[libcamera-devel] [PATCH v6 2/4] ipa: raspberrypi: Switch ipa and cam_helper to use utils::Duration
Jacopo Mondi
jacopo at jmondi.org
Tue Jun 8 17:46:32 CEST 2021
Hi Naush,
On Tue, Jun 08, 2021 at 12:03:33PM +0100, Naushir Patuck wrote:
> Switch the ipa and cam_helper code to use libcamera::utils::Duration for
> all time based variables. This improves code readability and avoids
> possible errors when converting between time bases.
>
> Signed-off-by: Naushir Patuck <naush at raspberrypi.com>
> Reviewed-by: David Plowman <david.plowman at raspberrypi.com>
> Reviewed-by: Laurent Pinchart <laurent.pinchart at ideasonboard.com>
Reviewed-by: Jacopo Mondi <jacopo at jmondi.org>
Thanks
j
> ---
> src/ipa/raspberrypi/cam_helper.cpp | 20 ++++---
> src/ipa/raspberrypi/cam_helper.hpp | 10 ++--
> src/ipa/raspberrypi/controller/camera_mode.h | 6 +-
> src/ipa/raspberrypi/raspberrypi.cpp | 62 ++++++++++----------
> 4 files changed, 53 insertions(+), 45 deletions(-)
>
> diff --git a/src/ipa/raspberrypi/cam_helper.cpp b/src/ipa/raspberrypi/cam_helper.cpp
> index 09917f3cc079..92a38007f038 100644
> --- a/src/ipa/raspberrypi/cam_helper.cpp
> +++ b/src/ipa/raspberrypi/cam_helper.cpp
> @@ -18,6 +18,7 @@
>
> using namespace RPiController;
> using namespace libcamera;
> +using libcamera::utils::Duration;
>
> namespace libcamera {
> LOG_DECLARE_CATEGORY(IPARPI)
> @@ -61,20 +62,21 @@ void CamHelper::Process([[maybe_unused]] StatisticsPtr &stats,
> {
> }
>
> -uint32_t CamHelper::ExposureLines(double exposure_us) const
> +uint32_t CamHelper::ExposureLines(const Duration exposure) const
> {
> assert(initialized_);
> - return exposure_us * 1000.0 / mode_.line_length;
> + return exposure / mode_.line_length;
> }
>
> -double CamHelper::Exposure(uint32_t exposure_lines) const
> +Duration CamHelper::Exposure(uint32_t exposure_lines) const
> {
> assert(initialized_);
> - return exposure_lines * mode_.line_length / 1000.0;
> + return exposure_lines * mode_.line_length;
> }
>
> -uint32_t CamHelper::GetVBlanking(double &exposure, double minFrameDuration,
> - double maxFrameDuration) const
> +uint32_t CamHelper::GetVBlanking(Duration &exposure,
> + Duration minFrameDuration,
> + Duration maxFrameDuration) const
> {
> uint32_t frameLengthMin, frameLengthMax, vblank;
> uint32_t exposureLines = ExposureLines(exposure);
> @@ -85,8 +87,8 @@ uint32_t CamHelper::GetVBlanking(double &exposure, double minFrameDuration,
> * minFrameDuration and maxFrameDuration are clamped by the caller
> * based on the limits for the active sensor mode.
> */
> - frameLengthMin = 1e3 * minFrameDuration / mode_.line_length;
> - frameLengthMax = 1e3 * maxFrameDuration / mode_.line_length;
> + frameLengthMin = minFrameDuration / mode_.line_length;
> + frameLengthMax = maxFrameDuration / mode_.line_length;
>
> /*
> * Limit the exposure to the maximum frame duration requested, and
> @@ -182,7 +184,7 @@ void CamHelper::parseEmbeddedData(Span<const uint8_t> buffer,
> return;
> }
>
> - deviceStatus.shutter_speed = Exposure(exposureLines);
> + deviceStatus.shutter_speed = Exposure(exposureLines).get<std::micro>();
> deviceStatus.analogue_gain = Gain(gainCode);
>
> LOG(IPARPI, Debug) << "Metadata updated - Exposure : "
> diff --git a/src/ipa/raspberrypi/cam_helper.hpp b/src/ipa/raspberrypi/cam_helper.hpp
> index a52f3f0b583c..f53f5c39b01c 100644
> --- a/src/ipa/raspberrypi/cam_helper.hpp
> +++ b/src/ipa/raspberrypi/cam_helper.hpp
> @@ -15,6 +15,7 @@
> #include "controller/metadata.hpp"
> #include "md_parser.hpp"
>
> +#include "libcamera/internal/utils.h"
> #include "libcamera/internal/v4l2_videodevice.h"
>
> namespace RPiController {
> @@ -72,10 +73,11 @@ public:
> virtual void Prepare(libcamera::Span<const uint8_t> buffer,
> Metadata &metadata);
> virtual void Process(StatisticsPtr &stats, Metadata &metadata);
> - uint32_t ExposureLines(double exposure_us) const;
> - double Exposure(uint32_t exposure_lines) const; // in us
> - virtual uint32_t GetVBlanking(double &exposure_us, double minFrameDuration,
> - double maxFrameDuration) const;
> + uint32_t ExposureLines(libcamera::utils::Duration exposure) const;
> + libcamera::utils::Duration Exposure(uint32_t exposure_lines) const;
> + virtual uint32_t GetVBlanking(libcamera::utils::Duration &exposure,
> + libcamera::utils::Duration minFrameDuration,
> + libcamera::utils::Duration maxFrameDuration) const;
> virtual uint32_t GainCode(double gain) const = 0;
> virtual double Gain(uint32_t gain_code) const = 0;
> virtual void GetDelays(int &exposure_delay, int &gain_delay,
> diff --git a/src/ipa/raspberrypi/controller/camera_mode.h b/src/ipa/raspberrypi/controller/camera_mode.h
> index 256438c931d9..2aa2335dcf90 100644
> --- a/src/ipa/raspberrypi/controller/camera_mode.h
> +++ b/src/ipa/raspberrypi/controller/camera_mode.h
> @@ -8,6 +8,8 @@
>
> #include <libcamera/transform.h>
>
> +#include "libcamera/internal/utils.h"
> +
> // Description of a "camera mode", holding enough information for control
> // algorithms to adapt their behaviour to the different modes of the camera,
> // including binning, scaling, cropping etc.
> @@ -33,8 +35,8 @@ struct CameraMode {
> double scale_x, scale_y;
> // scaling of the noise compared to the native sensor mode
> double noise_factor;
> - // line time in nanoseconds
> - double line_length;
> + // line time
> + libcamera::utils::Duration line_length;
> // any camera transform *not* reflected already in the camera tuning
> libcamera::Transform transform;
> // minimum and maximum fame lengths in units of lines
> diff --git a/src/ipa/raspberrypi/raspberrypi.cpp b/src/ipa/raspberrypi/raspberrypi.cpp
> index 0c4752ecffb6..33b316b90d16 100644
> --- a/src/ipa/raspberrypi/raspberrypi.cpp
> +++ b/src/ipa/raspberrypi/raspberrypi.cpp
> @@ -54,19 +54,22 @@
>
> namespace libcamera {
>
> +using namespace std::literals::chrono_literals;
> +using utils::Duration;
> +
> /* Configure the sensor with these values initially. */
> constexpr double DefaultAnalogueGain = 1.0;
> -constexpr unsigned int DefaultExposureTime = 20000;
> -constexpr double defaultMinFrameDuration = 1e6 / 30.0;
> -constexpr double defaultMaxFrameDuration = 1e6 / 0.01;
> +constexpr Duration DefaultExposureTime = 20.0ms;
> +constexpr Duration defaultMinFrameDuration = 1.0s / 30.0;
> +constexpr Duration defaultMaxFrameDuration = 100.0s;
>
> /*
> - * Determine the minimum allowable inter-frame duration (in us) to run the
> - * controller algorithms. If the pipeline handler provider frames at a rate
> - * higher than this, we rate-limit the controller Prepare() and Process() calls
> - * to lower than or equal to this rate.
> + * Determine the minimum allowable inter-frame duration to run the controller
> + * algorithms. If the pipeline handler provider frames at a rate higher than this,
> + * we rate-limit the controller Prepare() and Process() calls to lower than or
> + * equal to this rate.
> */
> -constexpr double controllerMinFrameDuration = 1e6 / 60.0;
> +constexpr Duration controllerMinFrameDuration = 1.0s / 60.0;
>
> LOG_DEFINE_CATEGORY(IPARPI)
>
> @@ -110,7 +113,7 @@ private:
> void reportMetadata();
> void fillDeviceStatus(const ControlList &sensorControls);
> void processStats(unsigned int bufferId);
> - void applyFrameDurations(double minFrameDuration, double maxFrameDuration);
> + void applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration);
> void applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls);
> void applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls);
> void applyDG(const struct AgcStatus *dgStatus, ControlList &ctrls);
> @@ -166,9 +169,9 @@ private:
> /* Distinguish the first camera start from others. */
> bool firstStart_;
>
> - /* Frame duration (1/fps) limits, given in microseconds. */
> - double minFrameDuration_;
> - double maxFrameDuration_;
> + /* Frame duration (1/fps) limits. */
> + Duration minFrameDuration_;
> + Duration maxFrameDuration_;
> };
>
> int IPARPi::init(const IPASettings &settings, ipa::RPi::SensorConfig *sensorConfig)
> @@ -310,10 +313,10 @@ void IPARPi::setMode(const IPACameraSensorInfo &sensorInfo)
> mode_.noise_factor = sqrt(mode_.bin_x * mode_.bin_y);
>
> /*
> - * Calculate the line length in nanoseconds as the ratio between
> - * the line length in pixels and the pixel rate.
> + * Calculate the line length as the ratio between the line length in
> + * pixels and the pixel rate.
> */
> - mode_.line_length = 1e9 * sensorInfo.lineLength / sensorInfo.pixelRate;
> + mode_.line_length = sensorInfo.lineLength * (1.0s / sensorInfo.pixelRate);
>
> /*
> * Set the frame length limits for the mode to ensure exposure and
> @@ -386,7 +389,7 @@ int IPARPi::configure(const IPACameraSensorInfo &sensorInfo,
> /* Supply initial values for gain and exposure. */
> ControlList ctrls(sensorCtrls_);
> AgcStatus agcStatus;
> - agcStatus.shutter_time = DefaultExposureTime;
> + agcStatus.shutter_time = DefaultExposureTime.get<std::micro>();
> agcStatus.analogue_gain = DefaultAnalogueGain;
> applyAGC(&agcStatus, ctrls);
>
> @@ -861,7 +864,7 @@ void IPARPi::queueRequest(const ControlList &controls)
>
> case controls::FRAME_DURATION_LIMITS: {
> auto frameDurations = ctrl.second.get<Span<const int64_t>>();
> - applyFrameDurations(frameDurations[0], frameDurations[1]);
> + applyFrameDurations(frameDurations[0] * 1.0us, frameDurations[1] * 1.0us);
> break;
> }
>
> @@ -936,9 +939,9 @@ void IPARPi::prepareISP(const ipa::RPi::ISPConfig &data)
> returnEmbeddedBuffer(data.embeddedBufferId);
>
> /* Allow a 10% margin on the comparison below. */
> - constexpr double eps = controllerMinFrameDuration * 1e3 * 0.1;
> + Duration delta = (frameTimestamp - lastRunTimestamp_) * 1.0ns;
> if (lastRunTimestamp_ && frameCount_ > dropFrameCount_ &&
> - frameTimestamp - lastRunTimestamp_ + eps < controllerMinFrameDuration * 1e3) {
> + delta < controllerMinFrameDuration * 0.9) {
> /*
> * Ensure we merge the previous frame's metadata with the current
> * frame. This will not overwrite exposure/gain values for the
> @@ -1011,7 +1014,7 @@ void IPARPi::fillDeviceStatus(const ControlList &sensorControls)
> int32_t exposureLines = sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>();
> int32_t gainCode = sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>();
>
> - deviceStatus.shutter_speed = helper_->Exposure(exposureLines);
> + deviceStatus.shutter_speed = helper_->Exposure(exposureLines).get<std::micro>();
> deviceStatus.analogue_gain = helper_->Gain(gainCode);
>
> LOG(IPARPI, Debug) << "Metadata - Exposure : "
> @@ -1056,10 +1059,10 @@ void IPARPi::applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls)
> static_cast<int32_t>(awbStatus->gain_b * 1000));
> }
>
> -void IPARPi::applyFrameDurations(double minFrameDuration, double maxFrameDuration)
> +void IPARPi::applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration)
> {
> - const double minSensorFrameDuration = 1e-3 * mode_.min_frame_length * mode_.line_length;
> - const double maxSensorFrameDuration = 1e-3 * mode_.max_frame_length * mode_.line_length;
> + const Duration minSensorFrameDuration = mode_.min_frame_length * mode_.line_length;
> + const Duration maxSensorFrameDuration = mode_.max_frame_length * mode_.line_length;
>
> /*
> * This will only be applied once AGC recalculations occur.
> @@ -1075,20 +1078,20 @@ void IPARPi::applyFrameDurations(double minFrameDuration, double maxFrameDuratio
>
> /* Return the validated limits via metadata. */
> libcameraMetadata_.set(controls::FrameDurationLimits,
> - { static_cast<int64_t>(minFrameDuration_),
> - static_cast<int64_t>(maxFrameDuration_) });
> + { static_cast<int64_t>(minFrameDuration_.get<std::micro>()),
> + static_cast<int64_t>(maxFrameDuration_.get<std::micro>()) });
>
> /*
> * Calculate the maximum exposure time possible for the AGC to use.
> * GetVBlanking() will update maxShutter with the largest exposure
> * value possible.
> */
> - double maxShutter = std::numeric_limits<double>::max();
> + Duration maxShutter = Duration::max();
> helper_->GetVBlanking(maxShutter, minFrameDuration_, maxFrameDuration_);
>
> RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>(
> controller_.GetAlgorithm("agc"));
> - agc->SetMaxShutter(maxShutter);
> + agc->SetMaxShutter(maxShutter.get<std::micro>());
> }
>
> void IPARPi::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls)
> @@ -1096,9 +1099,8 @@ void IPARPi::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls)
> int32_t gainCode = helper_->GainCode(agcStatus->analogue_gain);
>
> /* GetVBlanking might clip exposure time to the fps limits. */
> - double exposure = agcStatus->shutter_time;
> - int32_t vblanking = helper_->GetVBlanking(exposure, minFrameDuration_,
> - maxFrameDuration_);
> + Duration exposure = agcStatus->shutter_time * 1.0us;
> + int32_t vblanking = helper_->GetVBlanking(exposure, minFrameDuration_, maxFrameDuration_);
> int32_t exposureLines = helper_->ExposureLines(exposure);
>
> LOG(IPARPI, Debug) << "Applying AGC Exposure: " << exposure
> --
> 2.25.1
>
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