diff --git a/src/ipa/raspberrypi/controller/rpi/alsc.cpp b/src/ipa/raspberrypi/controller/rpi/alsc.cpp index 51fe5d73f52d..524c48093590 100644 --- a/src/ipa/raspberrypi/controller/rpi/alsc.cpp +++ b/src/ipa/raspberrypi/controller/rpi/alsc.cpp @@ -49,11 +49,10 @@ char const *Alsc::name() const return NAME; } -static int generateLut(std::vector &lut, const libcamera::YamlObject ¶ms, - const Size &size) +static int generateLut(Array2D &lut, const libcamera::YamlObject ¶ms) { /* These must be signed ints for the co-ordinate calculations below. */ - int X = size.width, Y = size.height; + int X = lut.dimensions().width, Y = lut.dimensions().height; double cstrength = params["corner_strength"].get(2.0); if (cstrength <= 1.0) { LOG(RPiAlsc, Error) << "corner_strength must be > 1.0"; @@ -82,9 +81,9 @@ static int generateLut(std::vector &lut, const libcamera::YamlObject &pa return 0; } -static int readLut(std::vector &lut, const libcamera::YamlObject ¶ms, const Size &size) +static int readLut(Array2D &lut, const libcamera::YamlObject ¶ms) { - if (params.size() != size.width * size.height) { + if (params.size() != lut.size()) { LOG(RPiAlsc, Error) << "Invalid number of entries in LSC table"; return -EINVAL; } @@ -128,7 +127,7 @@ static int readCalibrations(std::vector &calibrations, } int num = 0; - calibration.table.resize(size.width * size.height); + calibration.table.resize(size); for (const auto &elem : table.asList()) { value = elem.get(); if (!value) @@ -160,13 +159,13 @@ int Alsc::read(const libcamera::YamlObject ¶ms) config_.luminanceStrength = params["luminance_strength"].get(1.0); - config_.luminanceLut.resize(config_.tableSize.width * config_.tableSize.height, 1.0); + config_.luminanceLut.resize(config_.tableSize, 1.0); int ret = 0; if (params.contains("corner_strength")) - ret = generateLut(config_.luminanceLut, params, config_.tableSize); + ret = generateLut(config_.luminanceLut, params); else if (params.contains("luminance_lut")) - ret = readLut(config_.luminanceLut, params["luminance_lut"], config_.tableSize); + ret = readLut(config_.luminanceLut, params["luminance_lut"]); else LOG(RPiAlsc, Warning) << "no luminance table - assume unity everywhere"; @@ -191,16 +190,16 @@ int Alsc::read(const libcamera::YamlObject ¶ms) static double getCt(Metadata *metadata, double defaultCt); static void getCalTable(double ct, std::vector const &calibrations, - std::vector &calTable); -static void resampleCalTable(const std::vector &calTableIn, CameraMode const &cameraMode, - const Size &size, std::vector &calTableOut); -static void compensateLambdasForCal(const std::vector &calTable, - const std::vector &oldLambdas, - std::vector &newLambdas); -static void addLuminanceToTables(std::array, 3> &results, - const std::vector &lambdaR, double lambdaG, - const std::vector &lambdaB, - const std::vector &luminanceLut, + Array2D &calTable); +static void resampleCalTable(const Array2D &calTableIn, CameraMode const &cameraMode, + Array2D &calTableOut); +static void compensateLambdasForCal(const Array2D &calTable, + const Array2D &oldLambdas, + Array2D &newLambdas); +static void addLuminanceToTables(std::array, 3> &results, + const Array2D &lambdaR, double lambdaG, + const Array2D &lambdaB, + const Array2D &luminanceLut, double luminanceStrength); void Alsc::initialise() @@ -212,22 +211,22 @@ void Alsc::initialise() const size_t XY = config_.tableSize.width * config_.tableSize.height; for (auto &r : syncResults_) - r.resize(XY); + r.resize(config_.tableSize); for (auto &r : prevSyncResults_) - r.resize(XY); + r.resize(config_.tableSize); for (auto &r : asyncResults_) - r.resize(XY); + r.resize(config_.tableSize); - luminanceTable_.resize(XY); - asyncLambdaR_.resize(XY); - asyncLambdaB_.resize(XY); + luminanceTable_.resize(config_.tableSize); + asyncLambdaR_.resize(config_.tableSize); + asyncLambdaB_.resize(config_.tableSize); /* The lambdas are initialised in the SwitchMode. */ - lambdaR_.resize(XY); - lambdaB_.resize(XY); + lambdaR_.resize(config_.tableSize); + lambdaB_.resize(config_.tableSize); /* Temporaries for the computations, but sensible to allocate this up-front! */ for (auto &c : tmpC_) - c.resize(XY); + c.resize(config_.tableSize); for (auto &m : tmpM_) m.resize(XY); } @@ -290,7 +289,7 @@ void Alsc::switchMode(CameraMode const &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. */ - resampleCalTable(config_.luminanceLut, cameraMode_, config_.tableSize, luminanceTable_); + resampleCalTable(config_.luminanceLut, cameraMode_, luminanceTable_); if (resetTables) { /* @@ -302,11 +301,11 @@ void Alsc::switchMode(CameraMode const &cameraMode, */ std::fill(lambdaR_.begin(), lambdaR_.end(), 1.0); std::fill(lambdaB_.begin(), lambdaB_.end(), 1.0); - std::vector &calTableR = tmpC_[0], &calTableB = tmpC_[1], &calTableTmp = tmpC_[2]; + Array2D &calTableR = tmpC_[0], &calTableB = tmpC_[1], &calTableTmp = tmpC_[2]; getCalTable(ct_, config_.calibrationsCr, calTableTmp); - resampleCalTable(calTableTmp, cameraMode_, config_.tableSize, calTableR); + resampleCalTable(calTableTmp, cameraMode_, calTableR); getCalTable(ct_, config_.calibrationsCb, calTableTmp); - resampleCalTable(calTableTmp, cameraMode_, config_.tableSize, calTableB); + resampleCalTable(calTableTmp, cameraMode_, calTableB); compensateLambdasForCal(calTableR, lambdaR_, asyncLambdaR_); compensateLambdasForCal(calTableB, lambdaB_, asyncLambdaB_); addLuminanceToTables(syncResults_, asyncLambdaR_, 1.0, asyncLambdaB_, @@ -411,9 +410,9 @@ void Alsc::prepare(Metadata *imageMetadata) } /* Put output values into status metadata. */ AlscStatus status; - status.r = prevSyncResults_[0]; - status.g = prevSyncResults_[1]; - status.b = prevSyncResults_[2]; + status.r = prevSyncResults_[0].data(); + status.g = prevSyncResults_[1].data(); + status.b = prevSyncResults_[2].data(); imageMetadata->set("alsc.status", status); } @@ -457,7 +456,7 @@ void Alsc::asyncFunc() } void getCalTable(double ct, std::vector const &calibrations, - std::vector &calTable) + Array2D &calTable) { if (calibrations.empty()) { std::fill(calTable.begin(), calTable.end(), 1.0); @@ -486,12 +485,12 @@ void getCalTable(double ct, std::vector const &calibrations, } } -void resampleCalTable(const std::vector &calTableIn, - CameraMode const &cameraMode, const Size &size, - std::vector &calTableOut) +void resampleCalTable(const Array2D &calTableIn, + CameraMode const &cameraMode, + Array2D &calTableOut) { - int X = size.width; - int Y = size.height; + int X = calTableIn.dimensions().width; + int Y = calTableIn.dimensions().height; /* * Precalculate and cache the x sampling locations and phases to save @@ -529,9 +528,9 @@ void resampleCalTable(const std::vector &calTableIn, yLo = Y - 1 - yLo; yHi = Y - 1 - yHi; } - double const *rowAbove = calTableIn.data() + X * yLo; - double const *rowBelow = calTableIn.data() + X * yHi; - double *out = calTableOut.data() + X * j; + double const *rowAbove = calTableIn.ptr() + X * yLo; + double const *rowBelow = calTableIn.ptr() + X * yHi; + double *out = calTableOut.ptr() + X * j; for (int i = 0; i < X; i++) { double above = rowAbove[xLo[i]] * (1 - xf[i]) + rowAbove[xHi[i]] * xf[i]; @@ -543,8 +542,8 @@ void resampleCalTable(const std::vector &calTableIn, } /* Calculate chrominance statistics (R/G and B/G) for each region. */ -static void calculateCrCb(const RgbyRegions &awbRegion, std::vector &cr, - std::vector &cb, uint32_t minCount, uint16_t minG) +static void calculateCrCb(const RgbyRegions &awbRegion, Array2D &cr, + Array2D &cb, uint32_t minCount, uint16_t minG) { for (unsigned int i = 0; i < cr.size(); i++) { auto s = awbRegion.get(i); @@ -559,16 +558,16 @@ static void calculateCrCb(const RgbyRegions &awbRegion, std::vector &cr, } } -static void applyCalTable(const std::vector &calTable, std::vector &C) +static void applyCalTable(const Array2D &calTable, Array2D &C) { for (unsigned int i = 0; i < C.size(); i++) if (C[i] != InsufficientData) C[i] *= calTable[i]; } -void compensateLambdasForCal(const std::vector &calTable, - const std::vector &oldLambdas, - std::vector &newLambdas) +void compensateLambdasForCal(const Array2D &calTable, + const Array2D &oldLambdas, + Array2D &newLambdas) { double minNewLambda = std::numeric_limits::max(); for (unsigned int i = 0; i < newLambdas.size(); i++) { @@ -579,9 +578,9 @@ void compensateLambdasForCal(const std::vector &calTable, newLambdas[i] /= minNewLambda; } -[[maybe_unused]] static void printCalTable(const std::vector &C, - const Size &size) +[[maybe_unused]] static void printCalTable(const Array2D &C) { + const Size &size = C.dimensions(); printf("table: [\n"); for (unsigned int j = 0; j < size.height; j++) { for (unsigned int i = 0; i < size.width; i++) { @@ -607,11 +606,11 @@ static double computeWeight(double Ci, double Cj, double sigma) } /* Compute all weights. */ -static void computeW(const std::vector &C, double sigma, - std::vector> &W, const Size &size) +static void computeW(const Array2D &C, double sigma, + std::vector> &W) { - size_t XY = size.width * size.height; - size_t X = size.width; + size_t XY = C.size(); + size_t X = C.dimensions().width; for (unsigned int i = 0; i < XY; i++) { /* Start with neighbour above and go clockwise. */ @@ -623,13 +622,12 @@ static void computeW(const std::vector &C, double sigma, } /* Compute M, the large but sparse matrix such that M * lambdas = 0. */ -static void constructM(const std::vector &C, +static void constructM(const Array2D &C, const std::vector> &W, - std::vector> &M, - const Size &size) + std::vector> &M) { - size_t XY = size.width * size.height; - size_t X = size.width; + size_t XY = C.size(); + size_t X = C.dimensions().width; double epsilon = 0.001; for (unsigned int i = 0; i < XY; i++) { @@ -654,79 +652,78 @@ static void constructM(const std::vector &C, * need to test the i value to exclude them. */ static double computeLambdaBottom(int i, const std::vector> &M, - std::vector &lambda, const Size &size) + Array2D &lambda) { - return M[i][1] * lambda[i + 1] + M[i][2] * lambda[i + size.width] + + return M[i][1] * lambda[i + 1] + M[i][2] * lambda[i + lambda.dimensions().width] + M[i][3] * lambda[i - 1]; } static double computeLambdaBottomStart(int i, const std::vector> &M, - std::vector &lambda, const Size &size) + Array2D &lambda) { - return M[i][1] * lambda[i + 1] + M[i][2] * lambda[i + size.width]; + return M[i][1] * lambda[i + 1] + M[i][2] * lambda[i + lambda.dimensions().width]; } static double computeLambdaInterior(int i, const std::vector> &M, - std::vector &lambda, const Size &size) + Array2D &lambda) { - return M[i][0] * lambda[i - size.width] + M[i][1] * lambda[i + 1] + - M[i][2] * lambda[i + size.width] + M[i][3] * lambda[i - 1]; + return M[i][0] * lambda[i - lambda.dimensions().width] + M[i][1] * lambda[i + 1] + + M[i][2] * lambda[i + lambda.dimensions().width] + M[i][3] * lambda[i - 1]; } static double computeLambdaTop(int i, const std::vector> &M, - std::vector &lambda, const Size &size) + Array2D &lambda) { - return M[i][0] * lambda[i - size.width] + M[i][1] * lambda[i + 1] + + return M[i][0] * lambda[i - lambda.dimensions().width] + M[i][1] * lambda[i + 1] + M[i][3] * lambda[i - 1]; } static double computeLambdaTopEnd(int i, const std::vector> &M, - std::vector &lambda, const Size &size) + Array2D &lambda) { - return M[i][0] * lambda[i - size.width] + M[i][3] * lambda[i - 1]; + return M[i][0] * lambda[i - lambda.dimensions().width] + M[i][3] * lambda[i - 1]; } /* Gauss-Seidel iteration with over-relaxation. */ static double gaussSeidel2Sor(const std::vector> &M, double omega, - std::vector &lambda, double lambdaBound, - const Size &size) + Array2D &lambda, double lambdaBound) { - int XY = size.width * size.height; - int X = size.width; + int XY = lambda.size(); + int X = lambda.dimensions().width; const double min = 1 - lambdaBound, max = 1 + lambdaBound; - std::vector oldLambda = lambda; + Array2D oldLambda = lambda; int i; - lambda[0] = computeLambdaBottomStart(0, M, lambda, size); + lambda[0] = computeLambdaBottomStart(0, M, lambda); lambda[0] = std::clamp(lambda[0], min, max); for (i = 1; i < X; i++) { - lambda[i] = computeLambdaBottom(i, M, lambda, size); + lambda[i] = computeLambdaBottom(i, M, lambda); lambda[i] = std::clamp(lambda[i], min, max); } for (; i < XY - X; i++) { - lambda[i] = computeLambdaInterior(i, M, lambda, size); + lambda[i] = computeLambdaInterior(i, M, lambda); lambda[i] = std::clamp(lambda[i], min, max); } for (; i < XY - 1; i++) { - lambda[i] = computeLambdaTop(i, M, lambda, size); + lambda[i] = computeLambdaTop(i, M, lambda); lambda[i] = std::clamp(lambda[i], min, max); } - lambda[i] = computeLambdaTopEnd(i, M, lambda, size); + 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] = computeLambdaTopEnd(i, M, lambda, size); + lambda[i] = computeLambdaTopEnd(i, M, lambda); lambda[i] = std::clamp(lambda[i], min, max); for (i = XY - 2; i >= XY - X; i--) { - lambda[i] = computeLambdaTop(i, M, lambda, size); + lambda[i] = computeLambdaTop(i, M, lambda); lambda[i] = std::clamp(lambda[i], min, max); } for (; i >= X; i--) { - lambda[i] = computeLambdaInterior(i, M, lambda, size); + lambda[i] = computeLambdaInterior(i, M, lambda); lambda[i] = std::clamp(lambda[i], min, max); } for (; i >= 1; i--) { - lambda[i] = computeLambdaBottom(i, M, lambda, size); + lambda[i] = computeLambdaBottom(i, M, lambda); lambda[i] = std::clamp(lambda[i], min, max); } - lambda[0] = computeLambdaBottomStart(0, M, lambda, size); + lambda[0] = computeLambdaBottomStart(0, M, lambda); lambda[0] = std::clamp(lambda[0], min, max); double maxDiff = 0; for (i = 0; i < XY; i++) { @@ -738,7 +735,7 @@ static double gaussSeidel2Sor(const std::vector> &M, doubl } /* Normalise the values so that the smallest value is 1. */ -static void normalise(std::vector &results) +static void normalise(Array2D &results) { double minval = *std::min_element(results.begin(), results.end()); std::for_each(results.begin(), results.end(), @@ -746,7 +743,7 @@ static void normalise(std::vector &results) } /* Rescale the values so that the average value is 1. */ -static void reaverage(std::vector &data) +static void reaverage(Array2D &data) { double sum = std::accumulate(data.begin(), data.end(), 0.0); double ratio = 1 / (sum / data.size()); @@ -754,17 +751,16 @@ static void reaverage(std::vector &data) [ratio](double val) { return val * ratio; }); } -static void runMatrixIterations(const std::vector &C, - std::vector &lambda, +static void runMatrixIterations(const Array2D &C, + Array2D &lambda, const std::vector> &W, std::vector> &M, double omega, - unsigned int nIter, double threshold, double lambdaBound, - const Size &size) + unsigned int nIter, double threshold, double lambdaBound) { - constructM(C, W, M, size); + constructM(C, W, M); double lastMaxDiff = std::numeric_limits::max(); for (unsigned int i = 0; i < nIter; i++) { - double maxDiff = fabs(gaussSeidel2Sor(M, omega, lambda, lambdaBound, size)); + double maxDiff = fabs(gaussSeidel2Sor(M, omega, lambda, lambdaBound)); if (maxDiff < threshold) { LOG(RPiAlsc, Debug) << "Stop after " << i + 1 << " iterations"; @@ -784,26 +780,26 @@ static void runMatrixIterations(const std::vector &C, reaverage(lambda); } -static void addLuminanceRb(std::vector &result, const std::vector &lambda, - const std::vector &luminanceLut, +static void addLuminanceRb(Array2D &result, const Array2D &lambda, + const Array2D &luminanceLut, double luminanceStrength) { for (unsigned int i = 0; i < result.size(); i++) result[i] = lambda[i] * ((luminanceLut[i] - 1) * luminanceStrength + 1); } -static void addLuminanceG(std::vector &result, double lambda, - const std::vector &luminanceLut, +static void addLuminanceG(Array2D &result, double lambda, + const Array2D &luminanceLut, double luminanceStrength) { for (unsigned int i = 0; i < result.size(); i++) result[i] = lambda * ((luminanceLut[i] - 1) * luminanceStrength + 1); } -void addLuminanceToTables(std::array, 3> &results, - const std::vector &lambdaR, - double lambdaG, const std::vector &lambdaB, - const std::vector &luminanceLut, +void addLuminanceToTables(std::array, 3> &results, + const Array2D &lambdaR, + double lambdaG, const Array2D &lambdaB, + const Array2D &luminanceLut, double luminanceStrength) { addLuminanceRb(results[0], lambdaR, luminanceLut, luminanceStrength); @@ -815,8 +811,8 @@ void addLuminanceToTables(std::array, 3> &results, void Alsc::doAlsc() { - std::vector &cr = tmpC_[0], &cb = tmpC_[1], &calTableR = tmpC_[2], - &calTableB = tmpC_[3], &calTableTmp = tmpC_[4]; + Array2D &cr = tmpC_[0], &cb = tmpC_[1], &calTableR = tmpC_[2], + &calTableB = tmpC_[3], &calTableTmp = tmpC_[4]; std::vector> &wr = tmpM_[0], &wb = tmpM_[1], &M = tmpM_[2]; /* @@ -829,9 +825,9 @@ void Alsc::doAlsc() * case the camera mode is not full-frame. */ getCalTable(ct_, config_.calibrationsCr, calTableTmp); - resampleCalTable(calTableTmp, cameraMode_, config_.tableSize, calTableR); + resampleCalTable(calTableTmp, cameraMode_, calTableR); getCalTable(ct_, config_.calibrationsCb, calTableTmp); - resampleCalTable(calTableTmp, cameraMode_, config_.tableSize, calTableB); + resampleCalTable(calTableTmp, cameraMode_, calTableB); /* * You could print out the cal tables for this image here, if you're * tuning the algorithm... @@ -841,13 +837,13 @@ void Alsc::doAlsc() applyCalTable(calTableR, cr); applyCalTable(calTableB, cb); /* Compute weights between zones. */ - computeW(cr, config_.sigmaCr, wr, config_.tableSize); - computeW(cb, config_.sigmaCb, wb, config_.tableSize); + computeW(cr, config_.sigmaCr, wr); + computeW(cb, config_.sigmaCb, wb); /* Run Gauss-Seidel iterations over the resulting matrix, for R and B. */ runMatrixIterations(cr, lambdaR_, wr, M, config_.omega, config_.nIter, - config_.threshold, config_.lambdaBound, config_.tableSize); + config_.threshold, config_.lambdaBound); runMatrixIterations(cb, lambdaB_, wb, M, config_.omega, config_.nIter, - config_.threshold, config_.lambdaBound, config_.tableSize); + 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 diff --git a/src/ipa/raspberrypi/controller/rpi/alsc.h b/src/ipa/raspberrypi/controller/rpi/alsc.h index 85e998db40e9..1ab61299c4cd 100644 --- a/src/ipa/raspberrypi/controller/rpi/alsc.h +++ b/src/ipa/raspberrypi/controller/rpi/alsc.h @@ -22,9 +22,55 @@ namespace RPiController { /* Algorithm to generate automagic LSC (Lens Shading Correction) tables. */ +/* + * The Array2D class is a very thin wrapper round std::vector so that it can + * be used in exactly the same way in the code but carries its correct width + * and height ("dimensions") with it. + */ + +template +class Array2D +{ +public: + using Size = libcamera::Size; + + const Size &dimensions() const { return dimensions_; } + + size_t size() const { return data_.size(); } + + const std::vector &data() const { return data_; } + + void resize(const Size &dims) + { + dimensions_ = dims; + data_.resize(dims.width * dims.height); + } + + void resize(const Size &dims, const T &value) + { + resize(dims); + std::fill(data_.begin(), data_.end(), value); + } + + T &operator[](int index) { return data_[index]; } + + const T &operator[](int index) const { return data_[index]; } + + T *ptr() { return data_.data(); } + + const T *ptr() const { return data_.data(); } + + auto begin() { return data_.begin(); } + auto end() { return data_.end(); } + +private: + Size dimensions_; + std::vector data_; +}; + struct AlscCalibration { double ct; - std::vector table; + Array2D table; }; struct AlscConfig { @@ -40,7 +86,7 @@ struct AlscConfig { uint16_t minG; double omega; uint32_t nIter; - std::vector luminanceLut; + Array2D luminanceLut; double luminanceStrength; std::vector calibrationsCr; std::vector calibrationsCb; @@ -67,7 +113,7 @@ private: AlscConfig config_; bool firstTime_; CameraMode cameraMode_; - std::vector luminanceTable_; + Array2D luminanceTable_; std::thread asyncThread_; void asyncFunc(); /* asynchronous thread function */ std::mutex mutex_; @@ -93,8 +139,8 @@ private: int frameCount_; /* counts up to startupFrames for Process function */ int frameCount2_; - std::array, 3> syncResults_; - std::array, 3> prevSyncResults_; + std::array, 3> syncResults_; + std::array, 3> prevSyncResults_; void waitForAysncThread(); /* * The following are for the asynchronous thread to use, though the main @@ -105,15 +151,15 @@ private: void fetchAsyncResults(); double ct_; RgbyRegions statistics_; - std::array, 3> asyncResults_; - std::vector asyncLambdaR_; - std::vector asyncLambdaB_; + std::array, 3> asyncResults_; + Array2D asyncLambdaR_; + Array2D asyncLambdaB_; void doAlsc(); - std::vector lambdaR_; - std::vector lambdaB_; + Array2D lambdaR_; + Array2D lambdaB_; /* Temporaries for the computations */ - std::array, 5> tmpC_; + std::array, 5> tmpC_; std::array>, 3> tmpM_; };