[libcamera-devel,v4,01/12] documentation: Introduce Camera Sensor Model
diff mbox series

Message ID 20230916121930.29490-2-jacopo.mondi@ideasonboard.com
State Superseded
Headers show
Series
  • libcamera: Introduce SensorConfiguration
Related show

Commit Message

Jacopo Mondi Sept. 16, 2023, 12:19 p.m. UTC 
Introduce a documentation page about the 'camera sensor model'
implemented by libcamera.

The camera sensor model serves to provide to applications a reference
description of the processing steps that take place in a camera sensor
in order to precisely control the sensor configuration through the
forthcoming SensorConfiguration class.

Signed-off-by: Jacopo Mondi <jacopo.mondi@ideasonboard.com>
Reviewed-by: Naushir Patuck <naush@raspberrypi.com>
Reviewed-by: Kieran Bingham <kieran.bingham@ideasonboard.com>
---
 Documentation/binning.svg             | 5053 +++++++++++++++++++++++++
 Documentation/camera-sensor-model.rst |  170 +
 Documentation/index.rst               |    1 +
 Documentation/meson.build             |    1 +
 Documentation/sensor_model.svg        | 4866 ++++++++++++++++++++++++
 Documentation/skipping.svg            | 1720 +++++++++
 6 files changed, 11811 insertions(+)
 create mode 100644 Documentation/binning.svg
 create mode 100644 Documentation/camera-sensor-model.rst
 create mode 100644 Documentation/sensor_model.svg
 create mode 100644 Documentation/skipping.svg

Comments

Laurent Pinchart Sept. 21, 2023, 12:04 p.m. UTC | #1 
Hi Jacopo,

Thank you for the patch.

On Sat, Sep 16, 2023 at 02:19:19PM +0200, Jacopo Mondi via libcamera-devel wrote:
> Introduce a documentation page about the 'camera sensor model'
> implemented by libcamera.
> 
> The camera sensor model serves to provide to applications a reference
> description of the processing steps that take place in a camera sensor
> in order to precisely control the sensor configuration through the
> forthcoming SensorConfiguration class.
> 
> Signed-off-by: Jacopo Mondi <jacopo.mondi@ideasonboard.com>
> Reviewed-by: Naushir Patuck <naush@raspberrypi.com>
> Reviewed-by: Kieran Bingham <kieran.bingham@ideasonboard.com>
> ---
>  Documentation/binning.svg             | 5053 +++++++++++++++++++++++++
>  Documentation/camera-sensor-model.rst |  170 +
>  Documentation/index.rst               |    1 +
>  Documentation/meson.build             |    1 +
>  Documentation/sensor_model.svg        | 4866 ++++++++++++++++++++++++
>  Documentation/skipping.svg            | 1720 +++++++++
>  6 files changed, 11811 insertions(+)
>  create mode 100644 Documentation/binning.svg
>  create mode 100644 Documentation/camera-sensor-model.rst
>  create mode 100644 Documentation/sensor_model.svg
>  create mode 100644 Documentation/skipping.svg
> 
> diff --git a/Documentation/binning.svg b/Documentation/binning.svg
> new file mode 100644
> index 000000000000..c6a3b6394acd
> --- /dev/null
> +++ b/Documentation/binning.svg
> @@ -0,0 +1,5053 @@
> +<?xml version="1.0" encoding="UTF-8" standalone="no"?>

<!-- SPDX-License-Identifier: CC-BY-SA-4.0 -->

Same for the other SVG files below.

This will likely need manual merge when updating the diagrams :-S
Another option is to specify the license in .reuse/dep5.

> +<!-- Created with Inkscape (http://www.inkscape.org/) -->

I won't review the rest of the SVG here :-) However, neither Firefox nor
Chrome render the arrow heads :-S I wonder if inkscape does something
wrong. This isn't a blocker, we can fix it on top.

[snip]

> diff --git a/Documentation/camera-sensor-model.rst b/Documentation/camera-sensor-model.rst
> new file mode 100644
> index 000000000000..7ff0bdc50564
> --- /dev/null
> +++ b/Documentation/camera-sensor-model.rst
> @@ -0,0 +1,170 @@
> +.. SPDX-License-Identifier: CC-BY-SA-4.0
> +
> +.. _camera-sensor-model:

Could you add a comment here to indicate this should be moved to the
doxygen-generated documentation ?

.. todo: Move to Doxygen-generated documentation

> +
> +The libcamera camera sensor model
> +=================================
> +
> +libcamera defines an abstract camera sensor model in order to provide
> +a description of each of the processing steps that result in image data being
> +sent on the media bus and that form the image stream delivered to applications.
> +
> +Applications should use the abstracted camera sensor model defined here to

s/abstracted/abstract/

> +precisely control the operations of the camera sensor.
> +
> +The libcamera camera sensor model targets image sensors producing frames in
> +RAW format, delivered through a MIPI CSI-2 compliant bus implementation.
> +
> +The abstract sensor model maps libcamera components to the characteristics and
> +operations of an image sensor, and serves as a reference to model the libcamera
> +CameraSensor class and SensorConfiguration classes and operations.
> +
> +In order to control the configuration of the camera sensor through the
> +SensorConfiguration class, applications should understand this model and map it
> +to the combination of image sensor and kernel driver in use.
> +
> +The camera sensor model defined here is based on the *MIPI CCS specification*,
> +particularly on *Section 8.2 - Image readout* of *Chapter 8 - Video Timings*.
> +
> +Glossary
> +---------
> +
> +- *Pixel array*: The full grid of pixels, active and inactive ones
> +
> +- *Pixel array active area*: The portion(s) of the pixel array that
> +  contains valid and readable pixels; corresponds to the libcamera
> +  properties::PixelArrayActiveAreas
> +
> +- *Analog crop rectangle*: The portion of the *pixel array active area* which
> +  is read out and passed to further processing stages
> +
> +- *Subsampling*: Pixel processing techniques that reduce the image size by
> +  binning or by skipping adjacent pixels
> +
> +- *Digital crop*: Crop of the sub-sampled image data before scaling
> +
> +- *Frame output*: The frame (image) as output on the media bus by the
> +  camera sensor

Sphinx has a glossary directive:

.. glossary::

   Pixel array
      The full grid of pixels, active and inactive ones

   Pixel array active area
      The portion(s) of the pixel array that contains valid and readable
      pixels; corresponds to the libcamera properties::PixelArrayActiveAreas

   Analog crop rectangle
      The portion of the *pixel array active area* which is read out and passed
      to further processing stages

   Subsampling
      Pixel processing techniques that reduce the image size by binning or by
      skipping adjacent pixels

   Digital crop
      Crop of the sub-sampled image data before scaling

   Frame output
      The frame (image) as output on the media bus by the camera sensor

> +
> +Camera sensor model
> +-------------------
> +
> +The abstract sensor model is described in the following diagram

s/$/./

> +
> +.. figure:: sensor_model.svg
> +
> +
> +1. The sensor reads pixels from the *pixel array*. The pixels being read out are
> +   selected by the *analog crop rectangle*.
> +
> +2. The pixels can be subsampled to reduce the image size without affecting the
> +   field of view. Two subsampling techniques can be used:
> +
> +   - Binning: combines adjacent pixels of the same colour by averaging or
> +     summing their values, in the analog domain and/or the digital domain.
> +
> +      .. figure:: binning.svg
> +
> +
> +   - Skipping: skips the read out of a number of adjacent pixels.
> +
> +      .. figure:: skipping.svg
> +
> +
> +3. The output of the optional sub-sampling stage is then cropped after the
> +conversion of the analogue pixel values in the digital domain.

s/^/   /

> +
> +4. The resulting output frame is sent on the media bus by the sensor.
> +
> +Camera Sensor configuration parameters
> +--------------------------------------
> +
> +The libcamera camera sensor model defines parameters that allow users to
> +control:
> +
> +1. The image format bit depth
> +
> +2. The size and position of the  *Analog crop rectangle*
> +
> +3. The subsampling factors used to downscale the pixel array readout data to a
> +   smaller frame size without reducing the image *field of view*. Two
> +   configuration parameters are made available to control the downscaling factor

s/^/:/

> +
> +   - binning
> +      - a vertical and horizontal binning factor can be specified, the image

s/- a/A/

> +        will be downscaled in its vertical and horizontal sizes by the specified
> +        factor

s/$/./

> +
> +      .. code-block::
> +         :caption: Definition: The horizontal and vertical binning factors
> +
> +         horizontal_binning = xBin;
> +         vertical_binning = yBin;
> +
> +
> +   - skipping
> +      - reduces the image resolution by skipping the read-out of a
> +        number of adjacent pixels
> +      - the skipping factor is specified by the 'increment' number (number of
> +        pixels to 'skip') in the vertical and horizontal directions and for
> +        even and odd rows and columns

      Skipping reduces the image resolution by skipping the read-out of a number
      of adjacent pixels. The skipping factor is specified by the 'increment'
      number (number of pixels to 'skip') in the vertical and horizontal
      directions and for even and odd rows and columns.

> +
> +      .. code-block::
> +         :caption: Definition: The horizontal and vertical skipping factors
> +
> +         horizontal_skipping = (xOddInc + xEvenInc) / 2
> +         vertical_skipping = (yOddInc + yEvenInc) / 2
> +
> +
> +   - different sensors perform the binning and skipping stages in different
> +     orders
> +   - for the sake of computing the final output image size the order of
> +     execution is not relevant.
> +
> +   - the overall down-scaling factor is obtained by combining the binning and
> +     skipping factors

As the text above introduces a list of two scaling factors, let's turn
the rest into text, not bullet points:

   Different sensors perform the binning and skipping stages in different
   orders. For the sake of computing the final output image size the order of
   execution is not relevant. The overall down-scaling factor is obtained by
   combining the binning and skipping factors.

> +
> +   .. code-block::
> +      :caption: Definition: The total scaling factor (binning + sub-sampling)
> +
> +      total_horizontal_downscale = horizontal_binning + horizontal_skipping
> +      total_vertical_downscale = vertical_binning + vertical_skipping
> +
> +
> +4. The output data frame size
> +    - the output size is used to specify any additional cropping on the
> +      sub-sampled frame

Ditto, drop the bullet, start with a capital letter, end with a period.
Same below.

> +
> +5. The total line length and frame height (*visibile* pixels + *blankings*) as
> +   sent on the MIPI CSI-2 bus
> +
> +6. The pixel transmission rate on the MIPI CSI-2 bus
> +
> +The above parameters are combined to obtain the following high-level
> +configurations:
> +
> +- **frame output size**
> +
> +   Obtained by applying a crop to the physical pixel array size in the analog
> +   domain, followed by optional binning and sub-sampling (in any order),
> +   followed by an optional crop step in the output digital domain.
> +
> +- **frame rate**
> +
> +   The combination of the *total frame size*, the image format *bit depth* and
> +   the *pixel rate* of the data sent on the MIPI CSI-2 bus allows to compute the
> +   image stream frame rate. The equation is the well known:
> +
> +   .. code-block::
> +
> +      frame_duration = total_frame_size / pixel_rate
> +      frame_rate = 1 / frame_duration
> +
> +
> +   where the *pixel_rate* parameter is the result of the sensor's configuration
> +   of the MIPI CSI-2 bus *(the following formula applies to MIPI CSI-2 when
> +   used on MIPI D-PHY physical protocol layer only)*
> +
> +   .. code-block::
> +
> +      pixel_rate = CSI-2_link_freq * 2 * nr_of_lanes / bits_per_sample
> diff --git a/Documentation/index.rst b/Documentation/index.rst
> index 43d8b017d3b4..63fac72d11ed 100644
> --- a/Documentation/index.rst
> +++ b/Documentation/index.rst
> @@ -23,3 +23,4 @@
>     Sensor driver requirements <sensor_driver_requirements>
>     Lens driver requirements <lens_driver_requirements>
>     Python Bindings <python-bindings>
> +   Camera Sensor Model <camera-sensor-model>
> diff --git a/Documentation/meson.build b/Documentation/meson.build
> index b2a5bf15e6ea..7c1502592baa 100644
> --- a/Documentation/meson.build
> +++ b/Documentation/meson.build
> @@ -63,6 +63,7 @@ endif
>  
>  if sphinx.found()
>      docs_sources = [
> +        'camera-sensor-model.rst',
>          'coding-style.rst',
>          'conf.py',
>          'contributing.rst',
> diff --git a/Documentation/sensor_model.svg b/Documentation/sensor_model.svg
> new file mode 100644
> index 000000000000..1f76d41cf6a5
> --- /dev/null
> +++ b/Documentation/sensor_model.svg
> @@ -0,0 +1,4866 @@

It looks quite neat. The only improvement I can see could be nice is to
scale the image in 4 to have the same pixel size as in 3, to avoid
implying there's any scaling. It can be done on top, or you can the
change before pushing.

[snip]

> diff --git a/Documentation/skipping.svg b/Documentation/skipping.svg
> new file mode 100644
> index 000000000000..7bef37cfcc64
> --- /dev/null
> +++ b/Documentation/skipping.svg
> @@ -0,0 +1,1720 @@

[snip]

Reviewed-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
Jacopo Mondi Sept. 21, 2023, 1:48 p.m. UTC | #2 
Hi Laurent

On Thu, Sep 21, 2023 at 03:04:40PM +0300, Laurent Pinchart wrote:
> Hi Jacopo,
>
> Thank you for the patch.
>
> On Sat, Sep 16, 2023 at 02:19:19PM +0200, Jacopo Mondi via libcamera-devel wrote:
> > Introduce a documentation page about the 'camera sensor model'
> > implemented by libcamera.
> >
> > The camera sensor model serves to provide to applications a reference
> > description of the processing steps that take place in a camera sensor
> > in order to precisely control the sensor configuration through the
> > forthcoming SensorConfiguration class.
> >
> > Signed-off-by: Jacopo Mondi <jacopo.mondi@ideasonboard.com>
> > Reviewed-by: Naushir Patuck <naush@raspberrypi.com>
> > Reviewed-by: Kieran Bingham <kieran.bingham@ideasonboard.com>
> > ---
> >  Documentation/binning.svg             | 5053 +++++++++++++++++++++++++
> >  Documentation/camera-sensor-model.rst |  170 +
> >  Documentation/index.rst               |    1 +
> >  Documentation/meson.build             |    1 +
> >  Documentation/sensor_model.svg        | 4866 ++++++++++++++++++++++++
> >  Documentation/skipping.svg            | 1720 +++++++++
> >  6 files changed, 11811 insertions(+)
> >  create mode 100644 Documentation/binning.svg
> >  create mode 100644 Documentation/camera-sensor-model.rst
> >  create mode 100644 Documentation/sensor_model.svg
> >  create mode 100644 Documentation/skipping.svg
> >
> > diff --git a/Documentation/binning.svg b/Documentation/binning.svg
> > new file mode 100644
> > index 000000000000..c6a3b6394acd
> > --- /dev/null
> > +++ b/Documentation/binning.svg
> > @@ -0,0 +1,5053 @@
> > +<?xml version="1.0" encoding="UTF-8" standalone="no"?>
>
> <!-- SPDX-License-Identifier: CC-BY-SA-4.0 -->
>
> Same for the other SVG files below.
>
> This will likely need manual merge when updating the diagrams :-S
> Another option is to specify the license in .reuse/dep5.

Good point, I'll add to .reuse/dep5

Files: Documentation/binning.svg
       Documentation/camera-sensor-model.rst
       Documentation/sensor_model.svg
Copyright: Copyright 2023 Ideas On Board Oy
License: CC-BY-SA-4.0

>
> > +<!-- Created with Inkscape (http://www.inkscape.org/) -->
>
> I won't review the rest of the SVG here :-) However, neither Firefox nor
> Chrome render the arrow heads :-S I wonder if inkscape does something
> wrong. This isn't a blocker, we can fix it on top.
>

Yes, I notiched with Chromium and did blame the broswer as the arrows
render correctly in Inkscape... But it firefox fails too I wonder if
something is not wrong in Inkscape

> [snip]
>
> > diff --git a/Documentation/camera-sensor-model.rst b/Documentation/camera-sensor-model.rst
> > new file mode 100644
> > index 000000000000..7ff0bdc50564
> > --- /dev/null
> > +++ b/Documentation/camera-sensor-model.rst
> > @@ -0,0 +1,170 @@
> > +.. SPDX-License-Identifier: CC-BY-SA-4.0
> > +
> > +.. _camera-sensor-model:
>
> Could you add a comment here to indicate this should be moved to the
> doxygen-generated documentation ?
>
> .. todo: Move to Doxygen-generated documentation
>

Ack

> > +
> > +The libcamera camera sensor model
> > +=================================
> > +
> > +libcamera defines an abstract camera sensor model in order to provide
> > +a description of each of the processing steps that result in image data being
> > +sent on the media bus and that form the image stream delivered to applications.
> > +
> > +Applications should use the abstracted camera sensor model defined here to
>
> s/abstracted/abstract/
>
> > +precisely control the operations of the camera sensor.
> > +
> > +The libcamera camera sensor model targets image sensors producing frames in
> > +RAW format, delivered through a MIPI CSI-2 compliant bus implementation.
> > +
> > +The abstract sensor model maps libcamera components to the characteristics and
> > +operations of an image sensor, and serves as a reference to model the libcamera
> > +CameraSensor class and SensorConfiguration classes and operations.
> > +
> > +In order to control the configuration of the camera sensor through the
> > +SensorConfiguration class, applications should understand this model and map it
> > +to the combination of image sensor and kernel driver in use.
> > +
> > +The camera sensor model defined here is based on the *MIPI CCS specification*,
> > +particularly on *Section 8.2 - Image readout* of *Chapter 8 - Video Timings*.
> > +
> > +Glossary
> > +---------
> > +
> > +- *Pixel array*: The full grid of pixels, active and inactive ones
> > +
> > +- *Pixel array active area*: The portion(s) of the pixel array that
> > +  contains valid and readable pixels; corresponds to the libcamera
> > +  properties::PixelArrayActiveAreas
> > +
> > +- *Analog crop rectangle*: The portion of the *pixel array active area* which
> > +  is read out and passed to further processing stages
> > +
> > +- *Subsampling*: Pixel processing techniques that reduce the image size by
> > +  binning or by skipping adjacent pixels
> > +
> > +- *Digital crop*: Crop of the sub-sampled image data before scaling
> > +
> > +- *Frame output*: The frame (image) as output on the media bus by the
> > +  camera sensor
>
> Sphinx has a glossary directive:
>
> .. glossary::
>
>    Pixel array
>       The full grid of pixels, active and inactive ones
>
>    Pixel array active area
>       The portion(s) of the pixel array that contains valid and readable
>       pixels; corresponds to the libcamera properties::PixelArrayActiveAreas
>
>    Analog crop rectangle
>       The portion of the *pixel array active area* which is read out and passed
>       to further processing stages
>
>    Subsampling
>       Pixel processing techniques that reduce the image size by binning or by
>       skipping adjacent pixels
>
>    Digital crop
>       Crop of the sub-sampled image data before scaling
>
>    Frame output
>       The frame (image) as output on the media bus by the camera sensor
>
> > +
> > +Camera sensor model
> > +-------------------
> > +
> > +The abstract sensor model is described in the following diagram
>
> s/$/./
>
> > +
> > +.. figure:: sensor_model.svg
> > +
> > +
> > +1. The sensor reads pixels from the *pixel array*. The pixels being read out are
> > +   selected by the *analog crop rectangle*.
> > +
> > +2. The pixels can be subsampled to reduce the image size without affecting the
> > +   field of view. Two subsampling techniques can be used:
> > +
> > +   - Binning: combines adjacent pixels of the same colour by averaging or
> > +     summing their values, in the analog domain and/or the digital domain.
> > +
> > +      .. figure:: binning.svg
> > +
> > +
> > +   - Skipping: skips the read out of a number of adjacent pixels.
> > +
> > +      .. figure:: skipping.svg
> > +
> > +
> > +3. The output of the optional sub-sampling stage is then cropped after the
> > +conversion of the analogue pixel values in the digital domain.
>
> s/^/   /
>
> > +
> > +4. The resulting output frame is sent on the media bus by the sensor.
> > +
> > +Camera Sensor configuration parameters
> > +--------------------------------------
> > +
> > +The libcamera camera sensor model defines parameters that allow users to
> > +control:
> > +
> > +1. The image format bit depth
> > +
> > +2. The size and position of the  *Analog crop rectangle*
> > +
> > +3. The subsampling factors used to downscale the pixel array readout data to a
> > +   smaller frame size without reducing the image *field of view*. Two
> > +   configuration parameters are made available to control the downscaling factor
>
> s/^/:/
>
> > +
> > +   - binning
> > +      - a vertical and horizontal binning factor can be specified, the image
>
> s/- a/A/
>
> > +        will be downscaled in its vertical and horizontal sizes by the specified
> > +        factor
>
> s/$/./
>
> > +
> > +      .. code-block::
> > +         :caption: Definition: The horizontal and vertical binning factors
> > +
> > +         horizontal_binning = xBin;
> > +         vertical_binning = yBin;
> > +
> > +
> > +   - skipping
> > +      - reduces the image resolution by skipping the read-out of a
> > +        number of adjacent pixels
> > +      - the skipping factor is specified by the 'increment' number (number of
> > +        pixels to 'skip') in the vertical and horizontal directions and for
> > +        even and odd rows and columns
>
>       Skipping reduces the image resolution by skipping the read-out of a number
>       of adjacent pixels. The skipping factor is specified by the 'increment'
>       number (number of pixels to 'skip') in the vertical and horizontal
>       directions and for even and odd rows and columns.
>
> > +
> > +      .. code-block::
> > +         :caption: Definition: The horizontal and vertical skipping factors
> > +
> > +         horizontal_skipping = (xOddInc + xEvenInc) / 2
> > +         vertical_skipping = (yOddInc + yEvenInc) / 2
> > +
> > +
> > +   - different sensors perform the binning and skipping stages in different
> > +     orders
> > +   - for the sake of computing the final output image size the order of
> > +     execution is not relevant.
> > +
> > +   - the overall down-scaling factor is obtained by combining the binning and
> > +     skipping factors
>
> As the text above introduces a list of two scaling factors, let's turn
> the rest into text, not bullet points:
>
>    Different sensors perform the binning and skipping stages in different
>    orders. For the sake of computing the final output image size the order of
>    execution is not relevant. The overall down-scaling factor is obtained by
>    combining the binning and skipping factors.
>

Ack

> > +
> > +   .. code-block::
> > +      :caption: Definition: The total scaling factor (binning + sub-sampling)
> > +
> > +      total_horizontal_downscale = horizontal_binning + horizontal_skipping
> > +      total_vertical_downscale = vertical_binning + vertical_skipping
> > +
> > +
> > +4. The output data frame size
> > +    - the output size is used to specify any additional cropping on the
> > +      sub-sampled frame
>
> Ditto, drop the bullet, start with a capital letter, end with a period.
> Same below.
>
> > +
> > +5. The total line length and frame height (*visibile* pixels + *blankings*) as
> > +   sent on the MIPI CSI-2 bus
> > +
> > +6. The pixel transmission rate on the MIPI CSI-2 bus
> > +
> > +The above parameters are combined to obtain the following high-level
> > +configurations:
> > +
> > +- **frame output size**
> > +
> > +   Obtained by applying a crop to the physical pixel array size in the analog
> > +   domain, followed by optional binning and sub-sampling (in any order),
> > +   followed by an optional crop step in the output digital domain.
> > +
> > +- **frame rate**
> > +
> > +   The combination of the *total frame size*, the image format *bit depth* and
> > +   the *pixel rate* of the data sent on the MIPI CSI-2 bus allows to compute the
> > +   image stream frame rate. The equation is the well known:
> > +
> > +   .. code-block::
> > +
> > +      frame_duration = total_frame_size / pixel_rate
> > +      frame_rate = 1 / frame_duration
> > +
> > +
> > +   where the *pixel_rate* parameter is the result of the sensor's configuration
> > +   of the MIPI CSI-2 bus *(the following formula applies to MIPI CSI-2 when
> > +   used on MIPI D-PHY physical protocol layer only)*
> > +
> > +   .. code-block::
> > +
> > +      pixel_rate = CSI-2_link_freq * 2 * nr_of_lanes / bits_per_sample
> > diff --git a/Documentation/index.rst b/Documentation/index.rst
> > index 43d8b017d3b4..63fac72d11ed 100644
> > --- a/Documentation/index.rst
> > +++ b/Documentation/index.rst
> > @@ -23,3 +23,4 @@
> >     Sensor driver requirements <sensor_driver_requirements>
> >     Lens driver requirements <lens_driver_requirements>
> >     Python Bindings <python-bindings>
> > +   Camera Sensor Model <camera-sensor-model>
> > diff --git a/Documentation/meson.build b/Documentation/meson.build
> > index b2a5bf15e6ea..7c1502592baa 100644
> > --- a/Documentation/meson.build
> > +++ b/Documentation/meson.build
> > @@ -63,6 +63,7 @@ endif
> >
> >  if sphinx.found()
> >      docs_sources = [
> > +        'camera-sensor-model.rst',
> >          'coding-style.rst',
> >          'conf.py',
> >          'contributing.rst',
> > diff --git a/Documentation/sensor_model.svg b/Documentation/sensor_model.svg
> > new file mode 100644
> > index 000000000000..1f76d41cf6a5
> > --- /dev/null
> > +++ b/Documentation/sensor_model.svg
> > @@ -0,0 +1,4866 @@
>
> It looks quite neat. The only improvement I can see could be nice is to
> scale the image in 4 to have the same pixel size as in 3, to avoid
> implying there's any scaling. It can be done on top, or you can the
> change before pushing.
>

Ah good point, I think it's a leftover from when I had the digital
scaling block here


> [snip]
>
> > diff --git a/Documentation/skipping.svg b/Documentation/skipping.svg
> > new file mode 100644
> > index 000000000000..7bef37cfcc64
> > --- /dev/null
> > +++ b/Documentation/skipping.svg
> > @@ -0,0 +1,1720 @@
>
> [snip]
>
> Reviewed-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>

Thanks

>
> --
> Regards,
>
> Laurent Pinchart

Patch
diff mbox series 

diff --git a/Documentation/binning.svg b/Documentation/binning.svg
new file mode 100644
index 000000000000..c6a3b6394acd
--- /dev/null
+++ b/Documentation/binning.svg
@@ -0,0 +1,5053 @@ 
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diff --git a/Documentation/camera-sensor-model.rst b/Documentation/camera-sensor-model.rst
new file mode 100644
index 000000000000..7ff0bdc50564
--- /dev/null
+++ b/Documentation/camera-sensor-model.rst
@@ -0,0 +1,170 @@ 
+.. SPDX-License-Identifier: CC-BY-SA-4.0
+
+.. _camera-sensor-model:
+
+The libcamera camera sensor model
+=================================
+
+libcamera defines an abstract camera sensor model in order to provide
+a description of each of the processing steps that result in image data being
+sent on the media bus and that form the image stream delivered to applications.
+
+Applications should use the abstracted camera sensor model defined here to
+precisely control the operations of the camera sensor.
+
+The libcamera camera sensor model targets image sensors producing frames in
+RAW format, delivered through a MIPI CSI-2 compliant bus implementation.
+
+The abstract sensor model maps libcamera components to the characteristics and
+operations of an image sensor, and serves as a reference to model the libcamera
+CameraSensor class and SensorConfiguration classes and operations.
+
+In order to control the configuration of the camera sensor through the
+SensorConfiguration class, applications should understand this model and map it
+to the combination of image sensor and kernel driver in use.
+
+The camera sensor model defined here is based on the *MIPI CCS specification*,
+particularly on *Section 8.2 - Image readout* of *Chapter 8 - Video Timings*.
+
+Glossary
+---------
+
+- *Pixel array*: The full grid of pixels, active and inactive ones
+
+- *Pixel array active area*: The portion(s) of the pixel array that
+  contains valid and readable pixels; corresponds to the libcamera
+  properties::PixelArrayActiveAreas
+
+- *Analog crop rectangle*: The portion of the *pixel array active area* which
+  is read out and passed to further processing stages
+
+- *Subsampling*: Pixel processing techniques that reduce the image size by
+  binning or by skipping adjacent pixels
+
+- *Digital crop*: Crop of the sub-sampled image data before scaling
+
+- *Frame output*: The frame (image) as output on the media bus by the
+  camera sensor
+
+Camera sensor model
+-------------------
+
+The abstract sensor model is described in the following diagram
+
+.. figure:: sensor_model.svg
+
+
+1. The sensor reads pixels from the *pixel array*. The pixels being read out are
+   selected by the *analog crop rectangle*.
+
+2. The pixels can be subsampled to reduce the image size without affecting the
+   field of view. Two subsampling techniques can be used:
+
+   - Binning: combines adjacent pixels of the same colour by averaging or
+     summing their values, in the analog domain and/or the digital domain.
+
+      .. figure:: binning.svg
+
+
+   - Skipping: skips the read out of a number of adjacent pixels.
+
+      .. figure:: skipping.svg
+
+
+3. The output of the optional sub-sampling stage is then cropped after the
+conversion of the analogue pixel values in the digital domain.
+
+4. The resulting output frame is sent on the media bus by the sensor.
+
+Camera Sensor configuration parameters
+--------------------------------------
+
+The libcamera camera sensor model defines parameters that allow users to
+control:
+
+1. The image format bit depth
+
+2. The size and position of the  *Analog crop rectangle*
+
+3. The subsampling factors used to downscale the pixel array readout data to a
+   smaller frame size without reducing the image *field of view*. Two
+   configuration parameters are made available to control the downscaling factor
+
+   - binning
+      - a vertical and horizontal binning factor can be specified, the image
+        will be downscaled in its vertical and horizontal sizes by the specified
+        factor
+
+      .. code-block::
+         :caption: Definition: The horizontal and vertical binning factors
+
+         horizontal_binning = xBin;
+         vertical_binning = yBin;
+
+
+   - skipping
+      - reduces the image resolution by skipping the read-out of a
+        number of adjacent pixels
+      - the skipping factor is specified by the 'increment' number (number of
+        pixels to 'skip') in the vertical and horizontal directions and for
+        even and odd rows and columns
+
+      .. code-block::
+         :caption: Definition: The horizontal and vertical skipping factors
+
+         horizontal_skipping = (xOddInc + xEvenInc) / 2
+         vertical_skipping = (yOddInc + yEvenInc) / 2
+
+
+   - different sensors perform the binning and skipping stages in different
+     orders
+   - for the sake of computing the final output image size the order of
+     execution is not relevant.
+
+   - the overall down-scaling factor is obtained by combining the binning and
+     skipping factors
+
+   .. code-block::
+      :caption: Definition: The total scaling factor (binning + sub-sampling)
+
+      total_horizontal_downscale = horizontal_binning + horizontal_skipping
+      total_vertical_downscale = vertical_binning + vertical_skipping
+
+
+4. The output data frame size
+    - the output size is used to specify any additional cropping on the
+      sub-sampled frame
+
+5. The total line length and frame height (*visibile* pixels + *blankings*) as
+   sent on the MIPI CSI-2 bus
+
+6. The pixel transmission rate on the MIPI CSI-2 bus
+
+The above parameters are combined to obtain the following high-level
+configurations:
+
+- **frame output size**
+
+   Obtained by applying a crop to the physical pixel array size in the analog
+   domain, followed by optional binning and sub-sampling (in any order),
+   followed by an optional crop step in the output digital domain.
+
+- **frame rate**
+
+   The combination of the *total frame size*, the image format *bit depth* and
+   the *pixel rate* of the data sent on the MIPI CSI-2 bus allows to compute the
+   image stream frame rate. The equation is the well known:
+
+   .. code-block::
+
+      frame_duration = total_frame_size / pixel_rate
+      frame_rate = 1 / frame_duration
+
+
+   where the *pixel_rate* parameter is the result of the sensor's configuration
+   of the MIPI CSI-2 bus *(the following formula applies to MIPI CSI-2 when
+   used on MIPI D-PHY physical protocol layer only)*
+
+   .. code-block::
+
+      pixel_rate = CSI-2_link_freq * 2 * nr_of_lanes / bits_per_sample
diff --git a/Documentation/index.rst b/Documentation/index.rst
index 43d8b017d3b4..63fac72d11ed 100644
--- a/Documentation/index.rst
+++ b/Documentation/index.rst
@@ -23,3 +23,4 @@ 
    Sensor driver requirements <sensor_driver_requirements>
    Lens driver requirements <lens_driver_requirements>
    Python Bindings <python-bindings>
+   Camera Sensor Model <camera-sensor-model>
diff --git a/Documentation/meson.build b/Documentation/meson.build
index b2a5bf15e6ea..7c1502592baa 100644
--- a/Documentation/meson.build
+++ b/Documentation/meson.build
@@ -63,6 +63,7 @@  endif
 
 if sphinx.found()
     docs_sources = [
+        'camera-sensor-model.rst',
         'coding-style.rst',
         'conf.py',
         'contributing.rst',
diff --git a/Documentation/sensor_model.svg b/Documentation/sensor_model.svg
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