[libcamera-devel] [PATCH v4 3/4] ipa: ipu3: Add support for IPU3 AWB algorithm
Jean-Michel Hautbois
jeanmichel.hautbois at ideasonboard.com
Tue Mar 30 23:12:09 CEST 2021
The IPA will locally modify the parameters before they are passed down
to the ImgU. Use a local parameter object to give a reference to those
algorithms.
Inherit from the Algorithm class to implement basic AWB functions.
Once AWB is done, a color temperature is estimated and a default CCM matrix
will be used (yet to be tuned).
Implement a basic "grey-world" AWB algorithm just for demonstration purpose.
The BDS output size is passed by the pipeline handler to the IPA.
The best grid is then calculated to maximize the number of pixels taken
into account in each cells.
As commented in the source code, it can be improved, as it has (at least)
one limitation: if a cell is big (say 128 pixels wide) and indicated as
saturated, it won't be taken into account at all.
Maybe is it possible to have a smaller one, at the cost of a few pixels
to lose, in which case we can center the grid using the x_start and
y_start parameters.
Signed-off-by: Jean-Michel Hautbois <jeanmichel.hautbois at ideasonboard.com>
---
src/ipa/ipu3/ipu3.cpp | 86 ++++++++++++--
src/ipa/ipu3/ipu3_awb.cpp | 235 ++++++++++++++++++++++++++++++++++++++
src/ipa/ipu3/ipu3_awb.h | 44 +++++++
src/ipa/ipu3/meson.build | 7 +-
4 files changed, 363 insertions(+), 9 deletions(-)
create mode 100644 src/ipa/ipu3/ipu3_awb.cpp
create mode 100644 src/ipa/ipu3/ipu3_awb.h
diff --git a/src/ipa/ipu3/ipu3.cpp b/src/ipa/ipu3/ipu3.cpp
index 34a907f2..1cce11c9 100644
--- a/src/ipa/ipu3/ipu3.cpp
+++ b/src/ipa/ipu3/ipu3.cpp
@@ -21,6 +21,11 @@
#include "libcamera/internal/buffer.h"
#include "libcamera/internal/log.h"
+#include "ipu3_awb.h"
+
+static constexpr uint32_t kMaxCellWidthPerSet = 160;
+static constexpr uint32_t kMaxCellHeightPerSet = 80;
+
namespace libcamera {
LOG_DEFINE_CATEGORY(IPAIPU3)
@@ -49,6 +54,7 @@ private:
const ipu3_uapi_stats_3a *stats);
void setControls(unsigned int frame);
+ void calculateBdsGrid(const Size &bdsOutputSize);
std::map<unsigned int, MappedFrameBuffer> buffers_;
@@ -61,6 +67,14 @@ private:
uint32_t gain_;
uint32_t minGain_;
uint32_t maxGain_;
+
+ /* Interface to the AWB algorithm */
+ std::unique_ptr<ipa::IPU3Awb> awbAlgo_;
+
+ /* Local parameter storage */
+ struct ipu3_uapi_params params_;
+
+ struct ipu3_uapi_grid_config bdsGrid_;
};
int IPAIPU3::start()
@@ -70,8 +84,59 @@ int IPAIPU3::start()
return 0;
}
+/**
+ * This method calculates a grid for the AWB algorithm in the IPU3 firmware.
+ * Its input is the BDS output size calculated in the ImgU.
+ * It is limited for now to the simplest method: find the lesser error
+ * with the width/height and respective log2 width/height of the cells.
+ *
+ * \todo The frame is divided into cells which can be 8x8 => 128x128.
+ * As a smaller cell improves the algorithm precision, adapting the
+ * x_start and y_start parameters of the grid would provoke a loss of
+ * some pixels but would also result in more accurate algorithms.
+ */
+void IPAIPU3::calculateBdsGrid(const Size &bdsOutputSize)
+{
+ uint32_t minError = std::numeric_limits<uint32_t>::max();
+ uint32_t bestWidth = 0;
+ uint32_t bestHeight = 0;
+ uint32_t bestLog2Width = 0;
+ uint32_t bestLog2Height = 0;
+ bdsGrid_ = {};
+
+ for (uint32_t widthShift = 3; widthShift <= 7; ++widthShift) {
+ uint32_t width = std::min(kMaxCellWidthPerSet,
+ bdsOutputSize.width >> widthShift);
+ width = width << widthShift;
+ for (uint32_t heightShift = 3; heightShift <= 7; ++heightShift) {
+ int32_t height = std::min(kMaxCellHeightPerSet,
+ bdsOutputSize.height >> heightShift);
+ height = height << heightShift;
+ uint32_t error = std::abs(static_cast<int>(width - bdsOutputSize.width)) + std::abs(static_cast<int>(height - bdsOutputSize.height));
+
+ if (error > minError)
+ continue;
+
+ minError = error;
+ bestWidth = width;
+ bestHeight = height;
+ bestLog2Width = widthShift;
+ bestLog2Height = heightShift;
+ }
+ }
+
+ bdsGrid_.width = bestWidth >> bestLog2Width;
+ bdsGrid_.block_width_log2 = bestLog2Width;
+ bdsGrid_.height = bestHeight >> bestLog2Height;
+ bdsGrid_.block_height_log2 = bestLog2Height;
+
+ LOG(IPAIPU3, Debug) << "Best grid found is: ("
+ << (int)bdsGrid_.width << " << " << (int)bdsGrid_.block_width_log2 << ") x ("
+ << (int)bdsGrid_.height << "<<" << (int)bdsGrid_.block_height_log2 << ")";
+}
+
void IPAIPU3::configure(const std::map<uint32_t, ControlInfoMap> &entityControls,
- [[maybe_unused]] const Size &bdsOutputSize)
+ const Size &bdsOutputSize)
{
if (entityControls.empty())
return;
@@ -92,11 +157,18 @@ void IPAIPU3::configure(const std::map<uint32_t, ControlInfoMap> &entityControls
minExposure_ = std::max(itExp->second.min().get<int32_t>(), 1);
maxExposure_ = itExp->second.max().get<int32_t>();
- exposure_ = maxExposure_;
+ exposure_ = minExposure_;
minGain_ = std::max(itGain->second.min().get<int32_t>(), 1);
maxGain_ = itGain->second.max().get<int32_t>();
- gain_ = maxGain_;
+ gain_ = minGain_;
+
+ params_ = {};
+
+ calculateBdsGrid(bdsOutputSize);
+
+ awbAlgo_ = std::make_unique<ipa::IPU3Awb>();
+ awbAlgo_->initialise(params_, bdsOutputSize, bdsGrid_);
}
void IPAIPU3::mapBuffers(const std::vector<IPABuffer> &buffers)
@@ -168,10 +240,9 @@ void IPAIPU3::processControls([[maybe_unused]] unsigned int frame,
void IPAIPU3::fillParams(unsigned int frame, ipu3_uapi_params *params)
{
- /* Prepare parameters buffer. */
- memset(params, 0, sizeof(*params));
+ awbAlgo_->updateWbParameters(params_, 1.0);
- /* \todo Fill in parameters buffer. */
+ *params = params_;
ipa::ipu3::IPU3Action op;
op.op = ipa::ipu3::ActionParamFilled;
@@ -184,8 +255,7 @@ void IPAIPU3::parseStatistics(unsigned int frame,
{
ControlList ctrls(controls::controls);
- /* \todo React to statistics and update internal state machine. */
- /* \todo Add meta-data information to ctrls. */
+ awbAlgo_->calculateWBGains(stats);
ipa::ipu3::IPU3Action op;
op.op = ipa::ipu3::ActionMetadataReady;
diff --git a/src/ipa/ipu3/ipu3_awb.cpp b/src/ipa/ipu3/ipu3_awb.cpp
new file mode 100644
index 00000000..18d19d36
--- /dev/null
+++ b/src/ipa/ipu3/ipu3_awb.cpp
@@ -0,0 +1,235 @@
+/* SPDX-License-Identifier: LGPL-2.1-or-later */
+/*
+ * Copyright (C) 2021, Ideas On Board
+ *
+ * ipu3_awb.cpp - AWB control algorithm
+ */
+#include "ipu3_awb.h"
+
+#include <cmath>
+#include <numeric>
+#include <unordered_map>
+
+#include "libcamera/internal/log.h"
+
+namespace libcamera {
+
+namespace ipa {
+
+LOG_DEFINE_CATEGORY(IPU3Awb)
+
+static const struct ipu3_uapi_bnr_static_config imguCssBnrDefaults = {
+ .wb_gains = { 16, 16, 16, 16 },
+ .wb_gains_thr = { 255, 255, 255, 255 },
+ .thr_coeffs = { 1700, 0, 31, 31, 0, 16 },
+ .thr_ctrl_shd = { 26, 26, 26, 26 },
+ .opt_center{ -648, 0, -366, 0 },
+ .lut = {
+ { 17, 23, 28, 32, 36, 39, 42, 45,
+ 48, 51, 53, 55, 58, 60, 62, 64,
+ 66, 68, 70, 72, 73, 75, 77, 78,
+ 80, 82, 83, 85, 86, 88, 89, 90 } },
+ .bp_ctrl = { 20, 0, 1, 40, 0, 6, 0, 6, 0 },
+ .dn_detect_ctrl{ 9, 3, 4, 0, 8, 0, 1, 1, 1, 1, 0 },
+ .column_size = 1296,
+ .opt_center_sqr = { 419904, 133956 },
+};
+
+/* settings for Auto White Balance */
+static const struct ipu3_uapi_awb_config_s imguCssAwbDefaults = {
+ .rgbs_thr_gr = 8191,
+ .rgbs_thr_r = 8191,
+ .rgbs_thr_gb = 8191,
+ .rgbs_thr_b = 8191 | IPU3_UAPI_AWB_RGBS_THR_B_EN | IPU3_UAPI_AWB_RGBS_THR_B_INCL_SAT,
+ .grid = {
+ .width = 160,
+ .height = 36,
+ .block_width_log2 = 3,
+ .block_height_log2 = 4,
+ .height_per_slice = 1, /* Overridden by kernel. */
+ .x_start = 0,
+ .y_start = 0,
+ .x_end = 0,
+ .y_end = 0,
+ },
+};
+
+static const struct ipu3_uapi_ccm_mat_config imguCssCcmDefault = {
+ 8191, 0, 0, 0,
+ 0, 8191, 0, 0,
+ 0, 0, 8191, 0
+};
+
+IPU3Awb::IPU3Awb()
+ : Algorithm()
+{
+}
+
+IPU3Awb::~IPU3Awb()
+{
+}
+
+void IPU3Awb::initialise(ipu3_uapi_params ¶ms, const Size &bdsOutputSize, struct ipu3_uapi_grid_config &bdsGrid)
+{
+ params.use.acc_awb = 1;
+ params.acc_param.awb.config = imguCssAwbDefaults;
+
+ awbGrid_ = bdsGrid;
+ params.acc_param.awb.config.grid = awbGrid_;
+
+ params.use.obgrid = 0;
+ params.obgrid_param.gr = 20;
+ params.obgrid_param.r = 28;
+ params.obgrid_param.b = 28;
+ params.obgrid_param.gb = 20;
+
+ params.use.acc_bnr = 1;
+ params.acc_param.bnr = imguCssBnrDefaults;
+ params.acc_param.bnr.opt_center.x_reset = -1 * (bdsOutputSize.width / 2);
+ params.acc_param.bnr.opt_center.y_reset = -1 * (bdsOutputSize.height / 2);
+ params.acc_param.bnr.column_size = bdsOutputSize.width;
+ params.acc_param.bnr.opt_center_sqr.x_sqr_reset = params.acc_param.bnr.opt_center.x_reset * params.acc_param.bnr.opt_center.x_reset;
+ params.acc_param.bnr.opt_center_sqr.y_sqr_reset = params.acc_param.bnr.opt_center.y_reset * params.acc_param.bnr.opt_center.y_reset;
+
+ params.use.acc_ccm = 1;
+ params.acc_param.ccm = imguCssCcmDefault;
+
+ params.use.acc_gamma = 1;
+ params.acc_param.gamma.gc_ctrl.enable = 1;
+
+ params.use.acc_green_disparity = 0;
+ params.acc_param.green_disparity.gd_black = 2440;
+ params.acc_param.green_disparity.gd_red = 4;
+ params.acc_param.green_disparity.gd_blue = 4;
+ params.acc_param.green_disparity.gd_green = 4;
+ params.acc_param.green_disparity.gd_shading = 24;
+ params.acc_param.green_disparity.gd_support = 2;
+ params.acc_param.green_disparity.gd_clip = 1;
+ params.acc_param.green_disparity.gd_central_weight = 5;
+
+ params.use.acc_cds = 1;
+ params.acc_param.cds.csc_en = 1;
+ params.acc_param.cds.uv_bin_output = 0;
+ params.acc_param.cds.ds_c00 = 0;
+ params.acc_param.cds.ds_c01 = 1;
+ params.acc_param.cds.ds_c02 = 1;
+ params.acc_param.cds.ds_c03 = 0;
+ params.acc_param.cds.ds_c10 = 0;
+ params.acc_param.cds.ds_c11 = 1;
+ params.acc_param.cds.ds_c12 = 1;
+ params.acc_param.cds.ds_c13 = 0;
+ params.acc_param.cds.ds_nf = 2;
+
+ wbGains_[0] = 16;
+ wbGains_[1] = 4096;
+ wbGains_[2] = 4096;
+ wbGains_[3] = 16;
+
+ frame_count_ = 0;
+}
+
+uint32_t IPU3Awb::estimateCCT(uint8_t red, uint8_t green, uint8_t blue)
+{
+ double X = (-0.14282) * (red) + (1.54924) * (green) + (-0.95641) * (blue);
+ double Y = (-0.32466) * (red) + (1.57837) * (green) + (-0.73191) * (blue);
+ double Z = (-0.68202) * (red) + (0.77073) * (green) + (0.56332) * (blue);
+
+ double x = X / (X + Y + Z);
+ double y = Y / (X + Y + Z);
+
+ double n = (x - 0.3320) / (0.1858 - y);
+ return static_cast<uint32_t>(449 * n * n * n + 3525 * n * n + 6823.3 * n + 5520.33);
+}
+
+double meanValue(std::vector<uint32_t> colorValues)
+{
+ uint32_t count = 0;
+ uint32_t hist[256] = { 0 };
+ for (uint32_t const &val : colorValues) {
+ hist[val]++;
+ count++;
+ }
+
+ double mean = 0.0;
+ for (uint32_t i = 0; i < 256; i++) {
+ mean += hist[i] * i;
+ }
+ return mean /= count;
+}
+
+void IPU3Awb::calculateWBGains(const ipu3_uapi_stats_3a *stats)
+{
+ ASSERT(stats->stats_3a_status.awb_en);
+
+ std::vector<uint32_t> redValues, greenValues, blueValues;
+ const struct ipu3_uapi_grid_config statsAwbGrid = stats->stats_4a_config.awb_config.grid;
+ Rectangle awbRegion = { statsAwbGrid.x_start,
+ statsAwbGrid.y_start,
+ static_cast<unsigned int>(statsAwbGrid.x_end - statsAwbGrid.x_start) + 1,
+ static_cast<unsigned int>(statsAwbGrid.y_end - statsAwbGrid.y_start) + 1 };
+
+ Point topleft = awbRegion.topLeft();
+ uint32_t startY = (topleft.y >> awbGrid_.block_height_log2) * awbGrid_.width << awbGrid_.block_width_log2;
+ uint32_t startX = (topleft.x >> awbGrid_.block_width_log2) << awbGrid_.block_width_log2;
+ uint32_t endX = (startX + (awbRegion.size().width >> awbGrid_.block_width_log2)) << awbGrid_.block_width_log2;
+ uint32_t count = 0;
+ uint32_t i, j;
+
+ awbCounted_ = 0;
+ for (j = (topleft.y >> awbGrid_.block_height_log2);
+ j < (topleft.y >> awbGrid_.block_height_log2) + (awbRegion.size().height >> awbGrid_.block_height_log2);
+ j++) {
+ for (i = startX + startY; i < endX + startY; i += 8) {
+ if (stats->awb_raw_buffer.meta_data[i + 4 + j * awbGrid_.width] == 0) {
+ greenValues.push_back(stats->awb_raw_buffer.meta_data[i + j * awbGrid_.width]);
+ redValues.push_back(stats->awb_raw_buffer.meta_data[i + 1 + j * awbGrid_.width]);
+ blueValues.push_back(stats->awb_raw_buffer.meta_data[i + 2 + j * awbGrid_.width]);
+ greenValues.push_back(stats->awb_raw_buffer.meta_data[i + 3 + j * awbGrid_.width]);
+ awbCounted_++;
+ }
+ count++;
+ }
+ }
+
+ double rMean = meanValue(redValues);
+ double bMean = meanValue(blueValues);
+ double gMean = meanValue(greenValues);
+
+ double rGain = gMean / rMean;
+ double bGain = gMean / bMean;
+
+ wbGains_[0] = 16;
+ wbGains_[1] = 4096 * rGain;
+ wbGains_[2] = 4096 * bGain;
+ wbGains_[3] = 16;
+
+ frame_count_++;
+
+ cct_ = estimateCCT(rMean, gMean, bMean);
+}
+
+void IPU3Awb::updateWbParameters(ipu3_uapi_params ¶ms, double agcGamma)
+{
+ if ((wbGains_[0] == 0) || (wbGains_[1] == 0) || (wbGains_[2] == 0) || (wbGains_[3] == 0)) {
+ LOG(IPU3Awb, Error) << "Gains can't be 0, check the stats";
+ } else {
+ params.acc_param.bnr.wb_gains.gr = wbGains_[0];
+ params.acc_param.bnr.wb_gains.r = wbGains_[1];
+ params.acc_param.bnr.wb_gains.b = wbGains_[2];
+ params.acc_param.bnr.wb_gains.gb = wbGains_[3];
+
+ LOG(IPU3Awb, Debug) << "Color temperature estimated: " << cct_
+ << " and gamma calculated: " << agcGamma;
+ params.acc_param.ccm = imguCssCcmDefault;
+
+ for (uint32_t i = 0; i < 256; i++) {
+ double j = i / 255.0;
+ double gamma = std::pow(j, 1.0 / agcGamma);
+ params.acc_param.gamma.gc_lut.lut[i] = gamma * 8191;
+ }
+ }
+}
+
+} /* namespace ipa */
+
+} /* namespace libcamera */
diff --git a/src/ipa/ipu3/ipu3_awb.h b/src/ipa/ipu3/ipu3_awb.h
new file mode 100644
index 00000000..a14401a0
--- /dev/null
+++ b/src/ipa/ipu3/ipu3_awb.h
@@ -0,0 +1,44 @@
+/* SPDX-License-Identifier: LGPL-2.1-or-later */
+/*
+ * Copyright (C) 2021, Ideas On Board
+ *
+ * ipu3_awb.h - IPU3 AWB control algorithm
+ */
+#ifndef __LIBCAMERA_IPU3_AWB_H__
+#define __LIBCAMERA_IPU3_AWB_H__
+
+#include <linux/intel-ipu3.h>
+
+#include <libcamera/geometry.h>
+
+#include "libipa/algorithm.h"
+
+namespace libcamera {
+
+namespace ipa {
+
+class IPU3Awb : public Algorithm
+{
+public:
+ IPU3Awb();
+ ~IPU3Awb();
+
+ void initialise(ipu3_uapi_params ¶ms, const Size &bdsOutputSize, struct ipu3_uapi_grid_config &bdsGrid);
+ void calculateWBGains(const ipu3_uapi_stats_3a *stats);
+ void updateWbParameters(ipu3_uapi_params ¶ms, double agcGamma);
+
+private:
+ uint32_t estimateCCT(uint8_t red, uint8_t green, uint8_t blue);
+
+ /* WB calculated gains */
+ uint16_t wbGains_[4];
+ uint32_t cct_;
+ uint32_t awbCounted_;
+ struct ipu3_uapi_grid_config awbGrid_;
+ uint32_t frame_count_;
+};
+
+} /* namespace ipa */
+
+} /* namespace libcamera*/
+#endif /* __LIBCAMERA_IPU3_AWB_H__ */
diff --git a/src/ipa/ipu3/meson.build b/src/ipa/ipu3/meson.build
index a241f617..1040698e 100644
--- a/src/ipa/ipu3/meson.build
+++ b/src/ipa/ipu3/meson.build
@@ -2,8 +2,13 @@
ipa_name = 'ipa_ipu3'
+ipu3_ipa_sources = files([
+ 'ipu3.cpp',
+ 'ipu3_awb.cpp',
+])
+
mod = shared_module(ipa_name,
- ['ipu3.cpp', libcamera_generated_ipa_headers],
+ [ipu3_ipa_sources, libcamera_generated_ipa_headers],
name_prefix : '',
include_directories : [ipa_includes, libipa_includes],
dependencies : libcamera_dep,
--
2.27.0
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