| Message ID | 20220105155539.5550-4-david.plowman@raspberrypi.com |
|---|---|
| State | Accepted |
| Headers | show |
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| Related | show |
Hi David, Thank you for your work. On Wed, 5 Jan 2022 at 15:55, David Plowman <david.plowman@raspberrypi.com> wrote: > If the sensor exposes the V4L2_CID_NOTIFY_GAINS control, assume it > means the sensor wants to be told the latest colour gains. > > We store whether the control exists and if so its default value, to > save us checking for it on every frame. > > Signed-off-by: David Plowman <david.plowman@raspberrypi.com> > Reviewed-by: Naushir Patuck <naush@raspberrypi.com> > --- > .../pipeline/raspberrypi/raspberrypi.cpp | 31 +++++++++++++++++++ > 1 file changed, 31 insertions(+) > > diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > index b5c687da..4adef952 100644 > --- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > +++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > @@ -264,6 +264,12 @@ public: > > unsigned int dropFrameCount_; > > + /* > + * If set, this stores the value that represets a gain of one for > + * the V4L2_CID_NOTIFY_GAINS control. > + */ > + std::optional<int32_t> notifyGainsUnity_; > + > private: > void checkRequestCompleted(); > void fillRequestMetadata(const ControlList &bufferControls, > @@ -1191,6 +1197,15 @@ int PipelineHandlerRPi::registerCamera(MediaDevice > *unicam, MediaDevice *isp) > /* Initialize the camera properties. */ > data->properties_ = data->sensor_->properties(); > > + /* > + * The V4L2_CID_NOTIFY_GAINS control, if present, is used to > inform the > + * sensor of the colour gains. It is defined to be a linear gain > where > + * the default value represents a gain of exactly one. > + */ > + auto it = data->sensor_->controls().find(V4L2_CID_NOTIFY_GAINS); > + if (it != data->sensor_->controls().end()) > + data->notifyGainsUnity_ = it->second.def().get<int32_t>(); > + > /* > * Set a default value for the ScalerCropMaximum property to show > * that we support its use, however, initialise it to zero because > @@ -1495,6 +1510,22 @@ void RPiCameraData::statsMetadataComplete(uint32_t > bufferId, const ControlList & > Request *request = requestQueue_.front(); > request->metadata().merge(controls); > > + /* > + * Inform the sensor of the latest colour gains if it has the > + * V4L2_CID_NOTIFY_GAINS control (which means notifyGainsUnity_ is > set). > + */ > + if (notifyGainsUnity_ && > controls.contains(libcamera::controls::ColourGains)) { > + libcamera::Span<const float> colourGains = > controls.get(libcamera::controls::ColourGains); > + /* The control wants linear gains in the order B, Gb, Gr, > R. */ > + ControlList ctrls(sensor_->controls()); > + std::array<int32_t, 4> gains = { > static_cast<int32_t>(colourGains[1] * *notifyGainsUnity_), > + *notifyGainsUnity_, > *notifyGainsUnity_, > + > static_cast<int32_t>(colourGains[0] * *notifyGainsUnity_) }; > + ctrls.set(V4L2_CID_NOTIFY_GAINS, Span<const int32_t>{ > gains }); > + > + sensor_->setControls(&ctrls); > + } > + > state_ = State::IpaComplete; > handleState(); > } > -- > 2.30.2 > >
Hi David, Thank you for the patch. On Wed, Jan 05, 2022 at 03:55:39PM +0000, David Plowman wrote: > If the sensor exposes the V4L2_CID_NOTIFY_GAINS control, assume it > means the sensor wants to be told the latest colour gains. > > We store whether the control exists and if so its default value, to > save us checking for it on every frame. > > Signed-off-by: David Plowman <david.plowman@raspberrypi.com> > --- > .../pipeline/raspberrypi/raspberrypi.cpp | 31 +++++++++++++++++++ > 1 file changed, 31 insertions(+) > > diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > index b5c687da..4adef952 100644 > --- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > +++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > @@ -264,6 +264,12 @@ public: > > unsigned int dropFrameCount_; > > + /* > + * If set, this stores the value that represets a gain of one for > + * the V4L2_CID_NOTIFY_GAINS control. > + */ > + std::optional<int32_t> notifyGainsUnity_; A plain int32_t would be enough, as a zero value isn't valid. Up to you. > + > private: > void checkRequestCompleted(); > void fillRequestMetadata(const ControlList &bufferControls, > @@ -1191,6 +1197,15 @@ int PipelineHandlerRPi::registerCamera(MediaDevice *unicam, MediaDevice *isp) > /* Initialize the camera properties. */ > data->properties_ = data->sensor_->properties(); > > + /* > + * The V4L2_CID_NOTIFY_GAINS control, if present, is used to inform the > + * sensor of the colour gains. It is defined to be a linear gain where > + * the default value represents a gain of exactly one. > + */ > + auto it = data->sensor_->controls().find(V4L2_CID_NOTIFY_GAINS); > + if (it != data->sensor_->controls().end()) > + data->notifyGainsUnity_ = it->second.def().get<int32_t>(); > + > /* > * Set a default value for the ScalerCropMaximum property to show > * that we support its use, however, initialise it to zero because > @@ -1495,6 +1510,22 @@ void RPiCameraData::statsMetadataComplete(uint32_t bufferId, const ControlList & > Request *request = requestQueue_.front(); > request->metadata().merge(controls); > > + /* > + * Inform the sensor of the latest colour gains if it has the > + * V4L2_CID_NOTIFY_GAINS control (which means notifyGainsUnity_ is set). > + */ > + if (notifyGainsUnity_ && controls.contains(libcamera::controls::ColourGains)) { > + libcamera::Span<const float> colourGains = controls.get(libcamera::controls::ColourGains); > + /* The control wants linear gains in the order B, Gb, Gr, R. */ > + ControlList ctrls(sensor_->controls()); > + std::array<int32_t, 4> gains = { static_cast<int32_t>(colourGains[1] * *notifyGainsUnity_), > + *notifyGainsUnity_, *notifyGainsUnity_, > + static_cast<int32_t>(colourGains[0] * *notifyGainsUnity_) }; Let's shorten the lines a bit: std::array<int32_t, 4> gains{ static_cast<int32_t>(colourGains[1] * *notifyGainsUnity_), *notifyGainsUnity_, *notifyGainsUnity_, static_cast<int32_t>(colourGains[0] * *notifyGainsUnity_) }; Reviewed-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com> > + ctrls.set(V4L2_CID_NOTIFY_GAINS, Span<const int32_t>{ gains }); > + > + sensor_->setControls(&ctrls); > + } > + > state_ = State::IpaComplete; > + ctrls.set(V4L2_CID_NOTIFY_GAINS, Span<const int32_t>{ gains }); > + > + sensor_->setControls(&ctrls); > + } > + > state_ = State::IpaComplete; > handleState(); > }
Hi Laurent Thanks for the review. On Wed, 5 Jan 2022 at 19:47, Laurent Pinchart <laurent.pinchart@ideasonboard.com> wrote: > > Hi David, > > Thank you for the patch. > > On Wed, Jan 05, 2022 at 03:55:39PM +0000, David Plowman wrote: > > If the sensor exposes the V4L2_CID_NOTIFY_GAINS control, assume it > > means the sensor wants to be told the latest colour gains. > > > > We store whether the control exists and if so its default value, to > > save us checking for it on every frame. > > > > Signed-off-by: David Plowman <david.plowman@raspberrypi.com> > > --- > > .../pipeline/raspberrypi/raspberrypi.cpp | 31 +++++++++++++++++++ > > 1 file changed, 31 insertions(+) > > > > diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > > index b5c687da..4adef952 100644 > > --- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > > +++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > > @@ -264,6 +264,12 @@ public: > > > > unsigned int dropFrameCount_; > > > > + /* > > + * If set, this stores the value that represets a gain of one for > > + * the V4L2_CID_NOTIFY_GAINS control. > > + */ > > + std::optional<int32_t> notifyGainsUnity_; > > A plain int32_t would be enough, as a zero value isn't valid. Up to > you. And I was trying so hard to avoid using the value 0 to have a "special" meaning... :) I think at this point I'm inclined to leave it as it is, unless anyone else objects, or I might change it if I need to do another revision. > > > + > > private: > > void checkRequestCompleted(); > > void fillRequestMetadata(const ControlList &bufferControls, > > @@ -1191,6 +1197,15 @@ int PipelineHandlerRPi::registerCamera(MediaDevice *unicam, MediaDevice *isp) > > /* Initialize the camera properties. */ > > data->properties_ = data->sensor_->properties(); > > > > + /* > > + * The V4L2_CID_NOTIFY_GAINS control, if present, is used to inform the > > + * sensor of the colour gains. It is defined to be a linear gain where > > + * the default value represents a gain of exactly one. > > + */ > > + auto it = data->sensor_->controls().find(V4L2_CID_NOTIFY_GAINS); > > + if (it != data->sensor_->controls().end()) > > + data->notifyGainsUnity_ = it->second.def().get<int32_t>(); > > + > > /* > > * Set a default value for the ScalerCropMaximum property to show > > * that we support its use, however, initialise it to zero because > > @@ -1495,6 +1510,22 @@ void RPiCameraData::statsMetadataComplete(uint32_t bufferId, const ControlList & > > Request *request = requestQueue_.front(); > > request->metadata().merge(controls); > > > > + /* > > + * Inform the sensor of the latest colour gains if it has the > > + * V4L2_CID_NOTIFY_GAINS control (which means notifyGainsUnity_ is set). > > + */ > > + if (notifyGainsUnity_ && controls.contains(libcamera::controls::ColourGains)) { > > + libcamera::Span<const float> colourGains = controls.get(libcamera::controls::ColourGains); > > + /* The control wants linear gains in the order B, Gb, Gr, R. */ > > + ControlList ctrls(sensor_->controls()); > > + std::array<int32_t, 4> gains = { static_cast<int32_t>(colourGains[1] * *notifyGainsUnity_), > > + *notifyGainsUnity_, *notifyGainsUnity_, > > + static_cast<int32_t>(colourGains[0] * *notifyGainsUnity_) }; > > Let's shorten the lines a bit: > > std::array<int32_t, 4> gains{ > static_cast<int32_t>(colourGains[1] * *notifyGainsUnity_), > *notifyGainsUnity_, > *notifyGainsUnity_, > static_cast<int32_t>(colourGains[0] * *notifyGainsUnity_) > }; Is that fix-while-applying-able, do you think? Otherwise I'll do another version. Thanks again! David > > Reviewed-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com> > > > + ctrls.set(V4L2_CID_NOTIFY_GAINS, Span<const int32_t>{ gains }); > > + > > + sensor_->setControls(&ctrls); > > + } > > + > > state_ = State::IpaComplete; > > + ctrls.set(V4L2_CID_NOTIFY_GAINS, Span<const int32_t>{ gains }); > > + > > + sensor_->setControls(&ctrls); > > + } > > + > > state_ = State::IpaComplete; > > handleState(); > > } > > -- > Regards, > > Laurent Pinchart
Hi David, On Thu, Jan 06, 2022 at 02:26:13PM +0000, David Plowman wrote: > On Wed, 5 Jan 2022 at 19:47, Laurent Pinchart wrote: > > On Wed, Jan 05, 2022 at 03:55:39PM +0000, David Plowman wrote: > > > If the sensor exposes the V4L2_CID_NOTIFY_GAINS control, assume it > > > means the sensor wants to be told the latest colour gains. > > > > > > We store whether the control exists and if so its default value, to > > > save us checking for it on every frame. > > > > > > Signed-off-by: David Plowman <david.plowman@raspberrypi.com> > > > --- > > > .../pipeline/raspberrypi/raspberrypi.cpp | 31 +++++++++++++++++++ > > > 1 file changed, 31 insertions(+) > > > > > > diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > > > index b5c687da..4adef952 100644 > > > --- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > > > +++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > > > @@ -264,6 +264,12 @@ public: > > > > > > unsigned int dropFrameCount_; > > > > > > + /* > > > + * If set, this stores the value that represets a gain of one for > > > + * the V4L2_CID_NOTIFY_GAINS control. > > > + */ > > > + std::optional<int32_t> notifyGainsUnity_; > > > > A plain int32_t would be enough, as a zero value isn't valid. Up to > > you. > > And I was trying so hard to avoid using the value 0 to have a > "special" meaning... :) I thought std::optional was nice in that it avoided considering any specific value as special, but then realized that 0 is invalid anyway. > I think at this point I'm inclined to leave it as it is, unless anyone > else objects, or I might change it if I need to do another revision. Fine with me. > > > + > > > private: > > > void checkRequestCompleted(); > > > void fillRequestMetadata(const ControlList &bufferControls, > > > @@ -1191,6 +1197,15 @@ int PipelineHandlerRPi::registerCamera(MediaDevice *unicam, MediaDevice *isp) > > > /* Initialize the camera properties. */ > > > data->properties_ = data->sensor_->properties(); > > > > > > + /* > > > + * The V4L2_CID_NOTIFY_GAINS control, if present, is used to inform the > > > + * sensor of the colour gains. It is defined to be a linear gain where > > > + * the default value represents a gain of exactly one. > > > + */ > > > + auto it = data->sensor_->controls().find(V4L2_CID_NOTIFY_GAINS); > > > + if (it != data->sensor_->controls().end()) > > > + data->notifyGainsUnity_ = it->second.def().get<int32_t>(); > > > + > > > /* > > > * Set a default value for the ScalerCropMaximum property to show > > > * that we support its use, however, initialise it to zero because > > > @@ -1495,6 +1510,22 @@ void RPiCameraData::statsMetadataComplete(uint32_t bufferId, const ControlList & > > > Request *request = requestQueue_.front(); > > > request->metadata().merge(controls); > > > > > > + /* > > > + * Inform the sensor of the latest colour gains if it has the > > > + * V4L2_CID_NOTIFY_GAINS control (which means notifyGainsUnity_ is set). > > > + */ > > > + if (notifyGainsUnity_ && controls.contains(libcamera::controls::ColourGains)) { > > > + libcamera::Span<const float> colourGains = controls.get(libcamera::controls::ColourGains); > > > + /* The control wants linear gains in the order B, Gb, Gr, R. */ > > > + ControlList ctrls(sensor_->controls()); > > > + std::array<int32_t, 4> gains = { static_cast<int32_t>(colourGains[1] * *notifyGainsUnity_), > > > + *notifyGainsUnity_, *notifyGainsUnity_, > > > + static_cast<int32_t>(colourGains[0] * *notifyGainsUnity_) }; > > > > Let's shorten the lines a bit: > > > > std::array<int32_t, 4> gains{ > > static_cast<int32_t>(colourGains[1] * *notifyGainsUnity_), > > *notifyGainsUnity_, > > *notifyGainsUnity_, > > static_cast<int32_t>(colourGains[0] * *notifyGainsUnity_) > > }; > > Is that fix-while-applying-able, do you think? Otherwise I'll do > another version. I can handle this locally, no problem. > > Reviewed-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com> > > > > > + ctrls.set(V4L2_CID_NOTIFY_GAINS, Span<const int32_t>{ gains }); > > > + > > > + sensor_->setControls(&ctrls); > > > + } > > > + > > > state_ = State::IpaComplete; > > > + ctrls.set(V4L2_CID_NOTIFY_GAINS, Span<const int32_t>{ gains }); > > > + > > > + sensor_->setControls(&ctrls); > > > + } > > > + > > > state_ = State::IpaComplete; > > > handleState(); > > > }
Thanks, Laurent! On Thu, 6 Jan 2022 at 14:37, Laurent Pinchart <laurent.pinchart@ideasonboard.com> wrote: > > Hi David, > > On Thu, Jan 06, 2022 at 02:26:13PM +0000, David Plowman wrote: > > On Wed, 5 Jan 2022 at 19:47, Laurent Pinchart wrote: > > > On Wed, Jan 05, 2022 at 03:55:39PM +0000, David Plowman wrote: > > > > If the sensor exposes the V4L2_CID_NOTIFY_GAINS control, assume it > > > > means the sensor wants to be told the latest colour gains. > > > > > > > > We store whether the control exists and if so its default value, to > > > > save us checking for it on every frame. > > > > > > > > Signed-off-by: David Plowman <david.plowman@raspberrypi.com> > > > > --- > > > > .../pipeline/raspberrypi/raspberrypi.cpp | 31 +++++++++++++++++++ > > > > 1 file changed, 31 insertions(+) > > > > > > > > diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > > > > index b5c687da..4adef952 100644 > > > > --- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > > > > +++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > > > > @@ -264,6 +264,12 @@ public: > > > > > > > > unsigned int dropFrameCount_; > > > > > > > > + /* > > > > + * If set, this stores the value that represets a gain of one for > > > > + * the V4L2_CID_NOTIFY_GAINS control. > > > > + */ > > > > + std::optional<int32_t> notifyGainsUnity_; > > > > > > A plain int32_t would be enough, as a zero value isn't valid. Up to > > > you. > > > > And I was trying so hard to avoid using the value 0 to have a > > "special" meaning... :) > > I thought std::optional was nice in that it avoided considering any > specific value as special, but then realized that 0 is invalid anyway. > > > I think at this point I'm inclined to leave it as it is, unless anyone > > else objects, or I might change it if I need to do another revision. > > Fine with me. > > > > > + > > > > private: > > > > void checkRequestCompleted(); > > > > void fillRequestMetadata(const ControlList &bufferControls, > > > > @@ -1191,6 +1197,15 @@ int PipelineHandlerRPi::registerCamera(MediaDevice *unicam, MediaDevice *isp) > > > > /* Initialize the camera properties. */ > > > > data->properties_ = data->sensor_->properties(); > > > > > > > > + /* > > > > + * The V4L2_CID_NOTIFY_GAINS control, if present, is used to inform the > > > > + * sensor of the colour gains. It is defined to be a linear gain where > > > > + * the default value represents a gain of exactly one. > > > > + */ > > > > + auto it = data->sensor_->controls().find(V4L2_CID_NOTIFY_GAINS); > > > > + if (it != data->sensor_->controls().end()) > > > > + data->notifyGainsUnity_ = it->second.def().get<int32_t>(); > > > > + > > > > /* > > > > * Set a default value for the ScalerCropMaximum property to show > > > > * that we support its use, however, initialise it to zero because > > > > @@ -1495,6 +1510,22 @@ void RPiCameraData::statsMetadataComplete(uint32_t bufferId, const ControlList & > > > > Request *request = requestQueue_.front(); > > > > request->metadata().merge(controls); > > > > > > > > + /* > > > > + * Inform the sensor of the latest colour gains if it has the > > > > + * V4L2_CID_NOTIFY_GAINS control (which means notifyGainsUnity_ is set). > > > > + */ > > > > + if (notifyGainsUnity_ && controls.contains(libcamera::controls::ColourGains)) { > > > > + libcamera::Span<const float> colourGains = controls.get(libcamera::controls::ColourGains); > > > > + /* The control wants linear gains in the order B, Gb, Gr, R. */ > > > > + ControlList ctrls(sensor_->controls()); > > > > + std::array<int32_t, 4> gains = { static_cast<int32_t>(colourGains[1] * *notifyGainsUnity_), > > > > + *notifyGainsUnity_, *notifyGainsUnity_, > > > > + static_cast<int32_t>(colourGains[0] * *notifyGainsUnity_) }; > > > > > > Let's shorten the lines a bit: > > > > > > std::array<int32_t, 4> gains{ > > > static_cast<int32_t>(colourGains[1] * *notifyGainsUnity_), > > > *notifyGainsUnity_, > > > *notifyGainsUnity_, > > > static_cast<int32_t>(colourGains[0] * *notifyGainsUnity_) > > > }; > > > > Is that fix-while-applying-able, do you think? Otherwise I'll do > > another version. > > I can handle this locally, no problem. > > > > Reviewed-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com> > > > > > > > + ctrls.set(V4L2_CID_NOTIFY_GAINS, Span<const int32_t>{ gains }); > > > > + > > > > + sensor_->setControls(&ctrls); > > > > + } > > > > + > > > > state_ = State::IpaComplete; > > > > + ctrls.set(V4L2_CID_NOTIFY_GAINS, Span<const int32_t>{ gains }); > > > > + > > > > + sensor_->setControls(&ctrls); > > > > + } > > > > + > > > > state_ = State::IpaComplete; > > > > handleState(); > > > > } > > -- > Regards, > > Laurent Pinchart
diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp index b5c687da..4adef952 100644 --- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp +++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp @@ -264,6 +264,12 @@ public: unsigned int dropFrameCount_; + /* + * If set, this stores the value that represets a gain of one for + * the V4L2_CID_NOTIFY_GAINS control. + */ + std::optional<int32_t> notifyGainsUnity_; + private: void checkRequestCompleted(); void fillRequestMetadata(const ControlList &bufferControls, @@ -1191,6 +1197,15 @@ int PipelineHandlerRPi::registerCamera(MediaDevice *unicam, MediaDevice *isp) /* Initialize the camera properties. */ data->properties_ = data->sensor_->properties(); + /* + * The V4L2_CID_NOTIFY_GAINS control, if present, is used to inform the + * sensor of the colour gains. It is defined to be a linear gain where + * the default value represents a gain of exactly one. + */ + auto it = data->sensor_->controls().find(V4L2_CID_NOTIFY_GAINS); + if (it != data->sensor_->controls().end()) + data->notifyGainsUnity_ = it->second.def().get<int32_t>(); + /* * Set a default value for the ScalerCropMaximum property to show * that we support its use, however, initialise it to zero because @@ -1495,6 +1510,22 @@ void RPiCameraData::statsMetadataComplete(uint32_t bufferId, const ControlList & Request *request = requestQueue_.front(); request->metadata().merge(controls); + /* + * Inform the sensor of the latest colour gains if it has the + * V4L2_CID_NOTIFY_GAINS control (which means notifyGainsUnity_ is set). + */ + if (notifyGainsUnity_ && controls.contains(libcamera::controls::ColourGains)) { + libcamera::Span<const float> colourGains = controls.get(libcamera::controls::ColourGains); + /* The control wants linear gains in the order B, Gb, Gr, R. */ + ControlList ctrls(sensor_->controls()); + std::array<int32_t, 4> gains = { static_cast<int32_t>(colourGains[1] * *notifyGainsUnity_), + *notifyGainsUnity_, *notifyGainsUnity_, + static_cast<int32_t>(colourGains[0] * *notifyGainsUnity_) }; + ctrls.set(V4L2_CID_NOTIFY_GAINS, Span<const int32_t>{ gains }); + + sensor_->setControls(&ctrls); + } + state_ = State::IpaComplete; handleState(); }
If the sensor exposes the V4L2_CID_NOTIFY_GAINS control, assume it means the sensor wants to be told the latest colour gains. We store whether the control exists and if so its default value, to save us checking for it on every frame. Signed-off-by: David Plowman <david.plowman@raspberrypi.com> --- .../pipeline/raspberrypi/raspberrypi.cpp | 31 +++++++++++++++++++ 1 file changed, 31 insertions(+)