[v4,09/18] libcamera: ipa: add Soft IPA

19580 diff mbox series

From: Andrey Konovalov <andrey.konovalov@linaro.org>

Define the Soft IPA main and event interfaces, add the Soft IPA
implementation.

The current src/ipa/meson.build assumes the IPA name to match the
pipeline name. For this reason "-Dipas=simple" is used for the
Soft IPA module.

Auto exposure/gain and AWB implementation by Dennis, Toon and Martti.

Auto exposure/gain targets a Mean Sample Value of 2.5 following
the MSV calculation algorithm from:
https://www.araa.asn.au/acra/acra2007/papers/paper84final.pdf

Tested-by: Bryan O'Donoghue <bryan.odonoghue@linaro.org> # sc8280xp Lenovo x13s
Tested-by: Pavel Machek <pavel@ucw.cz>
Reviewed-by: Pavel Machek <pavel@ucw.cz>
Signed-off-by: Andrey Konovalov <andrey.konovalov@linaro.org>
Co-developed-by: Dennis Bonke <admin@dennisbonke.com>
Signed-off-by: Dennis Bonke <admin@dennisbonke.com>
Co-developed-by: Marttico <g.martti@gmail.com>
Signed-off-by: Marttico <g.martti@gmail.com>
Co-developed-by: Toon Langendam <t.langendam@gmail.com>
Signed-off-by: Toon Langendam <t.langendam@gmail.com>
Signed-off-by: Hans de Goede <hdegoede@redhat.com>
---
Changes in v4:
- Use int32_t for again*_ and exposure*_ as this matches
  the value the corresponding ControlValue::get() returns
- Check for mmap() returning MAP_FAILED on error
- Drop std::move() called on const SharedFD & argument
- Replace #defines (EXPOSURE_OPTIMAL_VALUE etc) with const expressions
- Use std::clamp() to keep exposure_ and again_ between the *_min_ and
  the *_max_
- add comment on non-linear gain value vs gain code

Changes in v3:
- Use new SwIspStats::kYHistogramSize constexpr and adjust
  the auto-exposure/-gain code so that it can deal with
  that having a different value then 16 (modify the loop
  to divide the histogram in 5 bins to not have hardcoded
  values)
- Rename a few foo_bar symbols to fooBar
---
 Documentation/Doxyfile.in         |   1 +
 include/libcamera/ipa/meson.build |   1 +
 include/libcamera/ipa/soft.mojom  |  28 +++
 meson_options.txt                 |   2 +-
 src/ipa/simple/data/meson.build   |   9 +
 src/ipa/simple/data/soft.conf     |   3 +
 src/ipa/simple/meson.build        |  25 +++
 src/ipa/simple/soft_simple.cpp    | 326 ++++++++++++++++++++++++++++++
 8 files changed, 394 insertions(+), 1 deletion(-)
 create mode 100644 include/libcamera/ipa/soft.mojom
 create mode 100644 src/ipa/simple/data/meson.build
 create mode 100644 src/ipa/simple/data/soft.conf
 create mode 100644 src/ipa/simple/meson.build
 create mode 100644 src/ipa/simple/soft_simple.cpp

Hans de Goede <hdegoede@redhat.com> writes:

> From: Andrey Konovalov <andrey.konovalov@linaro.org>
>
> Define the Soft IPA main and event interfaces, add the Soft IPA
> implementation.
>
> The current src/ipa/meson.build assumes the IPA name to match the
> pipeline name. For this reason "-Dipas=simple" is used for the
> Soft IPA module.
>
> Auto exposure/gain and AWB implementation by Dennis, Toon and Martti.
>
> Auto exposure/gain targets a Mean Sample Value of 2.5 following
> the MSV calculation algorithm from:
> https://www.araa.asn.au/acra/acra2007/papers/paper84final.pdf
>
> Tested-by: Bryan O'Donoghue <bryan.odonoghue@linaro.org> # sc8280xp Lenovo x13s
> Tested-by: Pavel Machek <pavel@ucw.cz>
> Reviewed-by: Pavel Machek <pavel@ucw.cz>
> Signed-off-by: Andrey Konovalov <andrey.konovalov@linaro.org>
> Co-developed-by: Dennis Bonke <admin@dennisbonke.com>
> Signed-off-by: Dennis Bonke <admin@dennisbonke.com>
> Co-developed-by: Marttico <g.martti@gmail.com>
> Signed-off-by: Marttico <g.martti@gmail.com>
> Co-developed-by: Toon Langendam <t.langendam@gmail.com>
> Signed-off-by: Toon Langendam <t.langendam@gmail.com>
> Signed-off-by: Hans de Goede <hdegoede@redhat.com>

As for the white balance and exposure adjustments, the patch looks good to me.
I leave the other stuff for other reviewers.

> ---
> Changes in v4:
> - Use int32_t for again*_ and exposure*_ as this matches
>   the value the corresponding ControlValue::get() returns
> - Check for mmap() returning MAP_FAILED on error
> - Drop std::move() called on const SharedFD & argument
> - Replace #defines (EXPOSURE_OPTIMAL_VALUE etc) with const expressions
> - Use std::clamp() to keep exposure_ and again_ between the *_min_ and
>   the *_max_
> - add comment on non-linear gain value vs gain code
>
> Changes in v3:
> - Use new SwIspStats::kYHistogramSize constexpr and adjust
>   the auto-exposure/-gain code so that it can deal with
>   that having a different value then 16 (modify the loop
>   to divide the histogram in 5 bins to not have hardcoded
>   values)
> - Rename a few foo_bar symbols to fooBar
> ---
>  Documentation/Doxyfile.in         |   1 +
>  include/libcamera/ipa/meson.build |   1 +
>  include/libcamera/ipa/soft.mojom  |  28 +++
>  meson_options.txt                 |   2 +-
>  src/ipa/simple/data/meson.build   |   9 +
>  src/ipa/simple/data/soft.conf     |   3 +
>  src/ipa/simple/meson.build        |  25 +++
>  src/ipa/simple/soft_simple.cpp    | 326 ++++++++++++++++++++++++++++++
>  8 files changed, 394 insertions(+), 1 deletion(-)
>  create mode 100644 include/libcamera/ipa/soft.mojom
>  create mode 100644 src/ipa/simple/data/meson.build
>  create mode 100644 src/ipa/simple/data/soft.conf
>  create mode 100644 src/ipa/simple/meson.build
>  create mode 100644 src/ipa/simple/soft_simple.cpp
>
> diff --git a/Documentation/Doxyfile.in b/Documentation/Doxyfile.in
> index a86ea6c1..2be8d47b 100644
> --- a/Documentation/Doxyfile.in
> +++ b/Documentation/Doxyfile.in
> @@ -44,6 +44,7 @@ EXCLUDE                = @TOP_SRCDIR@/include/libcamera/base/span.h \
>                           @TOP_SRCDIR@/src/libcamera/pipeline/ \
>                           @TOP_SRCDIR@/src/libcamera/tracepoints.cpp \
>                           @TOP_BUILDDIR@/include/libcamera/internal/tracepoints.h \
> +                         @TOP_BUILDDIR@/include/libcamera/ipa/soft_ipa_interface.h \
>                           @TOP_BUILDDIR@/src/libcamera/proxy/
>  
>  EXCLUDE_PATTERNS       = @TOP_BUILDDIR@/include/libcamera/ipa/*_serializer.h \
> diff --git a/include/libcamera/ipa/meson.build b/include/libcamera/ipa/meson.build
> index f3b4881c..3352d08f 100644
> --- a/include/libcamera/ipa/meson.build
> +++ b/include/libcamera/ipa/meson.build
> @@ -65,6 +65,7 @@ pipeline_ipa_mojom_mapping = {
>      'ipu3': 'ipu3.mojom',
>      'rkisp1': 'rkisp1.mojom',
>      'rpi/vc4': 'raspberrypi.mojom',
> +    'simple': 'soft.mojom',
>      'vimc': 'vimc.mojom',
>  }
>  
> diff --git a/include/libcamera/ipa/soft.mojom b/include/libcamera/ipa/soft.mojom
> new file mode 100644
> index 00000000..c249bd75
> --- /dev/null
> +++ b/include/libcamera/ipa/soft.mojom
> @@ -0,0 +1,28 @@
> +/* SPDX-License-Identifier: LGPL-2.1-or-later */
> +
> +/*
> + * \todo Document the interface and remove the related EXCLUDE_PATTERNS entry.
> + */
> +
> +module ipa.soft;
> +
> +import "include/libcamera/ipa/core.mojom";
> +
> +interface IPASoftInterface {
> +	init(libcamera.IPASettings settings,
> +	     libcamera.SharedFD fdStats,
> +	     libcamera.SharedFD fdParams,
> +	     libcamera.ControlInfoMap sensorCtrlInfoMap)
> +		=> (int32 ret);
> +	start() => (int32 ret);
> +	stop();
> +	configure(libcamera.ControlInfoMap sensorCtrlInfoMap)
> +		=> (int32 ret);
> +
> +	[async] processStats(libcamera.ControlList sensorControls);
> +};
> +
> +interface IPASoftEventInterface {
> +	setSensorControls(libcamera.ControlList sensorControls);
> +	setIspParams(int32 dummy);
> +};
> diff --git a/meson_options.txt b/meson_options.txt
> index 99dab96d..2644bef0 100644
> --- a/meson_options.txt
> +++ b/meson_options.txt
> @@ -27,7 +27,7 @@ option('gstreamer',
>  
>  option('ipas',
>          type : 'array',
> -        choices : ['ipu3', 'rkisp1', 'rpi/vc4', 'vimc'],
> +        choices : ['ipu3', 'rkisp1', 'rpi/vc4', 'simple', 'vimc'],
>          description : 'Select which IPA modules to build')
>  
>  option('lc-compliance',
> diff --git a/src/ipa/simple/data/meson.build b/src/ipa/simple/data/meson.build
> new file mode 100644
> index 00000000..33548cc6
> --- /dev/null
> +++ b/src/ipa/simple/data/meson.build
> @@ -0,0 +1,9 @@
> +# SPDX-License-Identifier: CC0-1.0
> +
> +conf_files = files([
> +    'soft.conf',
> +])
> +
> +install_data(conf_files,
> +             install_dir : ipa_data_dir / 'soft',
> +             install_tag : 'runtime')
> diff --git a/src/ipa/simple/data/soft.conf b/src/ipa/simple/data/soft.conf
> new file mode 100644
> index 00000000..0c70e7c0
> --- /dev/null
> +++ b/src/ipa/simple/data/soft.conf
> @@ -0,0 +1,3 @@
> +# SPDX-License-Identifier: LGPL-2.1-or-later
> +#
> +# Dummy configuration file for the soft IPA.
> diff --git a/src/ipa/simple/meson.build b/src/ipa/simple/meson.build
> new file mode 100644
> index 00000000..3e863db7
> --- /dev/null
> +++ b/src/ipa/simple/meson.build
> @@ -0,0 +1,25 @@
> +# SPDX-License-Identifier: CC0-1.0
> +
> +ipa_name = 'ipa_soft_simple'
> +
> +mod = shared_module(ipa_name,
> +                    ['soft_simple.cpp', libcamera_generated_ipa_headers],
> +                    name_prefix : '',
> +                    include_directories : [ipa_includes, libipa_includes],
> +                    dependencies : libcamera_private,
> +                    link_with : libipa,
> +                    install : true,
> +                    install_dir : ipa_install_dir)
> +
> +if ipa_sign_module
> +    custom_target(ipa_name + '.so.sign',
> +                  input : mod,
> +                  output : ipa_name + '.so.sign',
> +                  command : [ipa_sign, ipa_priv_key, '@INPUT@', '@OUTPUT@'],
> +                  install : false,
> +                  build_by_default : true)
> +endif
> +
> +subdir('data')
> +
> +ipa_names += ipa_name
> diff --git a/src/ipa/simple/soft_simple.cpp b/src/ipa/simple/soft_simple.cpp
> new file mode 100644
> index 00000000..312df4ba
> --- /dev/null
> +++ b/src/ipa/simple/soft_simple.cpp
> @@ -0,0 +1,326 @@
> +/* SPDX-License-Identifier: LGPL-2.1-or-later */
> +/*
> + * Copyright (C) 2023, Linaro Ltd
> + *
> + * soft_simple.cpp - Simple Software Image Processing Algorithm module
> + */
> +
> +#include <sys/mman.h>
> +
> +#include <libcamera/base/file.h>
> +#include <libcamera/base/log.h>
> +#include <libcamera/base/shared_fd.h>
> +
> +#include <libcamera/control_ids.h>
> +#include <libcamera/controls.h>
> +
> +#include <libcamera/ipa/ipa_interface.h>
> +#include <libcamera/ipa/ipa_module_info.h>
> +#include <libcamera/ipa/soft_ipa_interface.h>
> +
> +#include "libcamera/internal/camera_sensor.h"
> +#include "libcamera/internal/software_isp/debayer_params.h"
> +#include "libcamera/internal/software_isp/swisp_stats.h"
> +
> +namespace libcamera {
> +
> +LOG_DEFINE_CATEGORY(IPASoft)
> +
> +namespace ipa::soft {
> +
> +class IPASoftSimple : public ipa::soft::IPASoftInterface
> +{
> +public:
> +	IPASoftSimple()
> +		: params_(static_cast<DebayerParams *>(MAP_FAILED)),
> +		  stats_(static_cast<SwIspStats *>(MAP_FAILED)), ignore_updates_(0)
> +	{
> +	}
> +
> +	~IPASoftSimple()
> +	{
> +		if (stats_ != MAP_FAILED)
> +			munmap(stats_, sizeof(SwIspStats));
> +		if (params_ != MAP_FAILED)
> +			munmap(params_, sizeof(DebayerParams));
> +	}
> +
> +	int init(const IPASettings &settings,
> +		 const SharedFD &fdStats,
> +		 const SharedFD &fdParams,
> +		 const ControlInfoMap &sensorInfoMap) override;
> +	int configure(const ControlInfoMap &sensorInfoMap) override;
> +
> +	int start() override;
> +	void stop() override;
> +
> +	void processStats(const ControlList &sensorControls) override;
> +
> +private:
> +	void updateExposure(double exposureMSV);
> +
> +	SharedFD fdStats_;
> +	SharedFD fdParams_;
> +	DebayerParams *params_;
> +	SwIspStats *stats_;
> +
> +	int32_t exposure_min_, exposure_max_;
> +	int32_t again_min_, again_max_;
> +	int32_t again_, exposure_;
> +	unsigned int ignore_updates_;
> +};
> +
> +int IPASoftSimple::init([[maybe_unused]] const IPASettings &settings,
> +			const SharedFD &fdStats,
> +			const SharedFD &fdParams,
> +			const ControlInfoMap &sensorInfoMap)
> +{
> +	fdStats_ = fdStats;
> +	if (!fdStats_.isValid()) {
> +		LOG(IPASoft, Error) << "Invalid Statistics handle";
> +		return -ENODEV;
> +	}
> +
> +	fdParams_ = fdParams;
> +	if (!fdParams_.isValid()) {
> +		LOG(IPASoft, Error) << "Invalid Parameters handle";
> +		return -ENODEV;
> +	}
> +
> +	params_ = static_cast<DebayerParams *>(mmap(nullptr, sizeof(DebayerParams),
> +						    PROT_WRITE, MAP_SHARED,
> +						    fdParams_.get(), 0));
> +	if (params_ == MAP_FAILED) {
> +		LOG(IPASoft, Error) << "Unable to map Parameters";
> +		return -errno;
> +	}
> +
> +	stats_ = static_cast<SwIspStats *>(mmap(nullptr, sizeof(SwIspStats),
> +						PROT_READ, MAP_SHARED,
> +						fdStats_.get(), 0));
> +	if (stats_ == MAP_FAILED) {
> +		LOG(IPASoft, Error) << "Unable to map Statistics";
> +		return -errno;
> +	}
> +
> +	if (sensorInfoMap.find(V4L2_CID_EXPOSURE) == sensorInfoMap.end()) {
> +		LOG(IPASoft, Error) << "Don't have exposure control";
> +		return -EINVAL;
> +	}
> +
> +	if (sensorInfoMap.find(V4L2_CID_ANALOGUE_GAIN) == sensorInfoMap.end()) {
> +		LOG(IPASoft, Error) << "Don't have gain control";
> +		return -EINVAL;
> +	}
> +
> +	return 0;
> +}
> +
> +int IPASoftSimple::configure(const ControlInfoMap &sensorInfoMap)
> +{
> +	const ControlInfo &exposure_info = sensorInfoMap.find(V4L2_CID_EXPOSURE)->second;
> +	const ControlInfo &gain_info = sensorInfoMap.find(V4L2_CID_ANALOGUE_GAIN)->second;
> +
> +	exposure_min_ = exposure_info.min().get<int32_t>();
> +	exposure_max_ = exposure_info.max().get<int32_t>();
> +	if (!exposure_min_) {
> +		LOG(IPASoft, Warning) << "Minimum exposure is zero, that can't be linear";
> +		exposure_min_ = 1;
> +	}
> +
> +	again_min_ = gain_info.min().get<int32_t>();
> +	again_max_ = gain_info.max().get<int32_t>();
> +	/*
> +	 * The camera sensor gain (g) is usually not equal to the value written
> +	 * into the gain register (x). But the way how the AGC algorithm changes
> +	 * the gain value to make the total exposure closer to the optimum assumes
> +	 * that g(x) is not too far from linear function. If the minimal gain is 0,
> +	 * the g(x) is likely to be far from the linear, like g(x) = a / (b * x + c).
> +	 * To avoid unexpected changes to the gain by the AGC algorithm (abrupt near
> +	 * one edge, and very small near the other) we limit the range of the gain
> +	 * values used.
> +	 */
> +	if (!again_min_) {
> +		LOG(IPASoft, Warning) << "Minimum gain is zero, that can't be linear";
> +		again_min_ = std::min(100, again_min_ / 2 + again_max_ / 2);
> +	}
> +
> +	LOG(IPASoft, Info) << "Exposure " << exposure_min_ << "-" << exposure_max_
> +			   << ", gain " << again_min_ << "-" << again_max_;
> +
> +	return 0;
> +}
> +
> +int IPASoftSimple::start()
> +{
> +	return 0;
> +}
> +
> +void IPASoftSimple::stop()
> +{
> +}
> +
> +/*
> + * The number of bins to use for the optimal exposure calculations.
> + */
> +static constexpr unsigned int kExposureBinsCount = 5;
> +/*
> + * The exposure is optimal when the mean sample value of the histogram is
> + * in the middle of the range.
> + */
> +static constexpr float kExposureOptimal = kExposureBinsCount / 2.0;
> +/*
> + * The below value implements the hysteresis for the exposure adjustment.
> + * It is small enough to have the exposure close to the optimal, and is big
> + * enough to prevent the exposure from wobbling around the optimal value.
> + */
> +static constexpr float kExposureSatisfactory = 0.2;
> +
> +void IPASoftSimple::processStats(const ControlList &sensorControls)
> +{
> +	/*
> +	 * Calculate red and blue gains for AWB.
> +	 * Clamp max gain at 4.0, this also avoids 0 division.
> +	 */
> +	if (stats_->sumR_ <= stats_->sumG_ / 4)
> +		params_->gainR = 1024;
> +	else
> +		params_->gainR = 256 * stats_->sumG_ / stats_->sumR_;
> +
> +	if (stats_->sumB_ <= stats_->sumG_ / 4)
> +		params_->gainB = 1024;
> +	else
> +		params_->gainB = 256 * stats_->sumG_ / stats_->sumB_;
> +
> +	/* Green gain and gamma values are fixed */
> +	params_->gainG = 256;
> +	params_->gamma = 0.5;
> +
> +	setIspParams.emit(0);
> +
> +	/*
> +	 * AE / AGC, use 2 frames delay to make sure that the exposure and
> +	 * the gain set have applied to the camera sensor.
> +	 */
> +	if (ignore_updates_ > 0) {
> +		--ignore_updates_;
> +		return;
> +	}
> +
> +	/*
> +	 * Calculate Mean Sample Value (MSV) according to formula from:
> +	 * https://www.araa.asn.au/acra/acra2007/papers/paper84final.pdf
> +	 */
> +	constexpr unsigned int yHistValsPerBin =
> +		SwIspStats::kYHistogramSize / kExposureBinsCount;
> +	constexpr unsigned int yHistValsPerBinMod =
> +		SwIspStats::kYHistogramSize /
> +		(SwIspStats::kYHistogramSize % kExposureBinsCount + 1);
> +	int ExposureBins[kExposureBinsCount] = {};
> +	unsigned int denom = 0;
> +	unsigned int num = 0;
> +
> +	for (unsigned int i = 0; i < SwIspStats::kYHistogramSize; i++) {
> +		unsigned int idx = (i - (i / yHistValsPerBinMod)) / yHistValsPerBin;
> +		ExposureBins[idx] += stats_->yHistogram[i];
> +	}
> +
> +	for (unsigned int i = 0; i < kExposureBinsCount; i++) {
> +		LOG(IPASoft, Debug) << i << ": " << ExposureBins[i];
> +		denom += ExposureBins[i];
> +		num += ExposureBins[i] * (i + 1);
> +	}
> +
> +	float exposureMSV = (float)num / denom;
> +
> +	/* sanity check */
> +	if (!sensorControls.contains(V4L2_CID_EXPOSURE) ||
> +	    !sensorControls.contains(V4L2_CID_ANALOGUE_GAIN)) {
> +		LOG(IPASoft, Error) << "Control(s) missing";
> +		return;
> +	}
> +
> +	ControlList ctrls(sensorControls);
> +
> +	exposure_ = ctrls.get(V4L2_CID_EXPOSURE).get<int32_t>();
> +	again_ = ctrls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>();
> +
> +	updateExposure(exposureMSV);
> +
> +	ctrls.set(V4L2_CID_EXPOSURE, exposure_);
> +	ctrls.set(V4L2_CID_ANALOGUE_GAIN, again_);
> +
> +	ignore_updates_ = 2;
> +
> +	setSensorControls.emit(ctrls);
> +
> +	LOG(IPASoft, Debug) << "exposureMSV " << exposureMSV
> +			    << " exp " << exposure_ << " again " << again_
> +			    << " gain R/B " << params_->gainR << "/" << params_->gainB;
> +}
> +
> +void IPASoftSimple::updateExposure(double exposureMSV)
> +{
> +	/* DENOMINATOR of 10 gives ~10% increment/decrement; DENOMINATOR of 5 - about ~20% */
> +	static constexpr uint8_t kExpDenominator = 10;
> +	static constexpr uint8_t kExpNumeratorUp = kExpDenominator + 1;
> +	static constexpr uint8_t kExpNumeratorDown = kExpDenominator - 1;
> +
> +	int next;
> +
> +	if (exposureMSV < kExposureOptimal - kExposureSatisfactory) {
> +		next = exposure_ * kExpNumeratorUp / kExpDenominator;
> +		if (next - exposure_ < 1)
> +			exposure_ += 1;
> +		else
> +			exposure_ = next;
> +		if (exposure_ >= exposure_max_) {
> +			next = again_ * kExpNumeratorUp / kExpDenominator;
> +			if (next - again_ < 1)
> +				again_ += 1;
> +			else
> +				again_ = next;
> +		}
> +	}
> +
> +	if (exposureMSV > kExposureOptimal + kExposureSatisfactory) {
> +		if (exposure_ == exposure_max_ && again_ != again_min_) {
> +			next = again_ * kExpNumeratorDown / kExpDenominator;
> +			if (again_ - next < 1)
> +				again_ -= 1;
> +			else
> +				again_ = next;
> +		} else {
> +			next = exposure_ * kExpNumeratorDown / kExpDenominator;
> +			if (exposure_ - next < 1)
> +				exposure_ -= 1;
> +			else
> +				exposure_ = next;
> +		}
> +	}
> +
> +	exposure_ = std::clamp(exposure_, exposure_min_, exposure_max_);
> +	again_ = std::clamp(again_, again_min_, again_max_);
> +}
> +
> +} /* namespace ipa::soft */
> +
> +/*
> + * External IPA module interface
> + */
> +extern "C" {
> +const struct IPAModuleInfo ipaModuleInfo = {
> +	IPA_MODULE_API_VERSION,
> +	0,
> +	"SimplePipelineHandler",
> +	"simple",
> +};
> +
> +IPAInterface *ipaCreate()
> +{
> +	return new ipa::soft::IPASoftSimple();
> +}
> +
> +} /* extern "C" */
> +
> +} /* namespace libcamera */