[{"id":38305,"web_url":"https://patchwork.libcamera.org/comment/38305/","msgid":"<85cy1r1vsp.fsf@mzamazal-thinkpadp1gen7.tpbc.csb>","date":"2026-02-26T13:25:26","subject":"Re: [PATCH 1/2] ipa: simple: agc: Replace bang-bang controller with\n\tproportional","submitter":{"id":177,"url":"https://patchwork.libcamera.org/api/people/177/","name":"Milan Zamazal","email":"mzamazal@redhat.com"},"content":"Hi Javier,\n\nthank you for the patch.\n\nJavier Tia writes:\n\n> The AGC's updateExposure() uses a fixed ~10% step per frame regardless\n> of how far the current exposure is from optimal. With a hysteresis dead\n> band of only +/-4%, the controller overshoots when the correct value\n> falls within one step, causing visible brightness oscillation (flicker).\n>\n> Replace the fixed-step bang-bang controller with a proportional one\n> where the correction factor scales linearly with the MSV error:\n>\n> factor = 1.0 + clamp(error * 0.04, -0.15, +0.15)\n>\n> At maximum error (~2.5), this gives the same ~10% step as before. Near\n> the target, steps shrink to <1%, eliminating overshoot. The existing\n> hysteresis (kExposureSatisfactory) still prevents hunting on noise.\n>\n> Tested on OV2740 behind Intel IPU6 ISYS (ThinkPad X1 Carbon Gen 10)\n> where the old controller produced continuous brightness flicker. The\n> proportional controller converges in ~3 seconds from cold start with\n> no visible oscillation.\n\nNice change. The patch looks good to me, let me test it in my\nenvironment (later).\n\n> Signed-off-by: Javier Tia \n> ---\n> src/ipa/simple/algorithms/agc.cpp | 73 +++++++++++++++++++++----------\n> 1 file changed, 49 insertions(+), 24 deletions(-)\n>\n> diff --git a/src/ipa/simple/algorithms/agc.cpp b/src/ipa/simple/algorithms/agc.cpp\n> index 2f7e040c..a13a7552 100644\n> --- a/src/ipa/simple/algorithms/agc.cpp\n> +++ b/src/ipa/simple/algorithms/agc.cpp\n> @@ -7,6 +7,8 @@\n> \n> #include \"agc.h\"\n> \n> +#include \n> +#include \n> #include \n> \n> #include \n> @@ -37,52 +39,74 @@ static constexpr float kExposureOptimal = kExposureBinsCount / 2.0;\n> */\n> static constexpr float kExposureSatisfactory = 0.2;\n> \n> +/*\n> + * Proportional gain for exposure/gain adjustment. Maps the MSV error to a\n> + * multiplicative correction factor:\n> + *\n> + * factor = 1.0 + kExpProportionalGain * error\n> + *\n> + * With kExpProportionalGain = 0.04:\n> + * - max error ~2.5 -> factor 1.10 (~10% step, same as before)\n> + * - error 1.0 -> factor 1.04 (~4% step)\n> + * - error 0.3 -> factor 1.012 (~1.2% step)\n> + *\n> + * This replaces the fixed 10% bang-bang step with a proportional correction\n> + * that converges smoothly and avoids overshooting near the target.\n> + */\n> +static constexpr float kExpProportionalGain = 0.04;\n> +\n> +/*\n> + * Maximum multiplicative step per frame, to bound the correction when the\n> + * scene changes dramatically.\n> + */\n> +static constexpr float kExpMaxStep = 0.15;\n> +\n> Agc::Agc()\n> {\n> }\n> \n> void Agc::updateExposure(IPAContext &context, IPAFrameContext &frameContext, double exposureMSV)\n> {\n> -\t/*\n> -\t * kExpDenominator of 10 gives ~10% increment/decrement;\n> -\t * kExpDenominator of 5 - about ~20%\n> -\t */\n> -\tstatic constexpr uint8_t kExpDenominator = 10;\n> -\tstatic constexpr uint8_t kExpNumeratorUp = kExpDenominator + 1;\n> -\tstatic constexpr uint8_t kExpNumeratorDown = kExpDenominator - 1;\n> -\n> \tint32_t &exposure = frameContext.sensor.exposure;\n> \tdouble &again = frameContext.sensor.gain;\n> \n> -\tif (exposureMSV < kExposureOptimal - kExposureSatisfactory) {\n> +\tdouble error = kExposureOptimal - exposureMSV;\n> +\n> +\tif (std::abs(error) <= kExposureSatisfactory)\n> +\t\treturn;\n> +\n> +\t/*\n> +\t * Compute a proportional correction factor. The sign of the error\n> +\t * determines the direction: positive error means too dark (increase),\n> +\t * negative means too bright (decrease).\n> +\t */\n> +\tfloat step = std::clamp(static_cast(error) * kExpProportionalGain,\n> +\t\t\t\t-kExpMaxStep, kExpMaxStep);\n> +\tfloat factor = 1.0f + step;\n> +\n> +\tif (factor > 1.0f) {\n> +\t\t/* Scene too dark: increase exposure first, then gain. */\n> \t\tif (exposure < context.configuration.agc.exposureMax) {\n> -\t\t\tint32_t next = exposure * kExpNumeratorUp / kExpDenominator;\n> -\t\t\tif (next - exposure < 1)\n> -\t\t\t\texposure += 1;\n> -\t\t\telse\n> -\t\t\t\texposure = next;\n> +\t\t\tint32_t next = static_cast(exposure * factor);\n> +\t\t\texposure = std::max(next, exposure + 1);\n> \t\t} else {\n> -\t\t\tdouble next = again * kExpNumeratorUp / kExpDenominator;\n> +\t\t\tdouble next = again * factor;\n> \t\t\tif (next - again < context.configuration.agc.againMinStep)\n> \t\t\t\tagain += context.configuration.agc.againMinStep;\n> \t\t\telse\n> \t\t\t\tagain = next;\n> \t\t}\n> -\t}\n> -\n> -\tif (exposureMSV > kExposureOptimal + kExposureSatisfactory) {\n> +\t} else {\n> +\t\t/* Scene too bright: decrease gain first, then exposure. */\n> \t\tif (again > context.configuration.agc.again10) {\n> -\t\t\tdouble next = again * kExpNumeratorDown / kExpDenominator;\n> +\t\t\tdouble next = again * factor;\n> \t\t\tif (again - next < context.configuration.agc.againMinStep)\n> \t\t\t\tagain -= context.configuration.agc.againMinStep;\n> \t\t\telse\n> \t\t\t\tagain = next;\n> \t\t} else {\n> -\t\t\tint32_t next = exposure * kExpNumeratorDown / kExpDenominator;\n> -\t\t\tif (exposure - next < 1)\n> -\t\t\t\texposure -= 1;\n> -\t\t\telse\n> -\t\t\t\texposure = next;\n> +\t\t\tint32_t next = static_cast(exposure * factor);\n> +\t\t\texposure = std::min(next, exposure - 1);\n> \t\t}\n> \t}\n> \n> @@ -96,6 +120,7 @@ void Agc::updateExposure(IPAContext &context, IPAFrameContext &frameContext, dou\n> \n> \tLOG(IPASoftExposure, Debug)\n> \t\t<< \"exposureMSV \" << exposureMSV\n> +\t\t<< \" error \" << error << \" factor \" << factor\n> \t\t<< \" exp \" << exposure << \" again \" << again;\n> }","headers":{"Return-Path":"","X-Original-To":"parsemail@patchwork.libcamera.org","Delivered-To":"parsemail@patchwork.libcamera.org","Received":["from lancelot.ideasonboard.com (lancelot.ideasonboard.com\n\t[92.243.16.209])\n\tby patchwork.libcamera.org (Postfix) with ESMTPS id 75B5EC0DA4\n\tfor ;\n\tThu, 26 Feb 2026 13:25:35 +0000 (UTC)","from lancelot.ideasonboard.com (localhost [IPv6:::1])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTP id 5B142622EB;\n\tThu, 26 Feb 2026 14:25:34 +0100 (CET)","from us-smtp-delivery-124.mimecast.com\n\t(us-smtp-delivery-124.mimecast.com [170.10.129.124])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTPS id 84C87620FA\n\tfor ;\n\tThu, 26 Feb 2026 14:25:32 +0100 (CET)","from mail-wr1-f72.google.com (mail-wr1-f72.google.com\n\t[209.85.221.72]) by relay.mimecast.com with ESMTP with STARTTLS\n\t(version=TLSv1.3, cipher=TLS_AES_256_GCM_SHA384) id\n\tus-mta-299-xClivATEPka-pBXOydpMGg-1; 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\n\tThu, 26 Feb 2026 05:25:28 -0800 (PST)","by 2002:a05:6000:228a:b0:430:ff0c:35f9 with SMTP id\n\tffacd0b85a97d-439942f5a4bmr8043524f8f.48.1772112327700; \n\tThu, 26 Feb 2026 05:25:27 -0800 (PST)"],"From":"Milan Zamazal ","To":"Javier Tia ","Cc":"libcamera-devel@lists.libcamera.org","Subject":"Re: [PATCH 1/2] ipa: simple: agc: Replace bang-bang controller with\n\tproportional","In-Reply-To":"<20260225221859.600869-2-floss@jetm.me> (Javier Tia's message of\n\t\"Wed, 25 Feb 2026 16:18:58 -0600\")","References":"<20260225221859.600869-1-floss@jetm.me>\n\t<20260225221859.600869-2-floss@jetm.me>","Date":"Thu, 26 Feb 2026 14:25:26 +0100","Message-ID":"<85cy1r1vsp.fsf@mzamazal-thinkpadp1gen7.tpbc.csb>","User-Agent":"Gnus/5.13 (Gnus v5.13)","MIME-Version":"1.0","X-Mimecast-Spam-Score":"0","X-Mimecast-MFC-PROC-ID":"0sSbTDUR-JkVXWY8bqqUa_ID5675T-1JIG0KqUNp7KM_1772112329","X-Mimecast-Originator":"redhat.com","Content-Type":"text/plain","X-BeenThere":"libcamera-devel@lists.libcamera.org","X-Mailman-Version":"2.1.29","Precedence":"list","List-Id":"","List-Unsubscribe":",\n\t","List-Archive":"","List-Post":"","List-Help":"","List-Subscribe":",\n\t","Errors-To":"libcamera-devel-bounces@lists.libcamera.org","Sender":"\"libcamera-devel\" "}},{"id":38308,"web_url":"https://patchwork.libcamera.org/comment/38308/","msgid":"<85o6laurrv.fsf@mzamazal-thinkpadp1gen7.tpbc.csb>","date":"2026-02-27T15:31:48","subject":"Re: [PATCH 1/2] ipa: simple: agc: Replace bang-bang controller with\n\tproportional","submitter":{"id":177,"url":"https://patchwork.libcamera.org/api/people/177/","name":"Milan Zamazal","email":"mzamazal@redhat.com"},"content":"Milan Zamazal writes:\n\n> Hi Javier,\n>\n> thank you for the patch.\n>\n> Javier Tia writes:\n>\n>> The AGC's updateExposure() uses a fixed ~10% step per frame regardless\n>> of how far the current exposure is from optimal. With a hysteresis dead\n>> band of only +/-4%, the controller overshoots when the correct value\n>> falls within one step, causing visible brightness oscillation (flicker).\n>>\n>> Replace the fixed-step bang-bang controller with a proportional one\n>> where the correction factor scales linearly with the MSV error:\n>>\n>> factor = 1.0 + clamp(error * 0.04, -0.15, +0.15)\n>>\n>> At maximum error (~2.5), this gives the same ~10% step as before. Near\n>> the target, steps shrink to <1%, eliminating overshoot. The existing\n>> hysteresis (kExposureSatisfactory) still prevents hunting on noise.\n>>\n>> Tested on OV2740 behind Intel IPU6 ISYS (ThinkPad X1 Carbon Gen 10)\n>> where the old controller produced continuous brightness flicker. The\n>> proportional controller converges in ~3 seconds from cold start with\n>> no visible oscillation.\n>\n> Nice change. The patch looks good to me, let me test it in my\n> environment (later).\n\nIt works fine for me. I wouldn't mind increasing kExpProportionalGain\nto react to exposure changes faster, but it's easy to change the\nconstant later.\n\nReviewed-by: Milan Zamazal \n\n>> Signed-off-by: Javier Tia \n>> ---\n>> src/ipa/simple/algorithms/agc.cpp | 73 +++++++++++++++++++++----------\n>> 1 file changed, 49 insertions(+), 24 deletions(-)\n>>\n>> diff --git a/src/ipa/simple/algorithms/agc.cpp b/src/ipa/simple/algorithms/agc.cpp\n>> index 2f7e040c..a13a7552 100644\n>> --- a/src/ipa/simple/algorithms/agc.cpp\n>> +++ b/src/ipa/simple/algorithms/agc.cpp\n>> @@ -7,6 +7,8 @@\n>> \n>> #include \"agc.h\"\n>> \n>> +#include \n>> +#include \n>> #include \n>> \n>> #include \n>> @@ -37,52 +39,74 @@ static constexpr float kExposureOptimal = kExposureBinsCount / 2.0;\n>> */\n>> static constexpr float kExposureSatisfactory = 0.2;\n>> \n>> +/*\n>> + * Proportional gain for exposure/gain adjustment. Maps the MSV error to a\n>> + * multiplicative correction factor:\n>> + *\n>> + * factor = 1.0 + kExpProportionalGain * error\n>> + *\n>> + * With kExpProportionalGain = 0.04:\n>> + * - max error ~2.5 -> factor 1.10 (~10% step, same as before)\n>> + * - error 1.0 -> factor 1.04 (~4% step)\n>> + * - error 0.3 -> factor 1.012 (~1.2% step)\n>> + *\n>> + * This replaces the fixed 10% bang-bang step with a proportional correction\n>> + * that converges smoothly and avoids overshooting near the target.\n>> + */\n>> +static constexpr float kExpProportionalGain = 0.04;\n>> +\n>> +/*\n>> + * Maximum multiplicative step per frame, to bound the correction when the\n>> + * scene changes dramatically.\n>> + */\n>> +static constexpr float kExpMaxStep = 0.15;\n>> +\n>> Agc::Agc()\n>> {\n>> }\n>> \n>> void Agc::updateExposure(IPAContext &context, IPAFrameContext &frameContext, double exposureMSV)\n>> {\n>> -\t/*\n>> -\t * kExpDenominator of 10 gives ~10% increment/decrement;\n>> -\t * kExpDenominator of 5 - about ~20%\n>> -\t */\n>> -\tstatic constexpr uint8_t kExpDenominator = 10;\n>> -\tstatic constexpr uint8_t kExpNumeratorUp = kExpDenominator + 1;\n>> -\tstatic constexpr uint8_t kExpNumeratorDown = kExpDenominator - 1;\n>> -\n>> \tint32_t &exposure = frameContext.sensor.exposure;\n>> \tdouble &again = frameContext.sensor.gain;\n>> \n>> -\tif (exposureMSV < kExposureOptimal - kExposureSatisfactory) {\n>> +\tdouble error = kExposureOptimal - exposureMSV;\n>> +\n>> +\tif (std::abs(error) <= kExposureSatisfactory)\n>> +\t\treturn;\n>> +\n>> +\t/*\n>> +\t * Compute a proportional correction factor. The sign of the error\n>> +\t * determines the direction: positive error means too dark (increase),\n>> +\t * negative means too bright (decrease).\n>> +\t */\n>> +\tfloat step = std::clamp(static_cast(error) * kExpProportionalGain,\n>> +\t\t\t\t-kExpMaxStep, kExpMaxStep);\n>> +\tfloat factor = 1.0f + step;\n>> +\n>> +\tif (factor > 1.0f) {\n>> +\t\t/* Scene too dark: increase exposure first, then gain. */\n>> \t\tif (exposure < context.configuration.agc.exposureMax) {\n>> -\t\t\tint32_t next = exposure * kExpNumeratorUp / kExpDenominator;\n>> -\t\t\tif (next - exposure < 1)\n>> -\t\t\t\texposure += 1;\n>> -\t\t\telse\n>> -\t\t\t\texposure = next;\n>> +\t\t\tint32_t next = static_cast(exposure * factor);\n>> +\t\t\texposure = std::max(next, exposure + 1);\n>> \t\t} else {\n>> -\t\t\tdouble next = again * kExpNumeratorUp / kExpDenominator;\n>> +\t\t\tdouble next = again * factor;\n>> \t\t\tif (next - again < context.configuration.agc.againMinStep)\n>> \t\t\t\tagain += context.configuration.agc.againMinStep;\n>> \t\t\telse\n>> \t\t\t\tagain = next;\n>> \t\t}\n>> -\t}\n>> -\n>> -\tif (exposureMSV > kExposureOptimal + kExposureSatisfactory) {\n>> +\t} else {\n>> +\t\t/* Scene too bright: decrease gain first, then exposure. */\n>> \t\tif (again > context.configuration.agc.again10) {\n>> -\t\t\tdouble next = again * kExpNumeratorDown / kExpDenominator;\n>> +\t\t\tdouble next = again * factor;\n>> \t\t\tif (again - next < context.configuration.agc.againMinStep)\n>> \t\t\t\tagain -= context.configuration.agc.againMinStep;\n>> \t\t\telse\n>> \t\t\t\tagain = next;\n>> \t\t} else {\n>> -\t\t\tint32_t next = exposure * kExpNumeratorDown / kExpDenominator;\n>> -\t\t\tif (exposure - next < 1)\n>> -\t\t\t\texposure -= 1;\n>> -\t\t\telse\n>> -\t\t\t\texposure = next;\n>> +\t\t\tint32_t next = static_cast(exposure * factor);\n>> +\t\t\texposure = std::min(next, exposure - 1);\n>> \t\t}\n>> \t}\n>> \n>> @@ -96,6 +120,7 @@ void Agc::updateExposure(IPAContext &context, IPAFrameContext &frameContext, dou\n>> \n>> \tLOG(IPASoftExposure, Debug)\n>> \t\t<< \"exposureMSV \" << exposureMSV\n>> +\t\t<< \" error \" << error << \" factor \" << factor\n>> \t\t<< \" exp \" << exposure << \" again \" << again;\n>> }","headers":{"Return-Path":"","X-Original-To":"parsemail@patchwork.libcamera.org","Delivered-To":"parsemail@patchwork.libcamera.org","Received":["from lancelot.ideasonboard.com (lancelot.ideasonboard.com\n\t[92.243.16.209])\n\tby patchwork.libcamera.org (Postfix) with ESMTPS id CA733C0DA4\n\tfor ;\n\tFri, 27 Feb 2026 15:31:57 +0000 (UTC)","from lancelot.ideasonboard.com (localhost [IPv6:::1])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTP id 036E362369;\n\tFri, 27 Feb 2026 16:31:56 +0100 (CET)","from us-smtp-delivery-124.mimecast.com\n\t(us-smtp-delivery-124.mimecast.com [170.10.129.124])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTPS id 752A1622AD\n\tfor ;\n\tFri, 27 Feb 2026 16:31:55 +0100 (CET)","from mail-wr1-f71.google.com (mail-wr1-f71.google.com\n\t[209.85.221.71]) by relay.mimecast.com with ESMTP with STARTTLS\n\t(version=TLSv1.3, cipher=TLS_AES_256_GCM_SHA384) id\n\tus-mta-339-pF_DTxk9NBK1wWBvbkklNg-1; Fri, 27 Feb 2026 10:31:52 -0500","by mail-wr1-f71.google.com with SMTP id\n\tffacd0b85a97d-4398e534783so1088721f8f.2\n\tfor ;\n\tFri, 27 Feb 2026 07:31:52 -0800 (PST)","from mzamazal-thinkpadp1gen7.tpbc.csb\n\t(ip-77-48-47-2.net.vodafone.cz. 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