@@ -25,7 +25,7 @@ struct AgcStatus {
libcamera::utils::Duration shutterTime;
double analogueGain;
char exposureMode[32];
- char constraint_mode[32];
+ char constraintMode[32];
char meteringMode[32];
double ev;
libcamera::utils::Duration flickerPeriod;
@@ -30,7 +30,7 @@ LOG_DEFINE_CATEGORY(RPiAgc)
#define PIPELINE_BITS 13 // seems to be a 13-bit pipeline
-void AgcMeteringMode::Read(boost::property_tree::ptree const ¶ms)
+void AgcMeteringMode::read(boost::property_tree::ptree const ¶ms)
{
int num = 0;
for (auto &p : params.get_child("weights")) {
@@ -43,265 +43,260 @@ void AgcMeteringMode::Read(boost::property_tree::ptree const ¶ms)
}
static std::string
-read_metering_modes(std::map<std::string, AgcMeteringMode> &metering_modes,
- boost::property_tree::ptree const ¶ms)
+readMeteringModes(std::map<std::string, AgcMeteringMode> &meteringModes,
+ boost::property_tree::ptree const ¶ms)
{
std::string first;
for (auto &p : params) {
- AgcMeteringMode metering_mode;
- metering_mode.Read(p.second);
- metering_modes[p.first] = std::move(metering_mode);
+ AgcMeteringMode meteringMode;
+ meteringMode.read(p.second);
+ meteringModes[p.first] = std::move(meteringMode);
if (first.empty())
first = p.first;
}
return first;
}
-static int read_list(std::vector<double> &list,
- boost::property_tree::ptree const ¶ms)
+static int readList(std::vector<double> &list,
+ boost::property_tree::ptree const ¶ms)
{
for (auto &p : params)
list.push_back(p.second.get_value<double>());
return list.size();
}
-static int read_list(std::vector<Duration> &list,
- boost::property_tree::ptree const ¶ms)
+static int readList(std::vector<Duration> &list,
+ boost::property_tree::ptree const ¶ms)
{
for (auto &p : params)
list.push_back(p.second.get_value<double>() * 1us);
return list.size();
}
-void AgcExposureMode::Read(boost::property_tree::ptree const ¶ms)
+void AgcExposureMode::read(boost::property_tree::ptree const ¶ms)
{
- int num_shutters = read_list(shutter, params.get_child("shutter"));
- int num_ags = read_list(gain, params.get_child("gain"));
- if (num_shutters < 2 || num_ags < 2)
+ int numShutters = readList(shutter, params.get_child("shutter"));
+ int numAgs = readList(gain, params.get_child("gain"));
+ if (numShutters < 2 || numAgs < 2)
throw std::runtime_error(
"AgcConfig: must have at least two entries in exposure profile");
- if (num_shutters != num_ags)
+ if (numShutters != numAgs)
throw std::runtime_error(
"AgcConfig: expect same number of exposure and gain entries in exposure profile");
}
static std::string
-read_exposure_modes(std::map<std::string, AgcExposureMode> &exposure_modes,
- boost::property_tree::ptree const ¶ms)
+readExposureModes(std::map<std::string, AgcExposureMode> &exposureModes,
+ boost::property_tree::ptree const ¶ms)
{
std::string first;
for (auto &p : params) {
- AgcExposureMode exposure_mode;
- exposure_mode.Read(p.second);
- exposure_modes[p.first] = std::move(exposure_mode);
+ AgcExposureMode exposureMode;
+ exposureMode.read(p.second);
+ exposureModes[p.first] = std::move(exposureMode);
if (first.empty())
first = p.first;
}
return first;
}
-void AgcConstraint::Read(boost::property_tree::ptree const ¶ms)
+void AgcConstraint::read(boost::property_tree::ptree const ¶ms)
{
- std::string bound_string = params.get<std::string>("bound", "");
- transform(bound_string.begin(), bound_string.end(),
- bound_string.begin(), ::toupper);
- if (bound_string != "UPPER" && bound_string != "LOWER")
+ std::string boundString = params.get<std::string>("bound", "");
+ transform(boundString.begin(), boundString.end(),
+ boundString.begin(), ::toupper);
+ if (boundString != "UPPER" && boundString != "LOWER")
throw std::runtime_error(
"AGC constraint type should be UPPER or LOWER");
- bound = bound_string == "UPPER" ? Bound::UPPER : Bound::LOWER;
- q_lo = params.get<double>("q_lo");
- q_hi = params.get<double>("q_hi");
- Y_target.Read(params.get_child("y_target"));
+ bound = boundString == "UPPER" ? Bound::UPPER : Bound::LOWER;
+ qLo = params.get<double>("q_lo");
+ qHi = params.get<double>("q_hi");
+ yTarget.read(params.get_child("y_target"));
}
static AgcConstraintMode
-read_constraint_mode(boost::property_tree::ptree const ¶ms)
+readConstraintMode(boost::property_tree::ptree const ¶ms)
{
AgcConstraintMode mode;
for (auto &p : params) {
AgcConstraint constraint;
- constraint.Read(p.second);
+ constraint.read(p.second);
mode.push_back(std::move(constraint));
}
return mode;
}
-static std::string read_constraint_modes(
- std::map<std::string, AgcConstraintMode> &constraint_modes,
- boost::property_tree::ptree const ¶ms)
+static std::string readConstraintModes(std::map<std::string, AgcConstraintMode> &constraintModes,
+ boost::property_tree::ptree const ¶ms)
{
std::string first;
for (auto &p : params) {
- constraint_modes[p.first] = read_constraint_mode(p.second);
+ constraintModes[p.first] = readConstraintMode(p.second);
if (first.empty())
first = p.first;
}
return first;
}
-void AgcConfig::Read(boost::property_tree::ptree const ¶ms)
+void AgcConfig::read(boost::property_tree::ptree const ¶ms)
{
LOG(RPiAgc, Debug) << "AgcConfig";
- default_metering_mode = read_metering_modes(
- metering_modes, params.get_child("metering_modes"));
- default_exposure_mode = read_exposure_modes(
- exposure_modes, params.get_child("exposure_modes"));
- default_constraint_mode = read_constraint_modes(
- constraint_modes, params.get_child("constraint_modes"));
- Y_target.Read(params.get_child("y_target"));
+ defaultMeteringMode = readMeteringModes(meteringModes, params.get_child("metering_modes"));
+ defaultExposureMode = readExposureModes(exposureModes, params.get_child("exposure_modes"));
+ defaultConstraintMode = readConstraintModes(constraintModes, params.get_child("constraint_modes"));
+ yTarget.read(params.get_child("y_target"));
speed = params.get<double>("speed", 0.2);
- startup_frames = params.get<uint16_t>("startup_frames", 10);
- convergence_frames = params.get<unsigned int>("convergence_frames", 6);
- fast_reduce_threshold =
- params.get<double>("fast_reduce_threshold", 0.4);
- base_ev = params.get<double>("base_ev", 1.0);
+ startupFrames = params.get<uint16_t>("startup_frames", 10);
+ convergenceFrames = params.get<unsigned int>("convergence_frames", 6);
+ fastReduceThreshold = params.get<double>("fast_reduce_threshold", 0.4);
+ baseEv = params.get<double>("base_ev", 1.0);
// Start with quite a low value as ramping up is easier than ramping down.
- default_exposure_time = params.get<double>("default_exposure_time", 1000) * 1us;
- default_analogue_gain = params.get<double>("default_analogue_gain", 1.0);
+ defaultExposureTime = params.get<double>("default_exposure_time", 1000) * 1us;
+ defaultAnalogueGain = params.get<double>("default_analogueGain", 1.0);
}
Agc::ExposureValues::ExposureValues()
- : shutter(0s), analogue_gain(0),
- total_exposure(0s), total_exposure_no_dg(0s)
+ : shutter(0s), analogueGain(0),
+ totalExposure(0s), totalExposureNoDG(0s)
{
}
Agc::Agc(Controller *controller)
- : AgcAlgorithm(controller), metering_mode_(nullptr),
- exposure_mode_(nullptr), constraint_mode_(nullptr),
- frame_count_(0), lock_count_(0),
- last_target_exposure_(0s), last_sensitivity_(0.0),
- ev_(1.0), flicker_period_(0s),
- max_shutter_(0s), fixed_shutter_(0s), fixed_analogue_gain_(0.0)
+ : AgcAlgorithm(controller), meteringMode_(nullptr),
+ exposureMode_(nullptr), constraintMode_(nullptr),
+ frameCount_(0), lockCount_(0),
+ lastTargetExposure_(0s), lastSensitivity_(0.0),
+ ev_(1.0), flickerPeriod_(0s),
+ maxShutter_(0s), fixedShutter_(0s), fixedAnalogueGain_(0.0)
{
memset(&awb_, 0, sizeof(awb_));
- // Setting status_.total_exposure_value_ to zero initially tells us
+ // Setting status_.totalExposureValue_ to zero initially tells us
// it's not been calculated yet (i.e. Process hasn't yet run).
memset(&status_, 0, sizeof(status_));
status_.ev = ev_;
}
-char const *Agc::Name() const
+char const *Agc::name() const
{
return NAME;
}
-void Agc::Read(boost::property_tree::ptree const ¶ms)
+void Agc::read(boost::property_tree::ptree const ¶ms)
{
LOG(RPiAgc, Debug) << "Agc";
- config_.Read(params);
+ config_.read(params);
// Set the config's defaults (which are the first ones it read) as our
// current modes, until someone changes them. (they're all known to
// exist at this point)
- metering_mode_name_ = config_.default_metering_mode;
- metering_mode_ = &config_.metering_modes[metering_mode_name_];
- exposure_mode_name_ = config_.default_exposure_mode;
- exposure_mode_ = &config_.exposure_modes[exposure_mode_name_];
- constraint_mode_name_ = config_.default_constraint_mode;
- constraint_mode_ = &config_.constraint_modes[constraint_mode_name_];
+ meteringModeName_ = config_.defaultMeteringMode;
+ meteringMode_ = &config_.meteringModes[meteringModeName_];
+ exposureModeName_ = config_.defaultExposureMode;
+ exposureMode_ = &config_.exposureModes[exposureModeName_];
+ constraintModeName_ = config_.defaultConstraintMode;
+ constraintMode_ = &config_.constraintModes[constraintModeName_];
// Set up the "last shutter/gain" values, in case AGC starts "disabled".
- status_.shutter_time = config_.default_exposure_time;
- status_.analogue_gain = config_.default_analogue_gain;
+ status_.shutterTime = config_.defaultExposureTime;
+ status_.analogueGain = config_.defaultAnalogueGain;
}
-bool Agc::IsPaused() const
+bool Agc::isPaused() const
{
return false;
}
-void Agc::Pause()
+void Agc::pause()
{
- fixed_shutter_ = status_.shutter_time;
- fixed_analogue_gain_ = status_.analogue_gain;
+ fixedShutter_ = status_.shutterTime;
+ fixedAnalogueGain_ = status_.analogueGain;
}
-void Agc::Resume()
+void Agc::resume()
{
- fixed_shutter_ = 0s;
- fixed_analogue_gain_ = 0;
+ fixedShutter_ = 0s;
+ fixedAnalogueGain_ = 0;
}
-unsigned int Agc::GetConvergenceFrames() const
+unsigned int Agc::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 (fixed_shutter_ && fixed_analogue_gain_)
+ if (fixedShutter_ && fixedAnalogueGain_)
return 0;
else
- return config_.convergence_frames;
+ return config_.convergenceFrames;
}
-void Agc::SetEv(double ev)
+void Agc::setEv(double ev)
{
ev_ = ev;
}
-void Agc::SetFlickerPeriod(Duration flicker_period)
+void Agc::setFlickerPeriod(Duration flickerPeriod)
{
- flicker_period_ = flicker_period;
+ flickerPeriod_ = flickerPeriod;
}
-void Agc::SetMaxShutter(Duration max_shutter)
+void Agc::setMaxShutter(Duration maxShutter)
{
- max_shutter_ = max_shutter;
+ maxShutter_ = maxShutter;
}
-void Agc::SetFixedShutter(Duration fixed_shutter)
+void Agc::setFixedShutter(Duration fixedShutter)
{
- fixed_shutter_ = fixed_shutter;
+ fixedShutter_ = fixedShutter;
// Set this in case someone calls Pause() straight after.
- status_.shutter_time = clipShutter(fixed_shutter_);
+ status_.shutterTime = clipShutter(fixedShutter_);
}
-void Agc::SetFixedAnalogueGain(double fixed_analogue_gain)
+void Agc::setFixedAnalogueGain(double fixedAnalogueGain)
{
- fixed_analogue_gain_ = fixed_analogue_gain;
+ fixedAnalogueGain_ = fixedAnalogueGain_;
// Set this in case someone calls Pause() straight after.
- status_.analogue_gain = fixed_analogue_gain;
+ status_.analogueGain = fixedAnalogueGain;
}
-void Agc::SetMeteringMode(std::string const &metering_mode_name)
+void Agc::setMeteringMode(std::string const &meteringModeName)
{
- metering_mode_name_ = metering_mode_name;
+ meteringModeName_ = meteringModeName;
}
-void Agc::SetExposureMode(std::string const &exposure_mode_name)
+void Agc::setExposureMode(std::string const &exposureModeName)
{
- exposure_mode_name_ = exposure_mode_name;
+ exposureModeName_ = exposureModeName;
}
-void Agc::SetConstraintMode(std::string const &constraint_mode_name)
+void Agc::setConstraintMode(std::string const &constraintModeName)
{
- constraint_mode_name_ = constraint_mode_name;
+ constraintModeName_ = constraintModeName;
}
-void Agc::SwitchMode(CameraMode const &camera_mode,
+void Agc::switchMode(CameraMode const &cameraMode,
Metadata *metadata)
{
/* AGC expects the mode sensitivity always to be non-zero. */
- ASSERT(camera_mode.sensitivity);
+ ASSERT(cameraMode.sensitivity);
housekeepConfig();
- Duration fixed_shutter = clipShutter(fixed_shutter_);
- if (fixed_shutter && fixed_analogue_gain_) {
+ Duration fixedShutter = clipShutter(fixedShutter_);
+ if (fixedShutter && fixedAnalogueGain_) {
// We're going to reset the algorithm here with these fixed values.
fetchAwbStatus(metadata);
- double min_colour_gain = std::min({ awb_.gain_r, awb_.gain_g, awb_.gain_b, 1.0 });
- ASSERT(min_colour_gain != 0.0);
+ 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_.total_exposure_no_dg = fixed_shutter * fixed_analogue_gain_;
- target_.total_exposure = target_.total_exposure_no_dg / min_colour_gain;
+ target_.totalExposureNoDG = fixedShutter_ * fixedAnalogueGain_;
+ target_.totalExposure = target_.totalExposureNoDG / minColourGain;
// Equivalent of filterExposure. This resets any "history".
filtered_ = target_;
// Equivalent of divideUpExposure.
- filtered_.shutter = fixed_shutter;
- filtered_.analogue_gain = fixed_analogue_gain_;
- } else if (status_.total_exposure_value) {
+ filtered_.shutter = fixedShutter;
+ filtered_.analogueGain = fixedAnalogueGain_;
+ } else if (status_.totalExposureValue) {
// On a mode switch, various things could happen:
// - the exposure profile might change
// - a fixed exposure or gain might be set
@@ -310,11 +305,11 @@ void Agc::SwitchMode(CameraMode const &camera_mode,
// that we just need to re-divide the exposure/gain according to the
// current exposure profile, which takes care of everything else.
- double ratio = last_sensitivity_ / camera_mode.sensitivity;
- target_.total_exposure_no_dg *= ratio;
- target_.total_exposure *= ratio;
- filtered_.total_exposure_no_dg *= ratio;
- filtered_.total_exposure *= ratio;
+ double ratio = lastSensitivity_ / cameraMode.sensitivity;
+ target_.totalExposureNoDG *= ratio;
+ target_.totalExposure *= ratio;
+ filtered_.totalExposureNoDG *= ratio;
+ filtered_.totalExposure *= ratio;
divideUpExposure();
} else {
@@ -324,114 +319,110 @@ void Agc::SwitchMode(CameraMode const &camera_mode,
// for any that weren't set.
// Equivalent of divideUpExposure.
- filtered_.shutter = fixed_shutter ? fixed_shutter : config_.default_exposure_time;
- filtered_.analogue_gain = fixed_analogue_gain_ ? fixed_analogue_gain_ : config_.default_analogue_gain;
+ filtered_.shutter = fixedShutter ? fixedShutter : config_.defaultExposureTime;
+ filtered_.analogueGain = fixedAnalogueGain_ ? fixedAnalogueGain_ : config_.defaultAnalogueGain;
}
writeAndFinish(metadata, false);
// We must remember the sensitivity of this mode for the next SwitchMode.
- last_sensitivity_ = camera_mode.sensitivity;
+ lastSensitivity_ = cameraMode.sensitivity;
}
-void Agc::Prepare(Metadata *image_metadata)
+void Agc::prepare(Metadata *imageMetadata)
{
- status_.digital_gain = 1.0;
- fetchAwbStatus(image_metadata); // always fetch it so that Process knows it's been done
+ status_.digitalGain = 1.0;
+ fetchAwbStatus(imageMetadata); // always fetch it so that Process knows it's been done
- if (status_.total_exposure_value) {
+ if (status_.totalExposureValue) {
// Process has run, so we have meaningful values.
- DeviceStatus device_status;
- if (image_metadata->Get("device.status", device_status) == 0) {
- Duration actual_exposure = device_status.shutter_speed *
- device_status.analogue_gain;
- if (actual_exposure) {
- status_.digital_gain =
- status_.total_exposure_value /
- actual_exposure;
- LOG(RPiAgc, Debug) << "Want total exposure " << status_.total_exposure_value;
+ DeviceStatus deviceStatus;
+ if (imageMetadata->get("device.status", deviceStatus) == 0) {
+ Duration actualExposure = deviceStatus.shutterSpeed *
+ deviceStatus.analogueGain;
+ if (actualExposure) {
+ status_.digitalGain = status_.totalExposureValue / actualExposure;
+ LOG(RPiAgc, Debug) << "Want total exposure " << status_.totalExposureValue;
// Never ask for a gain < 1.0, and also impose
// some upper limit. Make it customisable?
- status_.digital_gain = std::max(
- 1.0,
- std::min(status_.digital_gain, 4.0));
- LOG(RPiAgc, Debug) << "Actual exposure " << actual_exposure;
- LOG(RPiAgc, Debug) << "Use digital_gain " << status_.digital_gain;
+ status_.digitalGain = std::max(1.0, std::min(status_.digitalGain, 4.0));
+ LOG(RPiAgc, Debug) << "Actual exposure " << actualExposure;
+ LOG(RPiAgc, Debug) << "Use digitalGain " << status_.digitalGain;
LOG(RPiAgc, Debug) << "Effective exposure "
- << actual_exposure * status_.digital_gain;
+ << actualExposure * status_.digitalGain;
// Decide whether AEC/AGC has converged.
- updateLockStatus(device_status);
+ updateLockStatus(deviceStatus);
}
} else
- LOG(RPiAgc, Warning) << Name() << ": no device metadata";
- image_metadata->Set("agc.status", status_);
+ LOG(RPiAgc, Warning) << name() << ": no device metadata";
+ imageMetadata->set("agc.status", status_);
}
}
-void Agc::Process(StatisticsPtr &stats, Metadata *image_metadata)
+void Agc::process(StatisticsPtr &stats, Metadata *imageMetadata)
{
- frame_count_++;
+ frameCount_++;
// First a little bit of housekeeping, fetching up-to-date settings and
// configuration, that kind of thing.
housekeepConfig();
// Get the current exposure values for the frame that's just arrived.
- fetchCurrentExposure(image_metadata);
+ fetchCurrentExposure(imageMetadata);
// Compute the total gain we require relative to the current exposure.
- double gain, target_Y;
- computeGain(stats.get(), image_metadata, gain, target_Y);
+ double gain, targetY;
+ computeGain(stats.get(), imageMetadata, gain, targetY);
// Now compute the target (final) exposure which we think we want.
computeTargetExposure(gain);
// Some of the exposure has to be applied as digital gain, so work out
// what that is. This function also tells us whether it's decided to
// "desaturate" the image more quickly.
- bool desaturate = applyDigitalGain(gain, target_Y);
+ bool desaturate = applyDigitalGain(gain, targetY);
// The results have to be filtered so as not to change too rapidly.
filterExposure(desaturate);
// The last thing is to divide up the exposure value into a shutter time
- // and analogue_gain, according to the current exposure mode.
+ // and analogue gain, according to the current exposure mode.
divideUpExposure();
// Finally advertise what we've done.
- writeAndFinish(image_metadata, desaturate);
+ writeAndFinish(imageMetadata, desaturate);
}
-void Agc::updateLockStatus(DeviceStatus const &device_status)
+void Agc::updateLockStatus(DeviceStatus const &deviceStatus)
{
- const double ERROR_FACTOR = 0.10; // make these customisable?
- const int MAX_LOCK_COUNT = 5;
- // Reset "lock count" when we exceed this multiple of ERROR_FACTOR
- const double RESET_MARGIN = 1.5;
+ const double errorFactor = 0.10; // make these customisable?
+ const int maxLockCount = 5;
+ // Reset "lock count" when we exceed this multiple of errorFactor
+ const double resetMargin = 1.5;
// Add 200us to the exposure time error to allow for line quantisation.
- Duration exposure_error = last_device_status_.shutter_speed * ERROR_FACTOR + 200us;
- double gain_error = last_device_status_.analogue_gain * ERROR_FACTOR;
- Duration target_error = last_target_exposure_ * ERROR_FACTOR;
+ Duration exposureError = lastDeviceStatus_.shutterSpeed * errorFactor + 200us;
+ double gainError = lastDeviceStatus_.analogueGain * errorFactor;
+ Duration targetError = lastTargetExposure_ * errorFactor;
// Note that we don't know the exposure/gain limits of the sensor, so
// the values we keep requesting may be unachievable. For this reason
// we only insist that we're close to values in the past few frames.
- if (device_status.shutter_speed > last_device_status_.shutter_speed - exposure_error &&
- device_status.shutter_speed < last_device_status_.shutter_speed + exposure_error &&
- device_status.analogue_gain > last_device_status_.analogue_gain - gain_error &&
- device_status.analogue_gain < last_device_status_.analogue_gain + gain_error &&
- status_.target_exposure_value > last_target_exposure_ - target_error &&
- status_.target_exposure_value < last_target_exposure_ + target_error)
- lock_count_ = std::min(lock_count_ + 1, MAX_LOCK_COUNT);
- else if (device_status.shutter_speed < last_device_status_.shutter_speed - RESET_MARGIN * exposure_error ||
- device_status.shutter_speed > last_device_status_.shutter_speed + RESET_MARGIN * exposure_error ||
- device_status.analogue_gain < last_device_status_.analogue_gain - RESET_MARGIN * gain_error ||
- device_status.analogue_gain > last_device_status_.analogue_gain + RESET_MARGIN * gain_error ||
- status_.target_exposure_value < last_target_exposure_ - RESET_MARGIN * target_error ||
- status_.target_exposure_value > last_target_exposure_ + RESET_MARGIN * target_error)
- lock_count_ = 0;
-
- last_device_status_ = device_status;
- last_target_exposure_ = status_.target_exposure_value;
-
- LOG(RPiAgc, Debug) << "Lock count updated to " << lock_count_;
- status_.locked = lock_count_ == MAX_LOCK_COUNT;
-}
-
-static void copy_string(std::string const &s, char *d, size_t size)
+ if (deviceStatus.shutterSpeed > lastDeviceStatus_.shutterSpeed - exposureError &&
+ deviceStatus.shutterSpeed < lastDeviceStatus_.shutterSpeed + exposureError &&
+ deviceStatus.analogueGain > lastDeviceStatus_.analogueGain - gainError &&
+ deviceStatus.analogueGain < lastDeviceStatus_.analogueGain + gainError &&
+ status_.targetExposureValue > lastTargetExposure_ - targetError &&
+ status_.targetExposureValue < lastTargetExposure_ + targetError)
+ lockCount_ = std::min(lockCount_ + 1, maxLockCount);
+ else if (deviceStatus.shutterSpeed < lastDeviceStatus_.shutterSpeed - resetMargin * exposureError ||
+ deviceStatus.shutterSpeed > lastDeviceStatus_.shutterSpeed + resetMargin * exposureError ||
+ deviceStatus.analogueGain < lastDeviceStatus_.analogueGain - resetMargin * gainError ||
+ deviceStatus.analogueGain > lastDeviceStatus_.analogueGain + resetMargin * gainError ||
+ status_.targetExposureValue < lastTargetExposure_ - resetMargin * targetError ||
+ status_.targetExposureValue > lastTargetExposure_ + resetMargin * targetError)
+ lockCount_ = 0;
+
+ lastDeviceStatus_ = deviceStatus;
+ lastTargetExposure_ = status_.targetExposureValue;
+
+ LOG(RPiAgc, Debug) << "Lock count updated to " << lockCount_;
+ status_.locked = lockCount_ == maxLockCount;
+}
+
+static void copyString(std::string const &s, char *d, size_t size)
{
size_t length = s.copy(d, size - 1);
d[length] = '\0';
@@ -441,97 +432,97 @@ void Agc::housekeepConfig()
{
// First fetch all the up-to-date settings, so no one else has to do it.
status_.ev = ev_;
- status_.fixed_shutter = clipShutter(fixed_shutter_);
- status_.fixed_analogue_gain = fixed_analogue_gain_;
- status_.flicker_period = flicker_period_;
- LOG(RPiAgc, Debug) << "ev " << status_.ev << " fixed_shutter "
- << status_.fixed_shutter << " fixed_analogue_gain "
- << status_.fixed_analogue_gain;
+ status_.fixedShutter = clipShutter(fixedShutter_);
+ status_.fixedAnalogueGain = fixedAnalogueGain_;
+ status_.flickerPeriod = flickerPeriod_;
+ LOG(RPiAgc, Debug) << "ev " << status_.ev << " fixedShutter "
+ << status_.fixedShutter << " fixedAnalogueGain "
+ << status_.fixedAnalogueGain;
// Make sure the "mode" pointers point to the up-to-date things, if
// they've changed.
- if (strcmp(metering_mode_name_.c_str(), status_.metering_mode)) {
- auto it = config_.metering_modes.find(metering_mode_name_);
- if (it == config_.metering_modes.end())
+ if (strcmp(meteringModeName_.c_str(), status_.meteringMode)) {
+ auto it = config_.meteringModes.find(meteringModeName_);
+ if (it == config_.meteringModes.end())
throw std::runtime_error("Agc: no metering mode " +
- metering_mode_name_);
- metering_mode_ = &it->second;
- copy_string(metering_mode_name_, status_.metering_mode,
- sizeof(status_.metering_mode));
+ meteringModeName_);
+ meteringMode_ = &it->second;
+ copyString(meteringModeName_, status_.meteringMode,
+ sizeof(status_.meteringMode));
}
- if (strcmp(exposure_mode_name_.c_str(), status_.exposure_mode)) {
- auto it = config_.exposure_modes.find(exposure_mode_name_);
- if (it == config_.exposure_modes.end())
+ if (strcmp(exposureModeName_.c_str(), status_.exposureMode)) {
+ auto it = config_.exposureModes.find(exposureModeName_);
+ if (it == config_.exposureModes.end())
throw std::runtime_error("Agc: no exposure profile " +
- exposure_mode_name_);
- exposure_mode_ = &it->second;
- copy_string(exposure_mode_name_, status_.exposure_mode,
- sizeof(status_.exposure_mode));
+ exposureModeName_);
+ exposureMode_ = &it->second;
+ copyString(exposureModeName_, status_.exposureMode,
+ sizeof(status_.exposureMode));
}
- if (strcmp(constraint_mode_name_.c_str(), status_.constraint_mode)) {
+ if (strcmp(constraintModeName_.c_str(), status_.constraintMode)) {
auto it =
- config_.constraint_modes.find(constraint_mode_name_);
- if (it == config_.constraint_modes.end())
+ config_.constraintModes.find(constraintModeName_);
+ if (it == config_.constraintModes.end())
throw std::runtime_error("Agc: no constraint list " +
- constraint_mode_name_);
- constraint_mode_ = &it->second;
- copy_string(constraint_mode_name_, status_.constraint_mode,
- sizeof(status_.constraint_mode));
+ constraintModeName_);
+ constraintMode_ = &it->second;
+ copyString(constraintModeName_, status_.constraintMode,
+ sizeof(status_.constraintMode));
}
- LOG(RPiAgc, Debug) << "exposure_mode "
- << exposure_mode_name_ << " constraint_mode "
- << constraint_mode_name_ << " metering_mode "
- << metering_mode_name_;
+ LOG(RPiAgc, Debug) << "exposureMode "
+ << exposureModeName_ << " constraintMode "
+ << constraintModeName_ << " meteringMode "
+ << meteringModeName_;
}
-void Agc::fetchCurrentExposure(Metadata *image_metadata)
+void Agc::fetchCurrentExposure(Metadata *imageMetadata)
{
- std::unique_lock<Metadata> lock(*image_metadata);
- DeviceStatus *device_status =
- image_metadata->GetLocked<DeviceStatus>("device.status");
- if (!device_status)
+ std::unique_lock<Metadata> lock(*imageMetadata);
+ DeviceStatus *deviceStatus =
+ imageMetadata->getLocked<DeviceStatus>("device.status");
+ if (!deviceStatus)
throw std::runtime_error("Agc: no device metadata");
- current_.shutter = device_status->shutter_speed;
- current_.analogue_gain = device_status->analogue_gain;
- AgcStatus *agc_status =
- image_metadata->GetLocked<AgcStatus>("agc.status");
- current_.total_exposure = agc_status ? agc_status->total_exposure_value : 0s;
- current_.total_exposure_no_dg = current_.shutter * current_.analogue_gain;
+ current_.shutter = deviceStatus->shutterSpeed;
+ current_.analogueGain = deviceStatus->analogueGain;
+ AgcStatus *agcStatus =
+ imageMetadata->getLocked<AgcStatus>("agc.status");
+ current_.totalExposure = agcStatus ? agcStatus->totalExposureValue : 0s;
+ current_.totalExposureNoDG = current_.shutter * current_.analogueGain;
}
-void Agc::fetchAwbStatus(Metadata *image_metadata)
+void Agc::fetchAwbStatus(Metadata *imageMetadata)
{
- awb_.gain_r = 1.0; // in case not found in metadata
- awb_.gain_g = 1.0;
- awb_.gain_b = 1.0;
- if (image_metadata->Get("awb.status", awb_) != 0)
+ awb_.gainR = 1.0; // in case not found in metadata
+ awb_.gainG = 1.0;
+ awb_.gainB = 1.0;
+ if (imageMetadata->get("awb.status", awb_) != 0)
LOG(RPiAgc, Debug) << "Agc: no AWB status found";
}
-static double compute_initial_Y(bcm2835_isp_stats *stats, AwbStatus const &awb,
- double weights[], double gain)
+static double computeInitialY(bcm2835_isp_stats *stats, AwbStatus const &awb,
+ double weights[], double gain)
{
bcm2835_isp_stats_region *regions = stats->agc_stats;
// Note how the calculation below means that equal weights give you
// "average" metering (i.e. all pixels equally important).
- double R_sum = 0, G_sum = 0, B_sum = 0, pixel_sum = 0;
+ double rSum = 0, gSum = 0, bSum = 0, pixelSum = 0;
for (int i = 0; i < AGC_STATS_SIZE; i++) {
double counted = regions[i].counted;
- double r_sum = std::min(regions[i].r_sum * gain, ((1 << PIPELINE_BITS) - 1) * counted);
- double g_sum = std::min(regions[i].g_sum * gain, ((1 << PIPELINE_BITS) - 1) * counted);
- double b_sum = std::min(regions[i].b_sum * gain, ((1 << PIPELINE_BITS) - 1) * counted);
- R_sum += r_sum * weights[i];
- G_sum += g_sum * weights[i];
- B_sum += b_sum * weights[i];
- pixel_sum += counted * weights[i];
+ double rAcc = std::min(regions[i].r_sum * gain, ((1 << PIPELINE_BITS) - 1) * counted);
+ double gAcc = std::min(regions[i].g_sum * gain, ((1 << PIPELINE_BITS) - 1) * counted);
+ double bAcc = std::min(regions[i].b_sum * gain, ((1 << PIPELINE_BITS) - 1) * counted);
+ rSum += rAcc * weights[i];
+ gSum += gAcc * weights[i];
+ bSum += bAcc * weights[i];
+ pixelSum += counted * weights[i];
}
- if (pixel_sum == 0.0) {
- LOG(RPiAgc, Warning) << "compute_initial_Y: pixel_sum is zero";
+ if (pixelSum == 0.0) {
+ LOG(RPiAgc, Warning) << "computeInitialY: pixel_sum is zero";
return 0;
}
- double Y_sum = R_sum * awb.gain_r * .299 +
- G_sum * awb.gain_g * .587 +
- B_sum * awb.gain_b * .114;
- return Y_sum / pixel_sum / (1 << PIPELINE_BITS);
+ double ySum = rSum * awb.gainR * .299 +
+ gSum * awb.gainG * .587 +
+ bSum * awb.gainB * .114;
+ return ySum / pixelSum / (1 << PIPELINE_BITS);
}
// We handle extra gain through EV by adjusting our Y targets. However, you
@@ -542,108 +533,102 @@ static double compute_initial_Y(bcm2835_isp_stats *stats, AwbStatus const &awb,
#define EV_GAIN_Y_TARGET_LIMIT 0.9
-static double constraint_compute_gain(AgcConstraint &c, Histogram &h,
- double lux, double ev_gain,
- double &target_Y)
+static double constraintComputeGain(AgcConstraint &c, Histogram &h, double lux,
+ double evGain, double &targetY)
{
- target_Y = c.Y_target.Eval(c.Y_target.Domain().Clip(lux));
- target_Y = std::min(EV_GAIN_Y_TARGET_LIMIT, target_Y * ev_gain);
- double iqm = h.InterQuantileMean(c.q_lo, c.q_hi);
- return (target_Y * NUM_HISTOGRAM_BINS) / iqm;
+ targetY = c.yTarget.eval(c.yTarget.domain().clip(lux));
+ targetY = std::min(EV_GAIN_Y_TARGET_LIMIT, targetY * evGain);
+ double iqm = h.interQuantileMean(c.qLo, c.qHi);
+ return (targetY * NUM_HISTOGRAM_BINS) / iqm;
}
-void Agc::computeGain(bcm2835_isp_stats *statistics, Metadata *image_metadata,
- double &gain, double &target_Y)
+void Agc::computeGain(bcm2835_isp_stats *statistics, Metadata *imageMetadata,
+ double &gain, double &targetY)
{
struct LuxStatus lux = {};
lux.lux = 400; // default lux level to 400 in case no metadata found
- if (image_metadata->Get("lux.status", lux) != 0)
+ if (imageMetadata->get("lux.status", lux) != 0)
LOG(RPiAgc, Warning) << "Agc: no lux level found";
Histogram h(statistics->hist[0].g_hist, NUM_HISTOGRAM_BINS);
- double ev_gain = status_.ev * config_.base_ev;
+ double evGain = status_.ev * config_.baseEv;
// The initial gain and target_Y come from some of the regions. After
// that we consider the histogram constraints.
- target_Y =
- config_.Y_target.Eval(config_.Y_target.Domain().Clip(lux.lux));
- target_Y = std::min(EV_GAIN_Y_TARGET_LIMIT, target_Y * ev_gain);
+ targetY = config_.yTarget.eval(config_.yTarget.domain().clip(lux.lux));
+ targetY = std::min(EV_GAIN_Y_TARGET_LIMIT, targetY * evGain);
// Do this calculation a few times as brightness increase can be
// non-linear when there are saturated regions.
gain = 1.0;
for (int i = 0; i < 8; i++) {
- double initial_Y = compute_initial_Y(statistics, awb_,
- metering_mode_->weights, gain);
- double extra_gain = std::min(10.0, target_Y / (initial_Y + .001));
- gain *= extra_gain;
- LOG(RPiAgc, Debug) << "Initial Y " << initial_Y << " target " << target_Y
+ double initialY = computeInitialY(statistics, awb_, meteringMode_->weights, gain);
+ double extraGain = std::min(10.0, targetY / (initialY + .001));
+ gain *= extraGain;
+ LOG(RPiAgc, Debug) << "Initial Y " << initialY << " target " << targetY
<< " gives gain " << gain;
- if (extra_gain < 1.01) // close enough
+ if (extraGain < 1.01) // close enough
break;
}
- for (auto &c : *constraint_mode_) {
- double new_target_Y;
- double new_gain =
- constraint_compute_gain(c, h, lux.lux, ev_gain,
- new_target_Y);
+ for (auto &c : *constraintMode_) {
+ double newTargetY;
+ double newGain = constraintComputeGain(c, h, lux.lux, evGain, newTargetY);
LOG(RPiAgc, Debug) << "Constraint has target_Y "
- << new_target_Y << " giving gain " << new_gain;
- if (c.bound == AgcConstraint::Bound::LOWER &&
- new_gain > gain) {
+ << newTargetY << " giving gain " << newGain;
+ if (c.bound == AgcConstraint::Bound::LOWER && newGain > gain) {
LOG(RPiAgc, Debug) << "Lower bound constraint adopted";
- gain = new_gain, target_Y = new_target_Y;
- } else if (c.bound == AgcConstraint::Bound::UPPER &&
- new_gain < gain) {
+ gain = newGain;
+ targetY = newTargetY;
+ } else if (c.bound == AgcConstraint::Bound::UPPER && newGain < gain) {
LOG(RPiAgc, Debug) << "Upper bound constraint adopted";
- gain = new_gain, target_Y = new_target_Y;
+ gain = newGain;
+ targetY = newTargetY;
}
}
- LOG(RPiAgc, Debug) << "Final gain " << gain << " (target_Y " << target_Y << " ev "
- << status_.ev << " base_ev " << config_.base_ev
+ LOG(RPiAgc, Debug) << "Final gain " << gain << " (target_Y " << targetY << " ev "
+ << status_.ev << " base_ev " << config_.baseEv
<< ")";
}
void Agc::computeTargetExposure(double gain)
{
- if (status_.fixed_shutter && status_.fixed_analogue_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/min_colour_gain. Otherwise we'd desaturate channels causing
+ // 1/minColourGain. Otherwise we'd desaturate channels causing
// white to go cyan or magenta.
- double min_colour_gain = std::min({ awb_.gain_r, awb_.gain_g, awb_.gain_b, 1.0 });
- ASSERT(min_colour_gain != 0.0);
- target_.total_exposure =
- status_.fixed_shutter * status_.fixed_analogue_gain / min_colour_gain;
+ double minColourGain = std::min({ awb_.gainR, awb_.gainG, awb_.gainB, 1.0 });
+ ASSERT(minColourGain != 0.0);
+ target_.totalExposure =
+ status_.fixedShutter * status_.fixedAnalogueGain / minColourGain;
} else {
// The statistics reflect the image without digital gain, so the final
// total exposure we're aiming for is:
- target_.total_exposure = current_.total_exposure_no_dg * gain;
+ target_.totalExposure = current_.totalExposureNoDG * gain;
// The final target exposure is also limited to what the exposure
// mode allows.
- Duration max_shutter = status_.fixed_shutter
- ? status_.fixed_shutter
- : exposure_mode_->shutter.back();
- max_shutter = clipShutter(max_shutter);
- Duration max_total_exposure =
- max_shutter *
- (status_.fixed_analogue_gain != 0.0
- ? status_.fixed_analogue_gain
- : exposure_mode_->gain.back());
- target_.total_exposure = std::min(target_.total_exposure,
- max_total_exposure);
+ Duration maxShutter = status_.fixedShutter
+ ? status_.fixedShutter
+ : exposureMode_->shutter.back();
+ maxShutter = clipShutter(maxShutter);
+ Duration maxTotalExposure =
+ maxShutter *
+ (status_.fixedAnalogueGain != 0.0
+ ? status_.fixedAnalogueGain
+ : exposureMode_->gain.back());
+ target_.totalExposure = std::min(target_.totalExposure, maxTotalExposure);
}
- LOG(RPiAgc, Debug) << "Target total_exposure " << target_.total_exposure;
+ LOG(RPiAgc, Debug) << "Target totalExposure " << target_.totalExposure;
}
-bool Agc::applyDigitalGain(double gain, double target_Y)
+bool Agc::applyDigitalGain(double gain, double targetY)
{
- double min_colour_gain = std::min({ awb_.gain_r, awb_.gain_g, awb_.gain_b, 1.0 });
- ASSERT(min_colour_gain != 0.0);
- double dg = 1.0 / min_colour_gain;
+ 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 " << target_Y;
+ << " target_Y " << targetY;
// 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
// only slightly less than one, because the measured Y can never be
@@ -651,13 +636,13 @@ bool Agc::applyDigitalGain(double gain, double target_Y)
// that the exposure can be reduced, de-saturating the image much more
// quickly (and we then approach the correct value more quickly from
// below).
- bool desaturate = target_Y > config_.fast_reduce_threshold &&
- gain < sqrt(target_Y);
+ bool desaturate = targetY > config_.fastReduceThreshold &&
+ gain < sqrt(targetY);
if (desaturate)
- dg /= config_.fast_reduce_threshold;
+ dg /= config_.fastReduceThreshold;
LOG(RPiAgc, Debug) << "Digital gain " << dg << " desaturate? " << desaturate;
- target_.total_exposure_no_dg = target_.total_exposure / dg;
- LOG(RPiAgc, Debug) << "Target total_exposure_no_dg " << target_.total_exposure_no_dg;
+ target_.totalExposureNoDG = target_.totalExposure / dg;
+ LOG(RPiAgc, Debug) << "Target totalExposureNoDG " << target_.totalExposureNoDG;
return desaturate;
}
@@ -666,39 +651,38 @@ void Agc::filterExposure(bool desaturate)
double speed = config_.speed;
// AGC adapts instantly if both shutter and gain are directly specified
// or we're in the startup phase.
- if ((status_.fixed_shutter && status_.fixed_analogue_gain) ||
- frame_count_ <= config_.startup_frames)
+ if ((status_.fixedShutter && status_.fixedAnalogueGain) ||
+ frameCount_ <= config_.startupFrames)
speed = 1.0;
- if (!filtered_.total_exposure) {
- filtered_.total_exposure = target_.total_exposure;
- filtered_.total_exposure_no_dg = target_.total_exposure_no_dg;
+ if (!filtered_.totalExposure) {
+ filtered_.totalExposure = target_.totalExposure;
+ filtered_.totalExposureNoDG = target_.totalExposureNoDG;
} else {
// If close to the result go faster, to save making so many
// micro-adjustments on the way. (Make this customisable?)
- if (filtered_.total_exposure < 1.2 * target_.total_exposure &&
- filtered_.total_exposure > 0.8 * target_.total_exposure)
+ if (filtered_.totalExposure < 1.2 * target_.totalExposure &&
+ filtered_.totalExposure > 0.8 * target_.totalExposure)
speed = sqrt(speed);
- filtered_.total_exposure = speed * target_.total_exposure +
- filtered_.total_exposure * (1.0 - speed);
- // When desaturing, take a big jump down in exposure_no_dg,
+ filtered_.totalExposure = speed * target_.totalExposure +
+ filtered_.totalExposure * (1.0 - speed);
+ // When desaturing, take a big jump down in totalExposureNoDG,
// which we'll hide with digital gain.
if (desaturate)
- filtered_.total_exposure_no_dg =
- target_.total_exposure_no_dg;
+ filtered_.totalExposureNoDG =
+ target_.totalExposureNoDG;
else
- filtered_.total_exposure_no_dg =
- speed * target_.total_exposure_no_dg +
- filtered_.total_exposure_no_dg * (1.0 - speed);
+ filtered_.totalExposureNoDG =
+ speed * target_.totalExposureNoDG +
+ filtered_.totalExposureNoDG * (1.0 - speed);
}
- // We can't let the no_dg exposure deviate too far below the
+ // We can't let the totalExposureNoDG exposure deviate too far below the
// total exposure, as there might not be enough digital gain available
// in the ISP to hide it (which will cause nasty oscillation).
- if (filtered_.total_exposure_no_dg <
- filtered_.total_exposure * config_.fast_reduce_threshold)
- filtered_.total_exposure_no_dg = filtered_.total_exposure *
- config_.fast_reduce_threshold;
- LOG(RPiAgc, Debug) << "After filtering, total_exposure " << filtered_.total_exposure
- << " no dg " << filtered_.total_exposure_no_dg;
+ if (filtered_.totalExposureNoDG <
+ filtered_.totalExposure * config_.fastReduceThreshold)
+ filtered_.totalExposureNoDG = filtered_.totalExposure * config_.fastReduceThreshold;
+ LOG(RPiAgc, Debug) << "After filtering, totalExposure " << filtered_.totalExposure
+ << " no dg " << filtered_.totalExposureNoDG;
}
void Agc::divideUpExposure()
@@ -706,92 +690,84 @@ void Agc::divideUpExposure()
// Sending the fixed shutter/gain cases through the same code may seem
// unnecessary, but it will make more sense when extend this to cover
// variable aperture.
- Duration exposure_value = filtered_.total_exposure_no_dg;
- Duration shutter_time;
- double analogue_gain;
- shutter_time = status_.fixed_shutter
- ? status_.fixed_shutter
- : exposure_mode_->shutter[0];
- shutter_time = clipShutter(shutter_time);
- analogue_gain = status_.fixed_analogue_gain != 0.0
- ? status_.fixed_analogue_gain
- : exposure_mode_->gain[0];
- if (shutter_time * analogue_gain < exposure_value) {
+ Duration exposureValue = filtered_.totalExposureNoDG;
+ Duration shutterTime;
+ double analogueGain;
+ shutterTime = status_.fixedShutter ? status_.fixedShutter
+ : exposureMode_->shutter[0];
+ shutterTime = clipShutter(shutterTime);
+ analogueGain = status_.fixedAnalogueGain != 0.0 ? status_.fixedAnalogueGain
+ : exposureMode_->gain[0];
+ if (shutterTime * analogueGain < exposureValue) {
for (unsigned int stage = 1;
- stage < exposure_mode_->gain.size(); stage++) {
- if (!status_.fixed_shutter) {
- Duration stage_shutter =
- clipShutter(exposure_mode_->shutter[stage]);
- if (stage_shutter * analogue_gain >=
- exposure_value) {
- shutter_time =
- exposure_value / analogue_gain;
+ stage < exposureMode_->gain.size(); stage++) {
+ if (!status_.fixedShutter) {
+ Duration stageShutter =
+ clipShutter(exposureMode_->shutter[stage]);
+ if (stageShutter * analogueGain >= exposureValue) {
+ shutterTime = exposureValue / analogueGain;
break;
}
- shutter_time = stage_shutter;
+ shutterTime = stageShutter;
}
- if (status_.fixed_analogue_gain == 0.0) {
- if (exposure_mode_->gain[stage] *
- shutter_time >=
- exposure_value) {
- analogue_gain =
- exposure_value / shutter_time;
+ if (status_.fixedAnalogueGain == 0.0) {
+ if (exposureMode_->gain[stage] * shutterTime >= exposureValue) {
+ analogueGain = exposureValue / shutterTime;
break;
}
- analogue_gain = exposure_mode_->gain[stage];
+ analogueGain = exposureMode_->gain[stage];
}
}
}
- LOG(RPiAgc, Debug) << "Divided up shutter and gain are " << shutter_time << " and "
- << analogue_gain;
+ LOG(RPiAgc, Debug) << "Divided up shutter and gain are " << shutterTime << " and "
+ << analogueGain;
// Finally adjust shutter time for flicker avoidance (require both
// shutter and gain not to be fixed).
- if (!status_.fixed_shutter && !status_.fixed_analogue_gain &&
- status_.flicker_period) {
- int flicker_periods = shutter_time / status_.flicker_period;
- if (flicker_periods) {
- Duration new_shutter_time = flicker_periods * status_.flicker_period;
- analogue_gain *= shutter_time / new_shutter_time;
+ if (!status_.fixedShutter && !status_.fixedAnalogueGain &&
+ 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.
- analogue_gain = std::min(analogue_gain,
- exposure_mode_->gain.back());
- shutter_time = new_shutter_time;
+ analogueGain = std::min(analogueGain, exposureMode_->gain.back());
+ shutterTime = newShutterTime;
}
LOG(RPiAgc, Debug) << "After flicker avoidance, shutter "
- << shutter_time << " gain " << analogue_gain;
+ << shutterTime << " gain " << analogueGain;
}
- filtered_.shutter = shutter_time;
- filtered_.analogue_gain = analogue_gain;
+ filtered_.shutter = shutterTime;
+ filtered_.analogueGain = analogueGain;
}
-void Agc::writeAndFinish(Metadata *image_metadata, bool desaturate)
+void Agc::writeAndFinish(Metadata *imageMetadata, bool desaturate)
{
- status_.total_exposure_value = filtered_.total_exposure;
- status_.target_exposure_value = desaturate ? 0s : target_.total_exposure_no_dg;
- status_.shutter_time = filtered_.shutter;
- status_.analogue_gain = filtered_.analogue_gain;
+ status_.totalExposureValue = filtered_.totalExposure;
+ status_.targetExposureValue = desaturate ? 0s : target_.totalExposureNoDG;
+ status_.shutterTime = filtered_.shutter;
+ status_.analogueGain = filtered_.analogueGain;
// Write to metadata as well, in case anyone wants to update the camera
// immediately.
- image_metadata->Set("agc.status", status_);
+ imageMetadata->set("agc.status", status_);
LOG(RPiAgc, Debug) << "Output written, total exposure requested is "
- << filtered_.total_exposure;
+ << filtered_.totalExposure;
LOG(RPiAgc, Debug) << "Camera exposure update: shutter time " << filtered_.shutter
- << " analogue gain " << filtered_.analogue_gain;
+ << " analogue gain " << filtered_.analogueGain;
}
Duration Agc::clipShutter(Duration shutter)
{
- if (max_shutter_)
- shutter = std::min(shutter, max_shutter_);
+ if (maxShutter_)
+ shutter = std::min(shutter, maxShutter_);
return shutter;
}
// Register algorithm with the system.
-static Algorithm *Create(Controller *controller)
+static Algorithm *create(Controller *controller)
{
return (Algorithm *)new Agc(controller);
}
-static RegisterAlgorithm reg(NAME, &Create);
+static RegisterAlgorithm reg(NAME, &create);
@@ -26,114 +26,114 @@ namespace RPiController {
struct AgcMeteringMode {
double weights[AGC_STATS_SIZE];
- void Read(boost::property_tree::ptree const ¶ms);
+ void read(boost::property_tree::ptree const ¶ms);
};
struct AgcExposureMode {
std::vector<libcamera::utils::Duration> shutter;
std::vector<double> gain;
- void Read(boost::property_tree::ptree const ¶ms);
+ void read(boost::property_tree::ptree const ¶ms);
};
struct AgcConstraint {
enum class Bound { LOWER = 0, UPPER = 1 };
Bound bound;
- double q_lo;
- double q_hi;
- Pwl Y_target;
- void Read(boost::property_tree::ptree const ¶ms);
+ double qLo;
+ double qHi;
+ Pwl yTarget;
+ void read(boost::property_tree::ptree const ¶ms);
};
typedef std::vector<AgcConstraint> AgcConstraintMode;
struct AgcConfig {
- void Read(boost::property_tree::ptree const ¶ms);
- std::map<std::string, AgcMeteringMode> metering_modes;
- std::map<std::string, AgcExposureMode> exposure_modes;
- std::map<std::string, AgcConstraintMode> constraint_modes;
- Pwl Y_target;
+ void read(boost::property_tree::ptree const ¶ms);
+ std::map<std::string, AgcMeteringMode> meteringModes;
+ std::map<std::string, AgcExposureMode> exposureModes;
+ std::map<std::string, AgcConstraintMode> constraintModes;
+ Pwl yTarget;
double speed;
- uint16_t startup_frames;
- unsigned int convergence_frames;
- double max_change;
- double min_change;
- double fast_reduce_threshold;
- double speed_up_threshold;
- std::string default_metering_mode;
- std::string default_exposure_mode;
- std::string default_constraint_mode;
- double base_ev;
- libcamera::utils::Duration default_exposure_time;
- double default_analogue_gain;
+ uint16_t startupFrames;
+ unsigned int convergenceFrames;
+ double maxChange;
+ double minChange;
+ double fastReduceThreshold;
+ double speedUpThreshold;
+ std::string defaultMeteringMode;
+ std::string defaultExposureMode;
+ std::string defaultConstraintMode;
+ double baseEv;
+ libcamera::utils::Duration defaultExposureTime;
+ double defaultAnalogueGain;
};
class Agc : public AgcAlgorithm
{
public:
Agc(Controller *controller);
- char const *Name() const override;
- void Read(boost::property_tree::ptree const ¶ms) override;
+ char const *name() const override;
+ void read(boost::property_tree::ptree const ¶ms) override;
// AGC handles "pausing" for itself.
- bool IsPaused() const override;
- void Pause() override;
- void Resume() override;
- unsigned int GetConvergenceFrames() const override;
- void SetEv(double ev) override;
- void SetFlickerPeriod(libcamera::utils::Duration flicker_period) override;
- void SetMaxShutter(libcamera::utils::Duration max_shutter) override;
- void SetFixedShutter(libcamera::utils::Duration fixed_shutter) override;
- void SetFixedAnalogueGain(double fixed_analogue_gain) override;
- void SetMeteringMode(std::string const &metering_mode_name) override;
- void SetExposureMode(std::string const &exposure_mode_name) override;
- void SetConstraintMode(std::string const &contraint_mode_name) override;
- void SwitchMode(CameraMode const &camera_mode, Metadata *metadata) override;
- void Prepare(Metadata *image_metadata) override;
- void Process(StatisticsPtr &stats, Metadata *image_metadata) override;
+ bool isPaused() const override;
+ void pause() override;
+ void resume() override;
+ unsigned int getConvergenceFrames() const override;
+ void setEv(double ev) override;
+ void setFlickerPeriod(libcamera::utils::Duration flickerPeriod) override;
+ void setMaxShutter(libcamera::utils::Duration maxShutter) override;
+ void setFixedShutter(libcamera::utils::Duration fixedShutter) override;
+ void setFixedAnalogueGain(double fixedAnalogueGain) override;
+ void setMeteringMode(std::string const &meteringModeName) override;
+ void setExposureMode(std::string const &exposureModeName) override;
+ void setConstraintMode(std::string const &contraintModeName) override;
+ void switchMode(CameraMode const &cameraMode, Metadata *metadata) override;
+ void prepare(Metadata *imageMetadata) override;
+ void process(StatisticsPtr &stats, Metadata *imageMetadata) override;
private:
- void updateLockStatus(DeviceStatus const &device_status);
+ void updateLockStatus(DeviceStatus const &deviceStatus);
AgcConfig config_;
void housekeepConfig();
- void fetchCurrentExposure(Metadata *image_metadata);
- void fetchAwbStatus(Metadata *image_metadata);
- void computeGain(bcm2835_isp_stats *statistics, Metadata *image_metadata,
- double &gain, double &target_Y);
+ void fetchCurrentExposure(Metadata *imageMetadata);
+ void fetchAwbStatus(Metadata *imageMetadata);
+ void computeGain(bcm2835_isp_stats *statistics, Metadata *imageMetadata,
+ double &gain, double &targetY);
void computeTargetExposure(double gain);
- bool applyDigitalGain(double gain, double target_Y);
+ bool applyDigitalGain(double gain, double targetY);
void filterExposure(bool desaturate);
void divideUpExposure();
- void writeAndFinish(Metadata *image_metadata, bool desaturate);
+ void writeAndFinish(Metadata *imageMetadata, bool desaturate);
libcamera::utils::Duration clipShutter(libcamera::utils::Duration shutter);
- AgcMeteringMode *metering_mode_;
- AgcExposureMode *exposure_mode_;
- AgcConstraintMode *constraint_mode_;
- uint64_t frame_count_;
+ AgcMeteringMode *meteringMode_;
+ AgcExposureMode *exposureMode_;
+ AgcConstraintMode *constraintMode_;
+ uint64_t frameCount_;
AwbStatus awb_;
struct ExposureValues {
ExposureValues();
libcamera::utils::Duration shutter;
- double analogue_gain;
- libcamera::utils::Duration total_exposure;
- libcamera::utils::Duration total_exposure_no_dg; // without digital gain
+ double analogueGain;
+ libcamera::utils::Duration totalExposure;
+ libcamera::utils::Duration totalExposureNoDG; // without digital gain
};
ExposureValues current_; // values for the current frame
ExposureValues target_; // calculate the values we want here
ExposureValues filtered_; // these values are filtered towards target
AgcStatus status_;
- int lock_count_;
- DeviceStatus last_device_status_;
- libcamera::utils::Duration last_target_exposure_;
- double last_sensitivity_; // sensitivity of the previous camera mode
+ int lockCount_;
+ DeviceStatus lastDeviceStatus_;
+ libcamera::utils::Duration lastTargetExposure_;
+ double lastSensitivity_; // sensitivity of the previous camera mode
// Below here the "settings" that applications can change.
- std::string metering_mode_name_;
- std::string exposure_mode_name_;
- std::string constraint_mode_name_;
+ std::string meteringModeName_;
+ std::string exposureModeName_;
+ std::string constraintModeName_;
double ev_;
- libcamera::utils::Duration flicker_period_;
- libcamera::utils::Duration max_shutter_;
- libcamera::utils::Duration fixed_shutter_;
- double fixed_analogue_gain_;
+ libcamera::utils::Duration flickerPeriod_;
+ libcamera::utils::Duration maxShutter_;
+ libcamera::utils::Duration fixedShutter_;
+ double fixedAnalogueGain_;
};
} // namespace RPiController
@@ -26,31 +26,31 @@ LOG_DEFINE_CATEGORY(RPiAlsc)
static const int X = ALSC_CELLS_X;
static const int Y = ALSC_CELLS_Y;
static const int XY = X * Y;
-static const double INSUFFICIENT_DATA = -1.0;
+static const double InsufficientData = -1.0;
Alsc::Alsc(Controller *controller)
: Algorithm(controller)
{
- async_abort_ = async_start_ = async_started_ = async_finished_ = false;
- async_thread_ = std::thread(std::bind(&Alsc::asyncFunc, this));
+ asyncAbort_ = asyncStart_ = asyncStarted_ = asyncFinished_ = false;
+ asyncThread_ = std::thread(std::bind(&Alsc::asyncFunc, this));
}
Alsc::~Alsc()
{
{
std::lock_guard<std::mutex> lock(mutex_);
- async_abort_ = true;
+ asyncAbort_ = true;
}
- async_signal_.notify_one();
- async_thread_.join();
+ asyncSignal_.notify_one();
+ asyncThread_.join();
}
-char const *Alsc::Name() const
+char const *Alsc::name() const
{
return NAME;
}
-static void generate_lut(double *lut, boost::property_tree::ptree const ¶ms)
+static void generateLut(double *lut, boost::property_tree::ptree const ¶ms)
{
double cstrength = params.get<double>("corner_strength", 2.0);
if (cstrength <= 1.0)
@@ -73,34 +73,34 @@ static void generate_lut(double *lut, boost::property_tree::ptree const ¶ms)
}
}
-static void read_lut(double *lut, boost::property_tree::ptree const ¶ms)
+static void readLut(double *lut, boost::property_tree::ptree const ¶ms)
{
int num = 0;
- const int max_num = XY;
+ const int maxNum = XY;
for (auto &p : params) {
- if (num == max_num)
+ if (num == maxNum)
throw std::runtime_error(
"Alsc: too many entries in LSC table");
lut[num++] = p.second.get_value<double>();
}
- if (num < max_num)
+ if (num < maxNum)
throw std::runtime_error("Alsc: too few entries in LSC table");
}
-static void read_calibrations(std::vector<AlscCalibration> &calibrations,
- boost::property_tree::ptree const ¶ms,
- std::string const &name)
+static void readCalibrations(std::vector<AlscCalibration> &calibrations,
+ boost::property_tree::ptree const ¶ms,
+ std::string const &name)
{
if (params.get_child_optional(name)) {
- double last_ct = 0;
+ double lastCt = 0;
for (auto &p : params.get_child(name)) {
double ct = p.second.get<double>("ct");
- if (ct <= last_ct)
+ if (ct <= lastCt)
throw std::runtime_error(
"Alsc: entries in " + name +
" must be in increasing ct order");
AlscCalibration calibration;
- calibration.ct = last_ct = ct;
+ calibration.ct = lastCt = ct;
boost::property_tree::ptree const &table =
p.second.get_child("table");
int num = 0;
@@ -124,249 +124,239 @@ static void read_calibrations(std::vector<AlscCalibration> &calibrations,
}
}
-void Alsc::Read(boost::property_tree::ptree const ¶ms)
+void Alsc::read(boost::property_tree::ptree const ¶ms)
{
- config_.frame_period = params.get<uint16_t>("frame_period", 12);
- config_.startup_frames = params.get<uint16_t>("startup_frames", 10);
+ config_.framePeriod = params.get<uint16_t>("frame_period", 12);
+ config_.startupFrames = params.get<uint16_t>("startup_frames", 10);
config_.speed = params.get<double>("speed", 0.05);
double sigma = params.get<double>("sigma", 0.01);
- config_.sigma_Cr = params.get<double>("sigma_Cr", sigma);
- config_.sigma_Cb = params.get<double>("sigma_Cb", sigma);
- config_.min_count = params.get<double>("min_count", 10.0);
- config_.min_G = params.get<uint16_t>("min_G", 50);
+ config_.sigmaCr = params.get<double>("sigma_Cr", sigma);
+ config_.sigmaCb = params.get<double>("sigma_Cb", sigma);
+ config_.minCount = params.get<double>("min_count", 10.0);
+ config_.minG = params.get<uint16_t>("min_G", 50);
config_.omega = params.get<double>("omega", 1.3);
- config_.n_iter = params.get<uint32_t>("n_iter", X + Y);
- config_.luminance_strength =
+ config_.nIter = params.get<uint32_t>("n_iter", X + Y);
+ config_.luminanceStrength =
params.get<double>("luminance_strength", 1.0);
for (int i = 0; i < XY; i++)
- config_.luminance_lut[i] = 1.0;
+ config_.luminanceLut[i] = 1.0;
if (params.get_child_optional("corner_strength"))
- generate_lut(config_.luminance_lut, params);
+ generateLut(config_.luminanceLut, params);
else if (params.get_child_optional("luminance_lut"))
- read_lut(config_.luminance_lut,
- params.get_child("luminance_lut"));
+ readLut(config_.luminanceLut,
+ params.get_child("luminance_lut"));
else
LOG(RPiAlsc, Warning)
<< "no luminance table - assume unity everywhere";
- read_calibrations(config_.calibrations_Cr, params, "calibrations_Cr");
- read_calibrations(config_.calibrations_Cb, params, "calibrations_Cb");
- config_.default_ct = params.get<double>("default_ct", 4500.0);
+ readCalibrations(config_.calibrationsCr, params, "calibrations_Cr");
+ readCalibrations(config_.calibrationsCb, params, "calibrations_Cb");
+ config_.defaultCt = params.get<double>("default_ct", 4500.0);
config_.threshold = params.get<double>("threshold", 1e-3);
- config_.lambda_bound = params.get<double>("lambda_bound", 0.05);
-}
-
-static double get_ct(Metadata *metadata, double default_ct);
-static void get_cal_table(double ct,
- std::vector<AlscCalibration> const &calibrations,
- double cal_table[XY]);
-static void resample_cal_table(double const cal_table_in[XY],
- CameraMode const &camera_mode,
- double cal_table_out[XY]);
-static void compensate_lambdas_for_cal(double const cal_table[XY],
- double const old_lambdas[XY],
- double new_lambdas[XY]);
-static void add_luminance_to_tables(double results[3][Y][X],
- double const lambda_r[XY], double lambda_g,
- double const lambda_b[XY],
- double const luminance_lut[XY],
- double luminance_strength);
-
-void Alsc::Initialise()
-{
- frame_count2_ = frame_count_ = frame_phase_ = 0;
- first_time_ = true;
- ct_ = config_.default_ct;
+ config_.lambdaBound = params.get<double>("lambda_bound", 0.05);
+}
+
+static double getCt(Metadata *metadata, double defaultCt);
+static void getCalTable(double ct, std::vector<AlscCalibration> const &calibrations,
+ double calTable[XY]);
+static void resampleCalTable(double const calTableIn[XY], CameraMode const &cameraMode,
+ double calTableOut[XY]);
+static void compensateLambdasForCal(double const calTable[XY], double const oldLambdas[XY],
+ double newLambdas[XY]);
+static void addLuminanceToTables(double results[3][Y][X], double const lambdaR[XY], double lambdaG,
+ double const lambdaB[XY], double const luminanceLut[XY],
+ double luminanceStrength);
+
+void Alsc::initialise()
+{
+ frameCount2_ = frameCount_ = framePhase_ = 0;
+ firstTime_ = true;
+ ct_ = config_.defaultCt;
// The lambdas are initialised in the SwitchMode.
}
void Alsc::waitForAysncThread()
{
- if (async_started_) {
- async_started_ = false;
+ if (asyncStarted_) {
+ asyncStarted_ = false;
std::unique_lock<std::mutex> lock(mutex_);
- sync_signal_.wait(lock, [&] {
- return async_finished_;
+ syncSignal_.wait(lock, [&] {
+ return asyncFinished_;
});
- async_finished_ = false;
+ asyncFinished_ = false;
}
}
-static bool compare_modes(CameraMode const &cm0, CameraMode const &cm1)
+static bool compareModes(CameraMode const &cm0, CameraMode const &cm1)
{
// Return true if the modes crop from the sensor significantly differently,
// or if the user transform has changed.
if (cm0.transform != cm1.transform)
return true;
- int left_diff = abs(cm0.crop_x - cm1.crop_x);
- int top_diff = abs(cm0.crop_y - cm1.crop_y);
- int right_diff = fabs(cm0.crop_x + cm0.scale_x * cm0.width -
- cm1.crop_x - cm1.scale_x * cm1.width);
- int bottom_diff = fabs(cm0.crop_y + cm0.scale_y * cm0.height -
- cm1.crop_y - cm1.scale_y * cm1.height);
+ int leftDiff = abs(cm0.cropX - cm1.cropX);
+ int topDiff = abs(cm0.cropY - cm1.cropY);
+ int rightDiff = fabs(cm0.cropX + cm0.scaleX * cm0.width -
+ cm1.cropX - cm1.scaleX * cm1.width);
+ int bottomDiff = fabs(cm0.cropY + cm0.scaleY * cm0.height -
+ cm1.cropY - cm1.scaleY * cm1.height);
// These thresholds are a rather arbitrary amount chosen to trigger
// when carrying on with the previously calculated tables might be
// worse than regenerating them (but without the adaptive algorithm).
- int threshold_x = cm0.sensor_width >> 4;
- int threshold_y = cm0.sensor_height >> 4;
- return left_diff > threshold_x || right_diff > threshold_x ||
- top_diff > threshold_y || bottom_diff > threshold_y;
+ int thresholdX = cm0.sensorWidth >> 4;
+ int thresholdY = cm0.sensorHeight >> 4;
+ return leftDiff > thresholdX || rightDiff > thresholdX ||
+ topDiff > thresholdY || bottomDiff > thresholdY;
}
-void Alsc::SwitchMode(CameraMode const &camera_mode,
+void Alsc::switchMode(CameraMode const &cameraMode,
[[maybe_unused]] Metadata *metadata)
{
// We're going to start over with the tables if there's any "significant"
// change.
- bool reset_tables = first_time_ || compare_modes(camera_mode_, camera_mode);
+ bool resetTables = firstTime_ || compareModes(cameraMode_, cameraMode);
// Believe the colour temperature from the AWB, if there is one.
- ct_ = get_ct(metadata, ct_);
+ ct_ = getCt(metadata, ct_);
// Ensure the other thread isn't running while we do this.
waitForAysncThread();
- camera_mode_ = camera_mode;
+ cameraMode_ = cameraMode;
// We must resample the luminance table like we do the others, but it's
// fixed so we can simply do it up front here.
- resample_cal_table(config_.luminance_lut, camera_mode_, luminance_table_);
+ resampleCalTable(config_.luminanceLut, cameraMode_, luminanceTable_);
- if (reset_tables) {
+ if (resetTables) {
// Upon every "table reset", arrange for something sensible to be
// generated. Construct the tables for the previous recorded colour
// temperature. In order to start over from scratch we initialise
// the lambdas, but the rest of this code then echoes the code in
// doAlsc, without the adaptive algorithm.
for (int i = 0; i < XY; i++)
- lambda_r_[i] = lambda_b_[i] = 1.0;
- double cal_table_r[XY], cal_table_b[XY], cal_table_tmp[XY];
- get_cal_table(ct_, config_.calibrations_Cr, cal_table_tmp);
- resample_cal_table(cal_table_tmp, camera_mode_, cal_table_r);
- get_cal_table(ct_, config_.calibrations_Cb, cal_table_tmp);
- resample_cal_table(cal_table_tmp, camera_mode_, cal_table_b);
- compensate_lambdas_for_cal(cal_table_r, lambda_r_,
- async_lambda_r_);
- compensate_lambdas_for_cal(cal_table_b, lambda_b_,
- async_lambda_b_);
- add_luminance_to_tables(sync_results_, async_lambda_r_, 1.0,
- async_lambda_b_, luminance_table_,
- config_.luminance_strength);
- memcpy(prev_sync_results_, sync_results_,
- sizeof(prev_sync_results_));
- frame_phase_ = config_.frame_period; // run the algo again asap
- first_time_ = false;
+ lambdaR_[i] = lambdaB_[i] = 1.0;
+ double calTableR[XY], calTableB[XY], calTableTmp[XY];
+ getCalTable(ct_, config_.calibrationsCr, calTableTmp);
+ resampleCalTable(calTableTmp, cameraMode_, calTableR);
+ getCalTable(ct_, config_.calibrationsCb, calTableTmp);
+ resampleCalTable(calTableTmp, cameraMode_, calTableB);
+ compensateLambdasForCal(calTableR, lambdaR_, asyncLambdaR_);
+ compensateLambdasForCal(calTableB, lambdaB_, asyncLambdaB_);
+ addLuminanceToTables(syncResults_, asyncLambdaR_, 1.0, asyncLambdaB_,
+ luminanceTable_, config_.luminanceStrength);
+ memcpy(prevSyncResults_, syncResults_, sizeof(prevSyncResults_));
+ framePhase_ = config_.framePeriod; // run the algo again asap
+ firstTime_ = false;
}
}
void Alsc::fetchAsyncResults()
{
LOG(RPiAlsc, Debug) << "Fetch ALSC results";
- async_finished_ = false;
- async_started_ = false;
- memcpy(sync_results_, async_results_, sizeof(sync_results_));
+ asyncFinished_ = false;
+ asyncStarted_ = false;
+ memcpy(syncResults_, asyncResults_, sizeof(syncResults_));
}
-double get_ct(Metadata *metadata, double default_ct)
+double getCt(Metadata *metadata, double defaultCt)
{
- AwbStatus awb_status;
- awb_status.temperature_K = default_ct; // in case nothing found
- if (metadata->Get("awb.status", awb_status) != 0)
+ AwbStatus awbStatus;
+ awbStatus.temperatureK = defaultCt; // in case nothing found
+ if (metadata->get("awb.status", awbStatus) != 0)
LOG(RPiAlsc, Debug) << "no AWB results found, using "
- << awb_status.temperature_K;
+ << awbStatus.temperatureK;
else
LOG(RPiAlsc, Debug) << "AWB results found, using "
- << awb_status.temperature_K;
- return awb_status.temperature_K;
+ << awbStatus.temperatureK;
+ return awbStatus.temperatureK;
}
-static void copy_stats(bcm2835_isp_stats_region regions[XY], StatisticsPtr &stats,
- AlscStatus const &status)
+static void copyStats(bcm2835_isp_stats_region regions[XY], StatisticsPtr &stats,
+ AlscStatus const &status)
{
- bcm2835_isp_stats_region *input_regions = stats->awb_stats;
- double *r_table = (double *)status.r;
- double *g_table = (double *)status.g;
- double *b_table = (double *)status.b;
+ bcm2835_isp_stats_region *inputRegions = stats->awb_stats;
+ double *rTable = (double *)status.r;
+ double *gTable = (double *)status.g;
+ double *bTable = (double *)status.b;
for (int i = 0; i < XY; i++) {
- regions[i].r_sum = input_regions[i].r_sum / r_table[i];
- regions[i].g_sum = input_regions[i].g_sum / g_table[i];
- regions[i].b_sum = input_regions[i].b_sum / b_table[i];
- regions[i].counted = input_regions[i].counted;
+ regions[i].r_sum = inputRegions[i].r_sum / rTable[i];
+ regions[i].g_sum = inputRegions[i].g_sum / gTable[i];
+ regions[i].b_sum = inputRegions[i].b_sum / bTable[i];
+ regions[i].counted = inputRegions[i].counted;
// (don't care about the uncounted value)
}
}
-void Alsc::restartAsync(StatisticsPtr &stats, Metadata *image_metadata)
+void Alsc::restartAsync(StatisticsPtr &stats, Metadata *imageMetadata)
{
LOG(RPiAlsc, Debug) << "Starting ALSC calculation";
// Get the current colour temperature. It's all we need from the
// metadata. Default to the last CT value (which could be the default).
- ct_ = get_ct(image_metadata, ct_);
+ ct_ = getCt(imageMetadata, ct_);
// We have to copy the statistics here, dividing out our best guess of
// the LSC table that the pipeline applied to them.
- AlscStatus alsc_status;
- if (image_metadata->Get("alsc.status", alsc_status) != 0) {
+ AlscStatus alscStatus;
+ if (imageMetadata->get("alsc.status", alscStatus) != 0) {
LOG(RPiAlsc, Warning)
<< "No ALSC status found for applied gains!";
for (int y = 0; y < Y; y++)
for (int x = 0; x < X; x++) {
- alsc_status.r[y][x] = 1.0;
- alsc_status.g[y][x] = 1.0;
- alsc_status.b[y][x] = 1.0;
+ alscStatus.r[y][x] = 1.0;
+ alscStatus.g[y][x] = 1.0;
+ alscStatus.b[y][x] = 1.0;
}
}
- copy_stats(statistics_, stats, alsc_status);
- frame_phase_ = 0;
- async_started_ = true;
+ copyStats(statistics_, stats, alscStatus);
+ framePhase_ = 0;
+ asyncStarted_ = true;
{
std::lock_guard<std::mutex> lock(mutex_);
- async_start_ = true;
+ asyncStart_ = true;
}
- async_signal_.notify_one();
+ asyncSignal_.notify_one();
}
-void Alsc::Prepare(Metadata *image_metadata)
+void Alsc::prepare(Metadata *imageMetadata)
{
// Count frames since we started, and since we last poked the async
// thread.
- if (frame_count_ < (int)config_.startup_frames)
- frame_count_++;
- double speed = frame_count_ < (int)config_.startup_frames
+ if (frameCount_ < (int)config_.startupFrames)
+ frameCount_++;
+ double speed = frameCount_ < (int)config_.startupFrames
? 1.0
: config_.speed;
LOG(RPiAlsc, Debug)
- << "frame_count " << frame_count_ << " speed " << speed;
+ << "frame count " << frameCount_ << " speed " << speed;
{
std::unique_lock<std::mutex> lock(mutex_);
- if (async_started_ && async_finished_)
+ if (asyncStarted_ && asyncFinished_)
fetchAsyncResults();
}
// Apply IIR filter to results and program into the pipeline.
- double *ptr = (double *)sync_results_,
- *pptr = (double *)prev_sync_results_;
- for (unsigned int i = 0;
- i < sizeof(sync_results_) / sizeof(double); i++)
+ double *ptr = (double *)syncResults_,
+ *pptr = (double *)prevSyncResults_;
+ for (unsigned int i = 0; i < sizeof(syncResults_) / sizeof(double); i++)
pptr[i] = speed * ptr[i] + (1.0 - speed) * pptr[i];
// Put output values into status metadata.
AlscStatus status;
- memcpy(status.r, prev_sync_results_[0], sizeof(status.r));
- memcpy(status.g, prev_sync_results_[1], sizeof(status.g));
- memcpy(status.b, prev_sync_results_[2], sizeof(status.b));
- image_metadata->Set("alsc.status", status);
+ memcpy(status.r, prevSyncResults_[0], sizeof(status.r));
+ memcpy(status.g, prevSyncResults_[1], sizeof(status.g));
+ memcpy(status.b, prevSyncResults_[2], sizeof(status.b));
+ imageMetadata->set("alsc.status", status);
}
-void Alsc::Process(StatisticsPtr &stats, Metadata *image_metadata)
+void Alsc::process(StatisticsPtr &stats, Metadata *imageMetadata)
{
// Count frames since we started, and since we last poked the async
// thread.
- if (frame_phase_ < (int)config_.frame_period)
- frame_phase_++;
- if (frame_count2_ < (int)config_.startup_frames)
- frame_count2_++;
- LOG(RPiAlsc, Debug) << "frame_phase " << frame_phase_;
- if (frame_phase_ >= (int)config_.frame_period ||
- frame_count2_ < (int)config_.startup_frames) {
- if (async_started_ == false)
- restartAsync(stats, image_metadata);
+ if (framePhase_ < (int)config_.framePeriod)
+ framePhase_++;
+ if (frameCount2_ < (int)config_.startupFrames)
+ frameCount2_++;
+ LOG(RPiAlsc, Debug) << "frame_phase " << framePhase_;
+ if (framePhase_ >= (int)config_.framePeriod ||
+ frameCount2_ < (int)config_.startupFrames) {
+ if (asyncStarted_ == false)
+ restartAsync(stats, imageMetadata);
}
}
@@ -375,143 +365,140 @@ void Alsc::asyncFunc()
while (true) {
{
std::unique_lock<std::mutex> lock(mutex_);
- async_signal_.wait(lock, [&] {
- return async_start_ || async_abort_;
+ asyncSignal_.wait(lock, [&] {
+ return asyncStart_ || asyncAbort_;
});
- async_start_ = false;
- if (async_abort_)
+ asyncStart_ = false;
+ if (asyncAbort_)
break;
}
doAlsc();
{
std::lock_guard<std::mutex> lock(mutex_);
- async_finished_ = true;
+ asyncFinished_ = true;
}
- sync_signal_.notify_one();
+ syncSignal_.notify_one();
}
}
-void get_cal_table(double ct, std::vector<AlscCalibration> const &calibrations,
- double cal_table[XY])
+void getCalTable(double ct, std::vector<AlscCalibration> const &calibrations,
+ double calTable[XY])
{
if (calibrations.empty()) {
for (int i = 0; i < XY; i++)
- cal_table[i] = 1.0;
+ calTable[i] = 1.0;
LOG(RPiAlsc, Debug) << "no calibrations found";
} else if (ct <= calibrations.front().ct) {
- memcpy(cal_table, calibrations.front().table,
- XY * sizeof(double));
+ memcpy(calTable, calibrations.front().table, XY * sizeof(double));
LOG(RPiAlsc, Debug) << "using calibration for "
<< calibrations.front().ct;
} else if (ct >= calibrations.back().ct) {
- memcpy(cal_table, calibrations.back().table,
- XY * sizeof(double));
+ memcpy(calTable, calibrations.back().table, XY * sizeof(double));
LOG(RPiAlsc, Debug) << "using calibration for "
<< calibrations.back().ct;
} else {
int idx = 0;
while (ct > calibrations[idx + 1].ct)
idx++;
- double ct0 = calibrations[idx].ct,
- ct1 = calibrations[idx + 1].ct;
+ double ct0 = calibrations[idx].ct, ct1 = calibrations[idx + 1].ct;
LOG(RPiAlsc, Debug)
<< "ct is " << ct << ", interpolating between "
<< ct0 << " and " << ct1;
for (int i = 0; i < XY; i++)
- cal_table[i] =
+ calTable[i] =
(calibrations[idx].table[i] * (ct1 - ct) +
calibrations[idx + 1].table[i] * (ct - ct0)) /
(ct1 - ct0);
}
}
-void resample_cal_table(double const cal_table_in[XY],
- CameraMode const &camera_mode, double cal_table_out[XY])
+void resampleCalTable(double const calTableIn[XY],
+ CameraMode const &cameraMode, double calTableOut[XY])
{
// Precalculate and cache the x sampling locations and phases to save
// recomputing them on every row.
- int x_lo[X], x_hi[X];
+ int xLo[X], xHi[X];
double xf[X];
- double scale_x = camera_mode.sensor_width /
- (camera_mode.width * camera_mode.scale_x);
- double x_off = camera_mode.crop_x / (double)camera_mode.sensor_width;
- double x = .5 / scale_x + x_off * X - .5;
- double x_inc = 1 / scale_x;
- for (int i = 0; i < X; i++, x += x_inc) {
- x_lo[i] = floor(x);
- xf[i] = x - x_lo[i];
- x_hi[i] = std::min(x_lo[i] + 1, X - 1);
- x_lo[i] = std::max(x_lo[i], 0);
- if (!!(camera_mode.transform & libcamera::Transform::HFlip)) {
- x_lo[i] = X - 1 - x_lo[i];
- x_hi[i] = X - 1 - x_hi[i];
+ double scaleX = cameraMode.sensorWidth /
+ (cameraMode.width * cameraMode.scaleX);
+ double xOff = cameraMode.cropX / (double)cameraMode.sensorWidth;
+ double x = .5 / scaleX + xOff * X - .5;
+ double xInc = 1 / scaleX;
+ for (int i = 0; i < X; i++, x += xInc) {
+ xLo[i] = floor(x);
+ xf[i] = x - xLo[i];
+ xHi[i] = std::min(xLo[i] + 1, X - 1);
+ xLo[i] = std::max(xLo[i], 0);
+ if (!!(cameraMode.transform & libcamera::Transform::HFlip)) {
+ xLo[i] = X - 1 - xLo[i];
+ xHi[i] = X - 1 - xHi[i];
}
}
// Now march over the output table generating the new values.
- double scale_y = camera_mode.sensor_height /
- (camera_mode.height * camera_mode.scale_y);
- double y_off = camera_mode.crop_y / (double)camera_mode.sensor_height;
- double y = .5 / scale_y + y_off * Y - .5;
- double y_inc = 1 / scale_y;
- for (int j = 0; j < Y; j++, y += y_inc) {
- int y_lo = floor(y);
- double yf = y - y_lo;
- int y_hi = std::min(y_lo + 1, Y - 1);
- y_lo = std::max(y_lo, 0);
- if (!!(camera_mode.transform & libcamera::Transform::VFlip)) {
- y_lo = Y - 1 - y_lo;
- y_hi = Y - 1 - y_hi;
+ double scaleY = cameraMode.sensorHeight /
+ (cameraMode.height * cameraMode.scaleY);
+ double yOff = cameraMode.cropY / (double)cameraMode.sensorHeight;
+ double y = .5 / scaleY + yOff * Y - .5;
+ double yInc = 1 / scaleY;
+ for (int j = 0; j < Y; j++, y += yInc) {
+ int yLo = floor(y);
+ double yf = y - yLo;
+ int yHi = std::min(yLo + 1, Y - 1);
+ yLo = std::max(yLo, 0);
+ if (!!(cameraMode.transform & libcamera::Transform::VFlip)) {
+ yLo = Y - 1 - yLo;
+ yHi = Y - 1 - yHi;
}
- double const *row_above = cal_table_in + X * y_lo;
- double const *row_below = cal_table_in + X * y_hi;
+ double const *rowAbove = calTableIn + X * yLo;
+ double const *rowBelow = calTableIn + X * yHi;
for (int i = 0; i < X; i++) {
- double above = row_above[x_lo[i]] * (1 - xf[i]) +
- row_above[x_hi[i]] * xf[i];
- double below = row_below[x_lo[i]] * (1 - xf[i]) +
- row_below[x_hi[i]] * xf[i];
- *(cal_table_out++) = above * (1 - yf) + below * yf;
+ 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];
+ *(calTableOut++) = above * (1 - yf) + below * yf;
}
}
}
// Calculate chrominance statistics (R/G and B/G) for each region.
static_assert(XY == AWB_REGIONS, "ALSC/AWB statistics region mismatch");
-static void calculate_Cr_Cb(bcm2835_isp_stats_region *awb_region, double Cr[XY],
- double Cb[XY], uint32_t min_count, uint16_t min_G)
+static void calculateCrCb(bcm2835_isp_stats_region *awbRegion, double cr[XY],
+ double cb[XY], uint32_t minCount, uint16_t minG)
{
for (int i = 0; i < XY; i++) {
- bcm2835_isp_stats_region &zone = awb_region[i];
- if (zone.counted <= min_count ||
- zone.g_sum / zone.counted <= min_G) {
- Cr[i] = Cb[i] = INSUFFICIENT_DATA;
+ bcm2835_isp_stats_region &zone = awbRegion[i];
+ if (zone.counted <= minCount ||
+ zone.g_sum / zone.counted <= minG) {
+ cr[i] = cb[i] = InsufficientData;
continue;
}
- Cr[i] = zone.r_sum / (double)zone.g_sum;
- Cb[i] = zone.b_sum / (double)zone.g_sum;
+ cr[i] = zone.r_sum / (double)zone.g_sum;
+ cb[i] = zone.b_sum / (double)zone.g_sum;
}
}
-static void apply_cal_table(double const cal_table[XY], double C[XY])
+static void applyCalTable(double const calTable[XY], double C[XY])
{
for (int i = 0; i < XY; i++)
- if (C[i] != INSUFFICIENT_DATA)
- C[i] *= cal_table[i];
+ if (C[i] != InsufficientData)
+ C[i] *= calTable[i];
}
-void compensate_lambdas_for_cal(double const cal_table[XY],
- double const old_lambdas[XY],
- double new_lambdas[XY])
+void compensateLambdasForCal(double const calTable[XY],
+ double const oldLambdas[XY],
+ double newLambdas[XY])
{
- double min_new_lambda = std::numeric_limits<double>::max();
+ double minNewLambda = std::numeric_limits<double>::max();
for (int i = 0; i < XY; i++) {
- new_lambdas[i] = old_lambdas[i] * cal_table[i];
- min_new_lambda = std::min(min_new_lambda, new_lambdas[i]);
+ newLambdas[i] = oldLambdas[i] * calTable[i];
+ minNewLambda = std::min(minNewLambda, newLambdas[i]);
}
for (int i = 0; i < XY; i++)
- new_lambdas[i] /= min_new_lambda;
+ newLambdas[i] /= minNewLambda;
}
-[[maybe_unused]] static void print_cal_table(double const C[XY])
+[[maybe_unused]] static void printCalTable(double const C[XY])
{
printf("table: [\n");
for (int j = 0; j < Y; j++) {
@@ -527,31 +514,29 @@ void compensate_lambdas_for_cal(double const cal_table[XY],
// Compute weight out of 1.0 which reflects how similar we wish to make the
// colours of these two regions.
-static double compute_weight(double C_i, double C_j, double sigma)
+static double computeWeight(double Ci, double Cj, double sigma)
{
- if (C_i == INSUFFICIENT_DATA || C_j == INSUFFICIENT_DATA)
+ if (Ci == InsufficientData || Cj == InsufficientData)
return 0;
- double diff = (C_i - C_j) / sigma;
+ double diff = (Ci - Cj) / sigma;
return exp(-diff * diff / 2);
}
// Compute all weights.
-static void compute_W(double const C[XY], double sigma, double W[XY][4])
+static void computeW(double const C[XY], double sigma, double W[XY][4])
{
for (int i = 0; i < XY; i++) {
// Start with neighbour above and go clockwise.
- W[i][0] = i >= X ? compute_weight(C[i], C[i - X], sigma) : 0;
- W[i][1] = i % X < X - 1 ? compute_weight(C[i], C[i + 1], sigma)
- : 0;
- W[i][2] =
- i < XY - X ? compute_weight(C[i], C[i + X], sigma) : 0;
- W[i][3] = i % X ? compute_weight(C[i], C[i - 1], sigma) : 0;
+ W[i][0] = i >= X ? computeWeight(C[i], C[i - X], sigma) : 0;
+ W[i][1] = i % X < X - 1 ? computeWeight(C[i], C[i + 1], sigma) : 0;
+ W[i][2] = i < XY - X ? computeWeight(C[i], C[i + X], sigma) : 0;
+ W[i][3] = i % X ? computeWeight(C[i], C[i - 1], sigma) : 0;
}
}
// Compute M, the large but sparse matrix such that M * lambdas = 0.
-static void construct_M(double const C[XY], double const W[XY][4],
- double M[XY][4])
+static void constructM(double const C[XY], double const W[XY][4],
+ double M[XY][4])
{
double epsilon = 0.001;
for (int i = 0; i < XY; i++) {
@@ -560,108 +545,96 @@ static void construct_M(double const C[XY], double const W[XY][4],
int m = !!(i >= X) + !!(i % X < X - 1) + !!(i < XY - X) +
!!(i % X); // total number of neighbours
// we'll divide the diagonal out straight away
- double diagonal =
- (epsilon + W[i][0] + W[i][1] + W[i][2] + W[i][3]) *
- C[i];
- M[i][0] = i >= X ? (W[i][0] * C[i - X] + epsilon / m * C[i]) /
- diagonal
- : 0;
- M[i][1] = i % X < X - 1
- ? (W[i][1] * C[i + 1] + epsilon / m * C[i]) /
- diagonal
- : 0;
- M[i][2] = i < XY - X
- ? (W[i][2] * C[i + X] + epsilon / m * C[i]) /
- diagonal
- : 0;
- M[i][3] = i % X ? (W[i][3] * C[i - 1] + epsilon / m * C[i]) /
- diagonal
- : 0;
+ double diagonal = (epsilon + W[i][0] + W[i][1] + W[i][2] + W[i][3]) * C[i];
+ M[i][0] = i >= X ? (W[i][0] * C[i - X] + epsilon / m * C[i]) / diagonal : 0;
+ M[i][1] = i % X < X - 1 ? (W[i][1] * C[i + 1] + epsilon / m * C[i]) / diagonal : 0;
+ M[i][2] = i < XY - X ? (W[i][2] * C[i + X] + epsilon / m * C[i]) / diagonal : 0;
+ M[i][3] = i % X ? (W[i][3] * C[i - 1] + epsilon / m * C[i]) / diagonal : 0;
}
}
// In the compute_lambda_ functions, note that the matrix coefficients for the
// left/right neighbours are zero down the left/right edges, so we don't need
// need to test the i value to exclude them.
-static double compute_lambda_bottom(int i, double const M[XY][4],
- double lambda[XY])
+static double computeLambdaBottom(int i, double const M[XY][4],
+ double lambda[XY])
{
return M[i][1] * lambda[i + 1] + M[i][2] * lambda[i + X] +
M[i][3] * lambda[i - 1];
}
-static double compute_lambda_bottom_start(int i, double const M[XY][4],
- double lambda[XY])
+static double computeLambdaBottomStart(int i, double const M[XY][4],
+ double lambda[XY])
{
return M[i][1] * lambda[i + 1] + M[i][2] * lambda[i + X];
}
-static double compute_lambda_interior(int i, double const M[XY][4],
- double lambda[XY])
+static double computeLambdaInterior(int i, double const M[XY][4],
+ double lambda[XY])
{
return M[i][0] * lambda[i - X] + M[i][1] * lambda[i + 1] +
M[i][2] * lambda[i + X] + M[i][3] * lambda[i - 1];
}
-static double compute_lambda_top(int i, double const M[XY][4],
- double lambda[XY])
+static double computeLambdaTop(int i, double const M[XY][4],
+ double lambda[XY])
{
return M[i][0] * lambda[i - X] + M[i][1] * lambda[i + 1] +
M[i][3] * lambda[i - 1];
}
-static double compute_lambda_top_end(int i, double const M[XY][4],
- double lambda[XY])
+static double computeLambdaTopEnd(int i, double const M[XY][4],
+ double lambda[XY])
{
return M[i][0] * lambda[i - X] + M[i][3] * lambda[i - 1];
}
// Gauss-Seidel iteration with over-relaxation.
-static double gauss_seidel2_SOR(double const M[XY][4], double omega,
- double lambda[XY], double lambda_bound)
+static double gaussSeidel2Sor(double const M[XY][4], double omega,
+ double lambda[XY], double lambdaBound)
{
- const double min = 1 - lambda_bound, max = 1 + lambda_bound;
- double old_lambda[XY];
+ const double min = 1 - lambdaBound, max = 1 + lambdaBound;
+ double oldLambda[XY];
int i;
for (i = 0; i < XY; i++)
- old_lambda[i] = lambda[i];
- lambda[0] = compute_lambda_bottom_start(0, M, lambda);
+ oldLambda[i] = lambda[i];
+ lambda[0] = computeLambdaBottomStart(0, M, lambda);
lambda[0] = std::clamp(lambda[0], min, max);
for (i = 1; i < X; i++) {
- lambda[i] = compute_lambda_bottom(i, M, lambda);
+ lambda[i] = computeLambdaBottom(i, M, lambda);
lambda[i] = std::clamp(lambda[i], min, max);
}
for (; i < XY - X; i++) {
- lambda[i] = compute_lambda_interior(i, M, lambda);
+ lambda[i] = computeLambdaInterior(i, M, lambda);
lambda[i] = std::clamp(lambda[i], min, max);
}
for (; i < XY - 1; i++) {
- lambda[i] = compute_lambda_top(i, M, lambda);
+ lambda[i] = computeLambdaTop(i, M, lambda);
lambda[i] = std::clamp(lambda[i], min, max);
}
- lambda[i] = compute_lambda_top_end(i, M, lambda);
+ lambda[i] = computeLambdaTopEnd(i, M, lambda);
lambda[i] = std::clamp(lambda[i], min, max);
// Also solve the system from bottom to top, to help spread the updates
// better.
- lambda[i] = compute_lambda_top_end(i, M, lambda);
+ lambda[i] = computeLambdaTopEnd(i, M, lambda);
lambda[i] = std::clamp(lambda[i], min, max);
for (i = XY - 2; i >= XY - X; i--) {
- lambda[i] = compute_lambda_top(i, M, lambda);
+ lambda[i] = computeLambdaTop(i, M, lambda);
lambda[i] = std::clamp(lambda[i], min, max);
}
for (; i >= X; i--) {
- lambda[i] = compute_lambda_interior(i, M, lambda);
+ lambda[i] = computeLambdaInterior(i, M, lambda);
lambda[i] = std::clamp(lambda[i], min, max);
}
for (; i >= 1; i--) {
- lambda[i] = compute_lambda_bottom(i, M, lambda);
+ lambda[i] = computeLambdaBottom(i, M, lambda);
lambda[i] = std::clamp(lambda[i], min, max);
}
- lambda[0] = compute_lambda_bottom_start(0, M, lambda);
+ lambda[0] = computeLambdaBottomStart(0, M, lambda);
lambda[0] = std::clamp(lambda[0], min, max);
- double max_diff = 0;
+ double maxDiff = 0;
for (i = 0; i < XY; i++) {
- lambda[i] = old_lambda[i] + (lambda[i] - old_lambda[i]) * omega;
- if (fabs(lambda[i] - old_lambda[i]) > fabs(max_diff))
- max_diff = lambda[i] - old_lambda[i];
+ lambda[i] = oldLambda[i] + (lambda[i] - oldLambda[i]) * omega;
+ if (fabs(lambda[i] - oldLambda[i]) > fabs(maxDiff))
+ maxDiff = lambda[i] - oldLambda[i];
}
- return max_diff;
+ return maxDiff;
}
// Normalise the values so that the smallest value is 1.
@@ -683,105 +656,99 @@ static void reaverage(Span<double> data)
d *= ratio;
}
-static void run_matrix_iterations(double const C[XY], double lambda[XY],
- double const W[XY][4], double omega,
- int n_iter, double threshold, double lambda_bound)
+static void runMatrixIterations(double const C[XY], double lambda[XY],
+ double const W[XY][4], double omega,
+ int nIter, double threshold, double lambdaBound)
{
double M[XY][4];
- construct_M(C, W, M);
- double last_max_diff = std::numeric_limits<double>::max();
- for (int i = 0; i < n_iter; i++) {
- double max_diff = fabs(gauss_seidel2_SOR(M, omega, lambda, lambda_bound));
- if (max_diff < threshold) {
+ constructM(C, W, M);
+ double lastMaxDiff = std::numeric_limits<double>::max();
+ for (int i = 0; i < nIter; i++) {
+ double maxDiff = fabs(gaussSeidel2Sor(M, omega, lambda, lambdaBound));
+ if (maxDiff < threshold) {
LOG(RPiAlsc, Debug)
<< "Stop after " << i + 1 << " iterations";
break;
}
// this happens very occasionally (so make a note), though
// doesn't seem to matter
- if (max_diff > last_max_diff)
+ if (maxDiff > lastMaxDiff)
LOG(RPiAlsc, Debug)
- << "Iteration " << i << ": max_diff gone up "
- << last_max_diff << " to " << max_diff;
- last_max_diff = max_diff;
+ << "Iteration " << i << ": maxDiff gone up "
+ << lastMaxDiff << " to " << maxDiff;
+ lastMaxDiff = maxDiff;
}
// We're going to normalise the lambdas so the total average is 1.
reaverage({ lambda, XY });
}
-static void add_luminance_rb(double result[XY], double const lambda[XY],
- double const luminance_lut[XY],
- double luminance_strength)
+static void addLuminanceRb(double result[XY], double const lambda[XY],
+ double const luminanceLut[XY],
+ double luminanceStrength)
{
for (int i = 0; i < XY; i++)
- result[i] = lambda[i] *
- ((luminance_lut[i] - 1) * luminance_strength + 1);
+ result[i] = lambda[i] * ((luminanceLut[i] - 1) * luminanceStrength + 1);
}
-static void add_luminance_g(double result[XY], double lambda,
- double const luminance_lut[XY],
- double luminance_strength)
+static void addLuminanceG(double result[XY], double lambda,
+ double const luminanceLut[XY],
+ double luminanceStrength)
{
for (int i = 0; i < XY; i++)
- result[i] = lambda *
- ((luminance_lut[i] - 1) * luminance_strength + 1);
+ result[i] = lambda * ((luminanceLut[i] - 1) * luminanceStrength + 1);
}
-void add_luminance_to_tables(double results[3][Y][X], double const lambda_r[XY],
- double lambda_g, double const lambda_b[XY],
- double const luminance_lut[XY],
- double luminance_strength)
+void addLuminanceToTables(double results[3][Y][X], double const lambdaR[XY],
+ double lambdaG, double const lambdaB[XY],
+ double const luminanceLut[XY],
+ double luminanceStrength)
{
- add_luminance_rb((double *)results[0], lambda_r, luminance_lut,
- luminance_strength);
- add_luminance_g((double *)results[1], lambda_g, luminance_lut,
- luminance_strength);
- add_luminance_rb((double *)results[2], lambda_b, luminance_lut,
- luminance_strength);
+ addLuminanceRb((double *)results[0], lambdaR, luminanceLut, luminanceStrength);
+ addLuminanceG((double *)results[1], lambdaG, luminanceLut, luminanceStrength);
+ addLuminanceRb((double *)results[2], lambdaB, luminanceLut, luminanceStrength);
normalise((double *)results, 3 * XY);
}
void Alsc::doAlsc()
{
- double Cr[XY], Cb[XY], Wr[XY][4], Wb[XY][4], cal_table_r[XY],
- cal_table_b[XY], cal_table_tmp[XY];
+ double cr[XY], cb[XY], wr[XY][4], wb[XY][4], calTableR[XY], calTableB[XY], calTableTmp[XY];
// Calculate our R/B ("Cr"/"Cb") colour statistics, and assess which are
// usable.
- calculate_Cr_Cb(statistics_, Cr, Cb, config_.min_count, config_.min_G);
+ calculateCrCb(statistics_, cr, cb, config_.minCount, config_.minG);
// Fetch the new calibrations (if any) for this CT. Resample them in
// case the camera mode is not full-frame.
- get_cal_table(ct_, config_.calibrations_Cr, cal_table_tmp);
- resample_cal_table(cal_table_tmp, camera_mode_, cal_table_r);
- get_cal_table(ct_, config_.calibrations_Cb, cal_table_tmp);
- resample_cal_table(cal_table_tmp, camera_mode_, cal_table_b);
+ getCalTable(ct_, config_.calibrationsCr, calTableTmp);
+ resampleCalTable(calTableTmp, cameraMode_, calTableR);
+ getCalTable(ct_, config_.calibrationsCb, calTableTmp);
+ resampleCalTable(calTableTmp, cameraMode_, calTableB);
// You could print out the cal tables for this image here, if you're
// tuning the algorithm...
// Apply any calibration to the statistics, so the adaptive algorithm
// makes only the extra adjustments.
- apply_cal_table(cal_table_r, Cr);
- apply_cal_table(cal_table_b, Cb);
+ applyCalTable(calTableR, cr);
+ applyCalTable(calTableB, cb);
// Compute weights between zones.
- compute_W(Cr, config_.sigma_Cr, Wr);
- compute_W(Cb, config_.sigma_Cb, Wb);
+ computeW(cr, config_.sigmaCr, wr);
+ computeW(cb, config_.sigmaCb, wb);
// Run Gauss-Seidel iterations over the resulting matrix, for R and B.
- run_matrix_iterations(Cr, lambda_r_, Wr, config_.omega, config_.n_iter,
- config_.threshold, config_.lambda_bound);
- run_matrix_iterations(Cb, lambda_b_, Wb, config_.omega, config_.n_iter,
- config_.threshold, config_.lambda_bound);
+ runMatrixIterations(cr, lambdaR_, wr, config_.omega, config_.nIter,
+ config_.threshold, config_.lambdaBound);
+ runMatrixIterations(cb, lambdaB_, wb, config_.omega, config_.nIter,
+ config_.threshold, config_.lambdaBound);
// Fold the calibrated gains into our final lambda values. (Note that on
// the next run, we re-start with the lambda values that don't have the
// calibration gains included.)
- compensate_lambdas_for_cal(cal_table_r, lambda_r_, async_lambda_r_);
- compensate_lambdas_for_cal(cal_table_b, lambda_b_, async_lambda_b_);
+ compensateLambdasForCal(calTableR, lambdaR_, asyncLambdaR_);
+ compensateLambdasForCal(calTableB, lambdaB_, asyncLambdaB_);
// Fold in the luminance table at the appropriate strength.
- add_luminance_to_tables(async_results_, async_lambda_r_, 1.0,
- async_lambda_b_, luminance_table_,
- config_.luminance_strength);
+ addLuminanceToTables(asyncResults_, asyncLambdaR_, 1.0,
+ asyncLambdaB_, luminanceTable_,
+ config_.luminanceStrength);
}
// Register algorithm with the system.
-static Algorithm *Create(Controller *controller)
+static Algorithm *create(Controller *controller)
{
return (Algorithm *)new Alsc(controller);
}
-static RegisterAlgorithm reg(NAME, &Create);
+static RegisterAlgorithm reg(NAME, &create);
@@ -24,24 +24,24 @@ struct AlscCalibration {
struct AlscConfig {
// Only repeat the ALSC calculation every "this many" frames
- uint16_t frame_period;
+ uint16_t framePeriod;
// number of initial frames for which speed taken as 1.0 (maximum)
- uint16_t startup_frames;
+ uint16_t startupFrames;
// IIR filter speed applied to algorithm results
double speed;
- double sigma_Cr;
- double sigma_Cb;
- double min_count;
- uint16_t min_G;
+ double sigmaCr;
+ double sigmaCb;
+ double minCount;
+ uint16_t minG;
double omega;
- uint32_t n_iter;
- double luminance_lut[ALSC_CELLS_X * ALSC_CELLS_Y];
- double luminance_strength;
- std::vector<AlscCalibration> calibrations_Cr;
- std::vector<AlscCalibration> calibrations_Cb;
- double default_ct; // colour temperature if no metadata found
+ uint32_t nIter;
+ double luminanceLut[ALSC_CELLS_X * ALSC_CELLS_Y];
+ double luminanceStrength;
+ std::vector<AlscCalibration> calibrationsCr;
+ std::vector<AlscCalibration> calibrationsCb;
+ double defaultCt; // colour temperature if no metadata found
double threshold; // iteration termination threshold
- double lambda_bound; // upper/lower bound for lambda from a value of 1
+ double lambdaBound; // upper/lower bound for lambda from a value of 1
};
class Alsc : public Algorithm
@@ -49,58 +49,58 @@ class Alsc : public Algorithm
public:
Alsc(Controller *controller = NULL);
~Alsc();
- char const *Name() const override;
- void Initialise() override;
- void SwitchMode(CameraMode const &camera_mode, Metadata *metadata) override;
- void Read(boost::property_tree::ptree const ¶ms) override;
- void Prepare(Metadata *image_metadata) override;
- void Process(StatisticsPtr &stats, Metadata *image_metadata) override;
+ char const *name() const override;
+ void initialise() override;
+ void switchMode(CameraMode const &cameraMode, Metadata *metadata) override;
+ void read(boost::property_tree::ptree const ¶ms) override;
+ void prepare(Metadata *imageMetadata) override;
+ void process(StatisticsPtr &stats, Metadata *imageMetadata) override;
private:
// configuration is read-only, and available to both threads
AlscConfig config_;
- bool first_time_;
- CameraMode camera_mode_;
- double luminance_table_[ALSC_CELLS_X * ALSC_CELLS_Y];
- std::thread async_thread_;
+ bool firstTime_;
+ CameraMode cameraMode_;
+ double luminanceTable_[ALSC_CELLS_X * ALSC_CELLS_Y];
+ std::thread asyncThread_;
void asyncFunc(); // asynchronous thread function
std::mutex mutex_;
// condvar for async thread to wait on
- std::condition_variable async_signal_;
+ std::condition_variable asyncSignal_;
// condvar for synchronous thread to wait on
- std::condition_variable sync_signal_;
+ std::condition_variable syncSignal_;
// for sync thread to check if async thread finished (requires mutex)
- bool async_finished_;
+ bool asyncFinished_;
// for async thread to check if it's been told to run (requires mutex)
- bool async_start_;
+ bool asyncStart_;
// for async thread to check if it's been told to quit (requires mutex)
- bool async_abort_;
+ bool asyncAbort_;
// The following are only for the synchronous thread to use:
// for sync thread to note its has asked async thread to run
- bool async_started_;
- // counts up to frame_period before restarting the async thread
- int frame_phase_;
- // counts up to startup_frames
- int frame_count_;
- // counts up to startup_frames for Process function
- int frame_count2_;
- double sync_results_[3][ALSC_CELLS_Y][ALSC_CELLS_X];
- double prev_sync_results_[3][ALSC_CELLS_Y][ALSC_CELLS_X];
+ bool asyncStarted_;
+ // counts up to framePeriod before restarting the async thread
+ int framePhase_;
+ // counts up to startupFrames
+ int frameCount_;
+ // counts up to startupFrames for Process function
+ int frameCount2_;
+ double syncResults_[3][ALSC_CELLS_Y][ALSC_CELLS_X];
+ double prevSyncResults_[3][ALSC_CELLS_Y][ALSC_CELLS_X];
void waitForAysncThread();
// The following are for the asynchronous thread to use, though the main
// thread can set/reset them if the async thread is known to be idle:
- void restartAsync(StatisticsPtr &stats, Metadata *image_metadata);
+ void restartAsync(StatisticsPtr &stats, Metadata *imageMetadata);
// copy out the results from the async thread so that it can be restarted
void fetchAsyncResults();
double ct_;
bcm2835_isp_stats_region statistics_[ALSC_CELLS_Y * ALSC_CELLS_X];
- double async_results_[3][ALSC_CELLS_Y][ALSC_CELLS_X];
- double async_lambda_r_[ALSC_CELLS_X * ALSC_CELLS_Y];
- double async_lambda_b_[ALSC_CELLS_X * ALSC_CELLS_Y];
+ double asyncResults_[3][ALSC_CELLS_Y][ALSC_CELLS_X];
+ double asyncLambdaR_[ALSC_CELLS_X * ALSC_CELLS_Y];
+ double asyncLambdaB_[ALSC_CELLS_X * ALSC_CELLS_Y];
void doAlsc();
- double lambda_r_[ALSC_CELLS_X * ALSC_CELLS_Y];
- double lambda_b_[ALSC_CELLS_X * ALSC_CELLS_Y];
+ double lambdaR_[ALSC_CELLS_X * ALSC_CELLS_Y];
+ double lambdaB_[ALSC_CELLS_X * ALSC_CELLS_Y];
};
} // namespace RPiController
@@ -24,33 +24,33 @@ LOG_DEFINE_CATEGORY(RPiAwb)
// todo - the locking in this algorithm needs some tidying up as has been done
// elsewhere (ALSC and AGC).
-void AwbMode::Read(boost::property_tree::ptree const ¶ms)
+void AwbMode::read(boost::property_tree::ptree const ¶ms)
{
- ct_lo = params.get<double>("lo");
- ct_hi = params.get<double>("hi");
+ ctLo = params.get<double>("lo");
+ ctHi = params.get<double>("hi");
}
-void AwbPrior::Read(boost::property_tree::ptree const ¶ms)
+void AwbPrior::read(boost::property_tree::ptree const ¶ms)
{
lux = params.get<double>("lux");
- prior.Read(params.get_child("prior"));
+ prior.read(params.get_child("prior"));
}
-static void read_ct_curve(Pwl &ct_r, Pwl &ct_b,
- boost::property_tree::ptree const ¶ms)
+static void readCtCurve(Pwl &ctR, Pwl &ctB,
+ boost::property_tree::ptree const ¶ms)
{
int num = 0;
for (auto it = params.begin(); it != params.end(); it++) {
double ct = it->second.get_value<double>();
- assert(it == params.begin() || ct != ct_r.Domain().end);
+ assert(it == params.begin() || ct != ctR.domain().end);
if (++it == params.end())
throw std::runtime_error(
"AwbConfig: incomplete CT curve entry");
- ct_r.Append(ct, it->second.get_value<double>());
+ ctR.append(ct, it->second.get_value<double>());
if (++it == params.end())
throw std::runtime_error(
"AwbConfig: incomplete CT curve entry");
- ct_b.Append(ct, it->second.get_value<double>());
+ ctB.append(ct, it->second.get_value<double>());
num++;
}
if (num < 2)
@@ -58,22 +58,21 @@ static void read_ct_curve(Pwl &ct_r, Pwl &ct_b,
"AwbConfig: insufficient points in CT curve");
}
-void AwbConfig::Read(boost::property_tree::ptree const ¶ms)
+void AwbConfig::read(boost::property_tree::ptree const ¶ms)
{
bayes = params.get<int>("bayes", 1);
- frame_period = params.get<uint16_t>("frame_period", 10);
- startup_frames = params.get<uint16_t>("startup_frames", 10);
- convergence_frames = params.get<unsigned int>("convergence_frames", 3);
+ framePeriod = params.get<uint16_t>("framePeriod", 10);
+ startupFrames = params.get<uint16_t>("startupFrames", 10);
+ convergenceFrames = params.get<unsigned int>("convergence_frames", 3);
speed = params.get<double>("speed", 0.05);
if (params.get_child_optional("ct_curve"))
- read_ct_curve(ct_r, ct_b, params.get_child("ct_curve"));
+ readCtCurve(ctR, ctB, params.get_child("ct_curve"));
if (params.get_child_optional("priors")) {
for (auto &p : params.get_child("priors")) {
AwbPrior prior;
- prior.Read(p.second);
+ prior.read(p.second);
if (!priors.empty() && prior.lux <= priors.back().lux)
- throw std::runtime_error(
- "AwbConfig: Prior must be ordered in increasing lux value");
+ throw std::runtime_error("AwbConfig: Prior must be ordered in increasing lux value");
priors.push_back(prior);
}
if (priors.empty())
@@ -82,177 +81,170 @@ void AwbConfig::Read(boost::property_tree::ptree const ¶ms)
}
if (params.get_child_optional("modes")) {
for (auto &p : params.get_child("modes")) {
- modes[p.first].Read(p.second);
- if (default_mode == nullptr)
- default_mode = &modes[p.first];
+ modes[p.first].read(p.second);
+ if (defaultMode == nullptr)
+ defaultMode = &modes[p.first];
}
- if (default_mode == nullptr)
- throw std::runtime_error(
- "AwbConfig: no AWB modes configured");
+ if (defaultMode == nullptr)
+ throw std::runtime_error("AwbConfig: no AWB modes configured");
}
- min_pixels = params.get<double>("min_pixels", 16.0);
- min_G = params.get<uint16_t>("min_G", 32);
- min_regions = params.get<uint32_t>("min_regions", 10);
- delta_limit = params.get<double>("delta_limit", 0.2);
- coarse_step = params.get<double>("coarse_step", 0.2);
- transverse_pos = params.get<double>("transverse_pos", 0.01);
- transverse_neg = params.get<double>("transverse_neg", 0.01);
- if (transverse_pos <= 0 || transverse_neg <= 0)
- throw std::runtime_error(
- "AwbConfig: transverse_pos/neg must be > 0");
- sensitivity_r = params.get<double>("sensitivity_r", 1.0);
- sensitivity_b = params.get<double>("sensitivity_b", 1.0);
+ minPixels = params.get<double>("min_pixels", 16.0);
+ minG = params.get<uint16_t>("min_G", 32);
+ minRegions = params.get<uint32_t>("min_regions", 10);
+ deltaLimit = params.get<double>("delta_limit", 0.2);
+ coarseStep = params.get<double>("coarse_step", 0.2);
+ transversePos = params.get<double>("transverse_pos", 0.01);
+ transverseNeg = params.get<double>("transverse_neg", 0.01);
+ if (transversePos <= 0 || transverseNeg <= 0)
+ throw std::runtime_error("AwbConfig: transverse_pos/neg must be > 0");
+ sensitivityR = params.get<double>("sensitivity_r", 1.0);
+ sensitivityB = params.get<double>("sensitivity_b", 1.0);
if (bayes) {
- if (ct_r.Empty() || ct_b.Empty() || priors.empty() ||
- default_mode == nullptr) {
+ if (ctR.empty() || ctB.empty() || priors.empty() ||
+ defaultMode == nullptr) {
LOG(RPiAwb, Warning)
<< "Bayesian AWB mis-configured - switch to Grey method";
bayes = false;
}
}
- fast = params.get<int>(
- "fast", bayes); // default to fast for Bayesian, otherwise slow
- whitepoint_r = params.get<double>("whitepoint_r", 0.0);
- whitepoint_b = params.get<double>("whitepoint_b", 0.0);
+ fast = params.get<int>("fast", bayes); // default to fast for Bayesian, otherwise slow
+ whitepointR = params.get<double>("whitepoint_r", 0.0);
+ whitepointB = params.get<double>("whitepoint_b", 0.0);
if (bayes == false)
- sensitivity_r = sensitivity_b =
- 1.0; // nor do sensitivities make any sense
+ sensitivityR = sensitivityB = 1.0; // nor do sensitivities make any sense
}
Awb::Awb(Controller *controller)
: AwbAlgorithm(controller)
{
- async_abort_ = async_start_ = async_started_ = async_finished_ = false;
+ asyncAbort_ = asyncStart_ = asyncStarted_ = asyncFinished_ = false;
mode_ = nullptr;
- manual_r_ = manual_b_ = 0.0;
- first_switch_mode_ = true;
- async_thread_ = std::thread(std::bind(&Awb::asyncFunc, this));
+ manualR_ = manualB_ = 0.0;
+ firstSwitchMode_ = true;
+ asyncThread_ = std::thread(std::bind(&Awb::asyncFunc, this));
}
Awb::~Awb()
{
{
std::lock_guard<std::mutex> lock(mutex_);
- async_abort_ = true;
+ asyncAbort_ = true;
}
- async_signal_.notify_one();
- async_thread_.join();
+ asyncSignal_.notify_one();
+ asyncThread_.join();
}
-char const *Awb::Name() const
+char const *Awb::name() const
{
return NAME;
}
-void Awb::Read(boost::property_tree::ptree const ¶ms)
+void Awb::read(boost::property_tree::ptree const ¶ms)
{
- config_.Read(params);
+ config_.read(params);
}
-void Awb::Initialise()
+void Awb::initialise()
{
- frame_count_ = frame_phase_ = 0;
+ frameCount_ = framePhase_ = 0;
// Put something sane into the status that we are filtering towards,
// just in case the first few frames don't have anything meaningful in
// them.
- if (!config_.ct_r.Empty() && !config_.ct_b.Empty()) {
- sync_results_.temperature_K = config_.ct_r.Domain().Clip(4000);
- sync_results_.gain_r =
- 1.0 / config_.ct_r.Eval(sync_results_.temperature_K);
- sync_results_.gain_g = 1.0;
- sync_results_.gain_b =
- 1.0 / config_.ct_b.Eval(sync_results_.temperature_K);
+ if (!config_.ctR.empty() && !config_.ctB.empty()) {
+ syncResults_.temperatureK = config_.ctR.domain().clip(4000);
+ syncResults_.gainR = 1.0 / config_.ctR.eval(syncResults_.temperatureK);
+ syncResults_.gainG = 1.0;
+ syncResults_.gainB = 1.0 / config_.ctB.eval(syncResults_.temperatureK);
} else {
// random values just to stop the world blowing up
- sync_results_.temperature_K = 4500;
- sync_results_.gain_r = sync_results_.gain_g =
- sync_results_.gain_b = 1.0;
+ syncResults_.temperatureK = 4500;
+ syncResults_.gainR = syncResults_.gainG = syncResults_.gainB = 1.0;
}
- prev_sync_results_ = sync_results_;
- async_results_ = sync_results_;
+ prevSyncResults_ = syncResults_;
+ asyncResults_ = syncResults_;
}
-bool Awb::IsPaused() const
+bool Awb::isPaused() const
{
return false;
}
-void Awb::Pause()
+void Awb::pause()
{
// "Pause" by fixing everything to the most recent values.
- manual_r_ = sync_results_.gain_r = prev_sync_results_.gain_r;
- manual_b_ = sync_results_.gain_b = prev_sync_results_.gain_b;
- sync_results_.gain_g = prev_sync_results_.gain_g;
- sync_results_.temperature_K = prev_sync_results_.temperature_K;
+ manualR_ = syncResults_.gainR = prevSyncResults_.gainR;
+ manualB_ = syncResults_.gainB = prevSyncResults_.gainB;
+ syncResults_.gainG = prevSyncResults_.gainG;
+ syncResults_.temperatureK = prevSyncResults_.temperatureK;
}
-void Awb::Resume()
+void Awb::resume()
{
- manual_r_ = 0.0;
- manual_b_ = 0.0;
+ manualR_ = 0.0;
+ manualB_ = 0.0;
}
-unsigned int Awb::GetConvergenceFrames() const
+unsigned int Awb::getConvergenceFrames() const
{
// If not in auto mode, there is no convergence
// to happen, so no need to drop any frames - return zero.
if (!isAutoEnabled())
return 0;
else
- return config_.convergence_frames;
+ return config_.convergenceFrames;
}
-void Awb::SetMode(std::string const &mode_name)
+void Awb::setMode(std::string const &modeName)
{
- mode_name_ = mode_name;
+ modeName_ = modeName;
}
-void Awb::SetManualGains(double manual_r, double manual_b)
+void Awb::setManualGains(double manualR, double manualB)
{
// If any of these are 0.0, we swich back to auto.
- manual_r_ = manual_r;
- manual_b_ = manual_b;
- // If not in auto mode, set these values into the sync_results which
+ manualR_ = manualR;
+ manualB_ = manualB;
+ // If not in auto mode, set these values into the syncResults which
// means that Prepare() will adopt them immediately.
if (!isAutoEnabled()) {
- sync_results_.gain_r = prev_sync_results_.gain_r = manual_r_;
- sync_results_.gain_g = prev_sync_results_.gain_g = 1.0;
- sync_results_.gain_b = prev_sync_results_.gain_b = manual_b_;
+ syncResults_.gainR = prevSyncResults_.gainR = manualR_;
+ syncResults_.gainG = prevSyncResults_.gainG = 1.0;
+ syncResults_.gainB = prevSyncResults_.gainB = manualB_;
}
}
-void Awb::SwitchMode([[maybe_unused]] CameraMode const &camera_mode,
+void Awb::switchMode([[maybe_unused]] CameraMode const &cameraMode,
Metadata *metadata)
{
// On the first mode switch we'll have no meaningful colour
// temperature, so try to dead reckon one if in manual mode.
- if (!isAutoEnabled() && first_switch_mode_ && config_.bayes) {
- Pwl ct_r_inverse = config_.ct_r.Inverse();
- Pwl ct_b_inverse = config_.ct_b.Inverse();
- double ct_r = ct_r_inverse.Eval(ct_r_inverse.Domain().Clip(1 / manual_r_));
- double ct_b = ct_b_inverse.Eval(ct_b_inverse.Domain().Clip(1 / manual_b_));
- prev_sync_results_.temperature_K = (ct_r + ct_b) / 2;
- sync_results_.temperature_K = prev_sync_results_.temperature_K;
+ if (!isAutoEnabled() && firstSwitchMode_ && config_.bayes) {
+ Pwl ctRInverse = config_.ctR.inverse();
+ Pwl ctBInverse = config_.ctB.inverse();
+ double ctR = ctRInverse.eval(ctRInverse.domain().clip(1 / manualR_));
+ double ctB = ctBInverse.eval(ctBInverse.domain().clip(1 / manualB_));
+ prevSyncResults_.temperatureK = (ctR + ctB) / 2;
+ syncResults_.temperatureK = prevSyncResults_.temperatureK;
}
// Let other algorithms know the current white balance values.
- metadata->Set("awb.status", prev_sync_results_);
- first_switch_mode_ = false;
+ metadata->set("awb.status", prevSyncResults_);
+ firstSwitchMode_ = false;
}
bool Awb::isAutoEnabled() const
{
- return manual_r_ == 0.0 || manual_b_ == 0.0;
+ return manualR_ == 0.0 || manualB_ == 0.0;
}
void Awb::fetchAsyncResults()
{
LOG(RPiAwb, Debug) << "Fetch AWB results";
- async_finished_ = false;
- async_started_ = false;
+ asyncFinished_ = false;
+ asyncStarted_ = false;
// It's possible manual gains could be set even while the async
// thread was running, so only copy the results if still in auto mode.
if (isAutoEnabled())
- sync_results_ = async_results_;
+ syncResults_ = asyncResults_;
}
void Awb::restartAsync(StatisticsPtr &stats, double lux)
@@ -261,75 +253,74 @@ void Awb::restartAsync(StatisticsPtr &stats, double lux)
// this makes a new reference which belongs to the asynchronous thread
statistics_ = stats;
// store the mode as it could technically change
- auto m = config_.modes.find(mode_name_);
+ auto m = config_.modes.find(modeName_);
mode_ = m != config_.modes.end()
? &m->second
- : (mode_ == nullptr ? config_.default_mode : mode_);
+ : (mode_ == nullptr ? config_.defaultMode : mode_);
lux_ = lux;
- frame_phase_ = 0;
- async_started_ = true;
- size_t len = mode_name_.copy(async_results_.mode,
- sizeof(async_results_.mode) - 1);
- async_results_.mode[len] = '\0';
+ framePhase_ = 0;
+ asyncStarted_ = true;
+ size_t len = modeName_.copy(asyncResults_.mode,
+ sizeof(asyncResults_.mode) - 1);
+ asyncResults_.mode[len] = '\0';
{
std::lock_guard<std::mutex> lock(mutex_);
- async_start_ = true;
+ asyncStart_ = true;
}
- async_signal_.notify_one();
+ asyncSignal_.notify_one();
}
-void Awb::Prepare(Metadata *image_metadata)
+void Awb::prepare(Metadata *imageMetadata)
{
- if (frame_count_ < (int)config_.startup_frames)
- frame_count_++;
- double speed = frame_count_ < (int)config_.startup_frames
+ if (frameCount_ < (int)config_.startupFrames)
+ frameCount_++;
+ double speed = frameCount_ < (int)config_.startupFrames
? 1.0
: config_.speed;
LOG(RPiAwb, Debug)
- << "frame_count " << frame_count_ << " speed " << speed;
+ << "frame_count " << frameCount_ << " speed " << speed;
{
std::unique_lock<std::mutex> lock(mutex_);
- if (async_started_ && async_finished_)
+ if (asyncStarted_ && asyncFinished_)
fetchAsyncResults();
}
// Finally apply IIR filter to results and put into metadata.
- memcpy(prev_sync_results_.mode, sync_results_.mode,
- sizeof(prev_sync_results_.mode));
- prev_sync_results_.temperature_K =
- speed * sync_results_.temperature_K +
- (1.0 - speed) * prev_sync_results_.temperature_K;
- prev_sync_results_.gain_r = speed * sync_results_.gain_r +
- (1.0 - speed) * prev_sync_results_.gain_r;
- prev_sync_results_.gain_g = speed * sync_results_.gain_g +
- (1.0 - speed) * prev_sync_results_.gain_g;
- prev_sync_results_.gain_b = speed * sync_results_.gain_b +
- (1.0 - speed) * prev_sync_results_.gain_b;
- image_metadata->Set("awb.status", prev_sync_results_);
+ memcpy(prevSyncResults_.mode, syncResults_.mode,
+ sizeof(prevSyncResults_.mode));
+ prevSyncResults_.temperatureK = speed * syncResults_.temperatureK +
+ (1.0 - speed) * prevSyncResults_.temperatureK;
+ prevSyncResults_.gainR = speed * syncResults_.gainR +
+ (1.0 - speed) * prevSyncResults_.gainR;
+ prevSyncResults_.gainG = speed * syncResults_.gainG +
+ (1.0 - speed) * prevSyncResults_.gainG;
+ prevSyncResults_.gainB = speed * syncResults_.gainB +
+ (1.0 - speed) * prevSyncResults_.gainB;
+ imageMetadata->set("awb.status", prevSyncResults_);
LOG(RPiAwb, Debug)
- << "Using AWB gains r " << prev_sync_results_.gain_r << " g "
- << prev_sync_results_.gain_g << " b "
- << prev_sync_results_.gain_b;
+ << "Using AWB gains r " << prevSyncResults_.gainR << " g "
+ << prevSyncResults_.gainG << " b "
+ << prevSyncResults_.gainB;
}
-void Awb::Process(StatisticsPtr &stats, Metadata *image_metadata)
+void Awb::process(StatisticsPtr &stats, Metadata *imageMetadata)
{
// Count frames since we last poked the async thread.
- if (frame_phase_ < (int)config_.frame_period)
- frame_phase_++;
- LOG(RPiAwb, Debug) << "frame_phase " << frame_phase_;
+ if (framePhase_ < (int)config_.framePeriod)
+ framePhase_++;
+ LOG(RPiAwb, Debug) << "frame_phase " << framePhase_;
// We do not restart the async thread if we're not in auto mode.
if (isAutoEnabled() &&
- (frame_phase_ >= (int)config_.frame_period ||
- frame_count_ < (int)config_.startup_frames)) {
+ (framePhase_ >= (int)config_.framePeriod ||
+ frameCount_ < (int)config_.startupFrames)) {
// Update any settings and any image metadata that we need.
- struct LuxStatus lux_status = {};
- lux_status.lux = 400; // in case no metadata
- if (image_metadata->Get("lux.status", lux_status) != 0)
+ struct LuxStatus luxStatus = {};
+ luxStatus.lux = 400; // in case no metadata
+ if (imageMetadata->get("lux.status", luxStatus) != 0)
LOG(RPiAwb, Debug) << "No lux metadata found";
- LOG(RPiAwb, Debug) << "Awb lux value is " << lux_status.lux;
+ LOG(RPiAwb, Debug) << "Awb lux value is " << luxStatus.lux;
- if (async_started_ == false)
- restartAsync(stats, lux_status.lux);
+ if (asyncStarted_ == false)
+ restartAsync(stats, luxStatus.lux);
}
}
@@ -338,32 +329,32 @@ void Awb::asyncFunc()
while (true) {
{
std::unique_lock<std::mutex> lock(mutex_);
- async_signal_.wait(lock, [&] {
- return async_start_ || async_abort_;
+ asyncSignal_.wait(lock, [&] {
+ return asyncStart_ || asyncAbort_;
});
- async_start_ = false;
- if (async_abort_)
+ asyncStart_ = false;
+ if (asyncAbort_)
break;
}
doAwb();
{
std::lock_guard<std::mutex> lock(mutex_);
- async_finished_ = true;
+ asyncFinished_ = true;
}
- sync_signal_.notify_one();
+ syncSignal_.notify_one();
}
}
-static void generate_stats(std::vector<Awb::RGB> &zones,
- bcm2835_isp_stats_region *stats, double min_pixels,
- double min_G)
+static void generateStats(std::vector<Awb::RGB> &zones,
+ bcm2835_isp_stats_region *stats, double minPixels,
+ double minG)
{
for (int i = 0; i < AWB_STATS_SIZE_X * AWB_STATS_SIZE_Y; i++) {
Awb::RGB zone;
double counted = stats[i].counted;
- if (counted >= min_pixels) {
+ if (counted >= minPixels) {
zone.G = stats[i].g_sum / counted;
- if (zone.G >= min_G) {
+ if (zone.G >= minG) {
zone.R = stats[i].r_sum / counted;
zone.B = stats[i].b_sum / counted;
zones.push_back(zone);
@@ -377,32 +368,33 @@ void Awb::prepareStats()
zones_.clear();
// LSC has already been applied to the stats in this pipeline, so stop
// any LSC compensation. We also ignore config_.fast in this version.
- generate_stats(zones_, statistics_->awb_stats, config_.min_pixels,
- config_.min_G);
+ generateStats(zones_, statistics_->awb_stats, config_.minPixels,
+ config_.minG);
// we're done with these; we may as well relinquish our hold on the
// pointer.
statistics_.reset();
// apply sensitivities, so values appear to come from our "canonical"
// sensor.
- for (auto &zone : zones_)
- zone.R *= config_.sensitivity_r,
- zone.B *= config_.sensitivity_b;
+ for (auto &zone : zones_) {
+ zone.R *= config_.sensitivityR;
+ zone.B *= config_.sensitivityB;
+ }
}
-double Awb::computeDelta2Sum(double gain_r, double gain_b)
+double Awb::computeDelta2Sum(double gainR, double gainB)
{
// Compute the sum of the squared colour error (non-greyness) as it
// appears in the log likelihood equation.
- double delta2_sum = 0;
+ double delta2Sum = 0;
for (auto &z : zones_) {
- double delta_r = gain_r * z.R - 1 - config_.whitepoint_r;
- double delta_b = gain_b * z.B - 1 - config_.whitepoint_b;
- double delta2 = delta_r * delta_r + delta_b * delta_b;
+ double deltaR = gainR * z.R - 1 - config_.whitepointR;
+ double deltaB = gainB * z.B - 1 - config_.whitepointB;
+ double delta2 = deltaR * deltaR + deltaB * deltaB;
//LOG(RPiAwb, Debug) << "delta_r " << delta_r << " delta_b " << delta_b << " delta2 " << delta2;
- delta2 = std::min(delta2, config_.delta_limit);
- delta2_sum += delta2;
+ delta2 = std::min(delta2, config_.deltaLimit);
+ delta2Sum += delta2;
}
- return delta2_sum;
+ return delta2Sum;
}
Pwl Awb::interpolatePrior()
@@ -420,7 +412,7 @@ Pwl Awb::interpolatePrior()
idx++;
double lux0 = config_.priors[idx].lux,
lux1 = config_.priors[idx + 1].lux;
- return Pwl::Combine(config_.priors[idx].prior,
+ return Pwl::combine(config_.priors[idx].prior,
config_.priors[idx + 1].prior,
[&](double /*x*/, double y0, double y1) {
return y0 + (y1 - y0) *
@@ -429,62 +421,60 @@ Pwl Awb::interpolatePrior()
}
}
-static double interpolate_quadatric(Pwl::Point const &A, Pwl::Point const &B,
- Pwl::Point const &C)
+static double interpolateQuadatric(Pwl::Point const &a, Pwl::Point const &b,
+ Pwl::Point const &c)
{
// Given 3 points on a curve, find the extremum of the function in that
// interval by fitting a quadratic.
const double eps = 1e-3;
- Pwl::Point CA = C - A, BA = B - A;
- double denominator = 2 * (BA.y * CA.x - CA.y * BA.x);
+ Pwl::Point ca = c - a, ba = b - a;
+ double denominator = 2 * (ba.y * ca.x - ca.y * ba.x);
if (abs(denominator) > eps) {
- double numerator = BA.y * CA.x * CA.x - CA.y * BA.x * BA.x;
- double result = numerator / denominator + A.x;
- return std::max(A.x, std::min(C.x, result));
+ double numerator = ba.y * ca.x * ca.x - ca.y * ba.x * ba.x;
+ double result = numerator / denominator + a.x;
+ return std::max(a.x, std::min(c.x, result));
}
// has degenerated to straight line segment
- return A.y < C.y - eps ? A.x : (C.y < A.y - eps ? C.x : B.x);
+ return a.y < c.y - eps ? a.x : (c.y < a.y - eps ? c.x : b.x);
}
double Awb::coarseSearch(Pwl const &prior)
{
points_.clear(); // assume doesn't deallocate memory
- size_t best_point = 0;
- double t = mode_->ct_lo;
- int span_r = 0, span_b = 0;
+ size_t bestPoint = 0;
+ double t = mode_->ctLo;
+ int spanR = 0, spanB = 0;
// Step down the CT curve evaluating log likelihood.
while (true) {
- double r = config_.ct_r.Eval(t, &span_r);
- double b = config_.ct_b.Eval(t, &span_b);
- double gain_r = 1 / r, gain_b = 1 / b;
- double delta2_sum = computeDelta2Sum(gain_r, gain_b);
- double prior_log_likelihood =
- prior.Eval(prior.Domain().Clip(t));
- double final_log_likelihood = delta2_sum - prior_log_likelihood;
+ double r = config_.ctR.eval(t, &spanR);
+ double b = config_.ctB.eval(t, &spanB);
+ double gainR = 1 / r, gainB = 1 / b;
+ double delta2Sum = computeDelta2Sum(gainR, gainB);
+ double priorLogLikelihood = prior.eval(prior.domain().clip(t));
+ double finalLogLikelihood = delta2Sum - priorLogLikelihood;
LOG(RPiAwb, Debug)
- << "t: " << t << " gain_r " << gain_r << " gain_b "
- << gain_b << " delta2_sum " << delta2_sum
- << " prior " << prior_log_likelihood << " final "
- << final_log_likelihood;
- points_.push_back(Pwl::Point(t, final_log_likelihood));
- if (points_.back().y < points_[best_point].y)
- best_point = points_.size() - 1;
- if (t == mode_->ct_hi)
+ << "t: " << t << " gain R " << gainR << " gain B "
+ << gainB << " delta2_sum " << delta2Sum
+ << " prior " << priorLogLikelihood << " final "
+ << finalLogLikelihood;
+ points_.push_back(Pwl::Point(t, finalLogLikelihood));
+ if (points_.back().y < points_[bestPoint].y)
+ bestPoint = points_.size() - 1;
+ if (t == mode_->ctHi)
break;
// for even steps along the r/b curve scale them by the current t
- t = std::min(t + t / 10 * config_.coarse_step,
- mode_->ct_hi);
+ t = std::min(t + t / 10 * config_.coarseStep, mode_->ctHi);
}
- t = points_[best_point].x;
+ t = points_[bestPoint].x;
LOG(RPiAwb, Debug) << "Coarse search found CT " << t;
// We have the best point of the search, but refine it with a quadratic
// interpolation around its neighbours.
if (points_.size() > 2) {
- unsigned long bp = std::min(best_point, points_.size() - 2);
- best_point = std::max(1UL, bp);
- t = interpolate_quadatric(points_[best_point - 1],
- points_[best_point],
- points_[best_point + 1]);
+ unsigned long bp = std::min(bestPoint, points_.size() - 2);
+ bestPoint = std::max(1UL, bp);
+ t = interpolateQuadatric(points_[bestPoint - 1],
+ points_[bestPoint],
+ points_[bestPoint + 1]);
LOG(RPiAwb, Debug)
<< "After quadratic refinement, coarse search has CT "
<< t;
@@ -494,80 +484,76 @@ double Awb::coarseSearch(Pwl const &prior)
void Awb::fineSearch(double &t, double &r, double &b, Pwl const &prior)
{
- int span_r = -1, span_b = -1;
- config_.ct_r.Eval(t, &span_r);
- config_.ct_b.Eval(t, &span_b);
- double step = t / 10 * config_.coarse_step * 0.1;
+ int spanR = -1, spanB = -1;
+ config_.ctR.eval(t, &spanR);
+ config_.ctB.eval(t, &spanB);
+ double step = t / 10 * config_.coarseStep * 0.1;
int nsteps = 5;
- double r_diff = config_.ct_r.Eval(t + nsteps * step, &span_r) -
- config_.ct_r.Eval(t - nsteps * step, &span_r);
- double b_diff = config_.ct_b.Eval(t + nsteps * step, &span_b) -
- config_.ct_b.Eval(t - nsteps * step, &span_b);
- Pwl::Point transverse(b_diff, -r_diff);
- if (transverse.Len2() < 1e-6)
+ double rDiff = config_.ctR.eval(t + nsteps * step, &spanR) -
+ config_.ctR.eval(t - nsteps * step, &spanR);
+ double bDiff = config_.ctB.eval(t + nsteps * step, &spanB) -
+ config_.ctB.eval(t - nsteps * step, &spanB);
+ Pwl::Point transverse(bDiff, -rDiff);
+ if (transverse.len2() < 1e-6)
return;
// unit vector orthogonal to the b vs. r function (pointing outwards
// with r and b increasing)
- transverse = transverse / transverse.Len();
- double best_log_likelihood = 0, best_t = 0, best_r = 0, best_b = 0;
- double transverse_range =
- config_.transverse_neg + config_.transverse_pos;
- const int MAX_NUM_DELTAS = 12;
+ transverse = transverse / transverse.len();
+ double bestLogLikelihood = 0, bestT = 0, bestR = 0, bestB = 0;
+ double transverseRange = config_.transverseNeg + config_.transversePos;
+ const int maxNumDeltas = 12;
// a transverse step approximately every 0.01 r/b units
- int num_deltas = floor(transverse_range * 100 + 0.5) + 1;
- num_deltas = num_deltas < 3 ? 3 :
- (num_deltas > MAX_NUM_DELTAS ? MAX_NUM_DELTAS : num_deltas);
+ int numDeltas = floor(transverseRange * 100 + 0.5) + 1;
+ numDeltas = numDeltas < 3 ? 3 : (numDeltas > maxNumDeltas ? maxNumDeltas : numDeltas);
// Step down CT curve. March a bit further if the transverse range is
// large.
- nsteps += num_deltas;
+ nsteps += numDeltas;
for (int i = -nsteps; i <= nsteps; i++) {
- double t_test = t + i * step;
- double prior_log_likelihood =
- prior.Eval(prior.Domain().Clip(t_test));
- double r_curve = config_.ct_r.Eval(t_test, &span_r);
- double b_curve = config_.ct_b.Eval(t_test, &span_b);
+ double tTest = t + i * step;
+ double priorLogLikelihood =
+ prior.eval(prior.domain().clip(tTest));
+ double rCurve = config_.ctR.eval(tTest, &spanR);
+ double bCurve = config_.ctB.eval(tTest, &spanB);
// x will be distance off the curve, y the log likelihood there
- Pwl::Point points[MAX_NUM_DELTAS];
- int best_point = 0;
+ Pwl::Point points[maxNumDeltas];
+ int bestPoint = 0;
// Take some measurements transversely *off* the CT curve.
- for (int j = 0; j < num_deltas; j++) {
- points[j].x = -config_.transverse_neg +
- (transverse_range * j) / (num_deltas - 1);
- Pwl::Point rb_test = Pwl::Point(r_curve, b_curve) +
- transverse * points[j].x;
- double r_test = rb_test.x, b_test = rb_test.y;
- double gain_r = 1 / r_test, gain_b = 1 / b_test;
- double delta2_sum = computeDelta2Sum(gain_r, gain_b);
- points[j].y = delta2_sum - prior_log_likelihood;
+ for (int j = 0; j < numDeltas; j++) {
+ points[j].x = -config_.transverseNeg +
+ (transverseRange * j) / (numDeltas - 1);
+ Pwl::Point rbTest = Pwl::Point(rCurve, bCurve) +
+ transverse * points[j].x;
+ double rTest = rbTest.x, bTest = rbTest.y;
+ double gainR = 1 / rTest, gainB = 1 / bTest;
+ double delta2Sum = computeDelta2Sum(gainR, gainB);
+ points[j].y = delta2Sum - priorLogLikelihood;
LOG(RPiAwb, Debug)
- << "At t " << t_test << " r " << r_test << " b "
- << b_test << ": " << points[j].y;
- if (points[j].y < points[best_point].y)
- best_point = j;
+ << "At t " << tTest << " r " << rTest << " b "
+ << bTest << ": " << points[j].y;
+ if (points[j].y < points[bestPoint].y)
+ bestPoint = j;
}
// We have NUM_DELTAS points transversely across the CT curve,
// now let's do a quadratic interpolation for the best result.
- best_point = std::max(1, std::min(best_point, num_deltas - 2));
- Pwl::Point rb_test =
- Pwl::Point(r_curve, b_curve) +
- transverse *
- interpolate_quadatric(points[best_point - 1],
- points[best_point],
- points[best_point + 1]);
- double r_test = rb_test.x, b_test = rb_test.y;
- double gain_r = 1 / r_test, gain_b = 1 / b_test;
- double delta2_sum = computeDelta2Sum(gain_r, gain_b);
- double final_log_likelihood = delta2_sum - prior_log_likelihood;
+ bestPoint = std::max(1, std::min(bestPoint, numDeltas - 2));
+ Pwl::Point rbTest = Pwl::Point(rCurve, bCurve) +
+ transverse * interpolateQuadatric(points[bestPoint - 1],
+ points[bestPoint],
+ points[bestPoint + 1]);
+ double rTest = rbTest.x, bTest = rbTest.y;
+ double gainR = 1 / rTest, gainB = 1 / bTest;
+ double delta2Sum = computeDelta2Sum(gainR, gainB);
+ double finalLogLikelihood = delta2Sum - priorLogLikelihood;
LOG(RPiAwb, Debug)
<< "Finally "
- << t_test << " r " << r_test << " b " << b_test << ": "
- << final_log_likelihood
- << (final_log_likelihood < best_log_likelihood ? " BEST" : "");
- if (best_t == 0 || final_log_likelihood < best_log_likelihood)
- best_log_likelihood = final_log_likelihood,
- best_t = t_test, best_r = r_test, best_b = b_test;
+ << tTest << " r " << rTest << " b " << bTest << ": "
+ << finalLogLikelihood
+ << (finalLogLikelihood < bestLogLikelihood ? " BEST" : "");
+ if (bestT == 0 || finalLogLikelihood < bestLogLikelihood)
+ bestLogLikelihood = finalLogLikelihood,
+ bestT = tTest, bestR = rTest, bestB = bTest;
}
- t = best_t, r = best_r, b = best_b;
+ t = bestT, r = bestR, b = bestB;
LOG(RPiAwb, Debug)
<< "Fine search found t " << t << " r " << r << " b " << b;
}
@@ -582,12 +568,12 @@ void Awb::awbBayes()
// valid... not entirely sure about this.
Pwl prior = interpolatePrior();
prior *= zones_.size() / (double)(AWB_STATS_SIZE_X * AWB_STATS_SIZE_Y);
- prior.Map([](double x, double y) {
+ prior.map([](double x, double y) {
LOG(RPiAwb, Debug) << "(" << x << "," << y << ")";
});
double t = coarseSearch(prior);
- double r = config_.ct_r.Eval(t);
- double b = config_.ct_b.Eval(t);
+ double r = config_.ctR.eval(t);
+ double b = config_.ctB.eval(t);
LOG(RPiAwb, Debug)
<< "After coarse search: r " << r << " b " << b << " (gains r "
<< 1 / r << " b " << 1 / b << ")";
@@ -604,10 +590,10 @@ void Awb::awbBayes()
// Write results out for the main thread to pick up. Remember to adjust
// the gains from the ones that the "canonical sensor" would require to
// the ones needed by *this* sensor.
- async_results_.temperature_K = t;
- async_results_.gain_r = 1.0 / r * config_.sensitivity_r;
- async_results_.gain_g = 1.0;
- async_results_.gain_b = 1.0 / b * config_.sensitivity_b;
+ asyncResults_.temperatureK = t;
+ asyncResults_.gainR = 1.0 / r * config_.sensitivityR;
+ asyncResults_.gainG = 1.0;
+ asyncResults_.gainB = 1.0 / b * config_.sensitivityB;
}
void Awb::awbGrey()
@@ -617,51 +603,51 @@ void Awb::awbGrey()
// 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<RGB> &derivs_R(zones_);
- std::vector<RGB> derivs_B(derivs_R);
- std::sort(derivs_R.begin(), derivs_R.end(),
+ std::vector<RGB> &derivsR(zones_);
+ std::vector<RGB> derivsB(derivsR);
+ std::sort(derivsR.begin(), derivsR.end(),
[](RGB const &a, RGB const &b) {
return a.G * b.R < b.G * a.R;
});
- std::sort(derivs_B.begin(), derivs_B.end(),
+ std::sort(derivsB.begin(), derivsB.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 = derivs_R.size() / 4;
- RGB sum_R(0, 0, 0), sum_B(0, 0, 0);
- for (auto ri = derivs_R.begin() + discard,
- bi = derivs_B.begin() + discard;
- ri != derivs_R.end() - discard; ri++, bi++)
- sum_R += *ri, sum_B += *bi;
- double gain_r = sum_R.G / (sum_R.R + 1),
- gain_b = sum_B.G / (sum_B.B + 1);
- async_results_.temperature_K = 4500; // don't know what it is
- async_results_.gain_r = gain_r;
- async_results_.gain_g = 1.0;
- async_results_.gain_b = gain_b;
+ int discard = derivsR.size() / 4;
+ RGB sumR(0, 0, 0), sumB(0, 0, 0);
+ for (auto ri = derivsR.begin() + discard,
+ bi = derivsB.begin() + discard;
+ ri != derivsR.end() - discard; ri++, bi++)
+ sumR += *ri, sumB += *bi;
+ double gainR = sumR.G / (sumR.R + 1),
+ gainB = sumB.G / (sumB.B + 1);
+ asyncResults_.temperatureK = 4500; // don't know what it is
+ asyncResults_.gainR = gainR;
+ asyncResults_.gainG = 1.0;
+ asyncResults_.gainB = gainB;
}
void Awb::doAwb()
{
prepareStats();
LOG(RPiAwb, Debug) << "Valid zones: " << zones_.size();
- if (zones_.size() > config_.min_regions) {
+ if (zones_.size() > config_.minRegions) {
if (config_.bayes)
awbBayes();
else
awbGrey();
LOG(RPiAwb, Debug)
<< "CT found is "
- << async_results_.temperature_K
- << " with gains r " << async_results_.gain_r
- << " and b " << async_results_.gain_b;
+ << asyncResults_.temperatureK
+ << " with gains r " << asyncResults_.gainR
+ << " and b " << asyncResults_.gainB;
}
}
// Register algorithm with the system.
-static Algorithm *Create(Controller *controller)
+static Algorithm *create(Controller *controller)
{
return (Algorithm *)new Awb(controller);
}
-static RegisterAlgorithm reg(NAME, &Create);
+static RegisterAlgorithm reg(NAME, &create);
@@ -19,59 +19,59 @@ namespace RPiController {
// Control algorithm to perform AWB calculations.
struct AwbMode {
- void Read(boost::property_tree::ptree const ¶ms);
- double ct_lo; // low CT value for search
- double ct_hi; // high CT value for search
+ void read(boost::property_tree::ptree const ¶ms);
+ double ctLo; // low CT value for search
+ double ctHi; // high CT value for search
};
struct AwbPrior {
- void Read(boost::property_tree::ptree const ¶ms);
+ void read(boost::property_tree::ptree const ¶ms);
double lux; // lux level
Pwl prior; // maps CT to prior log likelihood for this lux level
};
struct AwbConfig {
- AwbConfig() : default_mode(nullptr) {}
- void Read(boost::property_tree::ptree const ¶ms);
+ AwbConfig() : defaultMode(nullptr) {}
+ void read(boost::property_tree::ptree const ¶ms);
// Only repeat the AWB calculation every "this many" frames
- uint16_t frame_period;
+ uint16_t framePeriod;
// number of initial frames for which speed taken as 1.0 (maximum)
- uint16_t startup_frames;
- unsigned int convergence_frames; // approx number of frames to converge
+ uint16_t startupFrames;
+ unsigned int convergenceFrames; // approx number of frames to converge
double speed; // IIR filter speed applied to algorithm results
bool fast; // "fast" mode uses a 16x16 rather than 32x32 grid
- Pwl ct_r; // function maps CT to r (= R/G)
- Pwl ct_b; // function maps CT to b (= B/G)
+ Pwl ctR; // function maps CT to r (= R/G)
+ Pwl ctB; // function maps CT to b (= B/G)
// table of illuminant priors at different lux levels
std::vector<AwbPrior> priors;
// AWB "modes" (determines the search range)
std::map<std::string, AwbMode> modes;
- AwbMode *default_mode; // mode used if no mode selected
+ AwbMode *defaultMode; // mode used if no mode selected
// minimum proportion of pixels counted within AWB region for it to be
// "useful"
- double min_pixels;
+ double minPixels;
// minimum G value of those pixels, to be regarded a "useful"
- uint16_t min_G;
+ uint16_t minG;
// number of AWB regions that must be "useful" in order to do the AWB
// calculation
- uint32_t min_regions;
+ uint32_t minRegions;
// clamp on colour error term (so as not to penalise non-grey excessively)
- double delta_limit;
+ double deltaLimit;
// step size control in coarse search
- double coarse_step;
+ double coarseStep;
// how far to wander off CT curve towards "more purple"
- double transverse_pos;
+ double transversePos;
// how far to wander off CT curve towards "more green"
- double transverse_neg;
+ double transverseNeg;
// red sensitivity ratio (set to canonical sensor's R/G divided by this
// sensor's R/G)
- double sensitivity_r;
+ double sensitivityR;
// blue sensitivity ratio (set to canonical sensor's B/G divided by this
// sensor's B/G)
- double sensitivity_b;
+ double sensitivityB;
// The whitepoint (which we normally "aim" for) can be moved.
- double whitepoint_r;
- double whitepoint_b;
+ double whitepointR;
+ double whitepointB;
bool bayes; // use Bayesian algorithm
};
@@ -80,22 +80,22 @@ class Awb : public AwbAlgorithm
public:
Awb(Controller *controller = NULL);
~Awb();
- char const *Name() const override;
- void Initialise() override;
- void Read(boost::property_tree::ptree const ¶ms) override;
+ char const *name() const override;
+ void initialise() override;
+ void read(boost::property_tree::ptree const ¶ms) override;
// AWB handles "pausing" for itself.
- bool IsPaused() const override;
- void Pause() override;
- void Resume() override;
- unsigned int GetConvergenceFrames() const override;
- void SetMode(std::string const &name) override;
- void SetManualGains(double manual_r, double manual_b) override;
- void SwitchMode(CameraMode const &camera_mode, Metadata *metadata) override;
- void Prepare(Metadata *image_metadata) override;
- void Process(StatisticsPtr &stats, Metadata *image_metadata) override;
+ bool isPaused() const override;
+ void pause() override;
+ void resume() override;
+ unsigned int getConvergenceFrames() const override;
+ void setMode(std::string const &name) override;
+ void setManualGains(double manualR, double manualB) override;
+ void switchMode(CameraMode const &cameraMode, Metadata *metadata) override;
+ void prepare(Metadata *imageMetadata) override;
+ void process(StatisticsPtr &stats, Metadata *imageMetadata) override;
struct RGB {
- RGB(double _R = 0, double _G = 0, double _B = 0)
- : R(_R), G(_G), B(_B)
+ RGB(double r = 0, double g = 0, double b = 0)
+ : R(r), G(g), B(b)
{
}
double R, G, B;
@@ -110,29 +110,29 @@ private:
bool isAutoEnabled() const;
// configuration is read-only, and available to both threads
AwbConfig config_;
- std::thread async_thread_;
+ std::thread asyncThread_;
void asyncFunc(); // asynchronous thread function
std::mutex mutex_;
// condvar for async thread to wait on
- std::condition_variable async_signal_;
+ std::condition_variable asyncSignal_;
// condvar for synchronous thread to wait on
- std::condition_variable sync_signal_;
+ std::condition_variable syncSignal_;
// for sync thread to check if async thread finished (requires mutex)
- bool async_finished_;
+ bool asyncFinished_;
// for async thread to check if it's been told to run (requires mutex)
- bool async_start_;
+ bool asyncStart_;
// for async thread to check if it's been told to quit (requires mutex)
- bool async_abort_;
+ bool asyncAbort_;
// The following are only for the synchronous thread to use:
// for sync thread to note its has asked async thread to run
- bool async_started_;
- // counts up to frame_period before restarting the async thread
- int frame_phase_;
- int frame_count_; // counts up to startup_frames
- AwbStatus sync_results_;
- AwbStatus prev_sync_results_;
- std::string mode_name_;
+ bool asyncStarted_;
+ // counts up to framePeriod before restarting the async thread
+ int framePhase_;
+ int frameCount_; // counts up to startup_frames
+ AwbStatus syncResults_;
+ AwbStatus prevSyncResults_;
+ std::string modeName_;
// The following are for the asynchronous thread to use, though the main
// thread can set/reset them if the async thread is known to be idle:
void restartAsync(StatisticsPtr &stats, double lux);
@@ -141,22 +141,22 @@ private:
StatisticsPtr statistics_;
AwbMode *mode_;
double lux_;
- AwbStatus async_results_;
+ AwbStatus asyncResults_;
void doAwb();
void awbBayes();
void awbGrey();
void prepareStats();
- double computeDelta2Sum(double gain_r, double gain_b);
+ double computeDelta2Sum(double gain_r, double gainB);
Pwl interpolatePrior();
double coarseSearch(Pwl const &prior);
void fineSearch(double &t, double &r, double &b, Pwl const &prior);
std::vector<RGB> zones_;
std::vector<Pwl::Point> points_;
// manual r setting
- double manual_r_;
+ double manualR_;
// manual b setting
- double manual_b_;
- bool first_switch_mode_; // is this the first call to SwitchMode?
+ double manualB_;
+ bool firstSwitchMode_; // is this the first call to SwitchMode?
};
static inline Awb::RGB operator+(Awb::RGB const &a, Awb::RGB const &b)
Refactor the source files under src/ipa/raspberrypi/controller/rpi/a* to match the recommended formatting guidelines for the libcamera project. The vast majority of changes in this commit comprise of switching from snake_case to CamelCase, and starting class member functions with a lower case character. Signed-off-by: Naushir Patuck <naush@raspberrypi.com> --- src/ipa/raspberrypi/controller/agc_status.h | 2 +- src/ipa/raspberrypi/controller/rpi/agc.cpp | 732 ++++++++++---------- src/ipa/raspberrypi/controller/rpi/agc.hpp | 130 ++-- src/ipa/raspberrypi/controller/rpi/alsc.cpp | 641 ++++++++--------- src/ipa/raspberrypi/controller/rpi/alsc.hpp | 86 +-- src/ipa/raspberrypi/controller/rpi/awb.cpp | 564 ++++++++------- src/ipa/raspberrypi/controller/rpi/awb.hpp | 110 +-- 7 files changed, 1097 insertions(+), 1168 deletions(-)