| Message ID | 20221122112224.31691-5-naush@raspberrypi.com |
|---|---|
| State | Superseded |
| Headers | show |
| Series |
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| Related | show |
Hi Naush Thanks for all these updates! On Tue, 22 Nov 2022 at 11:22, Naushir Patuck via libcamera-devel <libcamera-devel@lists.libcamera.org> wrote: > > Repurpose the StatisticsPtr type from being a shared_ptr<bcm2835_isp_stats> to > shared_ptr<RPiController::Statistics>. This removes any hardware specific header > files and structures from the algorithms source code. > > Add a new function in the Raspberry Pi IPA to populate the generic statistics > structure from the values provided by the hardware in the bcm2835_isp_stats > structure. > > Update the Lux, AWB, AGC, ALCS, Contrast, and Focus algorithms to use the s/ALCS/ALSC/ I think, I get muddled too! > generic statistics structure appropriately in their calculations. Additionally, > remove references to any hardware specific headers and defines in these source > files. > > Signed-off-by: Naushir Patuck <naush@raspberrypi.com> > --- > src/ipa/raspberrypi/controller/controller.h | 4 +- > src/ipa/raspberrypi/controller/rpi/agc.cpp | 26 ++++++------- > src/ipa/raspberrypi/controller/rpi/agc.h | 2 +- > src/ipa/raspberrypi/controller/rpi/alsc.cpp | 33 +++++++++------- > src/ipa/raspberrypi/controller/rpi/alsc.h | 3 +- > src/ipa/raspberrypi/controller/rpi/awb.cpp | 20 +++++----- > src/ipa/raspberrypi/controller/rpi/awb.h | 1 + > .../raspberrypi/controller/rpi/contrast.cpp | 8 ++-- > src/ipa/raspberrypi/controller/rpi/focus.cpp | 7 ++-- > src/ipa/raspberrypi/controller/rpi/lux.cpp | 13 +------ > src/ipa/raspberrypi/raspberrypi.cpp | 39 ++++++++++++++++++- > src/ipa/raspberrypi/statistics.h | 2 + > 12 files changed, 95 insertions(+), 63 deletions(-) > > diff --git a/src/ipa/raspberrypi/controller/controller.h b/src/ipa/raspberrypi/controller/controller.h > index 3e1e051703b3..e6c950c3a509 100644 > --- a/src/ipa/raspberrypi/controller/controller.h > +++ b/src/ipa/raspberrypi/controller/controller.h > @@ -15,19 +15,17 @@ > #include <vector> > #include <string> > > -#include <linux/bcm2835-isp.h> > - > #include "libcamera/internal/yaml_parser.h" > > #include "camera_mode.h" > #include "device_status.h" > #include "metadata.h" > +#include "statistics.h" > > namespace RPiController { > > class Algorithm; > typedef std::unique_ptr<Algorithm> AlgorithmPtr; > -typedef std::shared_ptr<bcm2835_isp_stats> StatisticsPtr; > > /* > * The Controller holds a pointer to some global_metadata, which is how > diff --git a/src/ipa/raspberrypi/controller/rpi/agc.cpp b/src/ipa/raspberrypi/controller/rpi/agc.cpp > index bd54a639d637..79c83e0a9eae 100644 > --- a/src/ipa/raspberrypi/controller/rpi/agc.cpp > +++ b/src/ipa/raspberrypi/controller/rpi/agc.cpp > @@ -9,8 +9,6 @@ > #include <map> > #include <tuple> > > -#include <linux/bcm2835-isp.h> > - > #include <libcamera/base/log.h> > > #include "../awb_status.h" > @@ -450,7 +448,7 @@ void Agc::process(StatisticsPtr &stats, Metadata *imageMetadata) > fetchCurrentExposure(imageMetadata); > /* Compute the total gain we require relative to the current exposure. */ > double gain, targetY; > - computeGain(stats.get(), imageMetadata, gain, targetY); > + computeGain(stats, imageMetadata, gain, targetY); I suppose "stats.get()" was a bit of a promise that the function couldn't possibly acquire another reference or anything like that, but I don't think it matters! > /* Now compute the target (final) exposure which we think we want. */ > computeTargetExposure(gain); > /* > @@ -584,20 +582,20 @@ void Agc::fetchAwbStatus(Metadata *imageMetadata) > LOG(RPiAgc, Debug) << "No AWB status found"; > } > > -static double computeInitialY(bcm2835_isp_stats *stats, AwbStatus const &awb, > +static double computeInitialY(StatisticsPtr &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 rSum = 0, gSum = 0, bSum = 0, pixelSum = 0; > - for (unsigned int i = 0; i < AgcStatsSize; i++) { > - double counted = regions[i].counted; > - double rAcc = std::min(regions[i].r_sum * gain, ((1 << PipelineBits) - 1) * counted); > - double gAcc = std::min(regions[i].g_sum * gain, ((1 << PipelineBits) - 1) * counted); > - double bAcc = std::min(regions[i].b_sum * gain, ((1 << PipelineBits) - 1) * counted); > + for (unsigned int i = 0; i < stats->agcRegions.numRegions(); i++) { > + uint32_t counted, uncounted; > + auto s = stats->agcRegions.get(i, counted, uncounted); > + double rAcc = std::min<double>(s.rSum * gain, ((1 << PipelineBits) - 1) * counted); > + double gAcc = std::min<double>(s.gSum * gain, ((1 << PipelineBits) - 1) * counted); > + double bAcc = std::min<double>(s.bSum * gain, ((1 << PipelineBits) - 1) * counted); > rSum += rAcc * weights[i]; > gSum += gAcc * weights[i]; > bSum += bAcc * weights[i]; > @@ -623,23 +621,23 @@ static double computeInitialY(bcm2835_isp_stats *stats, AwbStatus const &awb, > > static constexpr double EvGainYTargetLimit = 0.9; > > -static double constraintComputeGain(AgcConstraint &c, Histogram &h, double lux, > +static double constraintComputeGain(AgcConstraint &c, const Histogram &h, double lux, > double evGain, double &targetY) > { > targetY = c.yTarget.eval(c.yTarget.domain().clip(lux)); > targetY = std::min(EvGainYTargetLimit, targetY * evGain); > double iqm = h.interQuantileMean(c.qLo, c.qHi); > - return (targetY * NUM_HISTOGRAM_BINS) / iqm; > + return (targetY * h.bins()) / iqm; > } > > -void Agc::computeGain(bcm2835_isp_stats *statistics, Metadata *imageMetadata, > +void Agc::computeGain(StatisticsPtr &statistics, Metadata *imageMetadata, > double &gain, double &targetY) > { > struct LuxStatus lux = {}; > lux.lux = 400; /* default lux level to 400 in case no metadata found */ > if (imageMetadata->get("lux.status", lux) != 0) > LOG(RPiAgc, Warning) << "No lux level found"; > - Histogram h(statistics->hist[0].g_hist, NUM_HISTOGRAM_BINS); > + const Histogram &h = statistics->yHist; > double evGain = status_.ev * config_.baseEv; > /* > * The initial gain and target_Y come from some of the regions. After > diff --git a/src/ipa/raspberrypi/controller/rpi/agc.h b/src/ipa/raspberrypi/controller/rpi/agc.h > index 6d6b0e5ad857..0ea71e6d1aa0 100644 > --- a/src/ipa/raspberrypi/controller/rpi/agc.h > +++ b/src/ipa/raspberrypi/controller/rpi/agc.h > @@ -98,7 +98,7 @@ private: > void housekeepConfig(); > void fetchCurrentExposure(Metadata *imageMetadata); > void fetchAwbStatus(Metadata *imageMetadata); > - void computeGain(bcm2835_isp_stats *statistics, Metadata *imageMetadata, > + void computeGain(StatisticsPtr &statistics, Metadata *imageMetadata, > double &gain, double &targetY); > void computeTargetExposure(double gain); > bool applyDigitalGain(double gain, double targetY); > diff --git a/src/ipa/raspberrypi/controller/rpi/alsc.cpp b/src/ipa/raspberrypi/controller/rpi/alsc.cpp > index a4afaf841c41..d8c650e6faa6 100644 > --- a/src/ipa/raspberrypi/controller/rpi/alsc.cpp > +++ b/src/ipa/raspberrypi/controller/rpi/alsc.cpp > @@ -310,18 +310,22 @@ double getCt(Metadata *metadata, double defaultCt) > return awbStatus.temperatureK; > } > > -static void copyStats(bcm2835_isp_stats_region regions[XY], StatisticsPtr &stats, > +static void copyStats(RgbyRegions ®ions, StatisticsPtr &stats, > AlscStatus const &status) > { > - bcm2835_isp_stats_region *inputRegions = stats->awb_stats; > + if (!regions.numRegions()) > + regions.init(stats->awbRegions.numRegions()); > + > 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 = 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; > + for (unsigned int i = 0; i < stats->awbRegions.numRegions(); i++) { > + uint32_t counted, uncounted; > + auto s = stats->awbRegions.get(i, counted, uncounted); > + regions.set(i, { s.rSum / static_cast<uint64_t>(rTable[i]), Just wondering a bit about the casts here, it doesn't look obviously the same as what we have above...? > + s.gSum / static_cast<uint64_t>(gTable[i]), > + s.bSum / static_cast<uint64_t>(bTable[i]) }, > + counted, uncounted); > /* (don't care about the uncounted value) */ > } > } > @@ -512,19 +516,20 @@ void resampleCalTable(double const calTableIn[XY], > } > > /* Calculate chrominance statistics (R/G and B/G) for each region. */ > -static_assert(XY == AWB_REGIONS, "ALSC/AWB statistics region mismatch"); > -static void calculateCrCb(bcm2835_isp_stats_region *awbRegion, double cr[XY], > +static void calculateCrCb(const RgbyRegions &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 = awbRegion[i]; > - if (zone.counted <= minCount || > - zone.g_sum / zone.counted <= minG) { > + uint32_t counted, uncounted; > + auto s = awbRegion.get(i, counted, uncounted); > + > + if (counted <= minCount || s.gSum / 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] = s.rSum / (double)s.gSum; > + cb[i] = s.bSum / (double)s.gSum; > } > } > > diff --git a/src/ipa/raspberrypi/controller/rpi/alsc.h b/src/ipa/raspberrypi/controller/rpi/alsc.h > index a858ef5a6551..9167c9ffa2e3 100644 > --- a/src/ipa/raspberrypi/controller/rpi/alsc.h > +++ b/src/ipa/raspberrypi/controller/rpi/alsc.h > @@ -12,6 +12,7 @@ > > #include "../algorithm.h" > #include "../alsc_status.h" > +#include "../statistics.h" > > namespace RPiController { > > @@ -98,7 +99,7 @@ private: > /* copy out the results from the async thread so that it can be restarted */ > void fetchAsyncResults(); > double ct_; > - bcm2835_isp_stats_region statistics_[AlscCellsY * AlscCellsX]; > + RgbyRegions statistics_; > double asyncResults_[3][AlscCellsY][AlscCellsX]; > double asyncLambdaR_[AlscCellsX * AlscCellsY]; > double asyncLambdaB_[AlscCellsX * AlscCellsY]; > diff --git a/src/ipa/raspberrypi/controller/rpi/awb.cpp b/src/ipa/raspberrypi/controller/rpi/awb.cpp > index 861022014896..901498382c6b 100644 > --- a/src/ipa/raspberrypi/controller/rpi/awb.cpp > +++ b/src/ipa/raspberrypi/controller/rpi/awb.cpp > @@ -21,9 +21,6 @@ LOG_DEFINE_CATEGORY(RPiAwb) > > #define NAME "rpi.awb" > > -static constexpr unsigned int AwbStatsSizeX = DEFAULT_AWB_REGIONS_X; > -static constexpr unsigned int AwbStatsSizeY = DEFAULT_AWB_REGIONS_Y; > - > /* > * todo - the locking in this algorithm needs some tidying up as has been done > * elsewhere (ALSC and AGC). > @@ -406,17 +403,18 @@ void Awb::asyncFunc() > } > > static void generateStats(std::vector<Awb::RGB> &zones, > - bcm2835_isp_stats_region *stats, double minPixels, > + RgbyRegions &stats, double minPixels, > double minG) > { > - for (unsigned int i = 0; i < AwbStatsSizeX * AwbStatsSizeY; i++) { > + for (unsigned int i = 0; i < stats.numRegions(); i++) { > Awb::RGB zone; > - double counted = stats[i].counted; > + uint32_t counted, uncounted; > + auto s = stats.get(i, counted, uncounted); > if (counted >= minPixels) { > - zone.G = stats[i].g_sum / counted; > + zone.G = s.gSum / counted; > if (zone.G >= minG) { > - zone.R = stats[i].r_sum / counted; > - zone.B = stats[i].b_sum / counted; > + zone.R = s.rSum / counted; > + zone.B = s.bSum / counted; > zones.push_back(zone); > } > } > @@ -430,7 +428,7 @@ void Awb::prepareStats() > * LSC has already been applied to the stats in this pipeline, so stop > * any LSC compensation. We also ignore config_.fast in this version. > */ > - generateStats(zones_, statistics_->awb_stats, config_.minPixels, > + generateStats(zones_, statistics_->awbRegions, config_.minPixels, > config_.minG); > /* > * apply sensitivities, so values appear to come from our "canonical" > @@ -646,7 +644,7 @@ void Awb::awbBayes() > * valid... not entirely sure about this. > */ > Pwl prior = interpolatePrior(); > - prior *= zones_.size() / (double)(AwbStatsSizeX * AwbStatsSizeY); > + prior *= zones_.size() / (double)(statistics_->awbRegions.numRegions()); > prior.map([](double x, double y) { > LOG(RPiAwb, Debug) << "(" << x << "," << y << ")"; > }); > diff --git a/src/ipa/raspberrypi/controller/rpi/awb.h b/src/ipa/raspberrypi/controller/rpi/awb.h > index 30acd89d0969..d81779dd51ff 100644 > --- a/src/ipa/raspberrypi/controller/rpi/awb.h > +++ b/src/ipa/raspberrypi/controller/rpi/awb.h > @@ -13,6 +13,7 @@ > #include "../awb_algorithm.h" > #include "../pwl.h" > #include "../awb_status.h" > +#include "../statistics.h" > > namespace RPiController { > > diff --git a/src/ipa/raspberrypi/controller/rpi/contrast.cpp b/src/ipa/raspberrypi/controller/rpi/contrast.cpp > index 5b37edcbd46a..a4f8c4f04fc4 100644 > --- a/src/ipa/raspberrypi/controller/rpi/contrast.cpp > +++ b/src/ipa/raspberrypi/controller/rpi/contrast.cpp > @@ -106,7 +106,7 @@ Pwl computeStretchCurve(Histogram const &histogram, > * bit. > */ > double histLo = histogram.quantile(config.loHistogram) * > - (65536 / NUM_HISTOGRAM_BINS); > + (65536 / histogram.bins()); > double levelLo = config.loLevel * 65536; > LOG(RPiContrast, Debug) > << "Move histogram point " << histLo << " to " << levelLo; > @@ -119,7 +119,7 @@ Pwl computeStretchCurve(Histogram const &histogram, > * Keep the mid-point (median) in the same place, though, to limit the > * apparent amount of global brightness shift. > */ > - double mid = histogram.quantile(0.5) * (65536 / NUM_HISTOGRAM_BINS); > + double mid = histogram.quantile(0.5) * (65536 / histogram.bins()); > enhance.append(mid, mid); > > /* > @@ -127,7 +127,7 @@ Pwl computeStretchCurve(Histogram const &histogram, > * there up. > */ > double histHi = histogram.quantile(config.hiHistogram) * > - (65536 / NUM_HISTOGRAM_BINS); > + (65536 / histogram.bins()); > double levelHi = config.hiLevel * 65536; > LOG(RPiContrast, Debug) > << "Move histogram point " << histHi << " to " << levelHi; > @@ -158,7 +158,7 @@ Pwl applyManualContrast(Pwl const &gammaCurve, double brightness, > void Contrast::process(StatisticsPtr &stats, > [[maybe_unused]] Metadata *imageMetadata) > { > - Histogram histogram(stats->hist[0].g_hist, NUM_HISTOGRAM_BINS); > + Histogram &histogram = stats->yHist; > /* > * We look at the histogram and adjust the gamma curve in the following > * ways: 1. Adjust the gamma curve so as to pull the start of the > diff --git a/src/ipa/raspberrypi/controller/rpi/focus.cpp b/src/ipa/raspberrypi/controller/rpi/focus.cpp > index 8c5029bd0e95..41afbf43f2b7 100644 > --- a/src/ipa/raspberrypi/controller/rpi/focus.cpp > +++ b/src/ipa/raspberrypi/controller/rpi/focus.cpp > @@ -32,9 +32,10 @@ void Focus::process(StatisticsPtr &stats, Metadata *imageMetadata) > { > FocusStatus status; > unsigned int i; > - for (i = 0; i < FOCUS_REGIONS; i++) > - status.focusMeasures[i] = stats->focus_stats[i].contrast_val[1][1] / 1000; > - status.num = i; > + uint32_t counted, uncounted; > + for (i = 0; i < stats->focusRegions.numRegions(); i++) > + status.focusMeasures[i] = stats->focusRegions.get(i, counted, uncounted); > + status.num = stats->focusRegions.numRegions(); > imageMetadata->set("focus.status", status); > > LOG(RPiFocus, Debug) > diff --git a/src/ipa/raspberrypi/controller/rpi/lux.cpp b/src/ipa/raspberrypi/controller/rpi/lux.cpp > index 9759186afacf..a49d402707c7 100644 > --- a/src/ipa/raspberrypi/controller/rpi/lux.cpp > +++ b/src/ipa/raspberrypi/controller/rpi/lux.cpp > @@ -6,8 +6,6 @@ > */ > #include <math.h> > > -#include <linux/bcm2835-isp.h> > - > #include <libcamera/base/log.h> > > #include "../device_status.h" > @@ -83,20 +81,13 @@ void Lux::process(StatisticsPtr &stats, Metadata *imageMetadata) > if (imageMetadata->get("device.status", deviceStatus) == 0) { > double currentGain = deviceStatus.analogueGain; > double currentAperture = deviceStatus.aperture.value_or(currentAperture_); > - uint64_t sum = 0; > - uint32_t num = 0; > - uint32_t *bin = stats->hist[0].g_hist; > - const int numBins = sizeof(stats->hist[0].g_hist) / > - sizeof(stats->hist[0].g_hist[0]); > - for (int i = 0; i < numBins; i++) > - sum += bin[i] * (uint64_t)i, num += bin[i]; > /* add .5 to reflect the mid-points of bins */ > - double currentY = sum / (double)num + .5; > + double currentY = stats->yHist.total() / stats->yHist.bins() + .5; Is this the same thing? I have a bad feeling this might be the average number of pixels per bin, or something. Maybe we need something involving yHist.interQuantileMean(0, 1)...? Thanks! David > double gainRatio = referenceGain_ / currentGain; > double shutterSpeedRatio = > referenceShutterSpeed_ / deviceStatus.shutterSpeed; > double apertureRatio = referenceAperture_ / currentAperture; > - double yRatio = currentY * (65536 / numBins) / referenceY_; > + double yRatio = currentY * (65536 / stats->yHist.bins()) / referenceY_; > double estimatedLux = shutterSpeedRatio * gainRatio * > apertureRatio * apertureRatio * > yRatio * referenceLux_; > diff --git a/src/ipa/raspberrypi/raspberrypi.cpp b/src/ipa/raspberrypi/raspberrypi.cpp > index b74f1ecf738f..8fcfa0b3ea50 100644 > --- a/src/ipa/raspberrypi/raspberrypi.cpp > +++ b/src/ipa/raspberrypi/raspberrypi.cpp > @@ -51,6 +51,7 @@ > #include "metadata.h" > #include "sharpen_algorithm.h" > #include "sharpen_status.h" > +#include "statistics.h" > > namespace libcamera { > > @@ -136,6 +137,7 @@ private: > void prepareISP(const ISPConfig &data); > void reportMetadata(); > void fillDeviceStatus(const ControlList &sensorControls); > + RPiController::StatisticsPtr fillStatistics(bcm2835_isp_stats *stats) const; > void processStats(unsigned int bufferId); > void applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration); > void applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls); > @@ -1119,6 +1121,41 @@ void IPARPi::fillDeviceStatus(const ControlList &sensorControls) > rpiMetadata_.set("device.status", deviceStatus); > } > > +RPiController::StatisticsPtr IPARPi::fillStatistics(bcm2835_isp_stats *stats) const > +{ > + using namespace RPiController; > + > + unsigned int i; > + StatisticsPtr statistics = > + std::make_unique<Statistics>(Statistics::AgcStatsPos::PreWb, Statistics::ColourStatsPos::PostLsc); > + > + /* RGB histograms are not used, so do not populate them. */ > + statistics->yHist = std::move(RPiController::Histogram(stats->hist[0].g_hist, NUM_HISTOGRAM_BINS)); > + > + statistics->awbRegions.init(DEFAULT_AWB_REGIONS_X, DEFAULT_AWB_REGIONS_Y); > + for (i = 0; i < statistics->awbRegions.numRegions(); i++) > + statistics->awbRegions.set(i, { stats->awb_stats[i].r_sum, > + stats->awb_stats[i].g_sum, > + stats->awb_stats[i].b_sum }, > + stats->awb_stats[i].counted, stats->awb_stats[i].notcounted); > + > + /* There are only ever 15 regions computed by the firmware, but the HW defines AGC_REGIONS == 16! */ > + statistics->agcRegions.init(15); > + for (i = 0; i < statistics->agcRegions.numRegions(); i++) > + statistics->agcRegions.set(i, { stats->agc_stats[i].r_sum, > + stats->agc_stats[i].g_sum, > + stats->agc_stats[i].b_sum }, > + stats->agc_stats[i].counted, 0); > + > + statistics->focusRegions.init(4, 3); > + for (i = 0; i < FOCUS_REGIONS; i++) > + statistics->focusRegions.set(i, stats->focus_stats[i].contrast_val[1][1] / 1000, > + stats->focus_stats[i].contrast_val_num[1][1], > + stats->focus_stats[i].contrast_val_num[1][0]); > + > + return statistics; > +} > + > void IPARPi::processStats(unsigned int bufferId) > { > auto it = buffers_.find(bufferId); > @@ -1129,7 +1166,7 @@ void IPARPi::processStats(unsigned int bufferId) > > Span<uint8_t> mem = it->second.planes()[0]; > bcm2835_isp_stats *stats = reinterpret_cast<bcm2835_isp_stats *>(mem.data()); > - RPiController::StatisticsPtr statistics = std::make_shared<bcm2835_isp_stats>(*stats); > + RPiController::StatisticsPtr statistics = fillStatistics(stats); > helper_->process(statistics, rpiMetadata_); > controller_.process(statistics, &rpiMetadata_); > > diff --git a/src/ipa/raspberrypi/statistics.h b/src/ipa/raspberrypi/statistics.h > index a762bf3d41aa..affb7272c963 100644 > --- a/src/ipa/raspberrypi/statistics.h > +++ b/src/ipa/raspberrypi/statistics.h > @@ -67,4 +67,6 @@ struct Statistics { > FocusRegions focusRegions; > }; > > +using StatisticsPtr = std::shared_ptr<Statistics>; > + > } /* namespace RPiController */ > -- > 2.25.1 >
Hi David, Thank you for your feedback. On Wed, 23 Nov 2022 at 14:34, David Plowman <david.plowman@raspberrypi.com> wrote: > Hi Naush > > Thanks for all these updates! > > On Tue, 22 Nov 2022 at 11:22, Naushir Patuck via libcamera-devel > <libcamera-devel@lists.libcamera.org> wrote: > > > > Repurpose the StatisticsPtr type from being a > shared_ptr<bcm2835_isp_stats> to > > shared_ptr<RPiController::Statistics>. This removes any hardware > specific header > > files and structures from the algorithms source code. > > > > Add a new function in the Raspberry Pi IPA to populate the generic > statistics > > structure from the values provided by the hardware in the > bcm2835_isp_stats > > structure. > > > > Update the Lux, AWB, AGC, ALCS, Contrast, and Focus algorithms to use the > > s/ALCS/ALSC/ I think, I get muddled too! > > > generic statistics structure appropriately in their calculations. > Additionally, > > remove references to any hardware specific headers and defines in these > source > > files. > > > > Signed-off-by: Naushir Patuck <naush@raspberrypi.com> > > --- > > src/ipa/raspberrypi/controller/controller.h | 4 +- > > src/ipa/raspberrypi/controller/rpi/agc.cpp | 26 ++++++------- > > src/ipa/raspberrypi/controller/rpi/agc.h | 2 +- > > src/ipa/raspberrypi/controller/rpi/alsc.cpp | 33 +++++++++------- > > src/ipa/raspberrypi/controller/rpi/alsc.h | 3 +- > > src/ipa/raspberrypi/controller/rpi/awb.cpp | 20 +++++----- > > src/ipa/raspberrypi/controller/rpi/awb.h | 1 + > > .../raspberrypi/controller/rpi/contrast.cpp | 8 ++-- > > src/ipa/raspberrypi/controller/rpi/focus.cpp | 7 ++-- > > src/ipa/raspberrypi/controller/rpi/lux.cpp | 13 +------ > > src/ipa/raspberrypi/raspberrypi.cpp | 39 ++++++++++++++++++- > > src/ipa/raspberrypi/statistics.h | 2 + > > 12 files changed, 95 insertions(+), 63 deletions(-) > > > > diff --git a/src/ipa/raspberrypi/controller/controller.h > b/src/ipa/raspberrypi/controller/controller.h > > index 3e1e051703b3..e6c950c3a509 100644 > > --- a/src/ipa/raspberrypi/controller/controller.h > > +++ b/src/ipa/raspberrypi/controller/controller.h > > @@ -15,19 +15,17 @@ > > #include <vector> > > #include <string> > > > > -#include <linux/bcm2835-isp.h> > > - > > #include "libcamera/internal/yaml_parser.h" > > > > #include "camera_mode.h" > > #include "device_status.h" > > #include "metadata.h" > > +#include "statistics.h" > > > > namespace RPiController { > > > > class Algorithm; > > typedef std::unique_ptr<Algorithm> AlgorithmPtr; > > -typedef std::shared_ptr<bcm2835_isp_stats> StatisticsPtr; > > > > /* > > * The Controller holds a pointer to some global_metadata, which is how > > diff --git a/src/ipa/raspberrypi/controller/rpi/agc.cpp > b/src/ipa/raspberrypi/controller/rpi/agc.cpp > > index bd54a639d637..79c83e0a9eae 100644 > > --- a/src/ipa/raspberrypi/controller/rpi/agc.cpp > > +++ b/src/ipa/raspberrypi/controller/rpi/agc.cpp > > @@ -9,8 +9,6 @@ > > #include <map> > > #include <tuple> > > > > -#include <linux/bcm2835-isp.h> > > - > > #include <libcamera/base/log.h> > > > > #include "../awb_status.h" > > @@ -450,7 +448,7 @@ void Agc::process(StatisticsPtr &stats, Metadata > *imageMetadata) > > fetchCurrentExposure(imageMetadata); > > /* Compute the total gain we require relative to the current > exposure. */ > > double gain, targetY; > > - computeGain(stats.get(), imageMetadata, gain, targetY); > > + computeGain(stats, imageMetadata, gain, targetY); > > I suppose "stats.get()" was a bit of a promise that the function > couldn't possibly acquire another reference or anything like that, but > I don't think it matters! > > > /* Now compute the target (final) exposure which we think we > want. */ > > computeTargetExposure(gain); > > /* > > @@ -584,20 +582,20 @@ void Agc::fetchAwbStatus(Metadata *imageMetadata) > > LOG(RPiAgc, Debug) << "No AWB status found"; > > } > > > > -static double computeInitialY(bcm2835_isp_stats *stats, AwbStatus const > &awb, > > +static double computeInitialY(StatisticsPtr &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 rSum = 0, gSum = 0, bSum = 0, pixelSum = 0; > > - for (unsigned int i = 0; i < AgcStatsSize; i++) { > > - double counted = regions[i].counted; > > - double rAcc = std::min(regions[i].r_sum * gain, ((1 << > PipelineBits) - 1) * counted); > > - double gAcc = std::min(regions[i].g_sum * gain, ((1 << > PipelineBits) - 1) * counted); > > - double bAcc = std::min(regions[i].b_sum * gain, ((1 << > PipelineBits) - 1) * counted); > > + for (unsigned int i = 0; i < stats->agcRegions.numRegions(); > i++) { > > + uint32_t counted, uncounted; > > + auto s = stats->agcRegions.get(i, counted, uncounted); > > + double rAcc = std::min<double>(s.rSum * gain, ((1 << > PipelineBits) - 1) * counted); > > + double gAcc = std::min<double>(s.gSum * gain, ((1 << > PipelineBits) - 1) * counted); > > + double bAcc = std::min<double>(s.bSum * gain, ((1 << > PipelineBits) - 1) * counted); > > rSum += rAcc * weights[i]; > > gSum += gAcc * weights[i]; > > bSum += bAcc * weights[i]; > > @@ -623,23 +621,23 @@ static double computeInitialY(bcm2835_isp_stats > *stats, AwbStatus const &awb, > > > > static constexpr double EvGainYTargetLimit = 0.9; > > > > -static double constraintComputeGain(AgcConstraint &c, Histogram &h, > double lux, > > +static double constraintComputeGain(AgcConstraint &c, const Histogram > &h, double lux, > > double evGain, double &targetY) > > { > > targetY = c.yTarget.eval(c.yTarget.domain().clip(lux)); > > targetY = std::min(EvGainYTargetLimit, targetY * evGain); > > double iqm = h.interQuantileMean(c.qLo, c.qHi); > > - return (targetY * NUM_HISTOGRAM_BINS) / iqm; > > + return (targetY * h.bins()) / iqm; > > } > > > > -void Agc::computeGain(bcm2835_isp_stats *statistics, Metadata > *imageMetadata, > > +void Agc::computeGain(StatisticsPtr &statistics, Metadata > *imageMetadata, > > double &gain, double &targetY) > > { > > struct LuxStatus lux = {}; > > lux.lux = 400; /* default lux level to 400 in case no metadata > found */ > > if (imageMetadata->get("lux.status", lux) != 0) > > LOG(RPiAgc, Warning) << "No lux level found"; > > - Histogram h(statistics->hist[0].g_hist, NUM_HISTOGRAM_BINS); > > + const Histogram &h = statistics->yHist; > > double evGain = status_.ev * config_.baseEv; > > /* > > * The initial gain and target_Y come from some of the regions. > After > > diff --git a/src/ipa/raspberrypi/controller/rpi/agc.h > b/src/ipa/raspberrypi/controller/rpi/agc.h > > index 6d6b0e5ad857..0ea71e6d1aa0 100644 > > --- a/src/ipa/raspberrypi/controller/rpi/agc.h > > +++ b/src/ipa/raspberrypi/controller/rpi/agc.h > > @@ -98,7 +98,7 @@ private: > > void housekeepConfig(); > > void fetchCurrentExposure(Metadata *imageMetadata); > > void fetchAwbStatus(Metadata *imageMetadata); > > - void computeGain(bcm2835_isp_stats *statistics, Metadata > *imageMetadata, > > + void computeGain(StatisticsPtr &statistics, Metadata > *imageMetadata, > > double &gain, double &targetY); > > void computeTargetExposure(double gain); > > bool applyDigitalGain(double gain, double targetY); > > diff --git a/src/ipa/raspberrypi/controller/rpi/alsc.cpp > b/src/ipa/raspberrypi/controller/rpi/alsc.cpp > > index a4afaf841c41..d8c650e6faa6 100644 > > --- a/src/ipa/raspberrypi/controller/rpi/alsc.cpp > > +++ b/src/ipa/raspberrypi/controller/rpi/alsc.cpp > > @@ -310,18 +310,22 @@ double getCt(Metadata *metadata, double defaultCt) > > return awbStatus.temperatureK; > > } > > > > -static void copyStats(bcm2835_isp_stats_region regions[XY], > StatisticsPtr &stats, > > +static void copyStats(RgbyRegions ®ions, StatisticsPtr &stats, > > AlscStatus const &status) > > { > > - bcm2835_isp_stats_region *inputRegions = stats->awb_stats; > > + if (!regions.numRegions()) > > + regions.init(stats->awbRegions.numRegions()); > > + > > 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 = 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; > > + for (unsigned int i = 0; i < stats->awbRegions.numRegions(); > i++) { > > + uint32_t counted, uncounted; > > + auto s = stats->awbRegions.get(i, counted, uncounted); > > + regions.set(i, { s.rSum / > static_cast<uint64_t>(rTable[i]), > > Just wondering a bit about the casts here, it doesn't look obviously > the same as what we have above...? > I'll cast the result of the div to minimise rounding errors. > > > + s.gSum / > static_cast<uint64_t>(gTable[i]), > > + s.bSum / > static_cast<uint64_t>(bTable[i]) }, > > + counted, uncounted); > > /* (don't care about the uncounted value) */ > > } > > } > > @@ -512,19 +516,20 @@ void resampleCalTable(double const calTableIn[XY], > > } > > > > /* Calculate chrominance statistics (R/G and B/G) for each region. */ > > -static_assert(XY == AWB_REGIONS, "ALSC/AWB statistics region mismatch"); > > -static void calculateCrCb(bcm2835_isp_stats_region *awbRegion, double > cr[XY], > > +static void calculateCrCb(const RgbyRegions &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 = awbRegion[i]; > > - if (zone.counted <= minCount || > > - zone.g_sum / zone.counted <= minG) { > > + uint32_t counted, uncounted; > > + auto s = awbRegion.get(i, counted, uncounted); > > + > > + if (counted <= minCount || s.gSum / 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] = s.rSum / (double)s.gSum; > > + cb[i] = s.bSum / (double)s.gSum; > > } > > } > > > > diff --git a/src/ipa/raspberrypi/controller/rpi/alsc.h > b/src/ipa/raspberrypi/controller/rpi/alsc.h > > index a858ef5a6551..9167c9ffa2e3 100644 > > --- a/src/ipa/raspberrypi/controller/rpi/alsc.h > > +++ b/src/ipa/raspberrypi/controller/rpi/alsc.h > > @@ -12,6 +12,7 @@ > > > > #include "../algorithm.h" > > #include "../alsc_status.h" > > +#include "../statistics.h" > > > > namespace RPiController { > > > > @@ -98,7 +99,7 @@ private: > > /* copy out the results from the async thread so that it can be > restarted */ > > void fetchAsyncResults(); > > double ct_; > > - bcm2835_isp_stats_region statistics_[AlscCellsY * AlscCellsX]; > > + RgbyRegions statistics_; > > double asyncResults_[3][AlscCellsY][AlscCellsX]; > > double asyncLambdaR_[AlscCellsX * AlscCellsY]; > > double asyncLambdaB_[AlscCellsX * AlscCellsY]; > > diff --git a/src/ipa/raspberrypi/controller/rpi/awb.cpp > b/src/ipa/raspberrypi/controller/rpi/awb.cpp > > index 861022014896..901498382c6b 100644 > > --- a/src/ipa/raspberrypi/controller/rpi/awb.cpp > > +++ b/src/ipa/raspberrypi/controller/rpi/awb.cpp > > @@ -21,9 +21,6 @@ LOG_DEFINE_CATEGORY(RPiAwb) > > > > #define NAME "rpi.awb" > > > > -static constexpr unsigned int AwbStatsSizeX = DEFAULT_AWB_REGIONS_X; > > -static constexpr unsigned int AwbStatsSizeY = DEFAULT_AWB_REGIONS_Y; > > - > > /* > > * todo - the locking in this algorithm needs some tidying up as has > been done > > * elsewhere (ALSC and AGC). > > @@ -406,17 +403,18 @@ void Awb::asyncFunc() > > } > > > > static void generateStats(std::vector<Awb::RGB> &zones, > > - bcm2835_isp_stats_region *stats, double > minPixels, > > + RgbyRegions &stats, double minPixels, > > double minG) > > { > > - for (unsigned int i = 0; i < AwbStatsSizeX * AwbStatsSizeY; i++) > { > > + for (unsigned int i = 0; i < stats.numRegions(); i++) { > > Awb::RGB zone; > > - double counted = stats[i].counted; > > + uint32_t counted, uncounted; > > + auto s = stats.get(i, counted, uncounted); > > if (counted >= minPixels) { > > - zone.G = stats[i].g_sum / counted; > > + zone.G = s.gSum / counted; > > if (zone.G >= minG) { > > - zone.R = stats[i].r_sum / counted; > > - zone.B = stats[i].b_sum / counted; > > + zone.R = s.rSum / counted; > > + zone.B = s.bSum / counted; > > zones.push_back(zone); > > } > > } > > @@ -430,7 +428,7 @@ void Awb::prepareStats() > > * LSC has already been applied to the stats in this pipeline, > so stop > > * any LSC compensation. We also ignore config_.fast in this > version. > > */ > > - generateStats(zones_, statistics_->awb_stats, config_.minPixels, > > + generateStats(zones_, statistics_->awbRegions, config_.minPixels, > > config_.minG); > > /* > > * apply sensitivities, so values appear to come from our > "canonical" > > @@ -646,7 +644,7 @@ void Awb::awbBayes() > > * valid... not entirely sure about this. > > */ > > Pwl prior = interpolatePrior(); > > - prior *= zones_.size() / (double)(AwbStatsSizeX * AwbStatsSizeY); > > + prior *= zones_.size() / > (double)(statistics_->awbRegions.numRegions()); > > prior.map([](double x, double y) { > > LOG(RPiAwb, Debug) << "(" << x << "," << y << ")"; > > }); > > diff --git a/src/ipa/raspberrypi/controller/rpi/awb.h > b/src/ipa/raspberrypi/controller/rpi/awb.h > > index 30acd89d0969..d81779dd51ff 100644 > > --- a/src/ipa/raspberrypi/controller/rpi/awb.h > > +++ b/src/ipa/raspberrypi/controller/rpi/awb.h > > @@ -13,6 +13,7 @@ > > #include "../awb_algorithm.h" > > #include "../pwl.h" > > #include "../awb_status.h" > > +#include "../statistics.h" > > > > namespace RPiController { > > > > diff --git a/src/ipa/raspberrypi/controller/rpi/contrast.cpp > b/src/ipa/raspberrypi/controller/rpi/contrast.cpp > > index 5b37edcbd46a..a4f8c4f04fc4 100644 > > --- a/src/ipa/raspberrypi/controller/rpi/contrast.cpp > > +++ b/src/ipa/raspberrypi/controller/rpi/contrast.cpp > > @@ -106,7 +106,7 @@ Pwl computeStretchCurve(Histogram const &histogram, > > * bit. > > */ > > double histLo = histogram.quantile(config.loHistogram) * > > - (65536 / NUM_HISTOGRAM_BINS); > > + (65536 / histogram.bins()); > > double levelLo = config.loLevel * 65536; > > LOG(RPiContrast, Debug) > > << "Move histogram point " << histLo << " to " << > levelLo; > > @@ -119,7 +119,7 @@ Pwl computeStretchCurve(Histogram const &histogram, > > * Keep the mid-point (median) in the same place, though, to > limit the > > * apparent amount of global brightness shift. > > */ > > - double mid = histogram.quantile(0.5) * (65536 / > NUM_HISTOGRAM_BINS); > > + double mid = histogram.quantile(0.5) * (65536 / > histogram.bins()); > > enhance.append(mid, mid); > > > > /* > > @@ -127,7 +127,7 @@ Pwl computeStretchCurve(Histogram const &histogram, > > * there up. > > */ > > double histHi = histogram.quantile(config.hiHistogram) * > > - (65536 / NUM_HISTOGRAM_BINS); > > + (65536 / histogram.bins()); > > double levelHi = config.hiLevel * 65536; > > LOG(RPiContrast, Debug) > > << "Move histogram point " << histHi << " to " << > levelHi; > > @@ -158,7 +158,7 @@ Pwl applyManualContrast(Pwl const &gammaCurve, > double brightness, > > void Contrast::process(StatisticsPtr &stats, > > [[maybe_unused]] Metadata *imageMetadata) > > { > > - Histogram histogram(stats->hist[0].g_hist, NUM_HISTOGRAM_BINS); > > + Histogram &histogram = stats->yHist; > > /* > > * We look at the histogram and adjust the gamma curve in the > following > > * ways: 1. Adjust the gamma curve so as to pull the start of the > > diff --git a/src/ipa/raspberrypi/controller/rpi/focus.cpp > b/src/ipa/raspberrypi/controller/rpi/focus.cpp > > index 8c5029bd0e95..41afbf43f2b7 100644 > > --- a/src/ipa/raspberrypi/controller/rpi/focus.cpp > > +++ b/src/ipa/raspberrypi/controller/rpi/focus.cpp > > @@ -32,9 +32,10 @@ void Focus::process(StatisticsPtr &stats, Metadata > *imageMetadata) > > { > > FocusStatus status; > > unsigned int i; > > - for (i = 0; i < FOCUS_REGIONS; i++) > > - status.focusMeasures[i] = > stats->focus_stats[i].contrast_val[1][1] / 1000; > > - status.num = i; > > + uint32_t counted, uncounted; > > + for (i = 0; i < stats->focusRegions.numRegions(); i++) > > + status.focusMeasures[i] = stats->focusRegions.get(i, > counted, uncounted); > > + status.num = stats->focusRegions.numRegions(); > > imageMetadata->set("focus.status", status); > > > > LOG(RPiFocus, Debug) > > diff --git a/src/ipa/raspberrypi/controller/rpi/lux.cpp > b/src/ipa/raspberrypi/controller/rpi/lux.cpp > > index 9759186afacf..a49d402707c7 100644 > > --- a/src/ipa/raspberrypi/controller/rpi/lux.cpp > > +++ b/src/ipa/raspberrypi/controller/rpi/lux.cpp > > @@ -6,8 +6,6 @@ > > */ > > #include <math.h> > > > > -#include <linux/bcm2835-isp.h> > > - > > #include <libcamera/base/log.h> > > > > #include "../device_status.h" > > @@ -83,20 +81,13 @@ void Lux::process(StatisticsPtr &stats, Metadata > *imageMetadata) > > if (imageMetadata->get("device.status", deviceStatus) == 0) { > > double currentGain = deviceStatus.analogueGain; > > double currentAperture = > deviceStatus.aperture.value_or(currentAperture_); > > - uint64_t sum = 0; > > - uint32_t num = 0; > > - uint32_t *bin = stats->hist[0].g_hist; > > - const int numBins = sizeof(stats->hist[0].g_hist) / > > - sizeof(stats->hist[0].g_hist[0]); > > - for (int i = 0; i < numBins; i++) > > - sum += bin[i] * (uint64_t)i, num += bin[i]; > > /* add .5 to reflect the mid-points of bins */ > > - double currentY = sum / (double)num + .5; > > + double currentY = stats->yHist.total() / > stats->yHist.bins() + .5; > > Is this the same thing? I have a bad feeling this might be the average > number of pixels per bin, or something. Maybe we need something > involving yHist.interQuantileMean(0, 1)...? > Argh, luckily we never use Lux values :-) yHist.interQuantileMean(0, 1) will be the right substitute here. Naush > > Thanks! > David > > > double gainRatio = referenceGain_ / currentGain; > > double shutterSpeedRatio = > > referenceShutterSpeed_ / > deviceStatus.shutterSpeed; > > double apertureRatio = referenceAperture_ / > currentAperture; > > - double yRatio = currentY * (65536 / numBins) / > referenceY_; > > + double yRatio = currentY * (65536 / stats->yHist.bins()) > / referenceY_; > > double estimatedLux = shutterSpeedRatio * gainRatio * > > apertureRatio * apertureRatio * > > yRatio * referenceLux_; > > diff --git a/src/ipa/raspberrypi/raspberrypi.cpp > b/src/ipa/raspberrypi/raspberrypi.cpp > > index b74f1ecf738f..8fcfa0b3ea50 100644 > > --- a/src/ipa/raspberrypi/raspberrypi.cpp > > +++ b/src/ipa/raspberrypi/raspberrypi.cpp > > @@ -51,6 +51,7 @@ > > #include "metadata.h" > > #include "sharpen_algorithm.h" > > #include "sharpen_status.h" > > +#include "statistics.h" > > > > namespace libcamera { > > > > @@ -136,6 +137,7 @@ private: > > void prepareISP(const ISPConfig &data); > > void reportMetadata(); > > void fillDeviceStatus(const ControlList &sensorControls); > > + RPiController::StatisticsPtr fillStatistics(bcm2835_isp_stats > *stats) const; > > void processStats(unsigned int bufferId); > > void applyFrameDurations(Duration minFrameDuration, Duration > maxFrameDuration); > > void applyAGC(const struct AgcStatus *agcStatus, ControlList > &ctrls); > > @@ -1119,6 +1121,41 @@ void IPARPi::fillDeviceStatus(const ControlList > &sensorControls) > > rpiMetadata_.set("device.status", deviceStatus); > > } > > > > +RPiController::StatisticsPtr IPARPi::fillStatistics(bcm2835_isp_stats > *stats) const > > +{ > > + using namespace RPiController; > > + > > + unsigned int i; > > + StatisticsPtr statistics = > > + > std::make_unique<Statistics>(Statistics::AgcStatsPos::PreWb, > Statistics::ColourStatsPos::PostLsc); > > + > > + /* RGB histograms are not used, so do not populate them. */ > > + statistics->yHist = > std::move(RPiController::Histogram(stats->hist[0].g_hist, > NUM_HISTOGRAM_BINS)); > > + > > + statistics->awbRegions.init(DEFAULT_AWB_REGIONS_X, > DEFAULT_AWB_REGIONS_Y); > > + for (i = 0; i < statistics->awbRegions.numRegions(); i++) > > + statistics->awbRegions.set(i, { > stats->awb_stats[i].r_sum, > > + > stats->awb_stats[i].g_sum, > > + > stats->awb_stats[i].b_sum }, > > + stats->awb_stats[i].counted, > stats->awb_stats[i].notcounted); > > + > > + /* There are only ever 15 regions computed by the firmware, but > the HW defines AGC_REGIONS == 16! */ > > + statistics->agcRegions.init(15); > > + for (i = 0; i < statistics->agcRegions.numRegions(); i++) > > + statistics->agcRegions.set(i, { > stats->agc_stats[i].r_sum, > > + > stats->agc_stats[i].g_sum, > > + > stats->agc_stats[i].b_sum }, > > + stats->agc_stats[i].counted, > 0); > > + > > + statistics->focusRegions.init(4, 3); > > + for (i = 0; i < FOCUS_REGIONS; i++) > > + statistics->focusRegions.set(i, > stats->focus_stats[i].contrast_val[1][1] / 1000, > > + > stats->focus_stats[i].contrast_val_num[1][1], > > + > stats->focus_stats[i].contrast_val_num[1][0]); > > + > > + return statistics; > > +} > > + > > void IPARPi::processStats(unsigned int bufferId) > > { > > auto it = buffers_.find(bufferId); > > @@ -1129,7 +1166,7 @@ void IPARPi::processStats(unsigned int bufferId) > > > > Span<uint8_t> mem = it->second.planes()[0]; > > bcm2835_isp_stats *stats = reinterpret_cast<bcm2835_isp_stats > *>(mem.data()); > > - RPiController::StatisticsPtr statistics = > std::make_shared<bcm2835_isp_stats>(*stats); > > + RPiController::StatisticsPtr statistics = fillStatistics(stats); > > helper_->process(statistics, rpiMetadata_); > > controller_.process(statistics, &rpiMetadata_); > > > > diff --git a/src/ipa/raspberrypi/statistics.h > b/src/ipa/raspberrypi/statistics.h > > index a762bf3d41aa..affb7272c963 100644 > > --- a/src/ipa/raspberrypi/statistics.h > > +++ b/src/ipa/raspberrypi/statistics.h > > @@ -67,4 +67,6 @@ struct Statistics { > > FocusRegions focusRegions; > > }; > > > > +using StatisticsPtr = std::shared_ptr<Statistics>; > > + > > } /* namespace RPiController */ > > -- > > 2.25.1 > > >
diff --git a/src/ipa/raspberrypi/controller/controller.h b/src/ipa/raspberrypi/controller/controller.h index 3e1e051703b3..e6c950c3a509 100644 --- a/src/ipa/raspberrypi/controller/controller.h +++ b/src/ipa/raspberrypi/controller/controller.h @@ -15,19 +15,17 @@ #include <vector> #include <string> -#include <linux/bcm2835-isp.h> - #include "libcamera/internal/yaml_parser.h" #include "camera_mode.h" #include "device_status.h" #include "metadata.h" +#include "statistics.h" namespace RPiController { class Algorithm; typedef std::unique_ptr<Algorithm> AlgorithmPtr; -typedef std::shared_ptr<bcm2835_isp_stats> StatisticsPtr; /* * The Controller holds a pointer to some global_metadata, which is how diff --git a/src/ipa/raspberrypi/controller/rpi/agc.cpp b/src/ipa/raspberrypi/controller/rpi/agc.cpp index bd54a639d637..79c83e0a9eae 100644 --- a/src/ipa/raspberrypi/controller/rpi/agc.cpp +++ b/src/ipa/raspberrypi/controller/rpi/agc.cpp @@ -9,8 +9,6 @@ #include <map> #include <tuple> -#include <linux/bcm2835-isp.h> - #include <libcamera/base/log.h> #include "../awb_status.h" @@ -450,7 +448,7 @@ void Agc::process(StatisticsPtr &stats, Metadata *imageMetadata) fetchCurrentExposure(imageMetadata); /* Compute the total gain we require relative to the current exposure. */ double gain, targetY; - computeGain(stats.get(), imageMetadata, gain, targetY); + computeGain(stats, imageMetadata, gain, targetY); /* Now compute the target (final) exposure which we think we want. */ computeTargetExposure(gain); /* @@ -584,20 +582,20 @@ void Agc::fetchAwbStatus(Metadata *imageMetadata) LOG(RPiAgc, Debug) << "No AWB status found"; } -static double computeInitialY(bcm2835_isp_stats *stats, AwbStatus const &awb, +static double computeInitialY(StatisticsPtr &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 rSum = 0, gSum = 0, bSum = 0, pixelSum = 0; - for (unsigned int i = 0; i < AgcStatsSize; i++) { - double counted = regions[i].counted; - double rAcc = std::min(regions[i].r_sum * gain, ((1 << PipelineBits) - 1) * counted); - double gAcc = std::min(regions[i].g_sum * gain, ((1 << PipelineBits) - 1) * counted); - double bAcc = std::min(regions[i].b_sum * gain, ((1 << PipelineBits) - 1) * counted); + for (unsigned int i = 0; i < stats->agcRegions.numRegions(); i++) { + uint32_t counted, uncounted; + auto s = stats->agcRegions.get(i, counted, uncounted); + double rAcc = std::min<double>(s.rSum * gain, ((1 << PipelineBits) - 1) * counted); + double gAcc = std::min<double>(s.gSum * gain, ((1 << PipelineBits) - 1) * counted); + double bAcc = std::min<double>(s.bSum * gain, ((1 << PipelineBits) - 1) * counted); rSum += rAcc * weights[i]; gSum += gAcc * weights[i]; bSum += bAcc * weights[i]; @@ -623,23 +621,23 @@ static double computeInitialY(bcm2835_isp_stats *stats, AwbStatus const &awb, static constexpr double EvGainYTargetLimit = 0.9; -static double constraintComputeGain(AgcConstraint &c, Histogram &h, double lux, +static double constraintComputeGain(AgcConstraint &c, const Histogram &h, double lux, double evGain, double &targetY) { targetY = c.yTarget.eval(c.yTarget.domain().clip(lux)); targetY = std::min(EvGainYTargetLimit, targetY * evGain); double iqm = h.interQuantileMean(c.qLo, c.qHi); - return (targetY * NUM_HISTOGRAM_BINS) / iqm; + return (targetY * h.bins()) / iqm; } -void Agc::computeGain(bcm2835_isp_stats *statistics, Metadata *imageMetadata, +void Agc::computeGain(StatisticsPtr &statistics, Metadata *imageMetadata, double &gain, double &targetY) { struct LuxStatus lux = {}; lux.lux = 400; /* default lux level to 400 in case no metadata found */ if (imageMetadata->get("lux.status", lux) != 0) LOG(RPiAgc, Warning) << "No lux level found"; - Histogram h(statistics->hist[0].g_hist, NUM_HISTOGRAM_BINS); + const Histogram &h = statistics->yHist; double evGain = status_.ev * config_.baseEv; /* * The initial gain and target_Y come from some of the regions. After diff --git a/src/ipa/raspberrypi/controller/rpi/agc.h b/src/ipa/raspberrypi/controller/rpi/agc.h index 6d6b0e5ad857..0ea71e6d1aa0 100644 --- a/src/ipa/raspberrypi/controller/rpi/agc.h +++ b/src/ipa/raspberrypi/controller/rpi/agc.h @@ -98,7 +98,7 @@ private: void housekeepConfig(); void fetchCurrentExposure(Metadata *imageMetadata); void fetchAwbStatus(Metadata *imageMetadata); - void computeGain(bcm2835_isp_stats *statistics, Metadata *imageMetadata, + void computeGain(StatisticsPtr &statistics, Metadata *imageMetadata, double &gain, double &targetY); void computeTargetExposure(double gain); bool applyDigitalGain(double gain, double targetY); diff --git a/src/ipa/raspberrypi/controller/rpi/alsc.cpp b/src/ipa/raspberrypi/controller/rpi/alsc.cpp index a4afaf841c41..d8c650e6faa6 100644 --- a/src/ipa/raspberrypi/controller/rpi/alsc.cpp +++ b/src/ipa/raspberrypi/controller/rpi/alsc.cpp @@ -310,18 +310,22 @@ double getCt(Metadata *metadata, double defaultCt) return awbStatus.temperatureK; } -static void copyStats(bcm2835_isp_stats_region regions[XY], StatisticsPtr &stats, +static void copyStats(RgbyRegions ®ions, StatisticsPtr &stats, AlscStatus const &status) { - bcm2835_isp_stats_region *inputRegions = stats->awb_stats; + if (!regions.numRegions()) + regions.init(stats->awbRegions.numRegions()); + 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 = 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; + for (unsigned int i = 0; i < stats->awbRegions.numRegions(); i++) { + uint32_t counted, uncounted; + auto s = stats->awbRegions.get(i, counted, uncounted); + regions.set(i, { s.rSum / static_cast<uint64_t>(rTable[i]), + s.gSum / static_cast<uint64_t>(gTable[i]), + s.bSum / static_cast<uint64_t>(bTable[i]) }, + counted, uncounted); /* (don't care about the uncounted value) */ } } @@ -512,19 +516,20 @@ void resampleCalTable(double const calTableIn[XY], } /* Calculate chrominance statistics (R/G and B/G) for each region. */ -static_assert(XY == AWB_REGIONS, "ALSC/AWB statistics region mismatch"); -static void calculateCrCb(bcm2835_isp_stats_region *awbRegion, double cr[XY], +static void calculateCrCb(const RgbyRegions &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 = awbRegion[i]; - if (zone.counted <= minCount || - zone.g_sum / zone.counted <= minG) { + uint32_t counted, uncounted; + auto s = awbRegion.get(i, counted, uncounted); + + if (counted <= minCount || s.gSum / 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] = s.rSum / (double)s.gSum; + cb[i] = s.bSum / (double)s.gSum; } } diff --git a/src/ipa/raspberrypi/controller/rpi/alsc.h b/src/ipa/raspberrypi/controller/rpi/alsc.h index a858ef5a6551..9167c9ffa2e3 100644 --- a/src/ipa/raspberrypi/controller/rpi/alsc.h +++ b/src/ipa/raspberrypi/controller/rpi/alsc.h @@ -12,6 +12,7 @@ #include "../algorithm.h" #include "../alsc_status.h" +#include "../statistics.h" namespace RPiController { @@ -98,7 +99,7 @@ private: /* copy out the results from the async thread so that it can be restarted */ void fetchAsyncResults(); double ct_; - bcm2835_isp_stats_region statistics_[AlscCellsY * AlscCellsX]; + RgbyRegions statistics_; double asyncResults_[3][AlscCellsY][AlscCellsX]; double asyncLambdaR_[AlscCellsX * AlscCellsY]; double asyncLambdaB_[AlscCellsX * AlscCellsY]; diff --git a/src/ipa/raspberrypi/controller/rpi/awb.cpp b/src/ipa/raspberrypi/controller/rpi/awb.cpp index 861022014896..901498382c6b 100644 --- a/src/ipa/raspberrypi/controller/rpi/awb.cpp +++ b/src/ipa/raspberrypi/controller/rpi/awb.cpp @@ -21,9 +21,6 @@ LOG_DEFINE_CATEGORY(RPiAwb) #define NAME "rpi.awb" -static constexpr unsigned int AwbStatsSizeX = DEFAULT_AWB_REGIONS_X; -static constexpr unsigned int AwbStatsSizeY = DEFAULT_AWB_REGIONS_Y; - /* * todo - the locking in this algorithm needs some tidying up as has been done * elsewhere (ALSC and AGC). @@ -406,17 +403,18 @@ void Awb::asyncFunc() } static void generateStats(std::vector<Awb::RGB> &zones, - bcm2835_isp_stats_region *stats, double minPixels, + RgbyRegions &stats, double minPixels, double minG) { - for (unsigned int i = 0; i < AwbStatsSizeX * AwbStatsSizeY; i++) { + for (unsigned int i = 0; i < stats.numRegions(); i++) { Awb::RGB zone; - double counted = stats[i].counted; + uint32_t counted, uncounted; + auto s = stats.get(i, counted, uncounted); if (counted >= minPixels) { - zone.G = stats[i].g_sum / counted; + zone.G = s.gSum / counted; if (zone.G >= minG) { - zone.R = stats[i].r_sum / counted; - zone.B = stats[i].b_sum / counted; + zone.R = s.rSum / counted; + zone.B = s.bSum / counted; zones.push_back(zone); } } @@ -430,7 +428,7 @@ void Awb::prepareStats() * LSC has already been applied to the stats in this pipeline, so stop * any LSC compensation. We also ignore config_.fast in this version. */ - generateStats(zones_, statistics_->awb_stats, config_.minPixels, + generateStats(zones_, statistics_->awbRegions, config_.minPixels, config_.minG); /* * apply sensitivities, so values appear to come from our "canonical" @@ -646,7 +644,7 @@ void Awb::awbBayes() * valid... not entirely sure about this. */ Pwl prior = interpolatePrior(); - prior *= zones_.size() / (double)(AwbStatsSizeX * AwbStatsSizeY); + prior *= zones_.size() / (double)(statistics_->awbRegions.numRegions()); prior.map([](double x, double y) { LOG(RPiAwb, Debug) << "(" << x << "," << y << ")"; }); diff --git a/src/ipa/raspberrypi/controller/rpi/awb.h b/src/ipa/raspberrypi/controller/rpi/awb.h index 30acd89d0969..d81779dd51ff 100644 --- a/src/ipa/raspberrypi/controller/rpi/awb.h +++ b/src/ipa/raspberrypi/controller/rpi/awb.h @@ -13,6 +13,7 @@ #include "../awb_algorithm.h" #include "../pwl.h" #include "../awb_status.h" +#include "../statistics.h" namespace RPiController { diff --git a/src/ipa/raspberrypi/controller/rpi/contrast.cpp b/src/ipa/raspberrypi/controller/rpi/contrast.cpp index 5b37edcbd46a..a4f8c4f04fc4 100644 --- a/src/ipa/raspberrypi/controller/rpi/contrast.cpp +++ b/src/ipa/raspberrypi/controller/rpi/contrast.cpp @@ -106,7 +106,7 @@ Pwl computeStretchCurve(Histogram const &histogram, * bit. */ double histLo = histogram.quantile(config.loHistogram) * - (65536 / NUM_HISTOGRAM_BINS); + (65536 / histogram.bins()); double levelLo = config.loLevel * 65536; LOG(RPiContrast, Debug) << "Move histogram point " << histLo << " to " << levelLo; @@ -119,7 +119,7 @@ Pwl computeStretchCurve(Histogram const &histogram, * Keep the mid-point (median) in the same place, though, to limit the * apparent amount of global brightness shift. */ - double mid = histogram.quantile(0.5) * (65536 / NUM_HISTOGRAM_BINS); + double mid = histogram.quantile(0.5) * (65536 / histogram.bins()); enhance.append(mid, mid); /* @@ -127,7 +127,7 @@ Pwl computeStretchCurve(Histogram const &histogram, * there up. */ double histHi = histogram.quantile(config.hiHistogram) * - (65536 / NUM_HISTOGRAM_BINS); + (65536 / histogram.bins()); double levelHi = config.hiLevel * 65536; LOG(RPiContrast, Debug) << "Move histogram point " << histHi << " to " << levelHi; @@ -158,7 +158,7 @@ Pwl applyManualContrast(Pwl const &gammaCurve, double brightness, void Contrast::process(StatisticsPtr &stats, [[maybe_unused]] Metadata *imageMetadata) { - Histogram histogram(stats->hist[0].g_hist, NUM_HISTOGRAM_BINS); + Histogram &histogram = stats->yHist; /* * We look at the histogram and adjust the gamma curve in the following * ways: 1. Adjust the gamma curve so as to pull the start of the diff --git a/src/ipa/raspberrypi/controller/rpi/focus.cpp b/src/ipa/raspberrypi/controller/rpi/focus.cpp index 8c5029bd0e95..41afbf43f2b7 100644 --- a/src/ipa/raspberrypi/controller/rpi/focus.cpp +++ b/src/ipa/raspberrypi/controller/rpi/focus.cpp @@ -32,9 +32,10 @@ void Focus::process(StatisticsPtr &stats, Metadata *imageMetadata) { FocusStatus status; unsigned int i; - for (i = 0; i < FOCUS_REGIONS; i++) - status.focusMeasures[i] = stats->focus_stats[i].contrast_val[1][1] / 1000; - status.num = i; + uint32_t counted, uncounted; + for (i = 0; i < stats->focusRegions.numRegions(); i++) + status.focusMeasures[i] = stats->focusRegions.get(i, counted, uncounted); + status.num = stats->focusRegions.numRegions(); imageMetadata->set("focus.status", status); LOG(RPiFocus, Debug) diff --git a/src/ipa/raspberrypi/controller/rpi/lux.cpp b/src/ipa/raspberrypi/controller/rpi/lux.cpp index 9759186afacf..a49d402707c7 100644 --- a/src/ipa/raspberrypi/controller/rpi/lux.cpp +++ b/src/ipa/raspberrypi/controller/rpi/lux.cpp @@ -6,8 +6,6 @@ */ #include <math.h> -#include <linux/bcm2835-isp.h> - #include <libcamera/base/log.h> #include "../device_status.h" @@ -83,20 +81,13 @@ void Lux::process(StatisticsPtr &stats, Metadata *imageMetadata) if (imageMetadata->get("device.status", deviceStatus) == 0) { double currentGain = deviceStatus.analogueGain; double currentAperture = deviceStatus.aperture.value_or(currentAperture_); - uint64_t sum = 0; - uint32_t num = 0; - uint32_t *bin = stats->hist[0].g_hist; - const int numBins = sizeof(stats->hist[0].g_hist) / - sizeof(stats->hist[0].g_hist[0]); - for (int i = 0; i < numBins; i++) - sum += bin[i] * (uint64_t)i, num += bin[i]; /* add .5 to reflect the mid-points of bins */ - double currentY = sum / (double)num + .5; + double currentY = stats->yHist.total() / stats->yHist.bins() + .5; double gainRatio = referenceGain_ / currentGain; double shutterSpeedRatio = referenceShutterSpeed_ / deviceStatus.shutterSpeed; double apertureRatio = referenceAperture_ / currentAperture; - double yRatio = currentY * (65536 / numBins) / referenceY_; + double yRatio = currentY * (65536 / stats->yHist.bins()) / referenceY_; double estimatedLux = shutterSpeedRatio * gainRatio * apertureRatio * apertureRatio * yRatio * referenceLux_; diff --git a/src/ipa/raspberrypi/raspberrypi.cpp b/src/ipa/raspberrypi/raspberrypi.cpp index b74f1ecf738f..8fcfa0b3ea50 100644 --- a/src/ipa/raspberrypi/raspberrypi.cpp +++ b/src/ipa/raspberrypi/raspberrypi.cpp @@ -51,6 +51,7 @@ #include "metadata.h" #include "sharpen_algorithm.h" #include "sharpen_status.h" +#include "statistics.h" namespace libcamera { @@ -136,6 +137,7 @@ private: void prepareISP(const ISPConfig &data); void reportMetadata(); void fillDeviceStatus(const ControlList &sensorControls); + RPiController::StatisticsPtr fillStatistics(bcm2835_isp_stats *stats) const; void processStats(unsigned int bufferId); void applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration); void applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls); @@ -1119,6 +1121,41 @@ void IPARPi::fillDeviceStatus(const ControlList &sensorControls) rpiMetadata_.set("device.status", deviceStatus); } +RPiController::StatisticsPtr IPARPi::fillStatistics(bcm2835_isp_stats *stats) const +{ + using namespace RPiController; + + unsigned int i; + StatisticsPtr statistics = + std::make_unique<Statistics>(Statistics::AgcStatsPos::PreWb, Statistics::ColourStatsPos::PostLsc); + + /* RGB histograms are not used, so do not populate them. */ + statistics->yHist = std::move(RPiController::Histogram(stats->hist[0].g_hist, NUM_HISTOGRAM_BINS)); + + statistics->awbRegions.init(DEFAULT_AWB_REGIONS_X, DEFAULT_AWB_REGIONS_Y); + for (i = 0; i < statistics->awbRegions.numRegions(); i++) + statistics->awbRegions.set(i, { stats->awb_stats[i].r_sum, + stats->awb_stats[i].g_sum, + stats->awb_stats[i].b_sum }, + stats->awb_stats[i].counted, stats->awb_stats[i].notcounted); + + /* There are only ever 15 regions computed by the firmware, but the HW defines AGC_REGIONS == 16! */ + statistics->agcRegions.init(15); + for (i = 0; i < statistics->agcRegions.numRegions(); i++) + statistics->agcRegions.set(i, { stats->agc_stats[i].r_sum, + stats->agc_stats[i].g_sum, + stats->agc_stats[i].b_sum }, + stats->agc_stats[i].counted, 0); + + statistics->focusRegions.init(4, 3); + for (i = 0; i < FOCUS_REGIONS; i++) + statistics->focusRegions.set(i, stats->focus_stats[i].contrast_val[1][1] / 1000, + stats->focus_stats[i].contrast_val_num[1][1], + stats->focus_stats[i].contrast_val_num[1][0]); + + return statistics; +} + void IPARPi::processStats(unsigned int bufferId) { auto it = buffers_.find(bufferId); @@ -1129,7 +1166,7 @@ void IPARPi::processStats(unsigned int bufferId) Span<uint8_t> mem = it->second.planes()[0]; bcm2835_isp_stats *stats = reinterpret_cast<bcm2835_isp_stats *>(mem.data()); - RPiController::StatisticsPtr statistics = std::make_shared<bcm2835_isp_stats>(*stats); + RPiController::StatisticsPtr statistics = fillStatistics(stats); helper_->process(statistics, rpiMetadata_); controller_.process(statistics, &rpiMetadata_); diff --git a/src/ipa/raspberrypi/statistics.h b/src/ipa/raspberrypi/statistics.h index a762bf3d41aa..affb7272c963 100644 --- a/src/ipa/raspberrypi/statistics.h +++ b/src/ipa/raspberrypi/statistics.h @@ -67,4 +67,6 @@ struct Statistics { FocusRegions focusRegions; }; +using StatisticsPtr = std::shared_ptr<Statistics>; + } /* namespace RPiController */
Repurpose the StatisticsPtr type from being a shared_ptr<bcm2835_isp_stats> to shared_ptr<RPiController::Statistics>. This removes any hardware specific header files and structures from the algorithms source code. Add a new function in the Raspberry Pi IPA to populate the generic statistics structure from the values provided by the hardware in the bcm2835_isp_stats structure. Update the Lux, AWB, AGC, ALCS, Contrast, and Focus algorithms to use the generic statistics structure appropriately in their calculations. Additionally, remove references to any hardware specific headers and defines in these source files. Signed-off-by: Naushir Patuck <naush@raspberrypi.com> --- src/ipa/raspberrypi/controller/controller.h | 4 +- src/ipa/raspberrypi/controller/rpi/agc.cpp | 26 ++++++------- src/ipa/raspberrypi/controller/rpi/agc.h | 2 +- src/ipa/raspberrypi/controller/rpi/alsc.cpp | 33 +++++++++------- src/ipa/raspberrypi/controller/rpi/alsc.h | 3 +- src/ipa/raspberrypi/controller/rpi/awb.cpp | 20 +++++----- src/ipa/raspberrypi/controller/rpi/awb.h | 1 + .../raspberrypi/controller/rpi/contrast.cpp | 8 ++-- src/ipa/raspberrypi/controller/rpi/focus.cpp | 7 ++-- src/ipa/raspberrypi/controller/rpi/lux.cpp | 13 +------ src/ipa/raspberrypi/raspberrypi.cpp | 39 ++++++++++++++++++- src/ipa/raspberrypi/statistics.h | 2 + 12 files changed, 95 insertions(+), 63 deletions(-)