diff --git a/src/ipa/ipu3/ipu3.cpp b/src/ipa/ipu3/ipu3.cpp index 34a907f2..ab052a8a 100644 --- a/src/ipa/ipu3/ipu3.cpp +++ b/src/ipa/ipu3/ipu3.cpp @@ -21,6 +21,11 @@ #include "libcamera/internal/buffer.h" #include "libcamera/internal/log.h" +#include "ipu3_awb.h" + +static constexpr uint32_t kMaxCellWidthPerSet = 160; +static constexpr uint32_t kMaxCellHeightPerSet = 80; + namespace libcamera { LOG_DEFINE_CATEGORY(IPAIPU3) @@ -49,6 +54,7 @@ private: const ipu3_uapi_stats_3a *stats); void setControls(unsigned int frame); + void calculateBdsGrid(const Size &bdsOutputSize); std::map buffers_; @@ -61,6 +67,14 @@ private: uint32_t gain_; uint32_t minGain_; uint32_t maxGain_; + + /* Interface to the AWB algorithm */ + std::unique_ptr awbAlgo_; + + /* Local parameter storage */ + struct ipu3_uapi_params params_; + + struct ipu3_uapi_grid_config bdsGrid_; }; int IPAIPU3::start() @@ -70,8 +84,58 @@ int IPAIPU3::start() return 0; } +/** + * This method calculates a grid for the AWB algorithm in the IPU3 firmware. + * Its input is the BDS output size calculated in the ImgU. + * It is limited for now to the simplest method: find the lesser error + * with the width/height and respective log2 width/height of the cells. + * + * \todo The frame is divided into cells which can be 8x8 => 128x128. + * As a smaller cell improves the algorithm precision, adapting the + * x_start and y_start parameters of the grid would provoke a loss of + * some pixels but would also result in more accurate algorithms. + */ +void IPAIPU3::calculateBdsGrid(const Size &bdsOutputSize) +{ + uint32_t minError = std::numeric_limits::max(); + Size best; + Size bestLog2; + bdsGrid_ = {}; + + for (uint32_t widthShift = 3; widthShift <= 7; ++widthShift) { + uint32_t width = std::min(kMaxCellWidthPerSet, + bdsOutputSize.width >> widthShift); + width = width << widthShift; + for (uint32_t heightShift = 3; heightShift <= 7; ++heightShift) { + int32_t height = std::min(kMaxCellHeightPerSet, + bdsOutputSize.height >> heightShift); + height = height << heightShift; + uint32_t error = std::abs(static_cast(width - bdsOutputSize.width)) + + std::abs(static_cast(height - bdsOutputSize.height)); + + if (error > minError) + continue; + + minError = error; + best.width = width; + best.height = height; + bestLog2.width = widthShift; + bestLog2.height = heightShift; + } + } + + bdsGrid_.width = best.width >> bestLog2.width; + bdsGrid_.block_width_log2 = bestLog2.width; + bdsGrid_.height = best.height >> bestLog2.height; + bdsGrid_.block_height_log2 = bestLog2.height; + + LOG(IPAIPU3, Debug) << "Best grid found is: (" + << (int)bdsGrid_.width << " << " << (int)bdsGrid_.block_width_log2 << ") x (" + << (int)bdsGrid_.height << " <<" << (int)bdsGrid_.block_height_log2 << ")"; +} + void IPAIPU3::configure(const std::map &entityControls, - [[maybe_unused]] const Size &bdsOutputSize) + const Size &bdsOutputSize) { if (entityControls.empty()) return; @@ -92,11 +156,18 @@ void IPAIPU3::configure(const std::map &entityControls minExposure_ = std::max(itExp->second.min().get(), 1); maxExposure_ = itExp->second.max().get(); - exposure_ = maxExposure_; + exposure_ = minExposure_; minGain_ = std::max(itGain->second.min().get(), 1); maxGain_ = itGain->second.max().get(); - gain_ = maxGain_; + gain_ = minGain_; + + params_ = {}; + + calculateBdsGrid(bdsOutputSize); + + awbAlgo_ = std::make_unique(); + awbAlgo_->initialise(params_, bdsOutputSize, bdsGrid_); } void IPAIPU3::mapBuffers(const std::vector &buffers) @@ -168,10 +239,10 @@ void IPAIPU3::processControls([[maybe_unused]] unsigned int frame, void IPAIPU3::fillParams(unsigned int frame, ipu3_uapi_params *params) { - /* Prepare parameters buffer. */ - memset(params, 0, sizeof(*params)); + /* Pass a default gamma of 1.0 (default linear correction) */ + awbAlgo_->updateWbParameters(params_, 1.0); - /* \todo Fill in parameters buffer. */ + *params = params_; ipa::ipu3::IPU3Action op; op.op = ipa::ipu3::ActionParamFilled; @@ -184,8 +255,7 @@ void IPAIPU3::parseStatistics(unsigned int frame, { ControlList ctrls(controls::controls); - /* \todo React to statistics and update internal state machine. */ - /* \todo Add meta-data information to ctrls. */ + awbAlgo_->calculateWBGains(stats); ipa::ipu3::IPU3Action op; op.op = ipa::ipu3::ActionMetadataReady; diff --git a/src/ipa/ipu3/ipu3_awb.cpp b/src/ipa/ipu3/ipu3_awb.cpp new file mode 100644 index 00000000..b4920e4b --- /dev/null +++ b/src/ipa/ipu3/ipu3_awb.cpp @@ -0,0 +1,351 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Ideas On Board + * + * ipu3_awb.cpp - AWB control algorithm + */ +#include "ipu3_awb.h" + +#include +#include +#include + +#include "libcamera/internal/log.h" + +namespace libcamera { + +namespace ipa { + +LOG_DEFINE_CATEGORY(IPU3Awb) + +/** + * \struct IspStatsRegion + * \brief RGB statistics for a given region + * + * The IspStatsRegion structure is intended to abstract the ISP specific + * statistics and use an agnostic algorithm to compute AWB. + * + * \var IspStatsRegion::counted + * \brief Number of pixels used to calculate the sums + * + * \var IspStatsRegion::notcounted + * \brief Remaining number of pixels in the region + * + * \var IspStatsRegion::rSum + * \brief Sum of the red values in the region + * + * \var IspStatsRegion::gSum + * \brief Sum of the green values in the region + * + * \var IspStatsRegion::bSum + * \brief Sum of the blue values in the region + */ + +/** + * \struct AwbStatus + * \brief AWB parameters calculated + * + * The AwbStatus structure is intended to store the AWB + * parameters calculated by the algorithm + * + * \var AwbStatus::temperatureK + * \brief Color temperature calculated + * + * \var AwbStatus::redGain + * \brief Gain calculated for the red channel + * + * \var AwbStatus::greenGain + * \brief Gain calculated for the green channel + * + * \var AwbStatus::blueGain + * \brief Gain calculated for the blue channel + */ + +/** + * \struct Ipu3AwbCell + * \brief Memory layout for each cell in AWB metadata + * + * The Ipu3AwbCell structure is used to get individual values + * such as red average or saturation ratio in a particular cell. + * + * \var Ipu3AwbCell::greenRedAvg + * \brief Green average for red lines in the cell + * + * \var Ipu3AwbCell::redAvg + * \brief Red average in the cell + * + * \var Ipu3AwbCell::blueAvg + * \brief blue average in the cell + * + * \var Ipu3AwbCell::greenBlueAvg + * \brief Green average for blue lines + * + * \var Ipu3AwbCell::satRatio + * \brief Saturation ratio in the cell + * + * \var Ipu3AwbCell::padding + * \brief array of unused bytes for padding + */ + +/* Default settings for Bayer noise reduction replicated from the Kernel */ +static const struct ipu3_uapi_bnr_static_config imguCssBnrDefaults = { + .wb_gains = { 16, 16, 16, 16 }, + .wb_gains_thr = { 255, 255, 255, 255 }, + .thr_coeffs = { 1700, 0, 31, 31, 0, 16 }, + .thr_ctrl_shd = { 26, 26, 26, 26 }, + .opt_center{ -648, 0, -366, 0 }, + .lut = { + { 17, 23, 28, 32, 36, 39, 42, 45, + 48, 51, 53, 55, 58, 60, 62, 64, + 66, 68, 70, 72, 73, 75, 77, 78, + 80, 82, 83, 85, 86, 88, 89, 90 } }, + .bp_ctrl = { 20, 0, 1, 40, 0, 6, 0, 6, 0 }, + .dn_detect_ctrl{ 9, 3, 4, 0, 8, 0, 1, 1, 1, 1, 0 }, + .column_size = 1296, + .opt_center_sqr = { 419904, 133956 }, +}; + +/* Default settings for Auto White Balance replicated from the Kernel*/ +static const struct ipu3_uapi_awb_config_s imguCssAwbDefaults = { + .rgbs_thr_gr = 8191, + .rgbs_thr_r = 8191, + .rgbs_thr_gb = 8191, + .rgbs_thr_b = 8191 | IPU3_UAPI_AWB_RGBS_THR_B_EN | IPU3_UAPI_AWB_RGBS_THR_B_INCL_SAT, + .grid = { + .width = 160, + .height = 36, + .block_width_log2 = 3, + .block_height_log2 = 4, + .height_per_slice = 1, /* Overridden by kernel. */ + .x_start = 0, + .y_start = 0, + .x_end = 0, + .y_end = 0, + }, +}; + +/* Default color correction matrix defined as an identity matrix */ +static const struct ipu3_uapi_ccm_mat_config imguCssCcmDefault = { + 8191, 0, 0, 0, + 0, 8191, 0, 0, + 0, 0, 8191, 0 +}; + +IPU3Awb::IPU3Awb() + : Algorithm() +{ + asyncResults_.blueGain = 1.0; + asyncResults_.greenGain = 1.0; + asyncResults_.redGain = 1.0; + asyncResults_.temperatureK = 4500; +} + +IPU3Awb::~IPU3Awb() +{ +} + +void IPU3Awb::initialise(ipu3_uapi_params ¶ms, const Size &bdsOutputSize, struct ipu3_uapi_grid_config &bdsGrid) +{ + params.use.acc_awb = 1; + params.acc_param.awb.config = imguCssAwbDefaults; + + awbGrid_ = bdsGrid; + params.acc_param.awb.config.grid = awbGrid_; + + params.use.acc_bnr = 1; + params.acc_param.bnr = imguCssBnrDefaults; + /** + * Optical center is colum (resp row) start - X (resp Y) center. + * For the moment use BDS as a first approximation, but it should + * be calculated based on Shading (SHD) parameters. + */ + params.acc_param.bnr.column_size = bdsOutputSize.width; + params.acc_param.bnr.opt_center.x_reset = awbGrid_.x_start - (bdsOutputSize.width / 2); + params.acc_param.bnr.opt_center.y_reset = awbGrid_.y_start - (bdsOutputSize.height / 2); + params.acc_param.bnr.opt_center_sqr.x_sqr_reset = params.acc_param.bnr.opt_center.x_reset + * params.acc_param.bnr.opt_center.x_reset; + params.acc_param.bnr.opt_center_sqr.y_sqr_reset = params.acc_param.bnr.opt_center.y_reset + * params.acc_param.bnr.opt_center.y_reset; + + params.use.acc_ccm = 1; + params.acc_param.ccm = imguCssCcmDefault; + + params.use.acc_gamma = 1; + params.acc_param.gamma.gc_ctrl.enable = 1; + + zones_.reserve(kAwbStatsSizeX * kAwbStatsSizeY); +} + +/** + * The function estimates the correlated color temperature using + * from RGB color space input. + * In physics and color science, the Planckian locus or black body locus is + * the path or locus that the color of an incandescent black body would take + * in a particular chromaticity space as the blackbody temperature changes. + * + * If a narrow range of color temperatures is considered (those encapsulating + * daylight being the most practical case) one can approximate the Planckian + * locus in order to calculate the CCT in terms of chromaticity coordinates. + * + * More detailed information can be found in: + * https://en.wikipedia.org/wiki/Color_temperature#Approximation + */ +uint32_t IPU3Awb::estimateCCT(double red, double green, double blue) +{ + /* Convert the RGB values to CIE tristimulus values (XYZ) */ + double X = (-0.14282) * (red) + (1.54924) * (green) + (-0.95641) * (blue); + double Y = (-0.32466) * (red) + (1.57837) * (green) + (-0.73191) * (blue); + double Z = (-0.68202) * (red) + (0.77073) * (green) + (0.56332) * (blue); + + /* Calculate the normalized chromaticity values */ + double x = X / (X + Y + Z); + double y = Y / (X + Y + Z); + + /* Calculate CCT */ + double n = (x - 0.3320) / (0.1858 - y); + return 449 * n * n * n + 3525 * n * n + 6823.3 * n + 5520.33; +} + +/* Generate a RGB vector with the average values for each region */ +void IPU3Awb::generateZones(std::vector &zones) +{ + for (unsigned int i = 0; i < kAwbStatsSizeX * kAwbStatsSizeY; i++) { + RGB zone; + double counted = awbStats_[i].counted; + if (counted >= 16) { + zone.G = awbStats_[i].gSum / counted; + if (zone.G >= 32) { + zone.R = awbStats_[i].rSum / counted; + zone.B = awbStats_[i].bSum / counted; + zones.push_back(zone); + } + } + } +} + +/* Translate the IPU3 statistics into the default statistics region array */ +void IPU3Awb::generateAwbStats(const ipu3_uapi_stats_3a *stats) +{ + uint32_t regionWidth = round(awbGrid_.width / static_cast(kAwbStatsSizeX)); + uint32_t regionHeight = round(awbGrid_.height / static_cast(kAwbStatsSizeY)); + + /** + * Generate a (kAwbStatsSizeX x kAwbStatsSizeY) array from the IPU3 grid which is + * (awbGrid_.width x awbGrid_.height). + */ + for (unsigned int j = 0; j < kAwbStatsSizeY * regionHeight; j++) { + for (unsigned int i = 0; i < kAwbStatsSizeX * regionWidth; i++) { + uint32_t cellPosition = j * awbGrid_.width + i; + uint32_t cellX = (cellPosition / regionWidth) % kAwbStatsSizeX; + uint32_t cellY = ((cellPosition / awbGrid_.width) / regionHeight) % kAwbStatsSizeY; + + uint32_t awbRegionPosition = cellY * kAwbStatsSizeX + cellX; + cellPosition *= 8; + + /* Cast the initial IPU3 structure to simplify the reading */ + Ipu3AwbCell *currentCell = reinterpret_cast(const_cast(&stats->awb_raw_buffer.meta_data[cellPosition])); + if (currentCell->satRatio == 0) { + /* The cell is not saturated, use the current cell */ + awbStats_[awbRegionPosition].counted++; + uint32_t greenValue = currentCell->greenRedAvg + currentCell->greenBlueAvg; + awbStats_[awbRegionPosition].gSum += greenValue / 2; + awbStats_[awbRegionPosition].rSum += currentCell->redAvg; + awbStats_[awbRegionPosition].bSum += currentCell->blueAvg; + } + } + } +} + +void IPU3Awb::clearAwbStats() +{ + for (unsigned int i = 0; i < kAwbStatsSizeX * kAwbStatsSizeY; i++) { + awbStats_[i].bSum = 0; + awbStats_[i].rSum = 0; + awbStats_[i].gSum = 0; + awbStats_[i].counted = 0; + awbStats_[i].notcounted = 0; + } +} + +void IPU3Awb::awbGrey() +{ + LOG(IPU3Awb, Debug) << "Grey world AWB"; + /** + * Make a separate list of the derivatives for each of red and blue, so + * that we can sort them to exclude the extreme gains. We could + * consider some variations, such as normalising all the zones first, or + * doing an L2 average etc. + */ + std::vector &redDerivative(zones_); + std::vector blueDerivative(redDerivative); + std::sort(redDerivative.begin(), redDerivative.end(), + [](RGB const &a, RGB const &b) { + return a.G * b.R < b.G * a.R; + }); + std::sort(blueDerivative.begin(), blueDerivative.end(), + [](RGB const &a, RGB const &b) { + return a.G * b.B < b.G * a.B; + }); + + /* Average the middle half of the values. */ + int discard = redDerivative.size() / 4; + RGB sumRed(0, 0, 0), sumBlue(0, 0, 0); + for (auto ri = redDerivative.begin() + discard, + bi = blueDerivative.begin() + discard; + ri != redDerivative.end() - discard; ri++, bi++) + sumRed += *ri, sumBlue += *bi; + + double redGain = sumRed.G / (sumRed.R + 1), + blueGain = sumBlue.G / (sumBlue.B + 1); + + /* Color temperature is not relevant in Gray world but still useful to estimate it :-) */ + asyncResults_.temperatureK = estimateCCT(sumRed.R, sumRed.G, sumBlue.B); + asyncResults_.redGain = redGain; + asyncResults_.greenGain = 1.0; + asyncResults_.blueGain = blueGain; +} + +void IPU3Awb::calculateWBGains(const ipu3_uapi_stats_3a *stats) +{ + ASSERT(stats->stats_3a_status.awb_en); + zones_.clear(); + clearAwbStats(); + generateAwbStats(stats); + generateZones(zones_); + LOG(IPU3Awb, Debug) << "Valid zones: " << zones_.size(); + if (zones_.size() > 10) + awbGrey(); + + LOG(IPU3Awb, Debug) << "Gain found for red: " << asyncResults_.redGain + << " and for blue: " << asyncResults_.blueGain; +} + +void IPU3Awb::updateWbParameters(ipu3_uapi_params ¶ms, double agcGamma) +{ + /** + * Green gains should not be touched and considered 1. + * Default is 16, so do not change it at all. + * 4096 is the value for a gain of 1.0 + */ + params.acc_param.bnr.wb_gains.gr = 16; + params.acc_param.bnr.wb_gains.r = 4096 * asyncResults_.redGain; + params.acc_param.bnr.wb_gains.b = 4096 * asyncResults_.blueGain; + params.acc_param.bnr.wb_gains.gb = 16; + + LOG(IPU3Awb, Debug) << "Color temperature estimated: " << asyncResults_.temperatureK + << " and gamma calculated: " << agcGamma; + + /* The CCM matrix may change when color temperature will be used */ + params.acc_param.ccm = imguCssCcmDefault; + + for (uint32_t i = 0; i < 256; i++) { + double j = i / 255.0; + double gamma = std::pow(j, 1.0 / agcGamma); + /* The maximum value 255 is represented on 13 bits in the IPU3 */ + params.acc_param.gamma.gc_lut.lut[i] = gamma * 8191; + } +} + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/ipu3/ipu3_awb.h b/src/ipa/ipu3/ipu3_awb.h new file mode 100644 index 00000000..0994d18d --- /dev/null +++ b/src/ipa/ipu3/ipu3_awb.h @@ -0,0 +1,91 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Ideas On Board + * + * ipu3_awb.h - IPU3 AWB control algorithm + */ +#ifndef __LIBCAMERA_IPU3_AWB_H__ +#define __LIBCAMERA_IPU3_AWB_H__ + +#include + +#include + +#include + +#include "libipa/algorithm.h" + +namespace libcamera { + +namespace ipa { + +/* Region size for the statistics generation algorithm */ +static constexpr uint32_t kAwbStatsSizeX = 16; +static constexpr uint32_t kAwbStatsSizeY = 12; + +class IPU3Awb : public Algorithm +{ +public: + IPU3Awb(); + ~IPU3Awb(); + + void initialise(ipu3_uapi_params ¶ms, const Size &bdsOutputSize, struct ipu3_uapi_grid_config &bdsGrid); + void calculateWBGains(const ipu3_uapi_stats_3a *stats); + void updateWbParameters(ipu3_uapi_params ¶ms, double agcGamma); + + struct Ipu3AwbCell { + unsigned char greenRedAvg; + unsigned char redAvg; + unsigned char blueAvg; + unsigned char greenBlueAvg; + unsigned char satRatio; + unsigned char padding[3]; + } __attribute__((packed)); + + /* \todo Make these three structs available to all the ISPs ? */ + struct RGB { + RGB(double _R = 0, double _G = 0, double _B = 0) + : R(_R), G(_G), B(_B) + { + } + double R, G, B; + RGB &operator+=(RGB const &other) + { + R += other.R, G += other.G, B += other.B; + return *this; + } + }; + + struct IspStatsRegion { + unsigned int counted; + unsigned int notcounted; + unsigned long long rSum; + unsigned long long gSum; + unsigned long long bSum; + }; + + struct AwbStatus { + double temperatureK; + double redGain; + double greenGain; + double blueGain; + }; + +private: + void generateZones(std::vector &zones); + void generateAwbStats(const ipu3_uapi_stats_3a *stats); + void clearAwbStats(); + void awbGrey(); + uint32_t estimateCCT(double red, double green, double blue); + + struct ipu3_uapi_grid_config awbGrid_; + + std::vector zones_; + IspStatsRegion awbStats_[kAwbStatsSizeX * kAwbStatsSizeY]; + AwbStatus asyncResults_; +}; + +} /* namespace ipa */ + +} /* namespace libcamera*/ +#endif /* __LIBCAMERA_IPU3_AWB_H__ */ diff --git a/src/ipa/ipu3/meson.build b/src/ipa/ipu3/meson.build index a241f617..1040698e 100644 --- a/src/ipa/ipu3/meson.build +++ b/src/ipa/ipu3/meson.build @@ -2,8 +2,13 @@ ipa_name = 'ipa_ipu3' +ipu3_ipa_sources = files([ + 'ipu3.cpp', + 'ipu3_awb.cpp', +]) + mod = shared_module(ipa_name, - ['ipu3.cpp', libcamera_generated_ipa_headers], + [ipu3_ipa_sources, libcamera_generated_ipa_headers], name_prefix : '', include_directories : [ipa_includes, libipa_includes], dependencies : libcamera_dep,