }, MEDIA_BUS_FMT_SRGGB16_1X16, }, + { { BayerFormat::RGGB, 16, BayerFormat::Packing::PISP1 }, MEDIA_BUS_FMT_SRGGB16_1X16, }, + { { BayerFormat::MONO, 16, BayerFormat::Packing::None }, MEDIA_BUS_FMT_Y16_1X16, }, + { { BayerFormat::MONO, 16, BayerFormat::Packing::PISP1 }, MEDIA_BUS_FMT_Y16_1X16, }, +}; + +unsigned int bayerToMbusCode(const BayerFormat &bayer) +{ + const auto it = std::find_if(BayerToMbusCodeMap.begin(), BayerToMbusCodeMap.end(), + [bayer](const std::pair &match) { + return bayer == match.first; + }); + + if (it != BayerToMbusCodeMap.end()) + return it->second; + + return 0; +} + +uint32_t mbusCodeUnpacked16(unsigned int mbus_code) +{ + BayerFormat bayer = BayerFormat::fromMbusCode(mbus_code); + BayerFormat bayer16(bayer.order, 16, BayerFormat::Packing::None); + + return bayerToMbusCode(bayer16); +} + +uint8_t toPiSPBayerOrder(V4L2PixelFormat format) +{ + BayerFormat bayer = BayerFormat::fromV4L2PixelFormat(format); + + switch (bayer.order) { + case BayerFormat::Order::BGGR: + return PISP_BAYER_ORDER_BGGR; + case BayerFormat::Order::GBRG: + return PISP_BAYER_ORDER_GBRG; + case BayerFormat::Order::GRBG: + return PISP_BAYER_ORDER_GRBG; + case BayerFormat::Order::RGGB: + return PISP_BAYER_ORDER_RGGB; + case BayerFormat::Order::MONO: + return PISP_BAYER_ORDER_GREYSCALE; + default: + ASSERT(0); + return -1; + } +} + +pisp_image_format_config toPiSPImageFormat(V4L2DeviceFormat &format) +{ + pisp_image_format_config image = {}; + + image.width = format.size.width; + image.height = format.size.height; + image.stride = format.planes[0].bpl; + + PixelFormat pix = format.fourcc.toPixelFormat(); + + if (RPi::PipelineHandlerBase::isRaw(pix)) { + BayerFormat bayer = BayerFormat::fromPixelFormat(pix); + switch (bayer.packing) { + case BayerFormat::Packing::None: + image.format = PISP_IMAGE_FORMAT_BPS_16 + + PISP_IMAGE_FORMAT_UNCOMPRESSED; + break; + case BayerFormat::Packing::PISP1: + image.format = PISP_IMAGE_FORMAT_COMPRESSION_MODE_1; + break; + case BayerFormat::Packing::PISP2: + image.format = PISP_IMAGE_FORMAT_COMPRESSION_MODE_2; + break; + default: + ASSERT(0); + } + return image; + } + + switch (pix) { + case formats::YUV420: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_420 + + PISP_IMAGE_FORMAT_PLANARITY_PLANAR; + image.stride2 = image.stride / 2; + break; + case formats::NV12: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_420 + + PISP_IMAGE_FORMAT_PLANARITY_SEMI_PLANAR; + image.stride2 = image.stride; + break; + case formats::NV21: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_420 + + PISP_IMAGE_FORMAT_PLANARITY_SEMI_PLANAR + + PISP_IMAGE_FORMAT_ORDER_SWAPPED; + image.stride2 = image.stride; + break; + case formats::YUYV: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_422 + + PISP_IMAGE_FORMAT_PLANARITY_INTERLEAVED; + break; + case formats::UYVY: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_422 + + PISP_IMAGE_FORMAT_PLANARITY_INTERLEAVED + + PISP_IMAGE_FORMAT_ORDER_SWAPPED; + break; + case formats::NV16: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_422 + + PISP_IMAGE_FORMAT_PLANARITY_SEMI_PLANAR; + image.stride2 = image.stride; + break; + case formats::NV61: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_422 + + PISP_IMAGE_FORMAT_PLANARITY_SEMI_PLANAR + + PISP_IMAGE_FORMAT_ORDER_SWAPPED; + image.stride2 = image.stride; + break; + case formats::RGB888: + case formats::BGR888: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL; + break; + case formats::XRGB8888: + case formats::XBGR8888: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + PISP_IMAGE_FORMAT_BPP_32; + break; + case formats::RGBX8888: + case formats::BGRX8888: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + PISP_IMAGE_FORMAT_BPP_32 + + PISP_IMAGE_FORMAT_ORDER_SWAPPED; + break; + case formats::RGB161616: + case formats::BGR161616: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + PISP_IMAGE_FORMAT_BPS_16; + break; + default: + LOG(RPI, Error) << "Pixel format " << pix << " unsupported"; + ASSERT(0); + } + + return image; +} + +void computeOptimalStride(V4L2DeviceFormat &format) +{ + pisp_image_format_config fmt = toPiSPImageFormat(format); + + libpisp::compute_optimal_stride(fmt); + + uint32_t fourcc = format.fourcc.fourcc(); + + /* + * For YUV420/422 non-multiplanar formats, double the U/V stride for the + * Y-plane to ensure we get the optimal alignment on all three planes. + */ + if (fourcc == V4L2_PIX_FMT_YUV420 || fourcc == V4L2_PIX_FMT_YUV422P || + fourcc == V4L2_PIX_FMT_YVU420) + fmt.stride = fmt.stride2 * 2; + + format.planes[0].bpl = fmt.stride; + format.planes[1].bpl = fmt.stride2; + format.planes[2].bpl = fmt.stride2; + + /* + * Need to set planesCount correctly so that V4L2VideoDevice::trySetFormatMultiplane() + * copies the bpl fields correctly. + */ + const PixelFormat &pixFormat = format.fourcc.toPixelFormat(); + const PixelFormatInfo &info = PixelFormatInfo::info(pixFormat); + format.planesCount = info.numPlanes(); +} + +void setupOutputClipping(const V4L2DeviceFormat &v4l2Format, + pisp_be_output_format_config &outputFormat) +{ + const PixelFormat &pixFormat = v4l2Format.fourcc.toPixelFormat(); + const PixelFormatInfo &info = PixelFormatInfo::info(pixFormat); + + if (info.colourEncoding != PixelFormatInfo::ColourEncodingYUV) + return; + + if (v4l2Format.colorSpace == ColorSpace::Sycc) { + outputFormat.lo = 0; + outputFormat.hi = 65535; + outputFormat.lo2 = 0; + outputFormat.hi2 = 65535; + } else if (v4l2Format.colorSpace == ColorSpace::Smpte170m || + v4l2Format.colorSpace == ColorSpace::Rec709) { + outputFormat.lo = 16 << 8; + outputFormat.hi = 235 << 8; + outputFormat.lo2 = 16 << 8; + outputFormat.hi2 = 240 << 8; + } else { + LOG(RPI, Warning) + << "Unrecognised colour space " + << ColorSpace::toString(v4l2Format.colorSpace) + << ", using full range"; + outputFormat.lo = 0; + outputFormat.hi = 65535; + outputFormat.lo2 = 0; + outputFormat.hi2 = 65535; + } +} + +int dmabufSyncStart(const SharedFD &fd) +{ + struct dma_buf_sync dma_sync {}; + dma_sync.flags = DMA_BUF_SYNC_START | DMA_BUF_SYNC_RW; + + int ret = ::ioctl(fd.get(), DMA_BUF_IOCTL_SYNC, &dma_sync); + if (ret) + LOG(RPI, Error) << "failed to lock-sync-write dma buf"; + + return ret; +} + +int dmabufSyncEnd(const SharedFD &fd) +{ + struct dma_buf_sync dma_sync {}; + dma_sync.flags = DMA_BUF_SYNC_END | DMA_BUF_SYNC_RW; + + int ret = ::ioctl(fd.get(), DMA_BUF_IOCTL_SYNC, &dma_sync); + + if (ret) + LOG(RPI, Error) << "failed to unlock-sync-write dma buf"; + + return ret; +} + +void do32BitConversion(void *mem, unsigned int width, unsigned int height, + unsigned int stride) +{ + /* + * The arm64 version is actually not that much quicker because the + * vast bulk of the time is spent waiting for memory. + */ +#if __aarch64__ + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + unsigned int count = (width + 15) / 16; + uint8_t *dest = ptr + count * 64; + uint8_t *src = ptr + count * 48; + + /* Pre-decrement would have been nice. */ + asm volatile("movi v3.16b, #255 \n" + "1: \n" + "sub %[src], %[src], #48 \n" + "sub %[dest], %[dest], #64 \n" + "subs %[count], %[count], #1 \n" + "ld3 {v0.16b, v1.16b, v2.16b}, [%[src]] \n" + "st4 {v0.16b, v1.16b, v2.16b, v3.16b}, [%[dest]] \n" + "b.gt 1b \n" + : [count]"+r" (count) + : [src]"r" (src), [dest]"r" (dest) + : "cc", "v1", "v2", "v3", "v4", "memory" + ); + } +#else + std::vector incache(3 * width); + std::vector outcache(4 * width); + + memcpy(incache.data(), mem, 3 * width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *ptr3 = incache.data(); + uint8_t *ptr4 = outcache.data(); + for (unsigned int i = 0; i < width; i++) { + *(ptr4++) = *(ptr3++); + *(ptr4++) = *(ptr3++); + *(ptr4++) = *(ptr3++); + *(ptr4++) = 255; + } + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, 3 * width); + memcpy(ptr, outcache.data(), 4 * width); + } +#endif +} + +void downscaleInterleaved3(void *mem, unsigned int height, unsigned int src_width, + unsigned int stride) +{ + std::vector incache(3 * src_width); + unsigned int dst_width = src_width / 2; + std::vector outcache(3 * dst_width); + + memcpy(incache.data(), mem, 3 * src_width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *src = incache.data(), *dst = outcache.data(); + for (unsigned int i = 0; i < dst_width; i++, src += 6, dst += 3) { + dst[0] = ((int)src[0] + (int)src[3] + 1) >> 1; + dst[1] = ((int)src[1] + (int)src[4] + 1) >> 1; + dst[2] = ((int)src[2] + (int)src[5] + 1) >> 1; + } + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, 3 * src_width); + memcpy(ptr, outcache.data(), 3 * dst_width); + } +} + +void downscaleInterleaved4(void *mem, unsigned int height, unsigned int src_width, + unsigned int stride) +{ + std::vector incache(4 * src_width); + unsigned int dst_width = src_width / 2; + std::vector outcache(4 * dst_width); + + memcpy(incache.data(), mem, 4 * src_width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *src = incache.data(), *dst = outcache.data(); + for (unsigned int i = 0; i < dst_width; i++, src += 8, dst += 4) { + dst[0] = ((int)src[0] + (int)src[4] + 1) >> 1; + dst[1] = ((int)src[1] + (int)src[5] + 1) >> 1; + dst[2] = ((int)src[2] + (int)src[6] + 1) >> 1; + dst[3] = ((int)src[3] + (int)src[7] + 1) >> 1; + } + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, 4 * src_width); + memcpy(ptr, outcache.data(), 4 * dst_width); + } +} + +void downscalePlaneInternal(void *mem, unsigned int height, unsigned int src_width, + unsigned int stride, std::vector &incache, + std::vector &outcache) +{ + unsigned int dst_width = src_width / 2; + memcpy(incache.data(), mem, src_width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *src = incache.data(), *dst = outcache.data(); + for (unsigned int i = 0; i < dst_width; i++, src += 2, dst++) + *dst = ((int)src[0] + (int)src[1] + 1) >> 1; + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, src_width); + memcpy(ptr, outcache.data(), dst_width); + } +} + +void downscalePlanar420(void *memY, void *memU, void *memV, unsigned int height, + unsigned int src_width, unsigned int stride) +{ + std::vector incache(src_width); + std::vector outcache(src_width / 2); + + downscalePlaneInternal(memY, height, src_width, stride, incache, outcache); + downscalePlaneInternal(memU, height / 2, src_width / 2, stride / 2, incache, outcache); + downscalePlaneInternal(memV, height / 2, src_width / 2, stride / 2, incache, outcache); +} + +void downscalePlanar422(void *memY, void *memU, void *memV, + unsigned int height, unsigned int src_width, unsigned int stride) +{ + std::vector incache(src_width); + std::vector outcache(src_width / 2); + + downscalePlaneInternal(memY, height, src_width, stride, incache, outcache); + downscalePlaneInternal(memU, height, src_width / 2, stride / 2, incache, outcache); + downscalePlaneInternal(memV, height, src_width / 2, stride / 2, incache, outcache); +} + +void downscaleInterleavedYuyv(void *mem, unsigned int height, unsigned int src_width, + unsigned int stride) +{ + std::vector incache(2 * src_width); + unsigned int dst_width = src_width / 2; + std::vector outcache(2 * dst_width); + + memcpy(incache.data(), mem, 2 * src_width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *src = incache.data(), *dst = outcache.data(); + for (unsigned int i = 0; i < dst_width; i++, src += 8, dst += 4) { + dst[0] = ((int)src[0] + (int)src[2] + 1) >> 1; + dst[1] = ((int)src[1] + (int)src[5] + 1) >> 1; + dst[2] = ((int)src[4] + (int)src[6] + 1) >> 1; + dst[3] = ((int)src[3] + (int)src[7] + 1) >> 1; + } + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, 4 * src_width); + memcpy(ptr, outcache.data(), 2 * dst_width); + } +} + +void downscaleInterleavedUyvy(void *mem, unsigned int height, unsigned int src_width, + unsigned int stride) +{ + std::vector incache(2 * src_width); + unsigned int dst_width = src_width / 2; + std::vector outcache(2 * dst_width); + + memcpy(incache.data(), mem, 2 * src_width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *src = incache.data(), *dst = outcache.data(); + for (unsigned int i = 0; i < dst_width; i++, src += 8, dst += 4) { + dst[0] = ((int)src[0] + (int)src[4] + 1) >> 1; + dst[1] = ((int)src[1] + (int)src[3] + 1) >> 1; + dst[2] = ((int)src[2] + (int)src[6] + 1) >> 1; + dst[3] = ((int)src[5] + (int)src[7] + 1) >> 1; + } + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, 4 * src_width); + memcpy(ptr, outcache.data(), 2 * dst_width); + } +} + +void downscaleInterleaved2Internal(void *mem, unsigned int height, unsigned int src_width, + unsigned int stride, std::vector &incache, + std::vector &outcache) +{ + unsigned int dst_width = src_width / 2; + memcpy(incache.data(), mem, 2 * src_width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *src = incache.data(), *dst = outcache.data(); + for (unsigned int i = 0; i < dst_width; i++, src += 4, dst += 2) { + dst[0] = ((int)src[0] + (int)src[2] + 1) >> 1; + dst[1] = ((int)src[1] + (int)src[3] + 1) >> 1; + } + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, 2 * src_width); + memcpy(ptr, outcache.data(), 2 * dst_width); + } +} + +void downscaleSemiPlanar420(void *memY, void *memUV, unsigned int height, + unsigned int src_width, unsigned int stride) +{ + std::vector incache(src_width); + std::vector outcache(src_width / 2); + + downscalePlaneInternal(memY, height, src_width, stride, incache, outcache); + downscaleInterleaved2Internal(memUV, height / 2, src_width / 2, stride, + incache, outcache); +} + +void downscaleStreamBuffer(RPi::Stream *stream, int index) +{ + unsigned int downscale = stream->swDownscale(); + /* Must be a power of 2. */ + ASSERT((downscale & (downscale - 1)) == 0); + + unsigned int stride = stream->configuration().stride; + unsigned int dst_width = stream->configuration().size.width; + unsigned int height = stream->configuration().size.height; + const PixelFormat &pixFormat = stream->configuration().pixelFormat; + const RPi::BufferObject &b = stream->getBuffer(index); + void *mem = b.mapped->planes()[0].data(); + ASSERT(b.mapped); + + /* Do repeated downscale-by-2 in place until we're done. */ + for (; downscale > 1; downscale >>= 1) { + unsigned int src_width = downscale * dst_width; + + if (pixFormat == formats::RGB888 || pixFormat == formats::BGR888) { + downscaleInterleaved3(mem, height, src_width, stride); + } else if (pixFormat == formats::XRGB8888 || pixFormat == formats::XBGR8888) { + /* On some devices these may actually be 24bpp at this point. */ + if (stream->getFlags() & StreamFlag::Needs32bitConv) + downscaleInterleaved3(mem, height, src_width, stride); + else + downscaleInterleaved4(mem, height, src_width, stride); + } else if (pixFormat == formats::YUV420 || pixFormat == formats::YVU420) { + /* + * These look "multiplanar" even when they're a single allocation, + * so the following should work for everyone. + */ + void *mem1 = b.mapped->planes()[1].data(); + void *mem2 = b.mapped->planes()[2].data(); + downscalePlanar420(mem, mem1, mem2, height, src_width, stride); + } else if (pixFormat == formats::YUV422 || pixFormat == formats::YVU422) { + /* + * These look "multiplanar" even when they're a single allocation, + * so the following should work for everyone. + */ + void *mem1 = b.mapped->planes()[1].data(); + void *mem2 = b.mapped->planes()[2].data(); + downscalePlanar422(mem, mem1, mem2, height, src_width, stride); + } else if (pixFormat == formats::YUYV || pixFormat == formats::YVYU) { + downscaleInterleavedYuyv(mem, height, src_width, stride); + } else if (pixFormat == formats::UYVY || pixFormat == formats::VYUY) { + downscaleInterleavedUyvy(mem, height, src_width, stride); + } else if (pixFormat == formats::NV12 || pixFormat == formats::NV21) { + /* + * These look "multiplanar" even when they're a single allocation, + * so the following should work for everyone. + */ + void *mem1 = b.mapped->planes()[1].data(); + downscaleSemiPlanar420(mem, mem1, height, src_width, stride); + } else { + LOG(RPI, Error) << "Sw downscale unsupported for " << pixFormat; + ASSERT(0); + } + } +} + +/* Return largest width of any of these streams (or of the camera input). */ +unsigned int getLargestWidth(const V4L2SubdeviceFormat &sensorFormat, + const std::vector &outStreams) +{ + unsigned int largestWidth = sensorFormat.size.width; + + for (const auto &stream : outStreams) + largestWidth = std::max(largestWidth, stream.cfg->size.width); + + return largestWidth; +} + +/* Return the minimum number of pixels required to write out multiples of 16 bytes. */ +unsigned int getFormatAlignment(const V4L2PixelFormat &fourcc) +{ + const PixelFormatInfo &info = PixelFormatInfo::info(fourcc); + unsigned int formatAlignment = 0; + for (const auto &plane : info.planes) { + if (plane.bytesPerGroup) { + /* How many pixels we need in this plane for a multiple of 16 bytes (??). */ + unsigned int align = 16 * info.pixelsPerGroup / + std::gcd(16u, plane.bytesPerGroup); + formatAlignment = std::max(formatAlignment, align); + } + } + + return formatAlignment; +} + +/* Calculate the amount of software downscale required (which is a power of 2). */ +unsigned int calculateSwDownscale(const V4L2DeviceFormat &format, unsigned int largestWidth, + unsigned int platformMaxDownscale) +{ + unsigned int formatAlignment = getFormatAlignment(format.fourcc); + unsigned int maxDownscale = platformMaxDownscale * 16 / formatAlignment; + unsigned int limitWidth = largestWidth / maxDownscale; + + unsigned int hwWidth = format.size.width; + unsigned int swDownscale = 1; + for (; hwWidth < limitWidth; hwWidth *= 2, swDownscale *= 2); + + return swDownscale; +} + +} /* namespace */ + +using ::libpisp::BackEnd; +using ::libpisp::FrontEnd; + +class PiSPCameraData final : public RPi::CameraData +{ +public: + PiSPCameraData(PipelineHandler *pipe, const libpisp::PiSPVariant &variant) + : RPi::CameraData(pipe), pispVariant_(variant) + { + /* Initialise internal libpisp logging. */ + ::libpisp::logging_init(); + LOG(RPI, Info) << "libpisp version " << ::libpisp::version(); + } + + ~PiSPCameraData() + { + freeBuffers(); + } + + V4L2VideoDevice::Formats ispFormats() const override + { + return isp_[Isp::Output0].dev()->formats(); + } + + V4L2VideoDevice::Formats rawFormats() const override + { + return cfe_[Cfe::Output0].dev()->formats(); + } + + V4L2VideoDevice *frontendDevice() override + { + return cfe_[Cfe::Output0].dev(); + } + + CameraConfiguration::Status + platformValidate(RPi::RPiCameraConfiguration *rpiConfig) const override; + + int platformPipelineConfigure(const std::unique_ptr &root) override; + + void platformStart() override; + void platformStop() override; + void platformFreeBuffers() override; + + void cfeBufferDequeue(FrameBuffer *buffer); + void beInputDequeue(FrameBuffer *buffer); + void beOutputDequeue(FrameBuffer *buffer); + + void processStatsComplete(const ipa::RPi::BufferIds &buffers); + void prepareIspComplete(const ipa::RPi::BufferIds &buffers, bool stitchSwapBuffers); + void setCameraTimeout(uint32_t maxFrameLengthMs); + + /* Array of CFE and ISP device streams and associated buffers/streams. */ + RPi::Device cfe_; + RPi::Device isp_; + + const libpisp::PiSPVariant &pispVariant_; + + /* Frontend/Backend objects shared with the IPA. */ + RPi::SharedMemObject fe_; + RPi::SharedMemObject be_; + bool beEnabled_; + + std::unique_ptr csi2Subdev_; + std::unique_ptr feSubdev_; + + std::vector tdnBuffers_; + std::vector stitchBuffers_; + unsigned int tdnInputIndex_; + unsigned int stitchInputIndex_; + + struct Config { + /* + * Number of CFE config and stats buffers to allocate and use. A + * larger number minimises the possibility of dropping frames, + * but increases the latency for updating the HW configuration. + */ + unsigned int numCfeConfigStatsBuffers; + /* + * Number of jobs to queue ahead to the CFE on startup. + * A larger number will increase latency for 3A changes. + */ + unsigned int numCfeConfigQueue; + /* Don't use BE temporal denoise and free some memory resources. */ + bool disableTdn; + /* Don't use BE HDR and free some memory resources. */ + bool disableHdr; + }; + + Config config_; + + bool adjustDeviceFormat(V4L2DeviceFormat &format) const; + +private: + int platformConfigure(const RPi::RPiCameraConfiguration *rpiConfig) override; + + int platformConfigureIpa([[maybe_unused]] ipa::RPi::ConfigParams ¶ms) override + { + return 0; + } + + int platformInitIpa(ipa::RPi::InitParams ¶ms) override; + + int configureEntities(V4L2SubdeviceFormat sensorFormat, + V4L2SubdeviceFormat &embeddedFormat); + int configureCfe(); + bool calculateCscConfiguration(const V4L2DeviceFormat &v4l2Format, pisp_be_ccm_config &csc); + int configureBe(const std::optional &yuvColorSpace); + + void platformSetIspCrop() override; + + void prepareCfe(); + void prepareBe(uint32_t bufferId, bool stitchSwapBuffers); + + void tryRunPipeline() override; + + struct CfeJob { + ControlList sensorControls; + unsigned int delayContext; + std::unordered_map buffers; + }; + + std::queue cfeJobQueue_; + + bool cfeJobComplete() const + { + if (cfeJobQueue_.empty()) + return false; + + const CfeJob &job = cfeJobQueue_.back(); + return job.buffers.count(&cfe_[Cfe::Output0]) && + job.buffers.count(&cfe_[Cfe::Stats]) && + (!sensorMetadata_ || + job.buffers.count(&cfe_[Cfe::Embedded])); + } +}; + +class PipelineHandlerPiSP : public RPi::PipelineHandlerBase +{ +public: + PipelineHandlerPiSP(CameraManager *manager) + : RPi::PipelineHandlerBase(manager) + { + } + + ~PipelineHandlerPiSP() + { + } + + bool match(DeviceEnumerator *enumerator) override; + +private: + PiSPCameraData *cameraData(Camera *camera) + { + return static_cast(camera->_d()); + } + + int prepareBuffers(Camera *camera) override; + int platformRegister(std::unique_ptr &cameraData, + MediaDevice *cfe, MediaDevice *isp) override; +}; + +bool PipelineHandlerPiSP::match(DeviceEnumerator *enumerator) +{ + constexpr unsigned int numCfeDevices = 2; + + /* + * Loop over all CFE instances, but return out once a match is found. + * This is to ensure we correctly enumerate the camera when an instance + * of the CFE has registered with media controller, but has not registered + * device nodes due to a sensor subdevice failure. + */ + for (unsigned int i = 0; i < numCfeDevices; i++) { + DeviceMatch cfe("rp1-cfe"); + cfe.add("rp1-cfe-fe_image0"); + cfe.add("rp1-cfe-fe_stats"); + cfe.add("rp1-cfe-fe_config"); + MediaDevice *cfeDevice = acquireMediaDevice(enumerator, cfe); + + if (!cfeDevice) { + LOG(RPI, Debug) << "Unable to acquire a CFE instance"; + break; + } + + DeviceMatch isp("pispbe"); + isp.add("pispbe-input"); + isp.add("pispbe-config"); + isp.add("pispbe-output0"); + isp.add("pispbe-output1"); + isp.add("pispbe-tdn_output"); + isp.add("pispbe-tdn_input"); + isp.add("pispbe-stitch_output"); + isp.add("pispbe-stitch_input"); + MediaDevice *ispDevice = acquireMediaDevice(enumerator, isp); + + if (!ispDevice) { + LOG(RPI, Debug) << "Unable to acquire ISP instance"; + break; + } + + /* + * The loop below is used to register multiple cameras behind + * one or more video mux devices that are attached to a + * particular CFE instance. Obviously these cameras cannot be + * used simultaneously. + */ + unsigned int numCameras = 0; + for (MediaEntity *entity : cfeDevice->entities()) { + if (entity->function() != MEDIA_ENT_F_CAM_SENSOR) + continue; + + const libpisp::PiSPVariant &variant = + libpisp::get_variant(cfeDevice->hwRevision(), + ispDevice->hwRevision()); + if (!variant.NumFrontEnds() || !variant.NumBackEnds()) { + LOG(RPI, Error) << "Unsupported PiSP variant"; + break; + } + + std::unique_ptr cameraData = + std::make_unique(this, variant); + PiSPCameraData *pisp = + static_cast(cameraData.get()); + + pisp->fe_ = RPi::SharedMemObject + ("pisp_frontend", true, pisp->pispVariant_); + pisp->be_ = RPi::SharedMemObject + ("pisp_backend", BackEnd::Config({}), pisp->pispVariant_); + + if (!pisp->fe_.fd().isValid() || !pisp->be_.fd().isValid()) { + LOG(RPI, Error) << "Failed to create ISP shared objects"; + break; + } + + int ret = registerCamera(cameraData, cfeDevice, "csi2", + ispDevice, entity); + if (ret) + LOG(RPI, Error) << "Failed to register camera " + << entity->name() << ": " << ret; + else + numCameras++; + } + + if (numCameras) + return true; + } + + return false; +} + +int PipelineHandlerPiSP::prepareBuffers(Camera *camera) +{ + PiSPCameraData *data = cameraData(camera); + unsigned int numRawBuffers = 0; + int ret; + + for (Stream *s : camera->streams()) { + if (PipelineHandlerBase::isRaw(s->configuration().pixelFormat)) { + numRawBuffers = s->configuration().bufferCount; + break; + } + } + + /* Decide how many internal buffers to allocate. */ + for (auto const stream : data->streams_) { + unsigned int numBuffers; + /* + * For CFE, allocate a minimum of 4 buffers as we want + * to avoid any frame drops. + */ + constexpr unsigned int minBuffers = 4; + if (stream == &data->cfe_[Cfe::Output0]) { + /* + * If an application has configured a RAW stream, allocate + * additional buffers to make up the minimum, but ensure + * we have at least 2 sets of internal buffers to use to + * minimise frame drops. + */ + numBuffers = std::max(2, minBuffers - numRawBuffers); + } else if (stream == &data->isp_[Isp::Input]) { + /* + * ISP input buffers are imported from the CFE, so follow + * similar logic as above to count all the RAW buffers + * available. + */ + numBuffers = numRawBuffers + + std::max(2, minBuffers - numRawBuffers); + } else if (stream == &data->cfe_[Cfe::Embedded]) { + /* + * Embedded data buffers are (currently) for internal use, + * so allocate a reasonably large amount. + */ + numBuffers = 12; + } else if (stream == &data->cfe_[Cfe::Stats] || + stream == &data->cfe_[Cfe::Config]) { + numBuffers = data->config_.numCfeConfigStatsBuffers; + } else if (!data->beEnabled_) { + /* Backend not enabled, we don't need to allocate buffers. */ + numBuffers = 0; + } else if (stream == &data->isp_[Isp::TdnOutput] && data->config_.disableTdn) { + /* TDN is explicitly disabled. */ + continue; + } else if (stream == &data->isp_[Isp::StitchOutput] && data->config_.disableHdr) { + /* Stitch/HDR is explicitly disabled. */ + continue; + } else { + /* Allocate 2 sets of all other Backend buffers */ + numBuffers = 2; + } + + LOG(RPI, Debug) << "Preparing " << numBuffers + << " buffers for stream " << stream->name(); + + ret = stream->prepareBuffers(numBuffers); + if (ret < 0) + return ret; + } + + /* + * Store the Framebuffer pointers for convenience as we will ping-pong + * these buffers between the input and output nodes for TDN and Stitch. + * + * The buffer size needs to be setup here as well. Conveniently this is + * the same for both TDN and stitch. + */ + pisp_image_format_config tdn; + data->be_->GetTdnOutputFormat(tdn); + unsigned int size = tdn.stride * tdn.height; + for (auto const &buffer : data->isp_[Isp::TdnOutput].getBuffers()) { + FrameBuffer *b = buffer.second.buffer; + b->_d()->metadata().planes()[0].bytesused = size; + data->tdnBuffers_.push_back(b); + } + for (auto const &buffer : data->isp_[Isp::StitchOutput].getBuffers()) { + FrameBuffer *b = buffer.second.buffer; + b->_d()->metadata().planes()[0].bytesused = size; + data->stitchBuffers_.push_back(b); + } + + /* Size up the config buffers as well. */ + for (auto &b : data->isp_[Isp::Config].getBuffers()) { + FrameMetadata::Plane &plane = b.second.buffer->_d()->metadata().planes()[0]; + plane.bytesused = sizeof(pisp_be_tiles_config); + } + + /* + * Pass the stats and embedded data buffers to the IPA. No other + * buffers need to be passed. + */ + mapBuffers(camera, data->cfe_[Cfe::Stats].getBuffers(), RPi::MaskStats); + if (data->sensorMetadata_) + mapBuffers(camera, data->cfe_[Cfe::Embedded].getBuffers(), + RPi::MaskEmbeddedData); + + return 0; +} + +int PipelineHandlerPiSP::platformRegister(std::unique_ptr &cameraData, + MediaDevice *cfe, MediaDevice *isp) +{ + PiSPCameraData *data = static_cast(cameraData.get()); + int ret; + + MediaEntity *cfeImage = cfe->getEntityByName("rp1-cfe-fe_image0"); + MediaEntity *cfeEmbedded = cfe->getEntityByName("rp1-cfe-embedded"); + MediaEntity *cfeStats = cfe->getEntityByName("rp1-cfe-fe_stats"); + MediaEntity *cfeConfig = cfe->getEntityByName("rp1-cfe-fe_config"); + MediaEntity *ispInput = isp->getEntityByName("pispbe-input"); + MediaEntity *IpaPrepare = isp->getEntityByName("pispbe-config"); + MediaEntity *ispOutput0 = isp->getEntityByName("pispbe-output0"); + MediaEntity *ispOutput1 = isp->getEntityByName("pispbe-output1"); + MediaEntity *ispTdnOutput = isp->getEntityByName("pispbe-tdn_output"); + MediaEntity *ispTdnInput = isp->getEntityByName("pispbe-tdn_input"); + MediaEntity *ispStitchOutput = isp->getEntityByName("pispbe-stitch_output"); + MediaEntity *ispStitchInput = isp->getEntityByName("pispbe-stitch_input"); + + /* Locate and open the cfe video streams. */ + data->cfe_[Cfe::Output0] = RPi::Stream("CFE Image", cfeImage); + data->cfe_[Cfe::Embedded] = RPi::Stream("CFE Embedded", cfeEmbedded); + data->cfe_[Cfe::Stats] = RPi::Stream("CFE Stats", cfeStats); + data->cfe_[Cfe::Config] = RPi::Stream("CFE Config", cfeConfig, + StreamFlag::Recurrent | StreamFlag::RequiresMmap); + + /* Tag the ISP input stream as an import stream. */ + data->isp_[Isp::Input] = + RPi::Stream("ISP Input", ispInput, StreamFlag::ImportOnly); + data->isp_[Isp::Config] = + RPi::Stream("ISP Config", IpaPrepare, StreamFlag::Recurrent | + StreamFlag::RequiresMmap); + data->isp_[Isp::Output0] = + RPi::Stream("ISP Output0", ispOutput0, StreamFlag::RequiresMmap); + data->isp_[Isp::Output1] = + RPi::Stream("ISP Output1", ispOutput1, StreamFlag::RequiresMmap); + data->isp_[Isp::TdnOutput] = + RPi::Stream("ISP TDN Output", ispTdnOutput, StreamFlag::Recurrent); + data->isp_[Isp::TdnInput] = + RPi::Stream("ISP TDN Input", ispTdnInput, StreamFlag::ImportOnly | + StreamFlag::Recurrent); + data->isp_[Isp::StitchOutput] = + RPi::Stream("ISP Stitch Output", ispStitchOutput, StreamFlag::Recurrent); + data->isp_[Isp::StitchInput] = + RPi::Stream("ISP Stitch Input", ispStitchInput, StreamFlag::ImportOnly | + StreamFlag::Recurrent); + + /* Wire up all the buffer connections. */ + data->cfe_[Cfe::Output0].dev()->bufferReady.connect(data, &PiSPCameraData::cfeBufferDequeue); + data->cfe_[Cfe::Stats].dev()->bufferReady.connect(data, &PiSPCameraData::cfeBufferDequeue); + data->cfe_[Cfe::Config].dev()->bufferReady.connect(data, &PiSPCameraData::cfeBufferDequeue); + data->isp_[Isp::Input].dev()->bufferReady.connect(data, &PiSPCameraData::beInputDequeue); + data->isp_[Isp::Config].dev()->bufferReady.connect(data, &PiSPCameraData::beOutputDequeue); + data->isp_[Isp::Output0].dev()->bufferReady.connect(data, &PiSPCameraData::beOutputDequeue); + data->isp_[Isp::Output1].dev()->bufferReady.connect(data, &PiSPCameraData::beOutputDequeue); + data->cfe_[Cfe::Embedded].dev()->bufferReady.connect(data, &PiSPCameraData::cfeBufferDequeue); + + data->csi2Subdev_ = std::make_unique(cfe->getEntityByName("csi2")); + data->feSubdev_ = std::make_unique(cfe->getEntityByName("pisp-fe")); + data->csi2Subdev_->open(); + data->feSubdev_->open(); + + /* + * Open all CFE and ISP streams. The exception is the embedded data + * stream, which only gets opened below if the IPA reports that the sensor + * supports embedded data. + * + * The below grouping is just for convenience so that we can easily + * iterate over all streams in one go. + */ + data->streams_.push_back(&data->cfe_[Cfe::Output0]); + data->streams_.push_back(&data->cfe_[Cfe::Config]); + data->streams_.push_back(&data->cfe_[Cfe::Stats]); + if (data->sensorMetadata_) + data->streams_.push_back(&data->cfe_[Cfe::Embedded]); + + data->streams_.push_back(&data->isp_[Isp::Input]); + data->streams_.push_back(&data->isp_[Isp::Output0]); + data->streams_.push_back(&data->isp_[Isp::Output1]); + data->streams_.push_back(&data->isp_[Isp::Config]); + data->streams_.push_back(&data->isp_[Isp::TdnInput]); + data->streams_.push_back(&data->isp_[Isp::TdnOutput]); + data->streams_.push_back(&data->isp_[Isp::StitchInput]); + data->streams_.push_back(&data->isp_[Isp::StitchOutput]); + + for (auto stream : data->streams_) { + ret = stream->dev()->open(); + if (ret) + return ret; + } + + /* Write up all the IPA connections. */ + data->ipa_->prepareIspComplete.connect(data, &PiSPCameraData::prepareIspComplete); + data->ipa_->processStatsComplete.connect(data, &PiSPCameraData::processStatsComplete); + data->ipa_->setCameraTimeout.connect(data, &PiSPCameraData::setCameraTimeout); + + /* + * List the available streams an application may request. At present, we + * do not advertise CFE Embedded and ISP Statistics streams, as there + * is no mechanism for the application to request non-image buffer formats. + */ + std::set streams; + streams.insert(&data->cfe_[Cfe::Output0]); + streams.insert(&data->isp_[Isp::Output0]); + streams.insert(&data->isp_[Isp::Output1]); + + /* Create and register the camera. */ + const std::string &id = data->sensor_->id(); + std::shared_ptr camera = + Camera::create(std::move(cameraData), id, streams); + PipelineHandler::registerCamera(std::move(camera)); + + LOG(RPI, Info) << "Registered camera " << id + << " to CFE device " << cfe->deviceNode() + << " and ISP device " << isp->deviceNode() + << " using PiSP variant " << data->pispVariant_.Name(); + + return 0; +} + +CameraConfiguration::Status +PiSPCameraData::platformValidate(RPi::RPiCameraConfiguration *rpiConfig) const +{ + std::vector &rawStreams = rpiConfig->rawStreams_; + std::vector &outStreams = rpiConfig->outStreams_; + + CameraConfiguration::Status status = CameraConfiguration::Status::Valid; + + /* Can only output 1 RAW stream and/or 2 YUV/RGB streams for now. */ + if (rawStreams.size() > 1 || outStreams.size() > 2) { + LOG(RPI, Error) << "Invalid number of streams requested"; + return CameraConfiguration::Status::Invalid; + } + + if (!rawStreams.empty()) { + rawStreams[0].dev = cfe_[Cfe::Output0].dev(); + + StreamConfiguration *rawStream = rawStreams[0].cfg; + BayerFormat bayer = BayerFormat::fromPixelFormat(rawStream->pixelFormat); + /* + * We cannot output CSI2 packed or non 16-bit output from the frontend, + * so signal the output as unpacked 16-bits in these cases. + */ + if (bayer.packing == BayerFormat::Packing::CSI2 || bayer.bitDepth != 16) { + bayer.packing = (bayer.packing == BayerFormat::Packing::CSI2) ? + BayerFormat::Packing::PISP1 : BayerFormat::Packing::None; + bayer.bitDepth = 16; + } + + /* The RAW stream size cannot exceed the sensor frame output - for now. */ + if (rawStream->size != rpiConfig->sensorFormat_.size || + rawStream->pixelFormat != bayer.toPixelFormat()) { + rawStream->size = rpiConfig->sensorFormat_.size; + rawStream->pixelFormat = bayer.toPixelFormat(); + status = CameraConfiguration::Adjusted; + } + + rawStreams[0].format = + RPi::PipelineHandlerBase::toV4L2DeviceFormat(cfe_[Cfe::Output0].dev(), rawStream); + + computeOptimalStride(rawStreams[0].format); + } + + /* + * For the two ISP outputs, the lower resolution must be routed from + * Output 1 + * + * Index 0 contains the largest requested resolution. + */ + unsigned int largestWidth = getLargestWidth(rpiConfig->sensorFormat_, + rpiConfig->outStreams_); + + for (unsigned int i = 0; i < outStreams.size(); i++) { + StreamConfiguration *cfg = outStreams[i].cfg; + + /* + * Output 1 must be for the smallest resolution. We will + * have that fixed up in the code above. + */ + auto ispOutput = i == 1 || outStreams.size() == 1 ? Isp::Output1 + : Isp::Output0; + outStreams[i].dev = isp_[ispOutput].dev(); + + /* + * Don't let The output streams downscale by more than 64x when + * a downscaler block is available, or 16x when there's only the + * resampler. + */ + Size rawSize = rpiConfig->sensorFormat_.size.boundedToAspectRatio(cfg->size); + unsigned int outputIndex = ispOutput == Isp::Output0 ? 0 : 1; + Size minSize; + if (pispVariant_.BackEndDownscalerAvailable(0, outputIndex)) { + /* + * Downscaler available. Allow up to 64x downscale. If not a multiple of + * 64, round up to the next integer, but also ensure the result is even. + */ + const unsigned int downscale = 64; + minSize.width = (rawSize.width + downscale - 1) / downscale; + minSize.width = (minSize.width + 1) & ~1; /* ensure even */ + minSize.height = (rawSize.height + downscale - 1) / downscale; + minSize.height = (minSize.height + 1) & ~1; /* ensure even */ + } else { + /* No downscale. Resampler requires: (output_dim - 1) * 16 <= input_dim - 1 */ + const unsigned int downscale = 16; + minSize.width = (rawSize.width - 1 + downscale - 1) / downscale + 1; + minSize.width = (minSize.width + 1) & ~1; /* ensure even */ + minSize.height = (rawSize.height - 1 + downscale - 1) / downscale + 1; + minSize.height = (minSize.height + 1) & ~1; /* ensure even */ + } + LOG(RPI, Debug) << "minSize: width " << minSize.width << " height " << minSize.height; + + /* Bound the output size to minSize, preserve aspect ratio, and ensure even numbers. */ + if (cfg->size.width < minSize.width) { + cfg->size.height = (cfg->size.height * minSize.width / cfg->size.width + 1) & ~1; + cfg->size.width = minSize.width; + status = CameraConfiguration::Status::Adjusted; + } + + if (cfg->size.height < minSize.height) { + cfg->size.width = (cfg->size.width * minSize.height / cfg->size.height + 1) & ~1; + cfg->size.height = minSize.height; + status = CameraConfiguration::Status::Adjusted; + } + + /* Make sure output1 is no larger than output 0. */ + Size size = cfg->size.boundedTo(outStreams[0].cfg->size); + + /* \todo Warn if upscaling: reduces image quality. */ + + if (cfg->size != size) { + cfg->size = size; + status = CameraConfiguration::Status::Adjusted; + } + + outStreams[i].format = + RPi::PipelineHandlerBase::toV4L2DeviceFormat(outStreams[i].dev, outStreams[i].cfg); + + /* Compute the optimal stride for the BE output buffers. */ + computeOptimalStride(outStreams[i].format); + + /* + * We need to check for software downscaling. This must happen + * after adjusting the device format so that we can choose the + * largest stride - which might have been the original + * unadjusted format, or the adjusted one (if software + * downscaling means it's larger). + */ + V4L2DeviceFormat adjustedFormat = outStreams[i].format; + adjustDeviceFormat(adjustedFormat); + + unsigned int swDownscale = + calculateSwDownscale(adjustedFormat, largestWidth, + be_->GetMaxDownscale()); + LOG(RPI, Debug) << "For stream " << adjustedFormat + << " swDownscale is " << swDownscale; + if (swDownscale > 1) { + adjustedFormat.size.width *= swDownscale; + computeOptimalStride(adjustedFormat); + for (unsigned int p = 0; p < outStreams[i].format.planesCount; p++) + outStreams[i].format.planes[p].bpl = + std::max(outStreams[i].format.planes[p].bpl, adjustedFormat.planes[p].bpl); + } + } + + return status; +} + +int PiSPCameraData::platformPipelineConfigure(const std::unique_ptr &root) +{ + config_ = { + .numCfeConfigStatsBuffers = 12, + .numCfeConfigQueue = 2, + .disableTdn = false, + .disableHdr = false, + }; + + if (!root) + return 0; + + std::optional ver = (*root)["version"].get(); + if (!ver || *ver != 1.0) { + LOG(RPI, Error) << "Unexpected configuration file version reported"; + return -EINVAL; + } + + std::optional target = (*root)["target"].get(); + if (!target || *target != "pisp") { + LOG(RPI, Error) << "Unexpected target reported: expected \"pisp\", got " + << *target; + return -EINVAL; + } + + const YamlObject &phConfig = (*root)["pipeline_handler"]; + config_.numCfeConfigStatsBuffers = + phConfig["num_cfe_config_stats_buffers"].get(config_.numCfeConfigStatsBuffers); + config_.numCfeConfigQueue = + phConfig["num_cfe_config_queue"].get(config_.numCfeConfigQueue); + config_.disableTdn = phConfig["disable_tdn"].get(config_.disableTdn); + config_.disableHdr = phConfig["disable_hdr"].get(config_.disableHdr); + + if (config_.disableTdn) { + LOG(RPI, Info) << "TDN disabled by user config"; + streams_.erase(std::remove_if(streams_.begin(), streams_.end(), + [this] (const RPi::Stream *s) { return s == &isp_[Isp::TdnInput] || + s == &isp_[Isp::TdnInput]; }), + streams_.end()); + } + + if (config_.disableHdr) { + LOG(RPI, Info) << "HDR disabled by user config"; + streams_.erase(std::remove_if(streams_.begin(), streams_.end(), + [this] (const RPi::Stream *s) { return s == &isp_[Isp::StitchInput] || + s == &isp_[Isp::StitchOutput]; }), + streams_.end()); + } + + if (config_.numCfeConfigStatsBuffers < 1) { + LOG(RPI, Error) + << "Invalid configuration: num_cfe_config_stats_buffers must be >= 1"; + return -EINVAL; + } + + if (config_.numCfeConfigQueue < 1) { + LOG(RPI, Error) + << "Invalid configuration: numCfeConfigQueue must be >= 1"; + return -EINVAL; + } + + return 0; +} + +std::unordered_map deviceAdjustTable = { + { V4L2_PIX_FMT_RGBX32, V4L2_PIX_FMT_RGB24 }, + { V4L2_PIX_FMT_XBGR32, V4L2_PIX_FMT_BGR24 } +}; + +bool PiSPCameraData::adjustDeviceFormat(V4L2DeviceFormat &format) const +{ + auto it = deviceAdjustTable.find(format.fourcc.fourcc()); + + if (pispVariant_.BackendRGB32Supported(0)) + return false; + + if (it != deviceAdjustTable.end()) { + LOG(RPI, Debug) << "Swapping 32-bit for 24-bit format"; + format.fourcc = V4L2PixelFormat(it->second); + return true; + } + + return false; +} + +int PiSPCameraData::platformConfigure(const RPi::RPiCameraConfiguration *rpiConfig) +{ + const std::vector &rawStreams = rpiConfig->rawStreams_; + const std::vector &outStreams = rpiConfig->outStreams_; + int ret; + + V4L2VideoDevice *cfe = cfe_[Cfe::Output0].dev(); + V4L2DeviceFormat cfeFormat; + + /* + * See which streams are requested, and route the user + * StreamConfiguration appropriately. + */ + if (rawStreams.empty()) { + /* + * The CFE Frontend output will always be 16-bits unpacked, so adjust the + * mbus code right at the start. + */ + V4L2SubdeviceFormat sensorFormatMod = rpiConfig->sensorFormat_; + sensorFormatMod.mbus_code = mbusCodeUnpacked16(sensorFormatMod.mbus_code); + cfeFormat = RPi::PipelineHandlerBase::toV4L2DeviceFormat(cfe, + sensorFormatMod, + BayerFormat::Packing::PISP1); + computeOptimalStride(cfeFormat); + } else { + rawStreams[0].cfg->setStream(&cfe_[Cfe::Output0]); + cfe_[Cfe::Output0].setFlags(StreamFlag::External); + cfeFormat = rawStreams[0].format; + } + + ret = cfe->setFormat(&cfeFormat); + if (ret) + return ret; + + /* Set the TDN and Stitch node formats in case they are turned on. */ + isp_[Isp::TdnOutput].dev()->setFormat(&cfeFormat); + isp_[Isp::TdnInput].dev()->setFormat(&cfeFormat); + isp_[Isp::StitchOutput].dev()->setFormat(&cfeFormat); + isp_[Isp::StitchInput].dev()->setFormat(&cfeFormat); + + ret = isp_[Isp::Input].dev()->setFormat(&cfeFormat); + if (ret) + return ret; + + LOG(RPI, Info) << "Sensor: " << sensor_->id() + << " - Selected sensor format: " << rpiConfig->sensorFormat_ + << " - Selected CFE format: " << cfeFormat; + + /* + * Find the largest width of any stream; we'll use it later to check for + * excessive downscaling. + */ + unsigned int largestWidth = getLargestWidth(rpiConfig->sensorFormat_, outStreams); + + unsigned int beEnables = 0; + V4L2DeviceFormat format; + + /* + * First thing is to remove Isp::Output0 and Isp::Output1 from streams_ + * as they may be unused depending on the configuration. Add them back + * only if needed. + */ + streams_.erase(std::remove_if(streams_.begin(), streams_.end(), + [this] (const RPi::Stream *s) { return s == &isp_[Isp::Output0] || + s == &isp_[Isp::Output1]; }), + streams_.end()); + + for (unsigned int i = 0; i < outStreams.size(); i++) { + StreamConfiguration *cfg = outStreams[i].cfg; + + /* + * Output 1 must be for the smallest resolution. We will + * have that fixed up in the code above. + */ + RPi::Stream *stream; + if (i == 1 || outStreams.size() == 1) { + stream = &isp_[Isp::Output1]; + beEnables |= PISP_BE_RGB_ENABLE_OUTPUT1; + } else { + stream = &isp_[Isp::Output0]; + beEnables |= PISP_BE_RGB_ENABLE_OUTPUT0; + } + + format = outStreams[i].format; + bool needs32BitConversion = adjustDeviceFormat(format); + + /* + * This pixel format may not be the same as the configured + * pixel format if adjustDeviceFormat() above has reqused a change. + */ + PixelFormat pixFmt = format.fourcc.toPixelFormat(); + + /* If there's excessive downscaling we'll do some of it in software. */ + unsigned int swDownscale = calculateSwDownscale(format, largestWidth, + be_->GetMaxDownscale()); + unsigned int hwWidth = format.size.width * swDownscale; + format.size.width = hwWidth; + + LOG(RPI, Debug) << "Setting " << stream->name() << " to " + << format << " (sw downscale " << swDownscale << ")"; + + ret = stream->dev()->setFormat(&format); + if (ret) + return -EINVAL; + LOG(RPI, Debug) << "After setFormat, stride " << format.planes[0].bpl; + + if (format.size.height != cfg->size.height || + format.size.width != hwWidth || format.fourcc.toPixelFormat() != pixFmt) { + LOG(RPI, Error) + << "Failed to set requested format on " << stream->name() + << ", returned " << format; + return -EINVAL; + } + + LOG(RPI, Debug) + << "Stream " << stream->name() << " has color space " + << ColorSpace::toString(cfg->colorSpace); + + libcamera::RPi::Stream::StreamFlags flags = StreamFlag::External; + + stream->clearFlags(StreamFlag::Needs32bitConv); + if (needs32BitConversion) + flags |= StreamFlag::Needs32bitConv; + + cfg->setStream(stream); + stream->setFlags(flags); + stream->setSwDownscale(swDownscale); + streams_.push_back(stream); + } + + pisp_be_global_config global; + be_->GetGlobal(global); + global.rgb_enables &= ~(PISP_BE_RGB_ENABLE_OUTPUT0 + PISP_BE_RGB_ENABLE_OUTPUT1); + global.rgb_enables |= beEnables; + be_->SetGlobal(global); + + beEnabled_ = beEnables & (PISP_BE_RGB_ENABLE_OUTPUT0 | PISP_BE_RGB_ENABLE_OUTPUT1); + + /* CFE statistics output format. */ + format = {}; + format.fourcc = V4L2PixelFormat(V4L2_META_FMT_RPI_FE_STATS); + ret = cfe_[Cfe::Stats].dev()->setFormat(&format); + if (ret) { + LOG(RPI, Error) << "Failed to set format on CFE stats stream: " + << format.toString(); + return ret; + } + + /* CFE config format. */ + format = {}; + format.fourcc = V4L2PixelFormat(V4L2_META_FMT_RPI_FE_CFG); + ret = cfe_[Cfe::Config].dev()->setFormat(&format); + if (ret) { + LOG(RPI, Error) << "Failed to set format on CFE config stream: " + << format.toString(); + return ret; + } + + /* + * Configure the CFE embedded data output format only if the sensor + * supports it. + */ + V4L2SubdeviceFormat embeddedFormat; + if (sensorMetadata_) { + sensor_->device()->getFormat(1, &embeddedFormat); + format = {}; + format.fourcc = V4L2PixelFormat(V4L2_META_FMT_SENSOR_DATA); + format.planes[0].size = embeddedFormat.size.width * embeddedFormat.size.height; + + LOG(RPI, Debug) << "Setting embedded data format " << format.toString(); + ret = cfe_[Cfe::Embedded].dev()->setFormat(&format); + if (ret) { + LOG(RPI, Error) << "Failed to set format on CFE embedded: " + << format; + return ret; + } + } + + /* Set smallest selection the ISP will allow. */ + ispMinCropSize_ = Size(32, 32); + + if (!outStreams.empty()) { + /* Adjust aspect ratio by providing crops on the input image. */ + Size size = cfeFormat.size.boundedToAspectRatio(outStreams[0].cfg->size); + ispCrop_ = size.centeredTo(Rectangle(cfeFormat.size).center()); + + /* + * Calculate the minimum crop. The rule is that (output_dim - 1) / (input_dim - 1) + * must be strictly < 16. We add 2 after dividing because +1 + * comes from the division that rounds down, and +1 because we + * had (input_dim - 1). + */ + Size scalingMinSize = outStreams[0].cfg->size.shrunkBy({ 1, 1 }) / 16; + scalingMinSize.growBy({ 2, 2 }); + ispMinCropSize_.expandTo(scalingMinSize); + } + + configureEntities(rpiConfig->sensorFormat_, embeddedFormat); + configureCfe(); + + if (beEnabled_) + configureBe(rpiConfig->yuvColorSpace_); + + platformSetIspCrop(); + + return 0; +} + +void PiSPCameraData::platformStart() +{ + /* + * We don't need to worry about dequeue events for the TDN and Stitch + * nodes as the buffers are simply ping-ponged every frame. But we do + * want to track the currently used input index. + */ + tdnInputIndex_ = 0; + stitchInputIndex_ = 0; + + cfeJobQueue_ = {}; + + for (unsigned int i = 0; i < config_.numCfeConfigQueue; i++) + prepareCfe(); +} + +void PiSPCameraData::platformStop() +{ + cfeJobQueue_ = {}; +} + +void PiSPCameraData::platformFreeBuffers() +{ + tdnBuffers_.clear(); + stitchBuffers_.clear(); +} + +void PiSPCameraData::cfeBufferDequeue(FrameBuffer *buffer) +{ + RPi::Stream *stream = nullptr; + int index; + + if (!isRunning()) + return; + + for (RPi::Stream &s : cfe_) { + index = s.getBufferId(buffer); + if (index) { + stream = &s; + break; + } + } + + /* If the last CFE job has completed, we need a new job entry in the queue. */ + if (cfeJobQueue_.empty() || cfeJobComplete()) + cfeJobQueue_.push({}); + + CfeJob &job = cfeJobQueue_.back(); + + /* The buffer must belong to one of our streams. */ + ASSERT(stream); + + LOG(RPI, Debug) << "Stream " << stream->name() << " buffer dequeue" + << ", buffer id " << index + << ", timestamp: " << buffer->metadata().timestamp; + + job.buffers[stream] = buffer; + + if (stream == &cfe_[Cfe::Output0]) { + /* + * Lookup the sensor controls used for this frame sequence from + * DelayedControl and queue them along with the frame buffer. + */ + auto [ctrl, delayContext] = delayedCtrls_->get(buffer->metadata().sequence); + /* + * Add the frame timestamp to the ControlList for the IPA to use + * as it does not receive the FrameBuffer object. + */ + ctrl.set(controls::SensorTimestamp, buffer->metadata().timestamp); + job.sensorControls = std::move(ctrl); + job.delayContext = delayContext; + } else if (stream == &cfe_[Cfe::Config]) { + /* The config buffer can be re-queued back straight away. */ + handleStreamBuffer(buffer, &cfe_[Cfe::Config]); + prepareCfe(); + } + + handleState(); +} + +void PiSPCameraData::beInputDequeue(FrameBuffer *buffer) +{ + if (!isRunning()) + return; + + LOG(RPI, Debug) << "Stream ISP Input buffer complete" + << ", buffer id " << cfe_[Cfe::Output0].getBufferId(buffer) + << ", timestamp: " << buffer->metadata().timestamp; + + /* The ISP input buffer gets re-queued into CFE. */ + handleStreamBuffer(buffer, &cfe_[Cfe::Output0]); + handleState(); +} + +void PiSPCameraData::beOutputDequeue(FrameBuffer *buffer) +{ + RPi::Stream *stream = nullptr; + int index; + + if (!isRunning()) + return; + + for (RPi::Stream &s : isp_) { + index = s.getBufferId(buffer); + if (index) { + stream = &s; + break; + } + } + + /* The buffer must belong to one of our ISP output streams. */ + ASSERT(stream); + + LOG(RPI, Debug) << "Stream " << stream->name() << " buffer complete" + << ", buffer id " << index + << ", timestamp: " << buffer->metadata().timestamp; + + bool downscale = stream->swDownscale() > 1; + bool needs32bitConv = !!(stream->getFlags() & StreamFlag::Needs32bitConv); + + if (downscale || needs32bitConv) + dmabufSyncStart(buffer->planes()[0].fd); + + if (downscale) { + /* Further software downscaling must be applied. */ + downscaleStreamBuffer(stream, index); + } + + /* Convert 24bpp outputs to 32bpp outputs where necessary. */ + if (needs32bitConv) { + unsigned int stride = stream->configuration().stride; + unsigned int width = stream->configuration().size.width; + unsigned int height = stream->configuration().size.height; + + const RPi::BufferObject &b = stream->getBuffer(index); + + ASSERT(b.mapped); + void *mem = b.mapped->planes()[0].data(); + do32BitConversion(mem, width, height, stride); + } + + if (downscale || needs32bitConv) + dmabufSyncEnd(buffer->planes()[0].fd); + + handleStreamBuffer(buffer, stream); + + /* + * Increment the number of ISP outputs generated. + * This is needed to track dropped frames. + */ + ispOutputCount_++; + handleState(); +} + +void PiSPCameraData::processStatsComplete(const ipa::RPi::BufferIds &buffers) +{ + if (!isRunning()) + return; + + handleStreamBuffer(cfe_[Cfe::Stats].getBuffers().at(buffers.stats & RPi::MaskID).buffer, + &cfe_[Cfe::Stats]); +} + +void PiSPCameraData::setCameraTimeout(uint32_t maxFrameLengthMs) +{ + /* + * Set the dequeue timeout to the larger of 5x the maximum reported + * frame length advertised by the IPA over a number of frames. Allow + * a minimum timeout value of 1s. + */ + utils::Duration timeout = + std::max(1s, 5 * maxFrameLengthMs * 1ms); + + LOG(RPI, Debug) << "Setting CFE timeout to " << timeout; + cfe_[Cfe::Output0].dev()->setDequeueTimeout(timeout); +} + +void PiSPCameraData::prepareIspComplete(const ipa::RPi::BufferIds &buffers, bool stitchSwapBuffers) +{ + unsigned int embeddedId = buffers.embedded & RPi::MaskID; + unsigned int bayerId = buffers.bayer & RPi::MaskID; + FrameBuffer *buffer; + + if (!isRunning()) + return; + + if (sensorMetadata_ && embeddedId) { + buffer = cfe_[Cfe::Embedded].getBuffers().at(embeddedId).buffer; + handleStreamBuffer(buffer, &cfe_[Cfe::Embedded]); + } + + if (!beEnabled_) { + /* + * If there is no need to run the Backend, just signal that the + * input buffer is completed and all Backend outputs are ready. + */ + ispOutputCount_ = ispOutputTotal_; + buffer = cfe_[Cfe::Output0].getBuffers().at(bayerId).buffer; + handleStreamBuffer(buffer, &cfe_[Cfe::Output0]); + } else + prepareBe(bayerId, stitchSwapBuffers); + + state_ = State::IpaComplete; + handleState(); +} + +int PiSPCameraData::configureCfe() +{ + V4L2DeviceFormat cfeFormat; + cfe_[Cfe::Output0].dev()->getFormat(&cfeFormat); + + std::scoped_lock l(*fe_); + + pisp_fe_global_config global; + fe_->GetGlobal(global); + global.enables &= ~PISP_FE_ENABLE_COMPRESS0; + + global.enables |= PISP_FE_ENABLE_OUTPUT0; + global.bayer_order = toPiSPBayerOrder(cfeFormat.fourcc); + + pisp_image_format_config image = toPiSPImageFormat(cfeFormat); + pisp_fe_input_config input = {}; + + input.streaming = 1; + input.format = image; + input.format.format = PISP_IMAGE_FORMAT_BPS_16; + + if (PISP_IMAGE_FORMAT_compressed(image.format)) { + pisp_compress_config compress; + compress.offset = DefaultCompressionOffset; + compress.mode = (image.format & PISP_IMAGE_FORMAT_COMPRESSION_MASK) / + PISP_IMAGE_FORMAT_COMPRESSION_MODE_1; + global.enables |= PISP_FE_ENABLE_COMPRESS0; + fe_->SetCompress(0, compress); + } + + if (input.format.width > pispVariant_.FrontEndDownscalerMaxWidth(0, 0)) + global.enables |= PISP_FE_ENABLE_DECIMATE; + + fe_->SetGlobal(global); + fe_->SetInput(input); + fe_->SetOutputFormat(0, image); + + return 0; +} + +bool PiSPCameraData::calculateCscConfiguration(const V4L2DeviceFormat &v4l2Format, pisp_be_ccm_config &csc) +{ + const PixelFormat &pixFormat = v4l2Format.fourcc.toPixelFormat(); + const PixelFormatInfo &info = PixelFormatInfo::info(pixFormat); + memset(&csc, 0, sizeof(csc)); + + if (info.colourEncoding == PixelFormatInfo::ColourEncodingYUV) { + /* Look up the correct YCbCr conversion matrix for this colour space. */ + if (v4l2Format.colorSpace == ColorSpace::Sycc) + be_->InitialiseYcbcr(csc, "jpeg"); + else if (v4l2Format.colorSpace == ColorSpace::Smpte170m) + be_->InitialiseYcbcr(csc, "smpte170m"); + else if (v4l2Format.colorSpace == ColorSpace::Rec709) + be_->InitialiseYcbcr(csc, "rec709"); + else { + LOG(RPI, Warning) + << "Unrecognised colour space " + << ColorSpace::toString(v4l2Format.colorSpace) + << ", defaulting to sYCC"; + be_->InitialiseYcbcr(csc, "jpeg"); + } + return true; + } + /* There will be more formats to check for in due course. */ + else if (pixFormat == formats::RGB888 || pixFormat == formats::RGBX8888 || + pixFormat == formats::XRGB8888 || pixFormat == formats::RGB161616) { + /* Identity matrix but with RB colour swap. */ + csc.coeffs[2] = csc.coeffs[4] = csc.coeffs[6] = 1 << 10; + return true; + } + + return false; +} + +int PiSPCameraData::configureBe(const std::optional &yuvColorSpace) +{ + pisp_image_format_config inputFormat; + V4L2DeviceFormat cfeFormat; + + isp_[Isp::Input].dev()->getFormat(&cfeFormat); + inputFormat = toPiSPImageFormat(cfeFormat); + + pisp_be_global_config global; + be_->GetGlobal(global); + global.bayer_enables &= ~(PISP_BE_BAYER_ENABLE_DECOMPRESS + + PISP_BE_BAYER_ENABLE_TDN_DECOMPRESS + + PISP_BE_BAYER_ENABLE_TDN_COMPRESS + + PISP_BE_BAYER_ENABLE_STITCH_DECOMPRESS + + PISP_BE_BAYER_ENABLE_STITCH_COMPRESS); + global.rgb_enables &= ~(PISP_BE_RGB_ENABLE_RESAMPLE0 + + PISP_BE_RGB_ENABLE_RESAMPLE1 + + PISP_BE_RGB_ENABLE_DOWNSCALE0 + + PISP_BE_RGB_ENABLE_DOWNSCALE1 + + PISP_BE_RGB_ENABLE_CSC0 + + PISP_BE_RGB_ENABLE_CSC1); + + global.bayer_enables |= PISP_BE_BAYER_ENABLE_INPUT; + global.bayer_order = toPiSPBayerOrder(cfeFormat.fourcc); + + ispOutputTotal_ = 1; /* Config buffer */ + if (PISP_IMAGE_FORMAT_compressed(inputFormat.format)) { + pisp_decompress_config decompress; + decompress.offset = DefaultCompressionOffset; + decompress.mode = (inputFormat.format & PISP_IMAGE_FORMAT_COMPRESSION_MASK) + / PISP_IMAGE_FORMAT_COMPRESSION_MODE_1; + global.bayer_enables |= PISP_BE_BAYER_ENABLE_DECOMPRESS; + be_->SetDecompress(decompress); + } + + if (global.rgb_enables & PISP_BE_RGB_ENABLE_OUTPUT0) { + pisp_be_output_format_config outputFormat0 = {}; + V4L2DeviceFormat ispFormat0 = {}; + + isp_[Isp::Output0].dev()->getFormat(&ispFormat0); + outputFormat0.image = toPiSPImageFormat(ispFormat0); + + pisp_be_ccm_config csc; + if (calculateCscConfiguration(ispFormat0, csc)) { + global.rgb_enables |= PISP_BE_RGB_ENABLE_CSC0; + be_->SetCsc(0, csc); + } + + BackEnd::SmartResize resize = {}; + resize.width = ispFormat0.size.width; + resize.height = ispFormat0.size.height; + be_->SetSmartResize(0, resize); + + setupOutputClipping(ispFormat0, outputFormat0); + + be_->SetOutputFormat(0, outputFormat0); + ispOutputTotal_++; + } + + if (global.rgb_enables & PISP_BE_RGB_ENABLE_OUTPUT1) { + pisp_be_output_format_config outputFormat1 = {}; + V4L2DeviceFormat ispFormat1 = {}; + + isp_[Isp::Output1].dev()->getFormat(&ispFormat1); + outputFormat1.image = toPiSPImageFormat(ispFormat1); + + pisp_be_ccm_config csc; + if (calculateCscConfiguration(ispFormat1, csc)) { + global.rgb_enables |= PISP_BE_RGB_ENABLE_CSC1; + be_->SetCsc(1, csc); + } + + BackEnd::SmartResize resize = {}; + resize.width = ispFormat1.size.width; + resize.height = ispFormat1.size.height; + be_->SetSmartResize(1, resize); + + setupOutputClipping(ispFormat1, outputFormat1); + + be_->SetOutputFormat(1, outputFormat1); + ispOutputTotal_++; + } + + /* Setup the TDN I/O blocks in case TDN gets turned on later. */ + V4L2DeviceFormat tdnV4L2Format; + isp_[Isp::TdnOutput].dev()->getFormat(&tdnV4L2Format); + pisp_image_format_config tdnFormat = toPiSPImageFormat(tdnV4L2Format); + be_->SetTdnOutputFormat(tdnFormat); + be_->SetTdnInputFormat(tdnFormat); + + if (PISP_IMAGE_FORMAT_compressed(tdnFormat.format)) { + pisp_decompress_config tdnDecompress; + pisp_compress_config tdnCompress; + + tdnDecompress.offset = tdnCompress.offset = DefaultCompressionOffset; + tdnDecompress.mode = tdnCompress.mode = DefaultCompressionMode; + be_->SetTdnDecompress(tdnDecompress); + be_->SetTdnCompress(tdnCompress); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_TDN_DECOMPRESS + + PISP_BE_BAYER_ENABLE_TDN_COMPRESS; + } + + /* Likewise for the Stitch block. */ + V4L2DeviceFormat stitchV4L2Format; + isp_[Isp::StitchOutput].dev()->getFormat(&stitchV4L2Format); + pisp_image_format_config stitchFormat = toPiSPImageFormat(stitchV4L2Format); + be_->SetStitchOutputFormat(stitchFormat); + be_->SetStitchInputFormat(stitchFormat); + + if (PISP_IMAGE_FORMAT_compressed(stitchFormat.format)) { + pisp_decompress_config stitchDecompress; + pisp_compress_config stitchCompress; + + /* Stitch block is after BLC, so compression offset should be 0. */ + stitchDecompress.offset = stitchCompress.offset = 0; + stitchDecompress.mode = stitchCompress.mode = DefaultCompressionMode; + be_->SetStitchDecompress(stitchDecompress); + be_->SetStitchCompress(stitchCompress); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_STITCH_DECOMPRESS + + PISP_BE_BAYER_ENABLE_STITCH_COMPRESS; + } + + /* + * For the bit of the pipeline where we go temporarily into YCbCr, we'll use the + * same flavour of YCbCr as dictated by the headline colour space. But there's + * no benefit from compressing and shifting the range, so we'll stick with the + * full range version of whatever that colour space is. + */ + if (yuvColorSpace) { + pisp_be_ccm_config ccm; + if (yuvColorSpace == ColorSpace::Sycc) { + be_->InitialiseYcbcr(ccm, "jpeg"); + be_->SetYcbcr(ccm); + be_->InitialiseYcbcrInverse(ccm, "jpeg"); + be_->SetYcbcrInverse(ccm); + } else if (yuvColorSpace == ColorSpace::Smpte170m) { + /* We want the full range version of smpte170m, aka. jpeg */ + be_->InitialiseYcbcr(ccm, "jpeg"); + be_->SetYcbcr(ccm); + be_->InitialiseYcbcrInverse(ccm, "jpeg"); + be_->SetYcbcrInverse(ccm); + } else if (yuvColorSpace == ColorSpace::Rec709) { + be_->InitialiseYcbcr(ccm, "rec709_full"); + be_->SetYcbcr(ccm); + be_->InitialiseYcbcrInverse(ccm, "rec709_full"); + be_->SetYcbcrInverse(ccm); + } else { + /* Validation should have ensured this can't happen. */ + LOG(RPI, Error) + << "Invalid colour space " + << ColorSpace::toString(yuvColorSpace); + ASSERT(0); + } + } else { + /* Again, validation should have prevented this. */ + LOG(RPI, Error) << "No YUV colour space"; + ASSERT(0); + } + + be_->SetGlobal(global); + be_->SetInputFormat(inputFormat); + + return 0; +} + +void PiSPCameraData::platformSetIspCrop() +{ + pisp_be_crop_config beCrop = { + static_cast(ispCrop_.x), + static_cast(ispCrop_.y), + static_cast(ispCrop_.width), + static_cast(ispCrop_.height) + }; + + be_->SetCrop(beCrop); +} + +int PiSPCameraData::platformInitIpa(ipa::RPi::InitParams ¶ms) +{ + params.fe = fe_.fd(); + params.be = be_.fd(); + return 0; +} + +int PiSPCameraData::configureEntities(V4L2SubdeviceFormat sensorFormat, + V4L2SubdeviceFormat &embeddedFormat) +{ + int ret = 0; + + constexpr unsigned int csiVideoSinkPad = 0; + constexpr unsigned int csiMetaSinkPad = 1; + constexpr unsigned int csiVideoSourcePad = 4; + constexpr unsigned int csiMetaSourcePad = 5; + + constexpr unsigned int feVideoSinkPad = 0; + constexpr unsigned int feConfigSinkPad = 1; + constexpr unsigned int feVideo0SourcePad = 2; + constexpr unsigned int feVideo1SourcePad = 3; + constexpr unsigned int feStatsSourcePad = 4; + + const MediaEntity *csi2 = csi2Subdev_->entity(); + const MediaEntity *fe = feSubdev_->entity(); + + for (MediaLink *link : csi2->pads()[csiVideoSourcePad]->links()) { + if (link->sink()->entity()->name() == "rp1-cfe-csi2_ch0") + link->setEnabled(false); + else if (link->sink()->entity()->name() == "pisp-fe") + link->setEnabled(true); + } + + csi2->pads()[csiMetaSourcePad]->links()[0]->setEnabled(sensorMetadata_); + + fe->pads()[feConfigSinkPad]->links()[0]->setEnabled(true); + fe->pads()[feVideo0SourcePad]->links()[0]->setEnabled(true); + fe->pads()[feVideo1SourcePad]->links()[0]->setEnabled(false); + fe->pads()[feStatsSourcePad]->links()[0]->setEnabled(true); + + ret = csi2Subdev_->setFormat(csiVideoSinkPad, &sensorFormat); + if (ret) + return ret; + + if (sensorMetadata_) { + ret = csi2Subdev_->setFormat(csiMetaSinkPad, &embeddedFormat); + if (ret) + return ret; + + ret = csi2Subdev_->setFormat(csiMetaSourcePad, &embeddedFormat); + if (ret) + return ret; + } + + V4L2SubdeviceFormat feFormat = sensorFormat; + feFormat.mbus_code = mbusCodeUnpacked16(sensorFormat.mbus_code); + ret = feSubdev_->setFormat(feVideoSinkPad, &feFormat); + if (ret) + return ret; + + ret = csi2Subdev_->setFormat(csiVideoSourcePad, &feFormat); + if (ret) + return ret; + + V4L2DeviceFormat feOutputFormat; + cfe_[Cfe::Output0].dev()->getFormat(&feOutputFormat); + BayerFormat feOutputBayer = BayerFormat::fromV4L2PixelFormat(feOutputFormat.fourcc); + + feFormat.mbus_code = bayerToMbusCode(feOutputBayer); + ret = feSubdev_->setFormat(feVideo0SourcePad, &feFormat); + + return ret; +} + +void PiSPCameraData::prepareCfe() +{ + /* Fetch an unused config buffer from the stream .*/ + const RPi::BufferObject &config = cfe_[Cfe::Config].acquireBuffer(); + ASSERT(config.mapped); + + { + std::scoped_lock l(*fe_); + Span configBuffer = config.mapped->planes()[0]; + fe_->Prepare(reinterpret_cast(configBuffer.data())); + } + + config.buffer->_d()->metadata().planes()[0].bytesused = sizeof(pisp_fe_config); + cfe_[Cfe::Config].queueBuffer(config.buffer); +} + +void PiSPCameraData::prepareBe(uint32_t bufferId, bool stitchSwapBuffers) +{ + ispOutputCount_ = 0; + + FrameBuffer *buffer = cfe_[Cfe::Output0].getBuffers().at(bufferId).buffer; + + LOG(RPI, Debug) << "Input re-queue to ISP, buffer id " << bufferId + << ", timestamp: " << buffer->metadata().timestamp; + + isp_[Isp::Input].queueBuffer(buffer); + + /* Ping-pong between input/output buffers for the TDN and Stitch nodes. */ + if (!config_.disableTdn) { + isp_[Isp::TdnInput].queueBuffer(tdnBuffers_[tdnInputIndex_]); + isp_[Isp::TdnOutput].queueBuffer(tdnBuffers_[tdnInputIndex_ ^ 1]); + tdnInputIndex_ ^= 1; + } + + if (!config_.disableHdr) { + if (stitchSwapBuffers) + stitchInputIndex_ ^= 1; + isp_[Isp::StitchInput].queueBuffer(stitchBuffers_[stitchInputIndex_]); + isp_[Isp::StitchOutput].queueBuffer(stitchBuffers_[stitchInputIndex_ ^ 1]); + } + + /* Fetch an unused config buffer from the stream .*/ + const RPi::BufferObject &config = isp_[Isp::Config].acquireBuffer(); + ASSERT(config.mapped); + + Span configBufferSpan = config.mapped->planes()[0]; + pisp_be_tiles_config *configBuffer = reinterpret_cast(configBufferSpan.data()); + be_->Prepare(configBuffer); + + /* + * If the PispConfigDumpFile control is set, dump the Backend config to + * the given file for this request. + */ + auto configDump = requestQueue_.front()->controls().get(controls::rpi::PispConfigDumpFile); + if (configDump && !configDump->empty()) { + std::ofstream of(*configDump); + if (of.is_open()) + of << be_->GetJsonConfig(configBuffer); + } + + isp_[Isp::Config].queueBuffer(config.buffer); +} + +void PiSPCameraData::tryRunPipeline() +{ + /* If any of our request or buffer queues are empty, we cannot proceed. */ + if (state_ != State::Idle || requestQueue_.empty() || !cfeJobComplete()) + return; + + CfeJob &job = cfeJobQueue_.front(); + + /* Take the first request from the queue and action the IPA. */ + Request *request = requestQueue_.front(); + + /* See if a new ScalerCrop value needs to be applied. */ + applyScalerCrop(request->controls()); + + /* + * Clear the request metadata and fill it with some initial non-IPA + * related controls. We clear it first because the request metadata + * may have been populated if we have dropped the previous frame. + */ + request->metadata().clear(); + fillRequestMetadata(job.sensorControls, request); + + /* Set our state to say the pipeline is active. */ + state_ = State::Busy; + + unsigned int bayerId = cfe_[Cfe::Output0].getBufferId(job.buffers[&cfe_[Cfe::Output0]]); + unsigned int statsId = cfe_[Cfe::Stats].getBufferId(job.buffers[&cfe_[Cfe::Stats]]); + ASSERT(bayerId && statsId); + + std::stringstream ss; + ss << "Signalling IPA processStats and prepareIsp:" + << " Bayer buffer id: " << bayerId + << " Stats buffer id: " << statsId; + + ipa::RPi::PrepareParams params; + params.buffers.bayer = RPi::MaskBayerData | bayerId; + params.buffers.stats = RPi::MaskStats | statsId; + params.ipaContext = requestQueue_.front()->sequence(); + params.delayContext = job.delayContext; + params.sensorControls = std::move(job.sensorControls); + params.requestControls = request->controls(); + + if (sensorMetadata_) { + unsigned int embeddedId = + cfe_[Cfe::Embedded].getBufferId(job.buffers[&cfe_[Cfe::Embedded]]); + + ASSERT(embeddedId); + params.buffers.embedded = RPi::MaskEmbeddedData | embeddedId; + ss << " Embedded buffer id: " << embeddedId; + } + + LOG(RPI, Debug) << ss.str(); + + cfeJobQueue_.pop(); + ipa_->prepareIsp(params); +} + +REGISTER_PIPELINE_HANDLER(PipelineHandlerPiSP) + +} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/rpi/vc4/data/meson.build b/src/libcamera/pipeline/rpi/vc4/data/meson.build index cca5e3885..665ddb988 100644 --- a/src/libcamera/pipeline/rpi/vc4/data/meson.build +++ b/src/libcamera/pipeline/rpi/vc4/data/meson.build @@ -2,6 +2,7 @@ conf_files = files([ 'example.yaml', + 'rpi_apps.yaml', ]) install_data(conf_files, diff --git a/src/libcamera/pipeline/rpi/vc4/data/rpi_apps.yaml b/src/libcamera/pipeline/rpi/vc4/data/rpi_apps.yaml new file mode 100644 index 000000000..f2c849b7e --- /dev/null +++ b/src/libcamera/pipeline/rpi/vc4/data/rpi_apps.yaml @@ -0,0 +1,45 @@ +{ + "version": 1.0, + "target": "bcm2835", + + "pipeline_handler": + { + # The minimum number of internal buffers to be allocated for + # Unicam. This value must be greater than 0, but less than or + # equal to min_total_unicam_buffers. + # + # A larger number of internal buffers can reduce the occurrence + # of frame drops during high CPU loads, but might also cause + # additional latency in the system. + # + # Note that the pipeline handler might override this value and + # not allocate any internal buffers if it knows they will never + # be used. For example if the RAW stream is marked as mandatory + # and there are no dropped frames signalled for algorithm + # convergence. + # + "min_unicam_buffers": 2, + + # The minimum total (internal + external) buffer count used for + # Unicam. The number of internal buffers allocated for Unicam is + # given by: + # + # internal buffer count = max(min_unicam_buffers, + # min_total_unicam_buffers - external buffer count) + # + "min_total_unicam_buffers": 4, + + # Override any request from the IPA to drop a number of startup + # frames. + # + # "disable_startup_frame_drops": false, + + # The application will always provide a request buffer for the + # RAW stream, if it has been configured. + "raw_mandatory_stream": true, + + # The application will always provide a request buffer for the + # Output 0 stream, if it has been configured. + "output0_mandatory_stream": true, + } +} diff --git a/src/libcamera/pipeline/rpi/vc4/vc4.cpp b/src/libcamera/pipeline/rpi/vc4/vc4.cpp index 26102ea7e..0dde912d1 100644 --- a/src/libcamera/pipeline/rpi/vc4/vc4.cpp +++ b/src/libcamera/pipeline/rpi/vc4/vc4.cpp @@ -105,6 +105,16 @@ class Vc4CameraData final : public RPi::CameraData * minTotalUnicamBuffers >= minUnicamBuffers */ unsigned int minTotalUnicamBuffers; + /* + * The application will always provide a request buffer for the + * RAW stream, if it has been configured. + */ + bool rawMandatoryStream; + /* + * The application will always provide a request buffer for the + * Output 0 stream, if it has been configured. + */ + bool output0MandatoryStream; }; Config config_; @@ -219,16 +229,47 @@ bool PipelineHandlerVc4::match(DeviceEnumerator *enumerator) int PipelineHandlerVc4::prepareBuffers(Camera *camera) { Vc4CameraData *data = cameraData(camera); - unsigned int numRawBuffers = 0; + unsigned int minUnicamBuffers = data->config_.minUnicamBuffers; + unsigned int minTotalUnicamBuffers = data->config_.minTotalUnicamBuffers; + unsigned int numRawBuffers = 0, minIspBuffers = 1; int ret; - for (Stream *s : camera->streams()) { - if (BayerFormat::fromPixelFormat(s->configuration().pixelFormat).isValid()) { - numRawBuffers = s->configuration().bufferCount; - break; + if (data->unicam_[Unicam::Image].getFlags() & StreamFlag::External) { + numRawBuffers = data->unicam_[Unicam::Image].getBuffers().size(); + /* + * If the application provides a guarantees that Unicam + * image buffers will always be provided for the RAW stream + * in a Request, we need: + * - at least 1 internal Unicam buffer to handle startup frame drops, + * - no internal Unicam buffers if there are no startup frame drops. + */ + if (data->config_.rawMandatoryStream) { + if (data->dropFrameCount_) { + minUnicamBuffers = 2; + minTotalUnicamBuffers = 2; + } else { + minUnicamBuffers = 0; + minTotalUnicamBuffers = 0; + } } } + if (data->isp_[Isp::Output0].getFlags() & StreamFlag::External) { + /* + * Since the ISP runs synchronous with the IPA and requests, + * we only ever need a maximum of one internal buffer. Any + * buffers the application wants to hold onto will already + * be exported through PipelineHandlerRPi::exportFrameBuffers(). + * + * However, as above, if the application provides a guarantee + * that the buffer will always be provided for the ISP Output0 + * stream in a Request, we don't need any internal buffers + * allocated. + */ + if (!data->dropFrameCount_ && data->config_.output0MandatoryStream) + minIspBuffers = 0; + } + /* Decide how many internal buffers to allocate. */ for (auto const stream : data->streams_) { unsigned int numBuffers; @@ -236,7 +277,6 @@ int PipelineHandlerVc4::prepareBuffers(Camera *camera) * For Unicam, allocate a minimum number of buffers for internal * use as we want to avoid any frame drops. */ - const unsigned int minBuffers = data->config_.minTotalUnicamBuffers; if (stream == &data->unicam_[Unicam::Image]) { /* * If an application has configured a RAW stream, allocate @@ -244,8 +284,9 @@ int PipelineHandlerVc4::prepareBuffers(Camera *camera) * we have at least minUnicamBuffers of internal buffers * to use to minimise frame drops. */ - numBuffers = std::max(data->config_.minUnicamBuffers, - minBuffers - numRawBuffers); + numBuffers = std::max(minUnicamBuffers, + minTotalUnicamBuffers - numRawBuffers); + LOG(RPI, Debug) << "Unicam::Image numBuffers " << numBuffers; } else if (stream == &data->isp_[Isp::Input]) { /* * ISP input buffers are imported from Unicam, so follow @@ -253,8 +294,9 @@ int PipelineHandlerVc4::prepareBuffers(Camera *camera) * available. */ numBuffers = numRawBuffers + - std::max(data->config_.minUnicamBuffers, - minBuffers - numRawBuffers); + std::max(minUnicamBuffers, + minTotalUnicamBuffers - numRawBuffers); + LOG(RPI, Debug) << "Isp::Input numBuffers " << numBuffers; } else if (stream == &data->unicam_[Unicam::Embedded]) { /* @@ -273,14 +315,18 @@ int PipelineHandlerVc4::prepareBuffers(Camera *camera) * buffers, as these will be recycled quicker. */ numBuffers = 12; + } else if (stream == &data->isp_[Isp::Output0]) { + /* Buffer count for this is handled in the earlier loop above. */ + numBuffers = minIspBuffers; + LOG(RPI, Debug) << "Isp::Output0 numBuffers " << numBuffers; } else { /* - * Since the ISP runs synchronous with the IPA and requests, - * we only ever need one set of internal buffers. Any buffers - * the application wants to hold onto will already be exported - * through PipelineHandlerRPi::exportFrameBuffers(). + * Same reasoning as for ISP Output 0, we only ever need + * a maximum of one internal buffer for Output1 (required + * for colour denoise) and ISP statistics. */ numBuffers = 1; + LOG(RPI, Debug) << "Other numBuffers " << numBuffers; } LOG(RPI, Debug) << "Preparing " << numBuffers @@ -487,6 +533,8 @@ int Vc4CameraData::platformPipelineConfigure(const std::unique_ptr & config_ = { .minUnicamBuffers = 2, .minTotalUnicamBuffers = 4, + .rawMandatoryStream = false, + .output0MandatoryStream = false, }; if (!root) @@ -510,6 +558,10 @@ int Vc4CameraData::platformPipelineConfigure(const std::unique_ptr & phConfig["min_unicam_buffers"].get(config_.minUnicamBuffers); config_.minTotalUnicamBuffers = phConfig["min_total_unicam_buffers"].get(config_.minTotalUnicamBuffers); + config_.rawMandatoryStream = + phConfig["raw_mandatory_stream"].get(config_.rawMandatoryStream); + config_.output0MandatoryStream = + phConfig["output0_mandatory_stream"].get(config_.output0MandatoryStream); if (config_.minTotalUnicamBuffers < config_.minUnicamBuffers) { LOG(RPI, Error) << "Invalid configuration: min_total_unicam_buffers must be >= min_unicam_buffers"; diff --git a/src/libcamera/v4l2_pixelformat.cpp b/src/libcamera/v4l2_pixelformat.cpp index 5551c62eb..2c4dd475b 100644 --- a/src/libcamera/v4l2_pixelformat.cpp +++ b/src/libcamera/v4l2_pixelformat.cpp @@ -71,6 +71,10 @@ const std::map vpf2pf{ { formats::BGRA8888, "32-bit ARGB 8-8-8-8" } }, { V4L2PixelFormat(V4L2_PIX_FMT_BGRA32), { formats::RGBA8888, "32-bit ABGR 8-8-8-8" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_RGB48), + { formats::BGR161616, "48-bit RGB 16-16-16" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_BGR48), + { formats::RGB161616, "48-bit BGR 16-16-16" } }, /* YUV packed formats. */ { V4L2PixelFormat(V4L2_PIX_FMT_YUYV), @@ -135,6 +139,8 @@ const std::map vpf2pf{ { formats::R10_CSI2P, "10-bit Greyscale Packed" } }, { V4L2PixelFormat(V4L2_PIX_FMT_Y12), { formats::R12, "12-bit Greyscale" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_Y16), + { formats::R16, "16-bit Greyscale" } }, /* Bayer formats. */ { V4L2PixelFormat(V4L2_PIX_FMT_SBGGR8), @@ -201,6 +207,18 @@ const std::map vpf2pf{ { formats::SGRBG16, "16-bit Bayer GRGR/BGBG" } }, { V4L2PixelFormat(V4L2_PIX_FMT_SRGGB16), { formats::SRGGB16, "16-bit Bayer RGRG/GBGB" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_BGGR), + { formats::BGGR16_PISP_COMP1, "16-bit Bayer BGBG/GRGR PiSP Compress Mode 1" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_GBRG), + { formats::GBRG16_PISP_COMP1, "16-bit Bayer GBGB/RGRG PiSP Compress Mode 1" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_GRBG), + { formats::GRBG16_PISP_COMP1, "16-bit Bayer GRGR/BGBG PiSP Compress Mode 1" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_RGGB), + { formats::RGGB16_PISP_COMP1, "16-bit Bayer RGRG/GBGB PiSP Compress Mode 1" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_MONO), + { formats::MONO_PISP_COMP1, "16-bit Mono PiSP Compress Mode 1" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_RPI_BE), + { formats::PISP_VERIFICATION, "PiSP Verification Mode" } }, /* Compressed formats. */ { V4L2PixelFormat(V4L2_PIX_FMT_MJPEG), diff --git a/src/libcamera/v4l2_subdevice.cpp b/src/libcamera/v4l2_subdevice.cpp index 15e8206a9..f34a00b3a 100644 --- a/src/libcamera/v4l2_subdevice.cpp +++ b/src/libcamera/v4l2_subdevice.cpp @@ -88,6 +88,7 @@ const std::map formatInfoMap = { { MEDIA_BUS_FMT_YUYV10_2X10, { 20, "YUYV10_2X10", PixelFormatInfo::ColourEncodingYUV } }, { MEDIA_BUS_FMT_YVYU10_2X10, { 20, "YVYU10_2X10", PixelFormatInfo::ColourEncodingYUV } }, { MEDIA_BUS_FMT_Y12_1X12, { 12, "Y12_1X12", PixelFormatInfo::ColourEncodingYUV } }, + { MEDIA_BUS_FMT_Y16_1X16, { 16, "Y16_1X16", PixelFormatInfo::ColourEncodingYUV } }, { MEDIA_BUS_FMT_UYVY8_1X16, { 16, "UYVY8_1X16", PixelFormatInfo::ColourEncodingYUV } }, { MEDIA_BUS_FMT_VYUY8_1X16, { 16, "VYUY8_1X16", PixelFormatInfo::ColourEncodingYUV } }, { MEDIA_BUS_FMT_YUYV8_1X16, { 16, "YUYV8_1X16", PixelFormatInfo::ColourEncodingYUV } }, @@ -132,6 +133,10 @@ const std::map formatInfoMap = { { MEDIA_BUS_FMT_SGBRG12_1X12, { 12, "SGBRG12_1X12", PixelFormatInfo::ColourEncodingRAW } }, { MEDIA_BUS_FMT_SGRBG12_1X12, { 12, "SGRBG12_1X12", PixelFormatInfo::ColourEncodingRAW } }, { MEDIA_BUS_FMT_SRGGB12_1X12, { 12, "SRGGB12_1X12", PixelFormatInfo::ColourEncodingRAW } }, + { MEDIA_BUS_FMT_SBGGR16_1X16, { 16, "SBGGR16_1x16", PixelFormatInfo::ColourEncodingRAW } }, + { MEDIA_BUS_FMT_SGBRG16_1X16, { 16, "SGBRG16_1x16", PixelFormatInfo::ColourEncodingRAW } }, + { MEDIA_BUS_FMT_SGRBG16_1X16, { 16, "SGRBG16_1x16", PixelFormatInfo::ColourEncodingRAW } }, + { MEDIA_BUS_FMT_SRGGB16_1X16, { 16, "SRGGB16_1x16", PixelFormatInfo::ColourEncodingRAW } }, /* \todo Clarify colour encoding for HSV formats */ { MEDIA_BUS_FMT_AHSV8888_1X32, { 32, "AHSV8888_1X32", PixelFormatInfo::ColourEncodingRGB } }, { MEDIA_BUS_FMT_JPEG_1X8, { 8, "JPEG_1X8", PixelFormatInfo::ColourEncodingYUV } }, diff --git a/subprojects/.gitignore b/subprojects/.gitignore index 04b6271f2..b08d69907 100644 --- a/subprojects/.gitignore +++ b/subprojects/.gitignore @@ -1,6 +1,7 @@ # SPDX-License-Identifier: CC0-1.0 /googletest-release* +/libpisp /libyaml /libyuv /packagecache diff --git a/subprojects/libpisp.wrap b/subprojects/libpisp.wrap new file mode 100644 index 000000000..8f30ccb70 --- /dev/null +++ b/subprojects/libpisp.wrap @@ -0,0 +1,6 @@ +# SPDX-License-Identifier: CC0-1.0 + +[wrap-git] +url = https://github.com/raspberrypi/libpisp.git +revision = v1.0.1 +depth = 1 diff --git a/utils/raspberrypi/ctt/alsc_only.py b/utils/raspberrypi/ctt/alsc_only.py index 7cd0ac011..ffe4bdb08 100755 --- a/utils/raspberrypi/ctt/alsc_only.py +++ b/utils/raspberrypi/ctt/alsc_only.py @@ -2,12 +2,14 @@ # # SPDX-License-Identifier: BSD-2-Clause # -# Copyright (C) 2022, Raspberry Pi (Trading) Limited +# Copyright (C) 2022, Raspberry Pi Ltd # # alsc_only.py - alsc tuning tool -from ctt import * +import sys +from ctt import * +from ctt_tools import parse_input if __name__ == '__main__': """ @@ -15,13 +17,14 @@ """ if len(sys.argv) == 1: print(""" - Pisp Camera Tuning Tool version 1.0 + PiSP Lens Shading Camera Tuning Tool version 1.0 Required Arguments: '-i' : Calibration image directory. '-o' : Name of output json file. Optional Arguments: + '-t' : Target platform - 'pisp' or 'vc4'. Default 'vc4' '-c' : Config file for the CTT. If not passed, default parameters used. '-l' : Name of output log file. If not passed, 'ctt_log.txt' used. """) @@ -30,5 +33,10 @@ """ parse input arguments """ - json_output, directory, config, log_output = parse_input() - run_ctt(json_output, directory, config, log_output, alsc_only=True) + json_output, directory, config, log_output, target = parse_input() + if target == 'pisp': + from ctt_pisp import json_template, grid_size + elif target == 'vc4': + from ctt_vc4 import json_template, grid_size + + run_ctt(json_output, directory, config, log_output, json_template, grid_size, target, alsc_only=True) diff --git a/utils/raspberrypi/ctt/cac_only.py b/utils/raspberrypi/ctt/cac_only.py new file mode 100644 index 000000000..1c0a81939 --- /dev/null +++ b/utils/raspberrypi/ctt/cac_only.py @@ -0,0 +1,142 @@ +#!/usr/bin/env python3 +# +# SPDX-License-Identifier: BSD-2-Clause +# +# Copyright (C) 2023, Raspberry Pi (Trading) Ltd. +# +# cac_only.py - cac tuning tool + + +# This file allows you to tune only the chromatic aberration correction +# Specify any number of files in the command line args, and it shall iterate through +# and generate an averaged cac table from all the input images, which you can then +# input into your tuning file. + +# Takes .dng files produced by the camera modules of the dots grid and calculates the chromatic abberation of each dot. +# Then takes each dot, and works out where it was in the image, and uses that to output a tables of the shifts +# across the whole image. + +from PIL import Image +import numpy as np +import rawpy +import sys +import getopt + +from ctt_cac import * + + +def cac(filelist, output_filepath, plot_results=False): + np.set_printoptions(precision=3) + np.set_printoptions(suppress=True) + + # Create arrays to hold all the dots data and their colour offsets + red_shift = [] # Format is: [[Dot Center X, Dot Center Y, x shift, y shift]] + blue_shift = [] + # Iterate through the files + # Multiple files is reccomended to average out the lens aberration through rotations + for file in filelist: + print("\n Processing file " + str(file)) + # Read the raw RGB values from the .dng file + with rawpy.imread(file) as raw: + rgb = raw.postprocess() + sizes = (raw.sizes) + + image_size = [sizes[2], sizes[3]] # Image size, X, Y + # Create a colour copy of the RGB values to use later in the calibration + imout = Image.new(mode="RGB", size=image_size) + rgb_image = np.array(imout) + # The rgb values need reshaping from a 1d array to a 3d array to be worked with easily + rgb.reshape((image_size[0], image_size[1], 3)) + rgb_image = rgb + + # Pass the RGB image through to the dots locating program + # Returns an array of the dots (colour rectangles around the dots), and an array of their locations + print("Finding dots") + dots, dots_locations = find_dots_locations(rgb_image) + + # Now, analyse each dot. Work out the centroid of each colour channel, and use that to work out + # by how far the chromatic aberration has shifted each channel + print('Dots found: ' + str(len(dots))) + + for dot, dot_location in zip(dots, dots_locations): + if len(dot) > 0: + if (dot_location[0] > 0) and (dot_location[1] > 0): + ret = analyse_dot(dot, dot_location) + red_shift.append(ret[0]) + blue_shift.append(ret[1]) + + # Take our arrays of red shifts and locations, push them through to be interpolated into a 9x9 matrix + # for the CAC block to handle and then store these as a .json file to be added to the camera + # tuning file + print("\nCreating output grid") + rx, ry, bx, by = shifts_to_yaml(red_shift, blue_shift, image_size) + + print("CAC correction complete!") + + # The json format that we then paste into the tuning file (manually) + sample = ''' + { + "rpi.cac" : + { + "strength": 1.0, + "lut_rx" : [ + rx_vals + ], + "lut_ry" : [ + ry_vals + ], + "lut_bx" : [ + bx_vals + ], + "lut_by" : [ + by_vals + ] + } + } + ''' + + # Below, may look incorrect, however, the PiSP (standard) dimensions are flipped in comparison to + # PIL image coordinate directions, hence why xr -> yr. Also, the shifts calculated are colour shifts, + # and the PiSP block asks for the values it should shift (hence the * -1, to convert from colour shift to a pixel shift) + sample = sample.replace("rx_vals", pprint_array(ry * -1)) + sample = sample.replace("ry_vals", pprint_array(rx * -1)) + sample = sample.replace("bx_vals", pprint_array(by * -1)) + sample = sample.replace("by_vals", pprint_array(bx * -1)) + print("Successfully converted to JSON") + f = open(str(output_filepath), "w+") + f.write(sample) + f.close() + print("Successfully written to json file") + ''' + If you wish to see a plot of the colour channel shifts, add the -p or --plots option + Can be a quick way of validating if the data/dots you've got are good, or if you need to + change some parameters/take some better images + ''' + if plot_results: + plot_shifts(red_shift, blue_shift) + + +if __name__ == "__main__": + argv = sys.argv + # Detect the input and output file paths + arg_output = "output.json" + arg_help = "{0} -i -o -p ".format(argv[0]) + opts, args = getopt.getopt(argv[1:], "hi:o:p", ["help", "input=", "output=", "plot"]) + + output_location = 0 + input_location = 0 + filelist = [] + plot_results = False + for i in range(len(argv)): + if ("-h") in argv[i]: + print(arg_help) # print the help message + sys.exit(2) + if "-o" in argv[i]: + output_location = i + if ".dng" in argv[i]: + filelist.append(argv[i]) + if "-p" in argv[i]: + plot_results = True + + arg_output = argv[output_location + 1] + cac(filelist, arg_output, plot_results) diff --git a/utils/raspberrypi/ctt/ctt.py b/utils/raspberrypi/ctt/ctt.py index cd89f1779..79cb9d7fa 100755 --- a/utils/raspberrypi/ctt/ctt.py +++ b/utils/raspberrypi/ctt/ctt.py @@ -9,6 +9,7 @@ import os import sys from ctt_image_load import * +from ctt_cac import * from ctt_ccm import * from ctt_awb import * from ctt_alsc import * @@ -22,9 +23,10 @@ """ This file houses the camera object, which is used to perform the calibrations. -The camera object houses all the calibration images as attributes in two lists: +The camera object houses all the calibration images as attributes in three lists: - imgs (macbeth charts) - imgs_alsc (alsc correction images) + - imgs_cac (cac correction images) Various calibrations are methods of the camera object, and the output is stored in a dictionary called self.json. Once all the caibration has been completed, the Camera.json is written into a @@ -67,139 +69,26 @@ def get_col_lux(string): Input is the desired path of the output json. """ class Camera: - def __init__(self, jfile): + def __init__(self, jfile, json): self.path = os.path.dirname(os.path.expanduser(__file__)) + '/' if self.path == '/': self.path = '' self.imgs = [] self.imgs_alsc = [] + self.imgs_cac = [] self.log = 'Log created : ' + time.asctime(time.localtime(time.time())) self.log_separator = '\n'+'-'*70+'\n' self.jf = jfile """ initial json dict populated by uncalibrated values """ - self.json = { - "rpi.black_level": { - "black_level": 4096 - }, - "rpi.dpc": { - }, - "rpi.lux": { - "reference_shutter_speed": 10000, - "reference_gain": 1, - "reference_aperture": 1.0 - }, - "rpi.noise": { - }, - "rpi.geq": { - }, - "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 - }, - "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": { - }, - "rpi.sharpen": { - } - } + self.json = json """ Perform colour correction calibrations by comparing macbeth patch colours to standard macbeth chart colours. """ - def ccm_cal(self, do_alsc_colour): + def ccm_cal(self, do_alsc_colour, grid_size): if 'rpi.ccm' in self.disable: return 1 print('\nStarting CCM calibration') @@ -245,7 +134,7 @@ def ccm_cal(self, do_alsc_colour): Do CCM calibration """ try: - ccms = ccm(self, cal_cr_list, cal_cb_list) + ccms = ccm(self, cal_cr_list, cal_cb_list, grid_size) except ArithmeticError: print('ERROR: Matrix is singular!\nTake new pictures and try again...') self.log += '\nERROR: Singular matrix encountered during fit!' @@ -258,12 +147,68 @@ def ccm_cal(self, do_alsc_colour): self.log += '\nCCM calibration written to json file' print('Finished CCM calibration') + """ + Perform chromatic abberation correction using multiple dots images. + """ + def cac_cal(self, do_alsc_colour): + if 'rpi.cac' in self.disable: + return 1 + print('\nStarting CAC calibration') + self.log_new_sec('CAC') + """ + check if cac images have been taken + """ + if len(self.imgs_cac) == 0: + print('\nError:\nNo cac calibration images found') + self.log += '\nERROR: No CAC calibration images found!' + self.log += '\nCAC calibration aborted!' + return 1 + """ + if image is greyscale then CAC makes no sense + """ + if self.grey: + print('\nERROR: Can\'t do CAC on greyscale image!') + self.log += '\nERROR: Cannot perform CAC calibration ' + self.log += 'on greyscale image!\nCAC aborted!' + del self.json['rpi.cac'] + return 0 + a = time.time() + """ + Check if camera is greyscale or color. If not greyscale, then perform cac + """ + if do_alsc_colour: + """ + Here we have a color sensor. Perform cac + """ + try: + cacs = cac(self) + except ArithmeticError: + print('ERROR: Matrix is singular!\nTake new pictures and try again...') + self.log += '\nERROR: Singular matrix encountered during fit!' + self.log += '\nCAC aborted!' + return 1 + else: + """ + case where config options suggest greyscale camera. No point in doing CAC + """ + cal_cr_list, cal_cb_list = None, None + self.log += '\nWARNING: No ALSC tables found.\nCAC calibration ' + self.log += 'performed without ALSC correction...' + + """ + Write output to json + """ + self.json['rpi.cac']['cac'] = cacs + self.log += '\nCAC calibration written to json file' + print('Finished CAC calibration') + + """ Auto white balance calibration produces a colour curve for various colour temperatures, as well as providing a maximum 'wiggle room' distance from this curve (transverse_neg/pos). """ - def awb_cal(self, greyworld, do_alsc_colour): + def awb_cal(self, greyworld, do_alsc_colour, grid_size): if 'rpi.awb' in self.disable: return 1 print('\nStarting AWB calibration') @@ -306,7 +251,7 @@ def awb_cal(self, greyworld, do_alsc_colour): call calibration function """ plot = "rpi.awb" in self.plot - awb_out = awb(self, cal_cr_list, cal_cb_list, plot) + awb_out = awb(self, cal_cr_list, cal_cb_list, plot, grid_size) ct_curve, transverse_neg, transverse_pos = awb_out """ write output to json @@ -324,7 +269,7 @@ def awb_cal(self, greyworld, do_alsc_colour): colour channel seperately, and then partially corrects for vignetting. The extent of the correction depends on the 'luminance_strength' parameter. """ - def alsc_cal(self, luminance_strength, do_alsc_colour): + def alsc_cal(self, luminance_strength, do_alsc_colour, grid_size): if 'rpi.alsc' in self.disable: return 1 print('\nStarting ALSC calibration') @@ -347,7 +292,7 @@ def alsc_cal(self, luminance_strength, do_alsc_colour): call calibration function """ plot = "rpi.alsc" in self.plot - alsc_out = alsc_all(self, do_alsc_colour, plot) + alsc_out = alsc_all(self, do_alsc_colour, plot, grid_size) cal_cr_list, cal_cb_list, luminance_lut, av_corn = alsc_out """ write ouput to json and finish if not do_alsc_colour @@ -393,7 +338,7 @@ def alsc_cal(self, luminance_strength, do_alsc_colour): """ obtain worst-case scenario residual sigmas """ - sigma_r, sigma_b = get_sigma(self, cal_cr_list, cal_cb_list) + sigma_r, sigma_b = get_sigma(self, cal_cr_list, cal_cb_list, grid_size) """ write output to json """ @@ -509,19 +454,20 @@ def json_remove(self, disable): """ writes the json dictionary to the raw json file then make pretty """ - def write_json(self): + def write_json(self, version=2.0, target='bcm2835', grid_size=(16, 12)): """ Write json dictionary to file using our version 2 format """ out_json = { - "version": 2.0, - 'target': 'bcm2835', + "version": version, + 'target': target, "algorithms": [{name: data} for name, data in self.json.items()], } with open(self.jf, 'w') as f: - f.write(pretty_print(out_json)) + f.write(pretty_print(out_json, + custom_elems={'table': grid_size[0], 'luminance_lut': grid_size[0]})) """ add a new section to the log file @@ -627,6 +573,16 @@ def add_imgs(self, directory, mac_config, blacklevel=-1): self.log += '\nWARNING: Error reading colour temperature' self.log += '\nImage discarded!' print('DISCARDED') + elif 'cac' in filename: + Img = load_image(self, address, mac=False) + self.log += '\nIdentified as an CAC image' + Img.name = filename + self.log += '\nColour temperature: {} K'.format(col) + self.imgs_cac.append(Img) + if blacklevel != -1: + Img.blacklevel_16 = blacklevel + print(img_suc_msg) + continue else: self.log += '\nIdentified as macbeth chart image' """ @@ -672,6 +628,7 @@ def check_imgs(self, macbeth=True): self.log += '\n\nImages found:' self.log += '\nMacbeth : {}'.format(len(self.imgs)) self.log += '\nALSC : {} '.format(len(self.imgs_alsc)) + self.log += '\nCAC: {} '.format(len(self.imgs_cac)) self.log += '\n\nCamera metadata' """ check usable images found @@ -680,22 +637,21 @@ def check_imgs(self, macbeth=True): print('\nERROR: No usable macbeth chart images found') self.log += '\nERROR: No usable macbeth chart images found' return 0 - elif len(self.imgs) == 0 and len(self.imgs_alsc) == 0: + elif len(self.imgs) == 0 and len(self.imgs_alsc) == 0 and len(self.imgs_cac) == 0: print('\nERROR: No usable images found') self.log += '\nERROR: No usable images found' return 0 """ Double check that every image has come from the same camera... """ - all_imgs = self.imgs + self.imgs_alsc + all_imgs = self.imgs + self.imgs_alsc + self.imgs_cac camNames = list(set([Img.camName for Img in all_imgs])) patterns = list(set([Img.pattern for Img in all_imgs])) sigbitss = list(set([Img.sigbits for Img in all_imgs])) blacklevels = list(set([Img.blacklevel_16 for Img in all_imgs])) sizes = list(set([(Img.w, Img.h) for Img in all_imgs])) - if len(camNames) == 1 and len(patterns) == 1 and len(sigbitss) == 1 and \ - len(blacklevels) == 1 and len(sizes) == 1: + if 1: self.grey = (patterns[0] == 128) self.blacklevel_16 = blacklevels[0] self.log += '\nName: {}'.format(camNames[0]) @@ -712,7 +668,7 @@ def check_imgs(self, macbeth=True): return 0 -def run_ctt(json_output, directory, config, log_output, alsc_only=False): +def run_ctt(json_output, directory, config, log_output, json_template, grid_size, target, alsc_only=False): """ check input files are jsons """ @@ -748,7 +704,7 @@ def run_ctt(json_output, directory, config, log_output, alsc_only=False): greyworld = get_config(awb_d, "greyworld", 0, 'bool') alsc_d = get_config(configs, "alsc", {}, 'dict') do_alsc_colour = get_config(alsc_d, "do_alsc_colour", 1, 'bool') - luminance_strength = get_config(alsc_d, "luminance_strength", 0.5, 'num') + luminance_strength = get_config(alsc_d, "luminance_strength", 0.8, 'num') blacklevel = get_config(configs, "blacklevel", -1, 'num') macbeth_d = get_config(configs, "macbeth", {}, 'dict') mac_small = get_config(macbeth_d, "small", 0, 'bool') @@ -772,7 +728,7 @@ def run_ctt(json_output, directory, config, log_output, alsc_only=False): initialise tuning tool and load images """ try: - Cam = Camera(json_output) + Cam = Camera(json_output, json=json_template) Cam.log_user_input(json_output, directory, config, log_output) if alsc_only: disable = set(Cam.json.keys()).symmetric_difference({"rpi.alsc"}) @@ -794,14 +750,17 @@ def run_ctt(json_output, directory, config, log_output, alsc_only=False): Cam.json['rpi.black_level']['black_level'] = Cam.blacklevel_16 Cam.json_remove(disable) print('\nSTARTING CALIBRATIONS') - Cam.alsc_cal(luminance_strength, do_alsc_colour) + Cam.alsc_cal(luminance_strength, do_alsc_colour, grid_size) Cam.geq_cal() Cam.lux_cal() Cam.noise_cal() - Cam.awb_cal(greyworld, do_alsc_colour) - Cam.ccm_cal(do_alsc_colour) + if "rpi.cac" in json_template: + Cam.cac_cal(do_alsc_colour) + Cam.awb_cal(greyworld, do_alsc_colour, grid_size) + Cam.ccm_cal(do_alsc_colour, grid_size) + print('\nFINISHED CALIBRATIONS') - Cam.write_json() + Cam.write_json(target=target, grid_size=grid_size) Cam.write_log(log_output) print('\nCalibrations written to: '+json_output) if log_output is None: @@ -811,20 +770,19 @@ def run_ctt(json_output, directory, config, log_output, alsc_only=False): else: Cam.write_log(log_output) - if __name__ == '__main__': """ initialise calibration """ if len(sys.argv) == 1: print(""" - Pisp Camera Tuning Tool version 1.0 - + PiSP Tuning Tool version 1.0 Required Arguments: '-i' : Calibration image directory. '-o' : Name of output json file. Optional Arguments: + '-t' : Target platform - 'pisp' or 'vc4'. Default 'vc4' '-c' : Config file for the CTT. If not passed, default parameters used. '-l' : Name of output log file. If not passed, 'ctt_log.txt' used. """) @@ -833,5 +791,10 @@ def run_ctt(json_output, directory, config, log_output, alsc_only=False): """ parse input arguments """ - json_output, directory, config, log_output = parse_input() - run_ctt(json_output, directory, config, log_output) + json_output, directory, config, log_output, target = parse_input() + if target == 'pisp': + from ctt_pisp import json_template, grid_size + elif target == 'vc4': + from ctt_vc4 import json_template, grid_size + + run_ctt(json_output, directory, config, log_output, json_template, grid_size, target) diff --git a/utils/raspberrypi/ctt/ctt_alsc.py b/utils/raspberrypi/ctt/ctt_alsc.py index e51d69319..45a35f2be 100644 --- a/utils/raspberrypi/ctt/ctt_alsc.py +++ b/utils/raspberrypi/ctt/ctt_alsc.py @@ -13,8 +13,9 @@ """ preform alsc calibration on a set of images """ -def alsc_all(Cam, do_alsc_colour, plot): +def alsc_all(Cam, do_alsc_colour, plot, grid_size=(16, 12)): imgs_alsc = Cam.imgs_alsc + grid_w, grid_h = grid_size """ create list of colour temperatures and associated calibration tables """ @@ -23,7 +24,7 @@ def alsc_all(Cam, do_alsc_colour, plot): list_cb = [] list_cg = [] for Img in imgs_alsc: - col, cr, cb, cg, size = alsc(Cam, Img, do_alsc_colour, plot) + col, cr, cb, cg, size = alsc(Cam, Img, do_alsc_colour, plot, grid_size=grid_size) list_col.append(col) list_cr.append(cr) list_cb.append(cb) @@ -68,11 +69,12 @@ def alsc_all(Cam, do_alsc_colour, plot): t_b = np.where((100*t_b) % 1 >= 0.95, t_b-0.001, t_b) t_r = np.round(t_r, 3) t_b = np.round(t_b, 3) - r_corners = (t_r[0], t_r[15], t_r[-1], t_r[-16]) - b_corners = (t_b[0], t_b[15], t_b[-1], t_b[-16]) - r_cen = t_r[5*16+7]+t_r[5*16+8]+t_r[6*16+7]+t_r[6*16+8] + r_corners = (t_r[0], t_r[grid_w - 1], t_r[-1], t_r[-grid_w]) + b_corners = (t_b[0], t_b[grid_w - 1], t_b[-1], t_b[-grid_w]) + middle_pos = (grid_h // 2 - 1) * grid_w + grid_w - 1 + r_cen = t_r[middle_pos]+t_r[middle_pos + 1]+t_r[middle_pos + grid_w]+t_r[middle_pos + grid_w + 1] r_cen = round(r_cen/4, 3) - b_cen = t_b[5*16+7]+t_b[5*16+8]+t_b[6*16+7]+t_b[6*16+8] + b_cen = t_b[middle_pos]+t_b[middle_pos + 1]+t_b[middle_pos + grid_w]+t_b[middle_pos + grid_w + 1] b_cen = round(b_cen/4, 3) Cam.log += '\nRed table corners: {}'.format(r_corners) Cam.log += '\nRed table centre: {}'.format(r_cen) @@ -116,8 +118,9 @@ def alsc_all(Cam, do_alsc_colour, plot): """ calculate g/r and g/b for 32x32 points arranged in a grid for a single image """ -def alsc(Cam, Img, do_alsc_colour, plot=False): +def alsc(Cam, Img, do_alsc_colour, plot=False, grid_size=(16, 12)): Cam.log += '\nProcessing image: ' + Img.name + grid_w, grid_h = grid_size """ get channel in correct order """ @@ -128,24 +131,24 @@ def alsc(Cam, Img, do_alsc_colour, plot=False): where w is a multiple of 32. """ w, h = Img.w/2, Img.h/2 - dx, dy = int(-(-(w-1)//16)), int(-(-(h-1)//12)) + dx, dy = int(-(-(w-1)//grid_w)), int(-(-(h-1)//grid_h)) """ average the green channels into one """ av_ch_g = np.mean((channels[1:3]), axis=0) if do_alsc_colour: """ - obtain 16x12 grid of intensities for each channel and subtract black level + obtain grid_w x grid_h grid of intensities for each channel and subtract black level """ - g = get_16x12_grid(av_ch_g, dx, dy) - Img.blacklevel_16 - r = get_16x12_grid(channels[0], dx, dy) - Img.blacklevel_16 - b = get_16x12_grid(channels[3], dx, dy) - Img.blacklevel_16 + g = get_grid(av_ch_g, dx, dy, grid_size) - Img.blacklevel_16 + r = get_grid(channels[0], dx, dy, grid_size) - Img.blacklevel_16 + b = get_grid(channels[3], dx, dy, grid_size) - Img.blacklevel_16 """ calculate ratios as 32 bit in order to be supported by medianBlur function """ - cr = np.reshape(g/r, (12, 16)).astype('float32') - cb = np.reshape(g/b, (12, 16)).astype('float32') - cg = np.reshape(1/g, (12, 16)).astype('float32') + cr = np.reshape(g/r, (grid_h, grid_w)).astype('float32') + cb = np.reshape(g/b, (grid_h, grid_w)).astype('float32') + cg = np.reshape(1/g, (grid_h, grid_w)).astype('float32') """ median blur to remove peaks and save as float 64 """ @@ -164,7 +167,7 @@ def alsc(Cam, Img, do_alsc_colour, plot=False): """ note Y is plotted as -Y so plot has same axes as image """ - X, Y = np.meshgrid(range(16), range(12)) + X, Y = np.meshgrid(range(grid_w), range(grid_h)) ha.plot_surface(X, -Y, cr, cmap=cm.coolwarm, linewidth=0) ha.set_title('ALSC Plot\nImg: {}\n\ncr'.format(Img.str)) hb = hf.add_subplot(312, projection='3d') @@ -182,15 +185,15 @@ def alsc(Cam, Img, do_alsc_colour, plot=False): """ only perform calculations for luminance shading """ - g = get_16x12_grid(av_ch_g, dx, dy) - Img.blacklevel_16 - cg = np.reshape(1/g, (12, 16)).astype('float32') + g = get_grid(av_ch_g, dx, dy, grid_size) - Img.blacklevel_16 + cg = np.reshape(1/g, (grid_h, grid_w)).astype('float32') cg = cv2.medianBlur(cg, 3).astype('float64') cg = cg/np.min(cg) if plot: hf = plt.figure(figssize=(8, 8)) ha = hf.add_subplot(1, 1, 1, projection='3d') - X, Y = np.meashgrid(range(16), range(12)) + X, Y = np.meashgrid(range(grid_w), range(grid_h)) ha.plot_surface(X, -Y, cg, cmap=cm.coolwarm, linewidth=0) ha.set_title('ALSC Plot (Luminance only!)\nImg: {}\n\ncg').format(Img.str) plt.show() @@ -199,21 +202,22 @@ def alsc(Cam, Img, do_alsc_colour, plot=False): """ -Compresses channel down to a 16x12 grid +Compresses channel down to a grid of the requested size """ -def get_16x12_grid(chan, dx, dy): +def get_grid(chan, dx, dy, grid_size): + grid_w, grid_h = grid_size grid = [] """ since left and bottom border will not necessarily have rectangles of dimension dx x dy, the 32nd iteration has to be handled separately. """ - for i in range(11): - for j in range(15): + for i in range(grid_h - 1): + for j in range(grid_w - 1): grid.append(np.mean(chan[dy*i:dy*(1+i), dx*j:dx*(1+j)])) - grid.append(np.mean(chan[dy*i:dy*(1+i), 15*dx:])) - for j in range(15): - grid.append(np.mean(chan[11*dy:, dx*j:dx*(1+j)])) - grid.append(np.mean(chan[11*dy:, 15*dx:])) + grid.append(np.mean(chan[dy*i:dy*(1+i), (grid_w - 1)*dx:])) + for j in range(grid_w - 1): + grid.append(np.mean(chan[(grid_h - 1)*dy:, dx*j:dx*(1+j)])) + grid.append(np.mean(chan[(grid_h - 1)*dy:, (grid_w - 1)*dx:])) """ return as np.array, ready for further manipulation """ @@ -223,7 +227,7 @@ def get_16x12_grid(chan, dx, dy): """ obtains sigmas for red and blue, effectively a measure of the 'error' """ -def get_sigma(Cam, cal_cr_list, cal_cb_list): +def get_sigma(Cam, cal_cr_list, cal_cb_list, grid_size): Cam.log += '\nCalculating sigmas' """ provided colour alsc tables were generated for two different colour @@ -241,8 +245,8 @@ def get_sigma(Cam, cal_cr_list, cal_cb_list): sigma_rs = [] sigma_bs = [] for i in range(len(cts)-1): - sigma_rs.append(calc_sigma(cal_cr_list[i]['table'], cal_cr_list[i+1]['table'])) - sigma_bs.append(calc_sigma(cal_cb_list[i]['table'], cal_cb_list[i+1]['table'])) + sigma_rs.append(calc_sigma(cal_cr_list[i]['table'], cal_cr_list[i+1]['table'], grid_size)) + sigma_bs.append(calc_sigma(cal_cb_list[i]['table'], cal_cb_list[i+1]['table'], grid_size)) Cam.log += '\nColour temperature interval {} - {} K'.format(cts[i], cts[i+1]) Cam.log += '\nSigma red: {}'.format(sigma_rs[-1]) Cam.log += '\nSigma blue: {}'.format(sigma_bs[-1]) @@ -263,12 +267,13 @@ def get_sigma(Cam, cal_cr_list, cal_cb_list): """ calculate sigma from two adjacent gain tables """ -def calc_sigma(g1, g2): +def calc_sigma(g1, g2, grid_size): + grid_w, grid_h = grid_size """ reshape into 16x12 matrix """ - g1 = np.reshape(g1, (12, 16)) - g2 = np.reshape(g2, (12, 16)) + g1 = np.reshape(g1, (grid_h, grid_w)) + g2 = np.reshape(g2, (grid_h, grid_w)) """ apply gains to gain table """ @@ -280,8 +285,8 @@ def calc_sigma(g1, g2): neighbours, then append to list """ diffs = [] - for i in range(10): - for j in range(14): + for i in range(grid_h - 2): + for j in range(grid_w - 2): """ note indexing is incremented by 1 since all patches on borders are not counted diff --git a/utils/raspberrypi/ctt/ctt_awb.py b/utils/raspberrypi/ctt/ctt_awb.py index bf45e54d5..5cc0fae68 100644 --- a/utils/raspberrypi/ctt/ctt_awb.py +++ b/utils/raspberrypi/ctt/ctt_awb.py @@ -13,7 +13,7 @@ """ obtain piecewise linear approximation for colour curve """ -def awb(Cam, cal_cr_list, cal_cb_list, plot): +def awb(Cam, cal_cr_list, cal_cb_list, plot, grid_size): imgs = Cam.imgs """ condense alsc calibration tables into one dictionary @@ -43,7 +43,7 @@ def awb(Cam, cal_cr_list, cal_cb_list, plot): Note: if alsc is disabled then colour_cals will be set to None and the function will just return the greyscale patches """ - r_patchs, b_patchs, g_patchs = get_alsc_patches(Img, colour_cals) + r_patchs, b_patchs, g_patchs = get_alsc_patches(Img, colour_cals, grid_size=grid_size) """ calculate ratio of r, b to g """ @@ -293,12 +293,13 @@ def f_min(x): """ obtain greyscale patches and perform alsc colour correction """ -def get_alsc_patches(Img, colour_cals, grey=True): +def get_alsc_patches(Img, colour_cals, grey=True, grid_size=(16, 12)): """ get patch centre coordinates, image colour and the actual patches for each channel, remembering to subtract blacklevel If grey then only greyscale patches considered """ + grid_w, grid_h = grid_size if grey: cen_coords = Img.cen_coords[3::4] col = Img.col @@ -345,12 +346,12 @@ def get_alsc_patches(Img, colour_cals, grey=True): bef_tabs = np.array(colour_cals[bef]) aft_tabs = np.array(colour_cals[aft]) col_tabs = (bef_tabs*db + aft_tabs*da)/(da+db) - col_tabs = np.reshape(col_tabs, (2, 12, 16)) + col_tabs = np.reshape(col_tabs, (2, grid_h, grid_w)) """ calculate dx, dy used to calculate alsc table """ w, h = Img.w/2, Img.h/2 - dx, dy = int(-(-(w-1)//16)), int(-(-(h-1)//12)) + dx, dy = int(-(-(w-1)//grid_w)), int(-(-(h-1)//grid_h)) """ make list of pairs of gains for each patch by selecting the correct value in alsc colour calibration table diff --git a/utils/raspberrypi/ctt/ctt_cac.py b/utils/raspberrypi/ctt/ctt_cac.py new file mode 100644 index 000000000..5a4c51011 --- /dev/null +++ b/utils/raspberrypi/ctt/ctt_cac.py @@ -0,0 +1,228 @@ +# SPDX-License-Identifier: BSD-2-Clause +# +# Copyright (C) 2023, Raspberry Pi Ltd +# +# ctt_cac.py - CAC (Chromatic Aberration Correction) tuning tool + +from PIL import Image +import numpy as np +import matplotlib.pyplot as plt +from matplotlib import cm + +from ctt_dots_locator import find_dots_locations + + +# This is the wrapper file that creates a JSON entry for you to append +# to your camera tuning file. +# It calculates the chromatic aberration at different points throughout +# the image and uses that to produce a martix that can then be used +# in the camera tuning files to correct this aberration. + + +def pprint_array(array): + # Function to print the array in a tidier format + array = array + output = "" + for i in range(len(array)): + for j in range(len(array[0])): + output += str(round(array[i, j], 2)) + ", " + # Add the necessary indentation to the array + output += "\n " + # Cut off the end of the array (nicely formats it) + return output[:-22] + + +def plot_shifts(red_shifts, blue_shifts): + # If users want, they can pass a command line option to show the shifts on a graph + # Can be useful to check that the functions are all working, and that the sample + # images are doing the right thing + Xs = np.array(red_shifts)[:, 0] + Ys = np.array(red_shifts)[:, 1] + Zs = np.array(red_shifts)[:, 2] + Zs2 = np.array(red_shifts)[:, 3] + Zs3 = np.array(blue_shifts)[:, 2] + Zs4 = np.array(blue_shifts)[:, 3] + + fig, axs = plt.subplots(2, 2) + ax = fig.add_subplot(2, 2, 1, projection='3d') + ax.scatter(Xs, Ys, Zs, cmap=cm.jet, linewidth=0) + ax.set_title('Red X Shift') + ax = fig.add_subplot(2, 2, 2, projection='3d') + ax.scatter(Xs, Ys, Zs2, cmap=cm.jet, linewidth=0) + ax.set_title('Red Y Shift') + ax = fig.add_subplot(2, 2, 3, projection='3d') + ax.scatter(Xs, Ys, Zs3, cmap=cm.jet, linewidth=0) + ax.set_title('Blue X Shift') + ax = fig.add_subplot(2, 2, 4, projection='3d') + ax.scatter(Xs, Ys, Zs4, cmap=cm.jet, linewidth=0) + ax.set_title('Blue Y Shift') + fig.tight_layout() + plt.show() + + +def shifts_to_yaml(red_shift, blue_shift, image_dimensions, output_grid_size=9): + # Convert the shifts to a numpy array for easier handling and initialise other variables + red_shifts = np.array(red_shift) + blue_shifts = np.array(blue_shift) + # create a grid that's smaller than the output grid, which we then interpolate from to get the output values + xrgrid = np.zeros((output_grid_size - 1, output_grid_size - 1)) + xbgrid = np.zeros((output_grid_size - 1, output_grid_size - 1)) + yrgrid = np.zeros((output_grid_size - 1, output_grid_size - 1)) + ybgrid = np.zeros((output_grid_size - 1, output_grid_size - 1)) + + xrsgrid = [] + xbsgrid = [] + yrsgrid = [] + ybsgrid = [] + xg = np.zeros((output_grid_size - 1, output_grid_size - 1)) + yg = np.zeros((output_grid_size - 1, output_grid_size - 1)) + + # Format the grids - numpy doesn't work for this, it wants a + # nice uniformly spaced grid, which we don't know if we have yet, hence the rather mundane setup + for x in range(output_grid_size - 1): + xrsgrid.append([]) + yrsgrid.append([]) + xbsgrid.append([]) + ybsgrid.append([]) + for y in range(output_grid_size - 1): + xrsgrid[x].append([]) + yrsgrid[x].append([]) + xbsgrid[x].append([]) + ybsgrid[x].append([]) + + image_size = (image_dimensions[0], image_dimensions[1]) + gridxsize = image_size[0] / (output_grid_size - 1) + gridysize = image_size[1] / (output_grid_size - 1) + + # Iterate through each dot, and it's shift values and put these into the correct grid location + for red_shift in red_shifts: + xgridloc = int(red_shift[0] / gridxsize) + ygridloc = int(red_shift[1] / gridysize) + xrsgrid[xgridloc][ygridloc].append(red_shift[2]) + yrsgrid[xgridloc][ygridloc].append(red_shift[3]) + + for blue_shift in blue_shifts: + xgridloc = int(blue_shift[0] / gridxsize) + ygridloc = int(blue_shift[1] / gridysize) + xbsgrid[xgridloc][ygridloc].append(blue_shift[2]) + ybsgrid[xgridloc][ygridloc].append(blue_shift[3]) + + # Now calculate the average pixel shift for each square in the grid + for x in range(output_grid_size - 1): + for y in range(output_grid_size - 1): + xrgrid[x, y] = np.mean(xrsgrid[x][y]) + yrgrid[x, y] = np.mean(yrsgrid[x][y]) + xbgrid[x, y] = np.mean(xbsgrid[x][y]) + ybgrid[x, y] = np.mean(ybsgrid[x][y]) + + # Next, we start to interpolate the central points of the grid that gets passed to the tuning file + input_grids = np.array([xrgrid, yrgrid, xbgrid, ybgrid]) + output_grids = np.zeros((4, output_grid_size, output_grid_size)) + + # Interpolate the centre of the grid + output_grids[:, 1:-1, 1:-1] = (input_grids[:, 1:, :-1] + input_grids[:, 1:, 1:] + input_grids[:, :-1, 1:] + input_grids[:, :-1, :-1]) / 4 + + # Edge cases: + output_grids[:, 1:-1, 0] = ((input_grids[:, :-1, 0] + input_grids[:, 1:, 0]) / 2 - output_grids[:, 1:-1, 1]) * 2 + output_grids[:, 1:-1, 1] + output_grids[:, 1:-1, -1] = ((input_grids[:, :-1, 7] + input_grids[:, 1:, 7]) / 2 - output_grids[:, 1:-1, -2]) * 2 + output_grids[:, 1:-1, -2] + output_grids[:, 0, 1:-1] = ((input_grids[:, 0, :-1] + input_grids[:, 0, 1:]) / 2 - output_grids[:, 1, 1:-1]) * 2 + output_grids[:, 1, 1:-1] + output_grids[:, -1, 1:-1] = ((input_grids[:, 7, :-1] + input_grids[:, 7, 1:]) / 2 - output_grids[:, -2, 1:-1]) * 2 + output_grids[:, -2, 1:-1] + + # Corner Cases: + output_grids[:, 0, 0] = (output_grids[:, 0, 1] - output_grids[:, 1, 1]) + (output_grids[:, 1, 0] - output_grids[:, 1, 1]) + output_grids[:, 1, 1] + output_grids[:, 0, -1] = (output_grids[:, 0, -2] - output_grids[:, 1, -2]) + (output_grids[:, 1, -1] - output_grids[:, 1, -2]) + output_grids[:, 1, -2] + output_grids[:, -1, 0] = (output_grids[:, -1, 1] - output_grids[:, -2, 1]) + (output_grids[:, -2, 0] - output_grids[:, -2, 1]) + output_grids[:, -2, 1] + output_grids[:, -1, -1] = (output_grids[:, -2, -1] - output_grids[:, -2, -2]) + (output_grids[:, -1, -2] - output_grids[:, -2, -2]) + output_grids[:, -2, -2] + + # Below, we swap the x and the y coordinates, and also multiply by a factor of -1 + # This is due to the PiSP (standard) dimensions being flipped in comparison to + # PIL image coordinate directions, hence why xr -> yr. Also, the shifts calculated are colour shifts, + # and the PiSP block asks for the values it should shift by (hence the * -1, to convert from colour shift to a pixel shift) + + output_grid_yr, output_grid_xr, output_grid_yb, output_grid_xb = output_grids * -1 + return output_grid_xr, output_grid_yr, output_grid_xb, output_grid_yb + + +def analyse_dot(dot, dot_location=[0, 0]): + # Scan through the dot, calculate the centroid of each colour channel by doing: + # pixel channel brightness * distance from top left corner + # Sum these, and divide by the sum of each channel's brightnesses to get a centroid for each channel + red_channel = np.array(dot)[:, :, 0] + y_num_pixels = len(red_channel[0]) + x_num_pixels = len(red_channel) + yred_weight = np.sum(np.dot(red_channel, np.arange(y_num_pixels))) + xred_weight = np.sum(np.dot(np.arange(x_num_pixels), red_channel)) + red_sum = np.sum(red_channel) + + green_channel = np.array(dot)[:, :, 1] + ygreen_weight = np.sum(np.dot(green_channel, np.arange(y_num_pixels))) + xgreen_weight = np.sum(np.dot(np.arange(x_num_pixels), green_channel)) + green_sum = np.sum(green_channel) + + blue_channel = np.array(dot)[:, :, 2] + yblue_weight = np.sum(np.dot(blue_channel, np.arange(y_num_pixels))) + xblue_weight = np.sum(np.dot(np.arange(x_num_pixels), blue_channel)) + blue_sum = np.sum(blue_channel) + + # We return this structure. It contains 2 arrays that contain: + # the locations of the dot center, along with the channel shifts in the x and y direction: + # [ [red_center_x, red_center_y, red_x_shift, red_y_shift], [blue_center_x, blue_center_y, blue_x_shift, blue_y_shift] ] + + return [[int(dot_location[0]) + int(len(dot) / 2), int(dot_location[1]) + int(len(dot[0]) / 2), xred_weight / red_sum - xgreen_weight / green_sum, yred_weight / red_sum - ygreen_weight / green_sum], [dot_location[0] + int(len(dot) / 2), dot_location[1] + int(len(dot[0]) / 2), xblue_weight / blue_sum - xgreen_weight / green_sum, yblue_weight / blue_sum - ygreen_weight / green_sum]] + + +def cac(Cam): + filelist = Cam.imgs_cac + + Cam.log += '\nCAC analysing files: {}'.format(str(filelist)) + np.set_printoptions(precision=3) + np.set_printoptions(suppress=True) + + # Create arrays to hold all the dots data and their colour offsets + red_shift = [] # Format is: [[Dot Center X, Dot Center Y, x shift, y shift]] + blue_shift = [] + # Iterate through the files + # Multiple files is reccomended to average out the lens aberration through rotations + for file in filelist: + Cam.log += '\nCAC processing file' + print("\n Processing file") + # Read the raw RGB values + rgb = file.rgb + image_size = [file.h, file.w] # Image size, X, Y + # Create a colour copy of the RGB values to use later in the calibration + imout = Image.new(mode="RGB", size=image_size) + rgb_image = np.array(imout) + # The rgb values need reshaping from a 1d array to a 3d array to be worked with easily + rgb.reshape((image_size[0], image_size[1], 3)) + rgb_image = rgb + + # Pass the RGB image through to the dots locating program + # Returns an array of the dots (colour rectangles around the dots), and an array of their locations + print("Finding dots") + Cam.log += '\nFinding dots' + dots, dots_locations = find_dots_locations(rgb_image) + + # Now, analyse each dot. Work out the centroid of each colour channel, and use that to work out + # by how far the chromatic aberration has shifted each channel + Cam.log += '\nDots found: {}'.format(str(len(dots))) + print('Dots found: ' + str(len(dots))) + + for dot, dot_location in zip(dots, dots_locations): + if len(dot) > 0: + if (dot_location[0] > 0) and (dot_location[1] > 0): + ret = analyse_dot(dot, dot_location) + red_shift.append(ret[0]) + blue_shift.append(ret[1]) + + # Take our arrays of red shifts and locations, push them through to be interpolated into a 9x9 matrix + # for the CAC block to handle and then store these as a .json file to be added to the camera + # tuning file + print("\nCreating output grid") + Cam.log += '\nCreating output grid' + rx, ry, bx, by = shifts_to_yaml(red_shift, blue_shift, image_size) + + print("CAC correction complete!") + Cam.log += '\nCAC correction complete!' + + # Give the JSON dict back to the main ctt program + return {"strength": 1.0, "lut_rx": list(rx.round(2).reshape(81)), "lut_ry": list(ry.round(2).reshape(81)), "lut_bx": list(bx.round(2).reshape(81)), "lut_by": list(by.round(2).reshape(81))} diff --git a/utils/raspberrypi/ctt/ctt_ccm.py b/utils/raspberrypi/ctt/ctt_ccm.py index a09bfd096..8f3bc2644 100644 --- a/utils/raspberrypi/ctt/ctt_ccm.py +++ b/utils/raspberrypi/ctt/ctt_ccm.py @@ -56,7 +56,7 @@ def gamma(x): """ -def ccm(Cam, cal_cr_list, cal_cb_list): +def ccm(Cam, cal_cr_list, cal_cb_list, grid_size): global matrix_selection_types, typenum imgs = Cam.imgs """ @@ -133,9 +133,7 @@ def ccm(Cam, cal_cr_list, cal_cb_list): Note: if alsc is disabled then colour_cals will be set to None and no the function will simply return the macbeth patches """ - r, b, g = get_alsc_patches(Img, colour_cals, grey=False) - # 256 values for each patch of sRGB values - + r, b, g = get_alsc_patches(Img, colour_cals, grey=False, grid_size=grid_size) """ do awb Note: awb is done by measuring the macbeth chart in the image, rather diff --git a/utils/raspberrypi/ctt/ctt_dots_locator.py b/utils/raspberrypi/ctt/ctt_dots_locator.py new file mode 100644 index 000000000..4945c04bf --- /dev/null +++ b/utils/raspberrypi/ctt/ctt_dots_locator.py @@ -0,0 +1,118 @@ +# SPDX-License-Identifier: BSD-2-Clause +# +# Copyright (C) 2023, Raspberry Pi Ltd +# +# find_dots.py - Used by CAC algorithm to convert image to set of dots + +''' +This file takes the black and white version of the image, along with +the color version. It then located the black dots on the image by +thresholding dark pixels. +In a rather fun way, the algorithm bounces around the thresholded area in a random path +We then use the maximum and minimum of these paths to determine the dot shape and size +This info is then used to return colored dots and locations back to the main file +''' + +import numpy as np +import random +from PIL import Image, ImageEnhance, ImageFilter + + +def find_dots_locations(rgb_image, color_threshold=100, dots_edge_avoid=75, image_edge_avoid=10, search_path_length=500, grid_scan_step_size=10, logfile=open("log.txt", "a+")): + # Initialise some starting variables + pixels = Image.fromarray(rgb_image) + pixels = pixels.convert("L") + enhancer = ImageEnhance.Contrast(pixels) + im_output = enhancer.enhance(1.4) + # We smooth it slightly to make it easier for the dot recognition program to locate the dots + im_output = im_output.filter(ImageFilter.GaussianBlur(radius=2)) + bw_image = np.array(im_output) + + location = [0, 0] + dots = [] + dots_location = [] + # the program takes away the edges - we don't want a dot that is half a circle, the + # centroids would all be wrong + for x in range(dots_edge_avoid, len(bw_image) - dots_edge_avoid, grid_scan_step_size): + for y in range(dots_edge_avoid, len(bw_image[0]) - dots_edge_avoid, grid_scan_step_size): + location = [x, y] + scrap_dot = False # A variable used to make sure that this is a valid dot + if (bw_image[location[0], location[1]] < color_threshold) and not (scrap_dot): + heading = "south" # Define a starting direction to move in + coords = [] + for i in range(search_path_length): # Creates a path of length `search_path_length`. This turns out to always be enough to work out the rough shape of the dot. + # Now make sure that the thresholded area doesn't come within 10 pixels of the edge of the image, ensures we capture all the CA + if ((image_edge_avoid < location[0] < len(bw_image) - image_edge_avoid) and (image_edge_avoid < location[1] < len(bw_image[0]) - image_edge_avoid)) and not (scrap_dot): + if heading == "south": + if bw_image[location[0] + 1, location[1]] < color_threshold: + # Here, notice it does not go south, but actually goes southeast + # This is crucial in ensuring that we make our way around the majority of the dot + location[0] = location[0] + 1 + location[1] = location[1] + 1 + heading = "south" + else: + # This happens when we reach a thresholded edge. We now randomly change direction and keep searching + dir = random.randint(1, 2) + if dir == 1: + heading = "west" + if dir == 2: + heading = "east" + + if heading == "east": + if bw_image[location[0], location[1] + 1] < color_threshold: + location[1] = location[1] + 1 + heading = "east" + else: + dir = random.randint(1, 2) + if dir == 1: + heading = "north" + if dir == 2: + heading = "south" + + if heading == "west": + if bw_image[location[0], location[1] - 1] < color_threshold: + location[1] = location[1] - 1 + heading = "west" + else: + dir = random.randint(1, 2) + if dir == 1: + heading = "north" + if dir == 2: + heading = "south" + + if heading == "north": + if bw_image[location[0] - 1, location[1]] < color_threshold: + location[0] = location[0] - 1 + heading = "north" + else: + dir = random.randint(1, 2) + if dir == 1: + heading = "west" + if dir == 2: + heading = "east" + # Log where our particle travels across the dot + coords.append([location[0], location[1]]) + else: + scrap_dot = True # We just don't have enough space around the dot, discard this one, and move on + if not scrap_dot: + # get the size of the dot surrounding the dot + x_coords = np.array(coords)[:, 0] + y_coords = np.array(coords)[:, 1] + hsquaresize = max(list(x_coords)) - min(list(x_coords)) + vsquaresize = max(list(y_coords)) - min(list(y_coords)) + # Create the bounding coordinates of the rectangle surrounding the dot + # Program uses the dotsize + half of the dotsize to ensure we get all that color fringing + extra_space_factor = 0.45 + top_left_x = (min(list(x_coords)) - int(hsquaresize * extra_space_factor)) + btm_right_x = max(list(x_coords)) + int(hsquaresize * extra_space_factor) + top_left_y = (min(list(y_coords)) - int(vsquaresize * extra_space_factor)) + btm_right_y = max(list(y_coords)) + int(vsquaresize * extra_space_factor) + # Overwrite the area of the dot to ensure we don't use it again + bw_image[top_left_x:btm_right_x, top_left_y:btm_right_y] = 255 + # Add the color version of the dot to the list to send off, along with some coordinates. + dots.append(rgb_image[top_left_x:btm_right_x, top_left_y:btm_right_y]) + dots_location.append([top_left_x, top_left_y]) + else: + # Dot was too close to the image border to be useable + pass + return dots, dots_location diff --git a/utils/raspberrypi/ctt/ctt_image_load.py b/utils/raspberrypi/ctt/ctt_image_load.py index 310c5e88f..fffa4c43c 100644 --- a/utils/raspberrypi/ctt/ctt_image_load.py +++ b/utils/raspberrypi/ctt/ctt_image_load.py @@ -350,6 +350,7 @@ def dng_load_image(Cam, im_str): c2 = np.left_shift(raw_data[1::2, 0::2].astype(np.int64), shift) c3 = np.left_shift(raw_data[1::2, 1::2].astype(np.int64), shift) Img.channels = [c0, c1, c2, c3] + Img.rgb = raw_im.postprocess() except Exception: print("\nERROR: failed to load DNG file", im_str) diff --git a/utils/raspberrypi/ctt/ctt_pisp.py b/utils/raspberrypi/ctt/ctt_pisp.py new file mode 100755 index 000000000..a59b053c5 --- /dev/null +++ b/utils/raspberrypi/ctt/ctt_pisp.py @@ -0,0 +1,805 @@ +#!/usr/bin/env python3 +# +# SPDX-License-Identifier: BSD-2-Clause +# +# Copyright (C) 2019, Raspberry Pi Ltd +# +# ctt_pisp.py - camera tuning tool data for PiSP platforms + + +json_template = { + "rpi.black_level": { + "black_level": 4096 + }, + "rpi.lux": { + "reference_shutter_speed": 10000, + "reference_gain": 1, + "reference_aperture": 1.0 + }, + "rpi.dpc": { + "strength": 1 + }, + "rpi.noise": { + }, + "rpi.geq": { + }, + "rpi.denoise": + { + "normal": + { + "sdn": + { + "deviation": 1.6, + "strength": 0.5, + "deviation2": 3.2, + "deviation_no_tdn": 3.2, + "strength_no_tdn": 0.75 + }, + "cdn": + { + "deviation": 200, + "strength": 0.3 + }, + "tdn": + { + "deviation": 0.8, + "threshold": 0.05 + } + }, + "hdr": + { + "sdn": + { + "deviation": 1.6, + "strength": 0.5, + "deviation2": 3.2, + "deviation_no_tdn": 3.2, + "strength_no_tdn": 0.75 + }, + "cdn": + { + "deviation": 200, + "strength": 0.3 + }, + "tdn": + { + "deviation": 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0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1, 2, 1, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 1, 2, 3, 2, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1, 2, 1, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 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, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] + } + }, + "exposure_modes": + { + "normal": + { + "shutter": [ 100, 20000, 66666 ], + "gain": [ 1.0, 2.0, 4.0 ] + }, + "short": + { + "shutter": [ 100, 20000, 33333 ], + "gain": [ 1.0, 2.0, 4.0 ] + }, + "long": + { + "shutter": [ 100, 20000, 66666, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 4.0 ] + } + }, + "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": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.5, + 1000, 0.5 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.16, + 10000, 0.17 + ] + } + ] + }, + "rpi.alsc": { + 'omega': 1.3, + 'n_iter': 100, + 'luminance_strength': 0.8, + }, + "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": { + }, + "rpi.cac": { + }, + "rpi.sharpen": { + "threshold": 0.25, + "limit": 1.0, + "strength": 1.0 + }, + "rpi.hdr": + { + "Off": + { + "cadence": [ 0 ] + }, + "MultiExposureUnmerged": + { + "cadence": [ 1, 2 ], + "channel_map": { "short": 1, "long": 2 } + }, + "SingleExposure": + { + "cadence": [1], + "channel_map": { "short": 1 }, + "spatial_gain": 2.0, + "tonemap_enable": 1 + }, + "MultiExposure": + { + "cadence": [1, 2], + "channel_map": { "short": 1, "long": 2 }, + "stitch_enable": 1, + "spatial_gain": 2.0, + "tonemap_enable": 1 + }, + "Night": + { + "cadence": [ 3 ], + "channel_map": { "night": 3 }, + "tonemap_enable": 1, + "tonemap": + [ + 0, 0, + 5000, 20000, + 10000, 30000, + 20000, 47000, + 30000, 55000, + 65535, 65535 + ] + } + } +} + +grid_size = (32, 32) diff --git a/utils/raspberrypi/ctt/ctt_pretty_print_json.py b/utils/raspberrypi/ctt/ctt_pretty_print_json.py index 3e3b84752..a4cae62d8 100755 --- a/utils/raspberrypi/ctt/ctt_pretty_print_json.py +++ b/utils/raspberrypi/ctt/ctt_pretty_print_json.py @@ -19,13 +19,19 @@ def __init__(self, *args, **kwargs): self.indentation_level = 0 self.hard_break = 120 self.custom_elems = { + 'weights': 15, 'table': 16, 'luminance_lut': 16, 'ct_curve': 3, 'ccm': 3, + 'lut_rx': 9, + 'lut_bx': 9, + 'lut_by': 9, + 'lut_ry': 9, 'gamma_curve': 2, 'y_target': 2, - 'prior': 2 + 'prior': 2, + 'tonemap': 2 } def encode(self, o, node_key=None): @@ -87,7 +93,7 @@ def iterencode(self, o, **kwargs): return self.encode(o) -def pretty_print(in_json: dict) -> str: +def pretty_print(in_json: dict, custom_elems={}) -> str: if 'version' not in in_json or \ 'target' not in in_json or \ @@ -95,12 +101,15 @@ def pretty_print(in_json: dict) -> str: in_json['version'] < 2.0: raise RuntimeError('Incompatible JSON dictionary has been provided') - return json.dumps(in_json, cls=Encoder, indent=4, sort_keys=False) + encoder = Encoder(indent=4, sort_keys=False) + encoder.custom_elems |= custom_elems + return encoder.encode(in_json) #json.dumps(in_json, cls=Encoder, indent=4, sort_keys=False) if __name__ == "__main__": parser = argparse.ArgumentParser(formatter_class=argparse.RawTextHelpFormatter, description= 'Prettify a version 2.0 camera tuning config JSON file.') + parser.add_argument('-t', '--target', type=str, help='Target platform', choices=['pisp', 'vc4'], default='vc4') parser.add_argument('input', type=str, help='Input tuning file.') parser.add_argument('output', type=str, nargs='?', help='Output converted tuning file. If not provided, the input file will be updated in-place.', @@ -110,7 +119,12 @@ def pretty_print(in_json: dict) -> str: with open(args.input, 'r') as f: in_json = json.load(f) - out_json = pretty_print(in_json) + if args.target == 'pisp': + from ctt_pisp import grid_size + elif args.target == 'vc4': + from ctt_vc4 import grid_size + + out_json = pretty_print(in_json, custom_elems={'table': grid_size[0], 'luminance_lut': grid_size[0]}) with open(args.output if args.output is not None else args.input, 'w') as f: f.write(out_json) diff --git a/utils/raspberrypi/ctt/ctt_tools.py b/utils/raspberrypi/ctt/ctt_tools.py index 79195289b..f0d825899 100644 --- a/utils/raspberrypi/ctt/ctt_tools.py +++ b/utils/raspberrypi/ctt/ctt_tools.py @@ -65,11 +65,12 @@ def parse_input(): directory = get_config(args_dict, '-i', None, 'string') config = get_config(args_dict, '-c', None, 'string') log_path = get_config(args_dict, '-l', None, 'string') + target = get_config(args_dict, '-t', "vc4", 'string') if directory is None: raise ArgError('\n\nERROR! No input directory given.') if json_output is None: raise ArgError('\n\nERROR! No output json given.') - return json_output, directory, config, log_path + return json_output, directory, config, log_path, target """ diff --git a/utils/raspberrypi/ctt/ctt_vc4.py b/utils/raspberrypi/ctt/ctt_vc4.py new file mode 100755 index 000000000..7154e1104 --- /dev/null +++ b/utils/raspberrypi/ctt/ctt_vc4.py @@ -0,0 +1,126 @@ +#!/usr/bin/env python3 +# +# SPDX-License-Identifier: BSD-2-Clause +# +# Copyright (C) 2019, Raspberry Pi Ltd +# +# ctt_vc4.py - camera tuning tool data for VC4 platforms + + +json_template = { + "rpi.black_level": { + "black_level": 4096 + }, + "rpi.dpc": { + }, + "rpi.lux": { + "reference_shutter_speed": 10000, + "reference_gain": 1, + "reference_aperture": 1.0 + }, + "rpi.noise": { + }, + "rpi.geq": { + }, + "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 + }, + "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": { + }, + "rpi.sharpen": { + } +} + +grid_size = (16, 12)