From patchwork Mon Jan 23 15:49:34 2023 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Naushir Patuck X-Patchwork-Id: 18189 Return-Path: X-Original-To: parsemail@patchwork.libcamera.org Delivered-To: parsemail@patchwork.libcamera.org Received: from lancelot.ideasonboard.com (lancelot.ideasonboard.com [92.243.16.209]) by patchwork.libcamera.org (Postfix) with ESMTPS id 55890C3299 for ; Mon, 23 Jan 2023 15:50:04 +0000 (UTC) Received: from lancelot.ideasonboard.com (localhost [IPv6:::1]) by lancelot.ideasonboard.com (Postfix) with ESMTP id 0867A62615; Mon, 23 Jan 2023 16:50:04 +0100 (CET) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/simple; d=libcamera.org; s=mail; t=1674489004; bh=NFZHzx9tBB0J9ZDaep+GMl2UxKRQ5YnDca6InQjqL/0=; h=To:Date:In-Reply-To:References:Subject:List-Id:List-Unsubscribe: List-Archive:List-Post:List-Help:List-Subscribe:From:Reply-To:Cc: From; b=V4N0sMMjUla7riwDkBb3EJCKTj1aRXTIcb/B/G5UWzYdjEysYwPzsvip5meWdojfk a0DMdjRE37fdXnHcC9zGkMtoBhXDgH6rUkJ9Vnu5zEanaBIs6K348ZaZzTBv9afFSW FOS0a3O7ZffURamDfDBYKVPTOug8KD5vrUd5UQ1tg3JKt30EPXBT5yENRxaKVWRVud fsIfFecErDoCeS/+s7Zfaz2P7OOPwgo2usLSdVotlI2kJn+km4BdLkY2HtNlKC8Yz1 UJRNX8Cgecj/DeyC8HP+YOfBiaV6iUHQSFsc9zfuI/1FlO9xmIfXY86Dg7/wMOHLSZ op9Jv1Jx4WmjA== Received: from mail-wm1-x32a.google.com (mail-wm1-x32a.google.com [IPv6:2a00:1450:4864:20::32a]) by lancelot.ideasonboard.com (Postfix) with ESMTPS id 49338625EB for ; Mon, 23 Jan 2023 16:49:58 +0100 (CET) Authentication-Results: lancelot.ideasonboard.com; dkim=pass (2048-bit key; unprotected) header.d=raspberrypi.com header.i=@raspberrypi.com header.b="r7kAKHXC"; dkim-atps=neutral Received: by mail-wm1-x32a.google.com with SMTP id l41-20020a05600c1d2900b003daf986faaeso8907006wms.3 for ; Mon, 23 Jan 2023 07:49:58 -0800 (PST) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=raspberrypi.com; s=google; h=content-transfer-encoding:mime-version:references:in-reply-to :message-id:date:subject:cc:to:from:from:to:cc:subject:date :message-id:reply-to; bh=uVD7+ljkS2v9d4lIabXXhsA4gNUDOo839+W0Zy3qys4=; b=r7kAKHXC+C97nD5tx6ffasd47vSfmfDC66WpYefJXMeeegZ70esGBnpIqO4AcDzJ0Q eRscskzpguNM7oX+qRusP/V4+LeaHX+Jq7i9FG2ZO0Gluznyji7lMjEw820CPod8nPBt gkKzQhqLt/qCRgGju0lKjmfjzNTBZbtBSdr2bvgcbmSLSZWUi8iVK+QHT2rqiU+0AMk6 0cra7jkgfGUkYUCk0NA6X1o99mG2kYvrGNC6dsQvGJjkHQN/lM7HCTFu7ubFepj06IVz H4eNW77/iNry7H5SJFRXqAPjeappi/WfJw7Y/J6LvaHx0eojFFgHGnNGYWQShWS1RFRP 2n3g== X-Google-DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=1e100.net; s=20210112; h=content-transfer-encoding:mime-version:references:in-reply-to :message-id:date:subject:cc:to:from:x-gm-message-state:from:to:cc :subject:date:message-id:reply-to; bh=uVD7+ljkS2v9d4lIabXXhsA4gNUDOo839+W0Zy3qys4=; b=SVrcgmYNEkm3nuCozc7tYTDsMj875jaAJv2BkZn6WHT51o+NCl2BVECYV0tMXtIAlY y2WaDbE4QNMa2ds6yHi+xL9abn50zwAz2EcLnBUF29uf4pFhJQbq4tH6b8/Tyi2J99Aj JkxezshOugWrX5K7wHlbL3wqSTOd3jaF/AYTSWG+2G3vIecMsaflHK0j69Bpu36WGEgW qOqipYUjLDToHjjwVJbWmjlZ0jvOll5/AD91aKCYlpvYJ3JN8V+VKwcG0sBiBv8R8Z72 kRQy9iNVmddSjAeNOwc653Q1GBjO0VQdyKxzof5VeIFoBOnO/ZzOJ2q1hcHdbDNSJirW SpmA== X-Gm-Message-State: AFqh2krKTtdyI1wpaBuKQ9IKRRd3dYG08JcDDG/qF09HvLKBNysdIU/l htTz4IwZUeGwbinKFyq2YClvxukh0/q96NNAgz8= X-Google-Smtp-Source: AMrXdXv+FFBqwBsz6LAeq8r981EjBqmknQ+x5xQhJY+feHKziUBsuVQYp/E2zKei6qQZW0PJtoFpWA== X-Received: by 2002:a05:600c:3ba9:b0:3da:b40f:7a55 with SMTP id n41-20020a05600c3ba900b003dab40f7a55mr30788864wms.6.1674488996605; Mon, 23 Jan 2023 07:49:56 -0800 (PST) Received: from localhost.localdomain ([93.93.133.154]) by smtp.gmail.com with ESMTPSA id n16-20020a05600c181000b003d1de805de5sm10339689wmp.16.2023.01.23.07.49.55 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Mon, 23 Jan 2023 07:49:56 -0800 (PST) To: libcamera-devel@lists.libcamera.org Date: Mon, 23 Jan 2023 15:49:34 +0000 Message-Id: <20230123154934.27803-15-naush@raspberrypi.com> X-Mailer: git-send-email 2.25.1 In-Reply-To: <20230123154934.27803-1-naush@raspberrypi.com> References: <20230123154934.27803-1-naush@raspberrypi.com> MIME-Version: 1.0 Subject: [libcamera-devel] [PATCH v2 14/14] ipa: raspberrypi: Add support for the Sony IMX708 sensor X-BeenThere: libcamera-devel@lists.libcamera.org X-Mailman-Version: 2.1.29 Precedence: list List-Id: List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-Patchwork-Original-From: Naushir Patuck via libcamera-devel From: Naushir Patuck Reply-To: Naushir Patuck Cc: Nick Hollinghurst Errors-To: libcamera-devel-bounces@lists.libcamera.org Sender: "libcamera-devel" From: Nick Hollinghurst Add support for Raspberry Pi Camera 3 modules (Sony IMX708 camera sensor) to the Raspberry Pi IPA. These modules are available in either normal or wide angle lens, both with IR or no IR cut options, giving a total for 4 variants. Provide IQ tuning files for all four variants. The IMX708 camera helper additionally parses PDAF and HDR histogram data that is provided in the embedded data stream from Unicam. Signed-off-by: Nick Hollinghurst Signed-off-by: Naushir Patuck Reviewed-by: Naushir Patuck Reviewed-by: David Plowman --- src/ipa/raspberrypi/cam_helper_imx708.cpp | 350 +++++++++++ src/ipa/raspberrypi/data/imx708.json | 559 ++++++++++++++++++ src/ipa/raspberrypi/data/imx708_noir.json | 559 ++++++++++++++++++ src/ipa/raspberrypi/data/imx708_wide.json | 462 +++++++++++++++ .../raspberrypi/data/imx708_wide_noir.json | 462 +++++++++++++++ src/ipa/raspberrypi/data/meson.build | 4 + src/ipa/raspberrypi/meson.build | 1 + 7 files changed, 2397 insertions(+) create mode 100644 src/ipa/raspberrypi/cam_helper_imx708.cpp create mode 100644 src/ipa/raspberrypi/data/imx708.json create mode 100644 src/ipa/raspberrypi/data/imx708_noir.json create mode 100644 src/ipa/raspberrypi/data/imx708_wide.json create mode 100644 src/ipa/raspberrypi/data/imx708_wide_noir.json diff --git a/src/ipa/raspberrypi/cam_helper_imx708.cpp b/src/ipa/raspberrypi/cam_helper_imx708.cpp new file mode 100644 index 000000000000..4c43c8e7fb7d --- /dev/null +++ b/src/ipa/raspberrypi/cam_helper_imx708.cpp @@ -0,0 +1,350 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022, Raspberry Pi Ltd + * + * cam_helper_imx708.cpp - camera helper for imx708 sensor + */ + +#include +#include +#include +#include + +#include + +#include "controller/pdaf_data.h" + +#include "cam_helper.h" +#include "md_parser.h" + +using namespace RPiController; +using namespace libcamera; +using libcamera::utils::Duration; + +namespace libcamera { +LOG_DECLARE_CATEGORY(IPARPI) +} + +/* + * We care about two gain registers and a pair of exposure registers. Their + * I2C addresses from the Sony imx708 datasheet: + */ +constexpr uint32_t expHiReg = 0x0202; +constexpr uint32_t expLoReg = 0x0203; +constexpr uint32_t gainHiReg = 0x0204; +constexpr uint32_t gainLoReg = 0x0205; +constexpr uint32_t frameLengthHiReg = 0x0340; +constexpr uint32_t frameLengthLoReg = 0x0341; +constexpr uint32_t lineLengthHiReg = 0x0342; +constexpr uint32_t lineLengthLoReg = 0x0343; +constexpr uint32_t temperatureReg = 0x013a; +constexpr std::initializer_list registerList = + { expHiReg, expLoReg, gainHiReg, gainLoReg, lineLengthHiReg, + lineLengthLoReg, frameLengthHiReg, frameLengthLoReg, temperatureReg }; + +class CamHelperImx708 : public CamHelper +{ +public: + CamHelperImx708(); + uint32_t gainCode(double gain) const override; + double gain(uint32_t gain_code) const override; + void prepare(libcamera::Span buffer, Metadata &metadata) override; + void process(StatisticsPtr &stats, Metadata &metadata) override; + std::pair getBlanking(Duration &exposure, Duration minFrameDuration, + Duration maxFrameDuration) const override; + void getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const override; + bool sensorEmbeddedDataPresent() const override; + double getModeSensitivity(const CameraMode &mode) const override; + unsigned int hideFramesModeSwitch() const override { return 1; } // seems to be required for HDR + +private: + /* + * Smallest difference between the frame length and integration time, + * in units of lines. + */ + static constexpr int frameIntegrationDiff = 22; + /* Maximum frame length allowable for long exposure calculations. */ + static constexpr int frameLengthMax = 0xffdc; + /* Largest long exposure scale factor given as a left shift on the frame length. */ + static constexpr int longExposureShiftMax = 7; + + void populateMetadata(const MdParser::RegisterMap ®isters, + Metadata &metadata) const override; + + static bool parsePdafData(const uint8_t *ptr, size_t len, unsigned bpp, + PdafData &pdaf); + + bool parseAEHist(const uint8_t *ptr, size_t len, unsigned bpp); + void putAGCStatistics(StatisticsPtr stats); + + uint32_t aeHistLinear_[128]; + uint32_t aeHistAverage_; + bool aeHistValid_; +}; + +CamHelperImx708::CamHelperImx708() + : CamHelper(std::make_unique(registerList), frameIntegrationDiff), + aeHistLinear_{ 0 }, aeHistAverage_(0), aeHistValid_(false) +{ +} + +uint32_t CamHelperImx708::gainCode(double gain) const +{ + return static_cast(1024 - 1024 / gain); +} + +double CamHelperImx708::gain(uint32_t gain_code) const +{ + return 1024.0 / (1024 - gain_code); +} + +void CamHelperImx708::prepare(libcamera::Span buffer, Metadata &metadata) +{ + MdParser::RegisterMap registers; + DeviceStatus deviceStatus; + + LOG(IPARPI, Debug) << "Embedded buffer size: " << buffer.size(); + + if (metadata.get("device.status", deviceStatus)) { + LOG(IPARPI, Error) << "DeviceStatus not found from DelayedControls"; + return; + } + + parseEmbeddedData(buffer, metadata); + + /* + * Parse PDAF data, which we expect to occupy the third scanline + * of embedded data. As PDAF is quite sensor-specific, it's parsed here. + */ + size_t bytesPerLine = (mode_.width * mode_.bitdepth) >> 3; + + if (buffer.size() > 2 * bytesPerLine) { + PdafData pdaf; + if (parsePdafData(&buffer[2 * bytesPerLine], + buffer.size() - 2 * bytesPerLine, + mode_.bitdepth, pdaf)) + metadata.set("pdaf.data", pdaf); + } + + /* Parse AE-HIST data where present */ + if (buffer.size() > 3 * bytesPerLine) { + aeHistValid_ = parseAEHist(&buffer[3 * bytesPerLine], + buffer.size() - 3 * bytesPerLine, + mode_.bitdepth); + } + + /* + * The DeviceStatus struct is first populated with values obtained from + * DelayedControls. If this reports frame length is > frameLengthMax, + * it means we are using a long exposure mode. Since the long exposure + * scale factor is not returned back through embedded data, we must rely + * on the existing exposure lines and frame length values returned by + * DelayedControls. + * + * Otherwise, all values are updated with what is reported in the + * embedded data. + */ + if (deviceStatus.frameLength > frameLengthMax) { + DeviceStatus parsedDeviceStatus; + + metadata.get("device.status", parsedDeviceStatus); + parsedDeviceStatus.shutterSpeed = deviceStatus.shutterSpeed; + parsedDeviceStatus.frameLength = deviceStatus.frameLength; + metadata.set("device.status", parsedDeviceStatus); + + LOG(IPARPI, Debug) << "Metadata updated for long exposure: " + << parsedDeviceStatus; + } +} + +void CamHelperImx708::process(StatisticsPtr &stats, [[maybe_unused]] Metadata &metadata) +{ + if (aeHistValid_) + putAGCStatistics(stats); +} + +std::pair CamHelperImx708::getBlanking(Duration &exposure, + Duration minFrameDuration, + Duration maxFrameDuration) const +{ + uint32_t frameLength, exposureLines; + unsigned int shift = 0; + + auto [vblank, hblank] = CamHelper::getBlanking(exposure, minFrameDuration, + maxFrameDuration); + + frameLength = mode_.height + vblank; + Duration lineLength = hblankToLineLength(hblank); + + /* + * Check if the frame length calculated needs to be setup for long + * exposure mode. This will require us to use a long exposure scale + * factor provided by a shift operation in the sensor. + */ + while (frameLength > frameLengthMax) { + if (++shift > longExposureShiftMax) { + shift = longExposureShiftMax; + frameLength = frameLengthMax; + break; + } + frameLength >>= 1; + } + + if (shift) { + /* Account for any rounding in the scaled frame length value. */ + frameLength <<= shift; + exposureLines = CamHelper::exposureLines(exposure, lineLength); + exposureLines = std::min(exposureLines, frameLength - frameIntegrationDiff); + exposure = CamHelper::exposure(exposureLines, lineLength); + } + + return { frameLength - mode_.height, hblank }; +} + +void CamHelperImx708::getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const +{ + exposureDelay = 2; + gainDelay = 2; + vblankDelay = 3; + hblankDelay = 3; +} + +bool CamHelperImx708::sensorEmbeddedDataPresent() const +{ + return true; +} + +double CamHelperImx708::getModeSensitivity(const CameraMode &mode) const +{ + /* In binned modes, sensitivity increases by a factor of 2 */ + return (mode.width > 2304) ? 1.0 : 2.0; +} + +void CamHelperImx708::populateMetadata(const MdParser::RegisterMap ®isters, + Metadata &metadata) const +{ + DeviceStatus deviceStatus; + + deviceStatus.lineLength = lineLengthPckToDuration(registers.at(lineLengthHiReg) * 256 + + registers.at(lineLengthLoReg)); + deviceStatus.shutterSpeed = exposure(registers.at(expHiReg) * 256 + registers.at(expLoReg), + deviceStatus.lineLength); + deviceStatus.analogueGain = gain(registers.at(gainHiReg) * 256 + registers.at(gainLoReg)); + deviceStatus.frameLength = registers.at(frameLengthHiReg) * 256 + registers.at(frameLengthLoReg); + deviceStatus.sensorTemperature = std::clamp(registers.at(temperatureReg), -20, 80); + + metadata.set("device.status", deviceStatus); +} + +bool CamHelperImx708::parsePdafData(const uint8_t *ptr, size_t len, + unsigned bpp, PdafData &pdaf) +{ + size_t step = bpp >> 1; /* bytes per PDAF grid entry */ + + if (bpp < 10 || bpp > 12 || len < 194 * step || ptr[0] != 0 || ptr[1] >= 0x40) { + LOG(IPARPI, Error) << "PDAF data in unsupported format"; + return false; + } + + ptr += 2 * step; + for (unsigned i = 0; i < PDAF_DATA_ROWS; ++i) { + for (unsigned j = 0; j < PDAF_DATA_COLS; ++j) { + unsigned c = (ptr[0] << 3) | (ptr[1] >> 5); + int p = (((ptr[1] & 0x0F) - (ptr[1] & 0x10)) << 6) | (ptr[2] >> 2); + pdaf.conf[i][j] = c; + pdaf.phase[i][j] = c ? p : 0; + ptr += step; + } + } + + return true; +} + +bool CamHelperImx708::parseAEHist(const uint8_t *ptr, size_t len, unsigned bpp) +{ + static const uint32_t ISP_PIPELINE_BITS = 13; + uint64_t count = 0, sum = 0; + size_t step = bpp >> 1; /* bytes per histogram bin */ + + if (len < 144 * step) + return false; + + /* + * Read the 128 bin linear histogram, which by default covers + * the full range of the HDR shortest exposure (small values are + * expected to dominate, so pixel-value resolution will be poor). + */ + for (unsigned i = 0; i < 128; ++i) { + if (ptr[3] != 0x55) + return false; + uint32_t c = (ptr[0] << 14) + (ptr[1] << 6) + (ptr[2] >> 2); + aeHistLinear_[i] = c >> 2; /* pixels to quads */ + if (i != 0) { + count += c; + sum += c * + (i * (1u << (ISP_PIPELINE_BITS - 7)) + + (1u << (ISP_PIPELINE_BITS - 8))); + } + ptr += step; + } + + /* + * Now use the first 9 bins of the log histogram (these should be + * subdivisions of the smallest linear bin), to get a more accurate + * average value. Don't assume that AEHIST1_AVERAGE is present. + */ + for (unsigned i = 0; i < 9; ++i) { + if (ptr[3] != 0x55) + return false; + uint32_t c = (ptr[0] << 14) + (ptr[1] << 6) + (ptr[2] >> 2); + count += c; + sum += c * + ((3u << ISP_PIPELINE_BITS) >> (17 - i)); + ptr += step; + } + if ((unsigned)((ptr[0] << 12) + (ptr[1] << 4) + (ptr[2] >> 4)) != + aeHistLinear_[1]) { + LOG(IPARPI, Error) << "Lin/Log histogram mismatch"; + return false; + } + + aeHistAverage_ = count ? (sum / count) : 0; + + return count != 0; +} + +void CamHelperImx708::putAGCStatistics(StatisticsPtr stats) +{ + /* + * For HDR mode, copy sensor's AE/AGC statistics over ISP's, so the + * AGC algorithm sees a linear response to exposure and gain changes. + * + * Histogram: Just copy the "raw" histogram over the tone-mapped one, + * although they have different distributions (raw values are lower). + * Tuning should either ignore it, or constrain for highlights only. + * + * Average: Overwrite all regional averages with a global raw average, + * scaled by a fiddle-factor so that a conventional (non-HDR) y_target + * of e.g. 0.17 will map to a suitable level for HDR. + */ + memcpy(stats->hist[0].g_hist, aeHistLinear_, sizeof(stats->hist[0].g_hist)); + + constexpr unsigned int HdrHeadroomFactor = 4; + uint64_t v = HdrHeadroomFactor * aeHistAverage_; + for (int i = 0; i < AGC_REGIONS; i++) { + struct bcm2835_isp_stats_region &r = stats->agc_stats[i]; + r.r_sum = r.b_sum = r.g_sum = r.counted * v; + } +} + +static CamHelper *create() +{ + return new CamHelperImx708(); +} + +static RegisterCamHelper reg("imx708", &create); +static RegisterCamHelper regWide("imx708_wide", &create); +static RegisterCamHelper regNoIr("imx708_noir", &create); +static RegisterCamHelper regWideNoIr("imx708_wide_noir", &create); diff --git a/src/ipa/raspberrypi/data/imx708.json b/src/ipa/raspberrypi/data/imx708.json new file mode 100644 index 000000000000..c38b2d4cf256 --- /dev/null +++ b/src/ipa/raspberrypi/data/imx708.json @@ -0,0 +1,559 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 10672, + "reference_gain": 1.12, + "reference_aperture": 1.0, + "reference_lux": 977, + "reference_Y": 8627 + } + }, + { + "rpi.noise": + { + "reference_constant": 16.0, + "reference_slope": 4.0 + } + }, + { + "rpi.geq": + { + "offset": 215, + "slope": 0.00287 + } + }, + { + "rpi.sdn": { } + }, + { + "rpi.awb": + { + "priors": [ + { + "lux": 0, + "prior": + [ + 2000, 1.0, + 3000, 0.0, + 13000, 0.0 + ] + }, + { + "lux": 800, + "prior": + [ + 2000, 0.0, + 6000, 2.0, + 13000, 2.0 + ] + }, + { + "lux": 1500, + "prior": + [ + 2000, 0.0, + 4000, 1.0, + 6000, 6.0, + 6500, 7.0, + 7000, 1.0, + 13000, 1.0 + ] + } + ], + "modes": + { + "auto": + { + "lo": 2500, + "hi": 8000 + }, + "incandescent": + { + "lo": 2500, + "hi": 3000 + }, + "tungsten": + { + "lo": 3000, + "hi": 3500 + }, + "fluorescent": + { + "lo": 4000, + "hi": 4700 + }, + "indoor": + { + "lo": 3000, + "hi": 5000 + }, + "daylight": + { + "lo": 5500, + "hi": 6500 + }, + "cloudy": + { + "lo": 7000, + "hi": 8600 + } + }, + "bayes": 1, + "ct_curve": + [ + 2498.0, 0.8733, 0.2606, + 2821.0, 0.7707, 0.3245, + 2925.0, 0.7338, 0.3499, + 2926.0, 0.7193, 0.3603, + 2951.0, 0.7144, 0.3639, + 2954.0, 0.7111, 0.3663, + 3578.0, 0.6038, 0.4516, + 3717.0, 0.5861, 0.4669, + 3784.0, 0.5786, 0.4737, + 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b/src/ipa/raspberrypi/data/meson.build @@ -11,6 +11,10 @@ conf_files = files([ 'imx477_noir.json', 'imx477_scientific.json', 'imx519.json', + 'imx708.json', + 'imx708_noir.json', + 'imx708_wide.json', + 'imx708_wide_noir.json', 'ov5647.json', 'ov5647_noir.json', 'ov9281_mono.json', diff --git a/src/ipa/raspberrypi/meson.build b/src/ipa/raspberrypi/meson.build index 4e2689536257..9230e17bca22 100644 --- a/src/ipa/raspberrypi/meson.build +++ b/src/ipa/raspberrypi/meson.build @@ -23,6 +23,7 @@ rpi_ipa_sources = files([ 'cam_helper_imx296.cpp', 'cam_helper_imx477.cpp', 'cam_helper_imx519.cpp', + 'cam_helper_imx708.cpp', 'cam_helper_ov9281.cpp', 'controller/controller.cpp', 'controller/histogram.cpp',