[libcamera-devel] [PATCH v1 03/10] ipa: raspberrypi: Generalise the ALSC algorithm
Naushir Patuck
naush at raspberrypi.com
Mon Mar 27 12:42:17 CEST 2023
Hi Jacopo,
Thank you for your review!
On Fri, 24 Mar 2023 at 08:30, Jacopo Mondi <jacopo.mondi at ideasonboard.com>
wrote:
> On Wed, Mar 22, 2023 at 01:06:05PM +0000, Naushir Patuck via
> libcamera-devel wrote:
> > Remove any hard-coded assumptions about the target hardware platform
> > from the ALSC algorithm. Instead, use the "target" string provided by
> > the camera tuning config and generalised statistics structures to
> > determing parameters such as grid and region sizes.
> >
> > The ALSC calculations use run-time allocated arrays/vectors on every
> > frame. Allocating these might add a non-trivial run-time penalty.
> > Replace these dynamic allocations with a set of reusable pre-allocated
> > vectors during the init phase.
> >
> > Signed-off-by: Naushir Patuck <naush at raspberrypi.com>
> > Signed-off-by: David Plowman <david.plowman at raspberrypi.com>
> > ---
> > src/ipa/raspberrypi/controller/alsc_status.h | 13 +-
> > src/ipa/raspberrypi/controller/rpi/alsc.cpp | 341 +++++++++++--------
> > src/ipa/raspberrypi/controller/rpi/alsc.h | 29 +-
> > src/ipa/raspberrypi/raspberrypi.cpp | 9 +-
> > 4 files changed, 224 insertions(+), 168 deletions(-)
> >
> > diff --git a/src/ipa/raspberrypi/controller/alsc_status.h
> b/src/ipa/raspberrypi/controller/alsc_status.h
> > index e5aa7e37c330..49a9f4a0cb5a 100644
> > --- a/src/ipa/raspberrypi/controller/alsc_status.h
> > +++ b/src/ipa/raspberrypi/controller/alsc_status.h
> > @@ -6,16 +6,17 @@
> > */
> > #pragma once
> >
> > +#include <vector>
> > +
> > /*
> > * The ALSC algorithm should post the following structure into the
> image's
> > * "alsc.status" metadata.
> > */
> >
> > -constexpr unsigned int AlscCellsX = 16;
> > -constexpr unsigned int AlscCellsY = 12;
> > -
> > struct AlscStatus {
> > - double r[AlscCellsY][AlscCellsX];
> > - double g[AlscCellsY][AlscCellsX];
> > - double b[AlscCellsY][AlscCellsX];
> > + std::vector<double> r;
> > + std::vector<double> g;
> > + std::vector<double> b;
> > + unsigned int rows;
> > + unsigned int cols;
> > };
> > diff --git a/src/ipa/raspberrypi/controller/rpi/alsc.cpp
> b/src/ipa/raspberrypi/controller/rpi/alsc.cpp
> > index eb4e2f9496e1..51fe5d73f52d 100644
> > --- a/src/ipa/raspberrypi/controller/rpi/alsc.cpp
> > +++ b/src/ipa/raspberrypi/controller/rpi/alsc.cpp
> > @@ -5,6 +5,7 @@
> > * alsc.cpp - ALSC (auto lens shading correction) control algorithm
> > */
> >
> > +#include <algorithm>
> > #include <functional>
> > #include <math.h>
> > #include <numeric>
> > @@ -24,9 +25,6 @@ LOG_DEFINE_CATEGORY(RPiAlsc)
> >
> > #define NAME "rpi.alsc"
> >
> > -static const int X = AlscCellsX;
> > -static const int Y = AlscCellsY;
> > -static const int XY = X * Y;
> > static const double InsufficientData = -1.0;
> >
> > Alsc::Alsc(Controller *controller)
> > @@ -51,8 +49,11 @@ char const *Alsc::name() const
> > return NAME;
> > }
> >
> > -static int generateLut(double *lut, const libcamera::YamlObject ¶ms)
> > +static int generateLut(std::vector<double> &lut, const
> libcamera::YamlObject ¶ms,
> > + const Size &size)
> > {
> > + /* These must be signed ints for the co-ordinate calculations
> below. */
> > + int X = size.width, Y = size.height;
> > double cstrength = params["corner_strength"].get<double>(2.0);
> > if (cstrength <= 1.0) {
> > LOG(RPiAlsc, Error) << "corner_strength must be > 1.0";
> > @@ -81,9 +82,9 @@ static int generateLut(double *lut, const
> libcamera::YamlObject ¶ms)
> > return 0;
> > }
> >
> > -static int readLut(double *lut, const libcamera::YamlObject ¶ms)
> > +static int readLut(std::vector<double> &lut, const
> libcamera::YamlObject ¶ms, const Size &size)
> > {
> > - if (params.size() != XY) {
> > + if (params.size() != size.width * size.height) {
> > LOG(RPiAlsc, Error) << "Invalid number of entries in LSC
> table";
> > return -EINVAL;
> > }
> > @@ -101,7 +102,7 @@ static int readLut(double *lut, const
> libcamera::YamlObject ¶ms)
> >
> > static int readCalibrations(std::vector<AlscCalibration> &calibrations,
> > const libcamera::YamlObject ¶ms,
> > - std::string const &name)
> > + std::string const &name, const Size &size)
> > {
> > if (params.contains(name)) {
> > double lastCt = 0;
> > @@ -119,7 +120,7 @@ static int
> readCalibrations(std::vector<AlscCalibration> &calibrations,
> > calibration.ct = lastCt = ct;
> >
> > const libcamera::YamlObject &table = p["table"];
> > - if (table.size() != XY) {
> > + if (table.size() != size.width * size.height) {
> > LOG(RPiAlsc, Error)
> > << "Incorrect number of values for
> ct "
> > << ct << " in " << name;
> > @@ -127,6 +128,7 @@ static int
> readCalibrations(std::vector<AlscCalibration> &calibrations,
> > }
> >
> > int num = 0;
> > + calibration.table.resize(size.width * size.height);
> > for (const auto &elem : table.asList()) {
> > value = elem.get<double>();
> > if (!value)
> > @@ -134,7 +136,7 @@ static int
> readCalibrations(std::vector<AlscCalibration> &calibrations,
> > calibration.table[num++] = *value;
> > }
> >
> > - calibrations.push_back(calibration);
> > + calibrations.push_back(std::move(calibration));
> > LOG(RPiAlsc, Debug)
> > << "Read " << name << " calibration for ct
> " << ct;
> > }
> > @@ -144,6 +146,7 @@ static int
> readCalibrations(std::vector<AlscCalibration> &calibrations,
> >
> > int Alsc::read(const libcamera::YamlObject ¶ms)
> > {
> > + config_.tableSize = getHardwareConfig().awbRegions;
> > config_.framePeriod = params["frame_period"].get<uint16_t>(12);
> > config_.startupFrames = params["startup_frames"].get<uint16_t>(10);
> > config_.speed = params["speed"].get<double>(0.05);
> > @@ -153,28 +156,29 @@ int Alsc::read(const libcamera::YamlObject ¶ms)
> > config_.minCount = params["min_count"].get<double>(10.0);
> > config_.minG = params["min_G"].get<uint16_t>(50);
> > config_.omega = params["omega"].get<double>(1.3);
> > - config_.nIter = params["n_iter"].get<uint32_t>(X + Y);
> > + config_.nIter =
> params["n_iter"].get<uint32_t>(config_.tableSize.width +
> config_.tableSize.height);
> > config_.luminanceStrength =
> > params["luminance_strength"].get<double>(1.0);
> > - for (int i = 0; i < XY; i++)
> > - config_.luminanceLut[i] = 1.0;
> >
> > + config_.luminanceLut.resize(config_.tableSize.width *
> config_.tableSize.height, 1.0);
> > int ret = 0;
> >
> > if (params.contains("corner_strength"))
> > - ret = generateLut(config_.luminanceLut, params);
> > + ret = generateLut(config_.luminanceLut, params,
> config_.tableSize);
> > else if (params.contains("luminance_lut"))
> > - ret = readLut(config_.luminanceLut,
> params["luminance_lut"]);
> > + ret = readLut(config_.luminanceLut,
> params["luminance_lut"], config_.tableSize);
> > else
> > LOG(RPiAlsc, Warning)
> > << "no luminance table - assume unity everywhere";
> > if (ret)
> > return ret;
> >
> > - ret = readCalibrations(config_.calibrationsCr, params,
> "calibrations_Cr");
> > + ret = readCalibrations(config_.calibrationsCr, params,
> "calibrations_Cr",
> > + config_.tableSize);
> > if (ret)
> > return ret;
> > - ret = readCalibrations(config_.calibrationsCb, params,
> "calibrations_Cb");
> > + ret = readCalibrations(config_.calibrationsCb, params,
> "calibrations_Cb",
> > + config_.tableSize);
> > if (ret)
> > return ret;
> >
> > @@ -187,13 +191,16 @@ int Alsc::read(const libcamera::YamlObject ¶ms)
> >
> > static double getCt(Metadata *metadata, double defaultCt);
> > static void getCalTable(double ct, std::vector<AlscCalibration> const
> &calibrations,
> > - double calTable[XY]);
> > -static void resampleCalTable(double const calTableIn[XY], CameraMode
> const &cameraMode,
> > - double calTableOut[XY]);
> > -static void compensateLambdasForCal(double const calTable[XY], double
> const oldLambdas[XY],
> > - double newLambdas[XY]);
> > -static void addLuminanceToTables(double results[3][Y][X], double const
> lambdaR[XY], double lambdaG,
> > - double const lambdaB[XY], double const
> luminanceLut[XY],
> > + std::vector<double> &calTable);
> > +static void resampleCalTable(const std::vector<double> &calTableIn,
> CameraMode const &cameraMode,
> > + const Size &size, std::vector<double>
> &calTableOut);
> > +static void compensateLambdasForCal(const std::vector<double> &calTable,
> > + const std::vector<double> &oldLambdas,
> > + std::vector<double> &newLambdas);
> > +static void addLuminanceToTables(std::array<std::vector<double>, 3>
> &results,
> > + const std::vector<double> &lambdaR,
> double lambdaG,
> > + const std::vector<double> &lambdaB,
> > + const std::vector<double> &luminanceLut,
> > double luminanceStrength);
> >
> > void Alsc::initialise()
> > @@ -201,7 +208,28 @@ void Alsc::initialise()
> > frameCount2_ = frameCount_ = framePhase_ = 0;
> > firstTime_ = true;
> > ct_ = config_.defaultCt;
> > +
> > + const size_t XY = config_.tableSize.width *
> config_.tableSize.height;
> > +
> > + for (auto &r : syncResults_)
> > + r.resize(XY);
> > + for (auto &r : prevSyncResults_)
> > + r.resize(XY);
> > + for (auto &r : asyncResults_)
> > + r.resize(XY);
> > +
> > + luminanceTable_.resize(XY);
> > + asyncLambdaR_.resize(XY);
> > + asyncLambdaB_.resize(XY);
> > /* The lambdas are initialised in the SwitchMode. */
> > + lambdaR_.resize(XY);
> > + lambdaB_.resize(XY);
> > +
> > + /* Temporaries for the computations, but sensible to allocate this
> up-front! */
> > + for (auto &c : tmpC_)
> > + c.resize(XY);
> > + for (auto &m : tmpM_)
> > + m.resize(XY);
> > }
> >
> > void Alsc::waitForAysncThread()
> > @@ -262,7 +290,7 @@ 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_,
> luminanceTable_);
> > + resampleCalTable(config_.luminanceLut, cameraMode_,
> config_.tableSize, luminanceTable_);
> >
> > if (resetTables) {
> > /*
> > @@ -272,18 +300,18 @@ void Alsc::switchMode(CameraMode const &cameraMode,
> > * the lambdas, but the rest of this code then echoes the
> code in
> > * doAlsc, without the adaptive algorithm.
> > */
> > - for (int i = 0; i < XY; i++)
> > - lambdaR_[i] = lambdaB_[i] = 1.0;
> > - double calTableR[XY], calTableB[XY], calTableTmp[XY];
> > + std::fill(lambdaR_.begin(), lambdaR_.end(), 1.0);
> > + std::fill(lambdaB_.begin(), lambdaB_.end(), 1.0);
> > + std::vector<double> &calTableR = tmpC_[0], &calTableB =
> tmpC_[1], &calTableTmp = tmpC_[2];
> > getCalTable(ct_, config_.calibrationsCr, calTableTmp);
> > - resampleCalTable(calTableTmp, cameraMode_, calTableR);
> > + resampleCalTable(calTableTmp, cameraMode_,
> config_.tableSize, calTableR);
> > getCalTable(ct_, config_.calibrationsCb, calTableTmp);
> > - resampleCalTable(calTableTmp, cameraMode_, calTableB);
> > + resampleCalTable(calTableTmp, cameraMode_,
> config_.tableSize, calTableB);
> > compensateLambdasForCal(calTableR, lambdaR_,
> asyncLambdaR_);
> > compensateLambdasForCal(calTableB, lambdaB_,
> asyncLambdaB_);
> > addLuminanceToTables(syncResults_, asyncLambdaR_, 1.0,
> asyncLambdaB_,
> > luminanceTable_,
> config_.luminanceStrength);
> > - memcpy(prevSyncResults_, syncResults_,
> sizeof(prevSyncResults_));
> > + prevSyncResults_ = syncResults_;
> > framePhase_ = config_.framePeriod; /* run the algo again
> asap */
> > firstTime_ = false;
> > }
> > @@ -294,7 +322,7 @@ void Alsc::fetchAsyncResults()
> > LOG(RPiAlsc, Debug) << "Fetch ALSC results";
> > asyncFinished_ = false;
> > asyncStarted_ = false;
> > - memcpy(syncResults_, asyncResults_, sizeof(syncResults_));
> > + syncResults_ = asyncResults_;
> > }
> >
> > double getCt(Metadata *metadata, double defaultCt)
> > @@ -316,9 +344,9 @@ static void copyStats(RgbyRegions ®ions,
> StatisticsPtr &stats,
> > if (!regions.numRegions())
> > regions.init(stats->awbRegions.size());
> >
> > - double *rTable = (double *)status.r;
> > - double *gTable = (double *)status.g;
> > - double *bTable = (double *)status.b;
> > + const std::vector<double> &rTable = status.r;
> > + const std::vector<double> &gTable = status.g;
> > + const std::vector<double> &bTable = status.b;
> > for (unsigned int i = 0; i < stats->awbRegions.numRegions(); i++) {
> > auto r = stats->awbRegions.get(i);
> > r.val.rSum = static_cast<uint64_t>(r.val.rSum / rTable[i]);
> > @@ -344,12 +372,9 @@ void Alsc::restartAsync(StatisticsPtr &stats,
> Metadata *imageMetadata)
> > if (imageMetadata->get("alsc.status", alscStatus) != 0) {
> > LOG(RPiAlsc, Warning)
> > << "No ALSC status found for applied gains!";
> > - for (int y = 0; y < Y; y++)
> > - for (int x = 0; x < X; x++) {
> > - alscStatus.r[y][x] = 1.0;
> > - alscStatus.g[y][x] = 1.0;
> > - alscStatus.b[y][x] = 1.0;
> > - }
> > + alscStatus.r.resize(config_.tableSize.width *
> config_.tableSize.height, 1.0);
> > + alscStatus.g.resize(config_.tableSize.width *
> config_.tableSize.height, 1.0);
> > + alscStatus.b.resize(config_.tableSize.width *
> config_.tableSize.height, 1.0);
> > }
> > copyStats(statistics_, stats, alscStatus);
> > framePhase_ = 0;
> > @@ -380,15 +405,15 @@ void Alsc::prepare(Metadata *imageMetadata)
> > fetchAsyncResults();
> > }
> > /* Apply IIR filter to results and program into the pipeline. */
> > - double *ptr = (double *)syncResults_,
> > - *pptr = (double *)prevSyncResults_;
> > - for (unsigned int i = 0; i < sizeof(syncResults_) /
> sizeof(double); i++)
> > - pptr[i] = speed * ptr[i] + (1.0 - speed) * pptr[i];
> > + for (unsigned int j = 0; j < syncResults_.size(); j++) {
> > + for (unsigned int i = 0; i < syncResults_[j].size(); i++)
> > + prevSyncResults_[j][i] = speed *
> syncResults_[j][i] + (1.0 - speed) * prevSyncResults_[j][i];
> > + }
> > /* Put output values into status metadata. */
> > AlscStatus status;
> > - memcpy(status.r, prevSyncResults_[0], sizeof(status.r));
> > - memcpy(status.g, prevSyncResults_[1], sizeof(status.g));
> > - memcpy(status.b, prevSyncResults_[2], sizeof(status.b));
> > + status.r = prevSyncResults_[0];
> > + status.g = prevSyncResults_[1];
> > + status.b = prevSyncResults_[2];
> > imageMetadata->set("alsc.status", status);
> > }
> >
> > @@ -432,18 +457,17 @@ void Alsc::asyncFunc()
> > }
> >
> > void getCalTable(double ct, std::vector<AlscCalibration> const
> &calibrations,
> > - double calTable[XY])
> > + std::vector<double> &calTable)
> > {
> > if (calibrations.empty()) {
> > - for (int i = 0; i < XY; i++)
> > - calTable[i] = 1.0;
> > + std::fill(calTable.begin(), calTable.end(), 1.0);
> > LOG(RPiAlsc, Debug) << "no calibrations found";
> > } else if (ct <= calibrations.front().ct) {
> > - memcpy(calTable, calibrations.front().table, XY *
> sizeof(double));
> > + calTable = calibrations.front().table;
> > LOG(RPiAlsc, Debug) << "using calibration for "
> > << calibrations.front().ct;
> > } else if (ct >= calibrations.back().ct) {
> > - memcpy(calTable, calibrations.back().table, XY *
> sizeof(double));
> > + calTable = calibrations.back().table;
> > LOG(RPiAlsc, Debug) << "using calibration for "
> > << calibrations.back().ct;
> > } else {
> > @@ -454,7 +478,7 @@ void getCalTable(double ct,
> std::vector<AlscCalibration> const &calibrations,
> > LOG(RPiAlsc, Debug)
> > << "ct is " << ct << ", interpolating between "
> > << ct0 << " and " << ct1;
> > - for (int i = 0; i < XY; i++)
> > + for (unsigned int i = 0; i < calTable.size(); i++)
> > calTable[i] =
> > (calibrations[idx].table[i] * (ct1 - ct) +
> > calibrations[idx + 1].table[i] * (ct -
> ct0)) /
> > @@ -462,9 +486,13 @@ void getCalTable(double ct,
> std::vector<AlscCalibration> const &calibrations,
> > }
> > }
> >
> > -void resampleCalTable(double const calTableIn[XY],
> > - CameraMode const &cameraMode, double calTableOut[XY])
> > +void resampleCalTable(const std::vector<double> &calTableIn,
> > + CameraMode const &cameraMode, const Size &size,
> > + std::vector<double> &calTableOut)
> > {
> > + int X = size.width;
> > + int Y = size.height;
> > +
> > /*
> > * Precalculate and cache the x sampling locations and phases to
> save
> > * recomputing them on every row.
> > @@ -501,23 +529,24 @@ void resampleCalTable(double const calTableIn[XY],
> > yLo = Y - 1 - yLo;
> > yHi = Y - 1 - yHi;
> > }
> > - double const *rowAbove = calTableIn + X * yLo;
> > - double const *rowBelow = calTableIn + X * yHi;
> > + double const *rowAbove = calTableIn.data() + X * yLo;
> > + double const *rowBelow = calTableIn.data() + X * yHi;
> > + double *out = calTableOut.data() + X * j;
> > for (int i = 0; i < X; i++) {
> > double above = rowAbove[xLo[i]] * (1 - xf[i]) +
> > rowAbove[xHi[i]] * xf[i];
> > double below = rowBelow[xLo[i]] * (1 - xf[i]) +
> > rowBelow[xHi[i]] * xf[i];
> > - *(calTableOut++) = above * (1 - yf) + below * yf;
> > + *(out++) = above * (1 - yf) + below * yf;
> > }
> > }
> > }
> >
> > /* Calculate chrominance statistics (R/G and B/G) for each region. */
> > -static void calculateCrCb(const RgbyRegions &awbRegion, double cr[XY],
> > - double cb[XY], uint32_t minCount, uint16_t minG)
> > +static void calculateCrCb(const RgbyRegions &awbRegion,
> std::vector<double> &cr,
> > + std::vector<double> &cb, uint32_t minCount,
> uint16_t minG)
> > {
> > - for (int i = 0; i < XY; i++) {
> > + for (unsigned int i = 0; i < cr.size(); i++) {
> > auto s = awbRegion.get(i);
> >
> > if (s.counted <= minCount || s.val.gSum / s.counted <=
> minG) {
> > @@ -530,33 +559,34 @@ static void calculateCrCb(const RgbyRegions
> &awbRegion, double cr[XY],
> > }
> > }
> >
> > -static void applyCalTable(double const calTable[XY], double C[XY])
> > +static void applyCalTable(const std::vector<double> &calTable,
> std::vector<double> &C)
> > {
> > - for (int i = 0; i < XY; i++)
> > + for (unsigned int i = 0; i < C.size(); i++)
> > if (C[i] != InsufficientData)
> > C[i] *= calTable[i];
> > }
> >
> > -void compensateLambdasForCal(double const calTable[XY],
> > - double const oldLambdas[XY],
> > - double newLambdas[XY])
> > +void compensateLambdasForCal(const std::vector<double> &calTable,
> > + const std::vector<double> &oldLambdas,
> > + std::vector<double> &newLambdas)
> > {
> > double minNewLambda = std::numeric_limits<double>::max();
> > - for (int i = 0; i < XY; i++) {
> > + for (unsigned int i = 0; i < newLambdas.size(); i++) {
> > newLambdas[i] = oldLambdas[i] * calTable[i];
> > minNewLambda = std::min(minNewLambda, newLambdas[i]);
> > }
> > - for (int i = 0; i < XY; i++)
> > + for (unsigned int i = 0; i < newLambdas.size(); i++)
> > newLambdas[i] /= minNewLambda;
> > }
> >
> > -[[maybe_unused]] static void printCalTable(double const C[XY])
> > +[[maybe_unused]] static void printCalTable(const std::vector<double> &C,
> > + const Size &size)
> > {
> > printf("table: [\n");
> > - for (int j = 0; j < Y; j++) {
> > - for (int i = 0; i < X; i++) {
> > - printf("%5.3f", 1.0 / C[j * X + i]);
> > - if (i != X - 1 || j != Y - 1)
> > + for (unsigned int j = 0; j < size.height; j++) {
> > + for (unsigned int i = 0; i < size.width; i++) {
> > + printf("%5.3f", 1.0 / C[j * size.width + i]);
> > + if (i != size.width - 1 || j != size.height - 1)
> > printf(",");
> > }
> > printf("\n");
> > @@ -577,9 +607,13 @@ static double computeWeight(double Ci, double Cj,
> double sigma)
> > }
> >
> > /* Compute all weights. */
> > -static void computeW(double const C[XY], double sigma, double W[XY][4])
> > +static void computeW(const std::vector<double> &C, double sigma,
> > + std::vector<std::array<double, 4>> &W, const Size
> &size)
> > {
> > - for (int i = 0; i < XY; i++) {
> > + size_t XY = size.width * size.height;
> > + size_t X = size.width;
> > +
> > + for (unsigned int i = 0; i < XY; i++) {
> > /* Start with neighbour above and go clockwise. */
> > W[i][0] = i >= X ? computeWeight(C[i], C[i - X], sigma) :
> 0;
> > W[i][1] = i % X < X - 1 ? computeWeight(C[i], C[i + 1],
> sigma) : 0;
> > @@ -589,11 +623,16 @@ static void computeW(double const C[XY], double
> sigma, double W[XY][4])
> > }
> >
> > /* Compute M, the large but sparse matrix such that M * lambdas = 0. */
> > -static void constructM(double const C[XY], double const W[XY][4],
> > - double M[XY][4])
> > +static void constructM(const std::vector<double> &C,
> > + const std::vector<std::array<double, 4>> &W,
> > + std::vector<std::array<double, 4>> &M,
> > + const Size &size)
> > {
> > + size_t XY = size.width * size.height;
> > + size_t X = size.width;
> > +
> > double epsilon = 0.001;
> > - for (int i = 0; i < XY; i++) {
> > + for (unsigned int i = 0; i < XY; i++) {
> > /*
> > * Note how, if C[i] == INSUFFICIENT_DATA, the weights
> will all
> > * be zero so the equation is still set up correctly.
> > @@ -614,79 +653,80 @@ static void constructM(double const C[XY], double
> const W[XY][4],
> > * left/right neighbours are zero down the left/right edges, so we
> don't need
> > * need to test the i value to exclude them.
> > */
> > -static double computeLambdaBottom(int i, double const M[XY][4],
> > - double lambda[XY])
> > +static double computeLambdaBottom(int i, const
> std::vector<std::array<double, 4>> &M,
> > + std::vector<double> &lambda, const Size
> &size)
> > {
> > - return M[i][1] * lambda[i + 1] + M[i][2] * lambda[i + X] +
> > + return M[i][1] * lambda[i + 1] + M[i][2] * lambda[i + size.width] +
> > M[i][3] * lambda[i - 1];
> > }
> > -static double computeLambdaBottomStart(int i, double const M[XY][4],
> > - double lambda[XY])
> > +static double computeLambdaBottomStart(int i, const
> std::vector<std::array<double, 4>> &M,
> > + std::vector<double> &lambda, const
> Size &size)
> > {
> > - return M[i][1] * lambda[i + 1] + M[i][2] * lambda[i + X];
> > + return M[i][1] * lambda[i + 1] + M[i][2] * lambda[i + size.width];
> > }
> > -static double computeLambdaInterior(int i, double const M[XY][4],
> > - double lambda[XY])
> > +static double computeLambdaInterior(int i, const
> std::vector<std::array<double, 4>> &M,
> > + std::vector<double> &lambda, const
> Size &size)
> > {
> > - return M[i][0] * lambda[i - X] + M[i][1] * lambda[i + 1] +
> > - M[i][2] * lambda[i + X] + M[i][3] * lambda[i - 1];
> > + 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];
> > }
> > -static double computeLambdaTop(int i, double const M[XY][4],
> > - double lambda[XY])
> > +static double computeLambdaTop(int i, const
> std::vector<std::array<double, 4>> &M,
> > + std::vector<double> &lambda, const Size
> &size)
> > {
> > - return M[i][0] * lambda[i - X] + M[i][1] * lambda[i + 1] +
> > + return M[i][0] * lambda[i - size.width] + M[i][1] * lambda[i + 1] +
> > M[i][3] * lambda[i - 1];
> > }
> > -static double computeLambdaTopEnd(int i, double const M[XY][4],
> > - double lambda[XY])
> > +static double computeLambdaTopEnd(int i, const
> std::vector<std::array<double, 4>> &M,
> > + std::vector<double> &lambda, const Size
> &size)
> > {
> > - return M[i][0] * lambda[i - X] + M[i][3] * lambda[i - 1];
> > + return M[i][0] * lambda[i - size.width] + M[i][3] * lambda[i - 1];
> > }
> >
> > /* Gauss-Seidel iteration with over-relaxation. */
> > -static double gaussSeidel2Sor(double const M[XY][4], double omega,
> > - double lambda[XY], double lambdaBound)
> > +static double gaussSeidel2Sor(const std::vector<std::array<double, 4>>
> &M, double omega,
> > + std::vector<double> &lambda, double
> lambdaBound,
> > + const Size &size)
> > {
> > + int XY = size.width * size.height;
> > + int X = size.width;
> > const double min = 1 - lambdaBound, max = 1 + lambdaBound;
> > - double oldLambda[XY];
> > + std::vector<double> oldLambda = lambda;
> > int i;
> > - for (i = 0; i < XY; i++)
> > - oldLambda[i] = lambda[i];
> > - lambda[0] = computeLambdaBottomStart(0, M, lambda);
> > + lambda[0] = computeLambdaBottomStart(0, M, lambda, size);
> > lambda[0] = std::clamp(lambda[0], min, max);
> > for (i = 1; i < X; i++) {
> > - lambda[i] = computeLambdaBottom(i, M, lambda);
> > + lambda[i] = computeLambdaBottom(i, M, lambda, size);
> > lambda[i] = std::clamp(lambda[i], min, max);
> > }
> > for (; i < XY - X; i++) {
> > - lambda[i] = computeLambdaInterior(i, M, lambda);
> > + lambda[i] = computeLambdaInterior(i, M, lambda, size);
> > lambda[i] = std::clamp(lambda[i], min, max);
> > }
> > for (; i < XY - 1; i++) {
> > - lambda[i] = computeLambdaTop(i, M, lambda);
> > + lambda[i] = computeLambdaTop(i, M, lambda, size);
> > lambda[i] = std::clamp(lambda[i], min, max);
> > }
> > - lambda[i] = computeLambdaTopEnd(i, M, lambda);
> > + lambda[i] = computeLambdaTopEnd(i, M, lambda, size);
> > 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);
> > + lambda[i] = computeLambdaTopEnd(i, M, lambda, size);
> > lambda[i] = std::clamp(lambda[i], min, max);
> > for (i = XY - 2; i >= XY - X; i--) {
> > - lambda[i] = computeLambdaTop(i, M, lambda);
> > + lambda[i] = computeLambdaTop(i, M, lambda, size);
> > lambda[i] = std::clamp(lambda[i], min, max);
> > }
> > for (; i >= X; i--) {
> > - lambda[i] = computeLambdaInterior(i, M, lambda);
> > + lambda[i] = computeLambdaInterior(i, M, lambda, size);
> > lambda[i] = std::clamp(lambda[i], min, max);
> > }
> > for (; i >= 1; i--) {
> > - lambda[i] = computeLambdaBottom(i, M, lambda);
> > + lambda[i] = computeLambdaBottom(i, M, lambda, size);
> > lambda[i] = std::clamp(lambda[i], min, max);
> > }
> > - lambda[0] = computeLambdaBottomStart(0, M, lambda);
> > + lambda[0] = computeLambdaBottomStart(0, M, lambda, size);
> > lambda[0] = std::clamp(lambda[0], min, max);
> > double maxDiff = 0;
> > for (i = 0; i < XY; i++) {
> > @@ -698,33 +738,33 @@ static double gaussSeidel2Sor(double const
> M[XY][4], double omega,
> > }
> >
> > /* Normalise the values so that the smallest value is 1. */
> > -static void normalise(double *ptr, size_t n)
> > +static void normalise(std::vector<double> &results)
> > {
> > - double minval = ptr[0];
> > - for (size_t i = 1; i < n; i++)
> > - minval = std::min(minval, ptr[i]);
> > - for (size_t i = 0; i < n; i++)
> > - ptr[i] /= minval;
> > + double minval = *std::min_element(results.begin(), results.end());
> > + std::for_each(results.begin(), results.end(),
> > + [minval](double val) { return val / minval; });
> > }
> >
> > /* Rescale the values so that the average value is 1. */
> > -static void reaverage(Span<double> data)
> > +static void reaverage(std::vector<double> &data)
> > {
> > double sum = std::accumulate(data.begin(), data.end(), 0.0);
> > double ratio = 1 / (sum / data.size());
> > - for (double &d : data)
> > - d *= ratio;
> > + std::for_each(data.begin(), data.end(),
> > + [ratio](double val) { return val * ratio; });
> > }
> >
> > -static void runMatrixIterations(double const C[XY], double lambda[XY],
> > - double const W[XY][4], double omega,
> > - int nIter, double threshold, double
> lambdaBound)
> > +static void runMatrixIterations(const std::vector<double> &C,
> > + std::vector<double> &lambda,
> > + const std::vector<std::array<double, 4>>
> &W,
> > + std::vector<std::array<double, 4>> &M,
> double omega,
> > + unsigned int nIter, double threshold,
> double lambdaBound,
> > + const Size &size)
> > {
> > - double M[XY][4];
> > - constructM(C, W, M);
> > + constructM(C, W, M, size);
> > double lastMaxDiff = std::numeric_limits<double>::max();
> > - for (int i = 0; i < nIter; i++) {
> > - double maxDiff = fabs(gaussSeidel2Sor(M, omega, lambda,
> lambdaBound));
> > + for (unsigned int i = 0; i < nIter; i++) {
> > + double maxDiff = fabs(gaussSeidel2Sor(M, omega, lambda,
> lambdaBound, size));
> > if (maxDiff < threshold) {
> > LOG(RPiAlsc, Debug)
> > << "Stop after " << i + 1 << " iterations";
> > @@ -741,39 +781,44 @@ static void runMatrixIterations(double const
> C[XY], double lambda[XY],
> > lastMaxDiff = maxDiff;
> > }
> > /* We're going to normalise the lambdas so the total average is 1.
> */
> > - reaverage({ lambda, XY });
> > + reaverage(lambda);
> > }
> >
> > -static void addLuminanceRb(double result[XY], double const lambda[XY],
> > - double const luminanceLut[XY],
> > +static void addLuminanceRb(std::vector<double> &result, const
> std::vector<double> &lambda,
> > + const std::vector<double> &luminanceLut,
> > double luminanceStrength)
> > {
> > - for (int i = 0; i < XY; i++)
> > + for (unsigned int i = 0; i < result.size(); i++)
> > result[i] = lambda[i] * ((luminanceLut[i] - 1) *
> luminanceStrength + 1);
> > }
> >
> > -static void addLuminanceG(double result[XY], double lambda,
> > - double const luminanceLut[XY],
> > +static void addLuminanceG(std::vector<double> &result, double lambda,
> > + const std::vector<double> &luminanceLut,
> > double luminanceStrength)
> > {
> > - for (int i = 0; i < XY; i++)
> > + for (unsigned int i = 0; i < result.size(); i++)
> > result[i] = lambda * ((luminanceLut[i] - 1) *
> luminanceStrength + 1);
> > }
> >
> > -void addLuminanceToTables(double results[3][Y][X], double const
> lambdaR[XY],
> > - double lambdaG, double const lambdaB[XY],
> > - double const luminanceLut[XY],
> > +void addLuminanceToTables(std::array<std::vector<double>, 3> &results,
> > + const std::vector<double> &lambdaR,
> > + double lambdaG, const std::vector<double>
> &lambdaB,
> > + const std::vector<double> &luminanceLut,
> > double luminanceStrength)
> > {
> > - addLuminanceRb((double *)results[0], lambdaR, luminanceLut,
> luminanceStrength);
> > - addLuminanceG((double *)results[1], lambdaG, luminanceLut,
> luminanceStrength);
> > - addLuminanceRb((double *)results[2], lambdaB, luminanceLut,
> luminanceStrength);
> > - normalise((double *)results, 3 * XY);
> > + addLuminanceRb(results[0], lambdaR, luminanceLut,
> luminanceStrength);
> > + addLuminanceG(results[1], lambdaG, luminanceLut,
> luminanceStrength);
> > + addLuminanceRb(results[2], lambdaB, luminanceLut,
> luminanceStrength);
> > + for (auto &r : results)
> > + normalise(r);
> > }
> >
> > void Alsc::doAlsc()
> > {
> > - double cr[XY], cb[XY], wr[XY][4], wb[XY][4], calTableR[XY],
> calTableB[XY], calTableTmp[XY];
> > + std::vector<double> &cr = tmpC_[0], &cb = tmpC_[1], &calTableR =
> tmpC_[2],
> > + &calTableB = tmpC_[3], &calTableTmp = tmpC_[4];
> > + std::vector<std::array<double, 4>> &wr = tmpM_[0], &wb = tmpM_[1],
> &M = tmpM_[2];
> > +
> > /*
> > * Calculate our R/B ("Cr"/"Cb") colour statistics, and assess
> which are
> > * usable.
> > @@ -784,9 +829,9 @@ void Alsc::doAlsc()
> > * case the camera mode is not full-frame.
> > */
> > getCalTable(ct_, config_.calibrationsCr, calTableTmp);
> > - resampleCalTable(calTableTmp, cameraMode_, calTableR);
> > + resampleCalTable(calTableTmp, cameraMode_, config_.tableSize,
> calTableR);
> > getCalTable(ct_, config_.calibrationsCb, calTableTmp);
> > - resampleCalTable(calTableTmp, cameraMode_, calTableB);
> > + resampleCalTable(calTableTmp, cameraMode_, config_.tableSize,
> calTableB);
> > /*
> > * You could print out the cal tables for this image here, if
> you're
> > * tuning the algorithm...
> > @@ -796,13 +841,13 @@ void Alsc::doAlsc()
> > applyCalTable(calTableR, cr);
> > applyCalTable(calTableB, cb);
> > /* Compute weights between zones. */
> > - computeW(cr, config_.sigmaCr, wr);
> > - computeW(cb, config_.sigmaCb, wb);
> > + computeW(cr, config_.sigmaCr, wr, config_.tableSize);
> > + computeW(cb, config_.sigmaCb, wb, config_.tableSize);
> > /* Run Gauss-Seidel iterations over the resulting matrix, for R
> and B. */
> > - runMatrixIterations(cr, lambdaR_, wr, config_.omega, config_.nIter,
> > - config_.threshold, config_.lambdaBound);
> > - runMatrixIterations(cb, lambdaB_, wb, config_.omega, config_.nIter,
> > - config_.threshold, config_.lambdaBound);
> > + runMatrixIterations(cr, lambdaR_, wr, M, config_.omega,
> config_.nIter,
> > + config_.threshold, config_.lambdaBound,
> config_.tableSize);
> > + runMatrixIterations(cb, lambdaB_, wb, M, config_.omega,
> config_.nIter,
> > + config_.threshold, config_.lambdaBound,
> config_.tableSize);
> > /*
> > * 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 9167c9ffa2e3..85e998db40e9 100644
> > --- a/src/ipa/raspberrypi/controller/rpi/alsc.h
> > +++ b/src/ipa/raspberrypi/controller/rpi/alsc.h
> > @@ -6,9 +6,13 @@
> > */
> > #pragma once
> >
> > +#include <array>
> > #include <mutex>
> > #include <condition_variable>
> > #include <thread>
> > +#include <vector>
> > +
> > +#include <libcamera/geometry.h>
> >
> > #include "../algorithm.h"
> > #include "../alsc_status.h"
> > @@ -20,7 +24,7 @@ namespace RPiController {
> >
> > struct AlscCalibration {
> > double ct;
> > - double table[AlscCellsX * AlscCellsY];
> > + std::vector<double> table;
> > };
> >
> > struct AlscConfig {
> > @@ -36,13 +40,14 @@ struct AlscConfig {
> > uint16_t minG;
> > double omega;
> > uint32_t nIter;
> > - double luminanceLut[AlscCellsX * AlscCellsY];
> > + std::vector<double> luminanceLut;
> > double luminanceStrength;
> > std::vector<AlscCalibration> calibrationsCr;
> > std::vector<AlscCalibration> calibrationsCb;
> > double defaultCt; /* colour temperature if no metadata found */
> > double threshold; /* iteration termination threshold */
> > double lambdaBound; /* upper/lower bound for lambda from a value
> of 1 */
> > + libcamera::Size tableSize;
> > };
> >
> > class Alsc : public Algorithm
> > @@ -62,7 +67,7 @@ private:
> > AlscConfig config_;
> > bool firstTime_;
> > CameraMode cameraMode_;
> > - double luminanceTable_[AlscCellsX * AlscCellsY];
> > + std::vector<double> luminanceTable_;
> > std::thread asyncThread_;
> > void asyncFunc(); /* asynchronous thread function */
> > std::mutex mutex_;
> > @@ -88,8 +93,8 @@ private:
> > int frameCount_;
> > /* counts up to startupFrames for Process function */
> > int frameCount2_;
> > - double syncResults_[3][AlscCellsY][AlscCellsX];
> > - double prevSyncResults_[3][AlscCellsY][AlscCellsX];
> > + std::array<std::vector<double>, 3> syncResults_;
> > + std::array<std::vector<double>, 3> prevSyncResults_;
> > void waitForAysncThread();
> > /*
> > * The following are for the asynchronous thread to use, though
> the main
> > @@ -100,12 +105,16 @@ private:
> > void fetchAsyncResults();
> > double ct_;
> > RgbyRegions statistics_;
> > - double asyncResults_[3][AlscCellsY][AlscCellsX];
> > - double asyncLambdaR_[AlscCellsX * AlscCellsY];
> > - double asyncLambdaB_[AlscCellsX * AlscCellsY];
> > + std::array<std::vector<double>, 3> asyncResults_;
> > + std::vector<double> asyncLambdaR_;
> > + std::vector<double> asyncLambdaB_;
> > void doAlsc();
> > - double lambdaR_[AlscCellsX * AlscCellsY];
> > - double lambdaB_[AlscCellsX * AlscCellsY];
> > + std::vector<double> lambdaR_;
> > + std::vector<double> lambdaB_;
> > +
> > + /* Temporaries for the computations */
> > + std::array<std::vector<double>, 5> tmpC_;
> > + std::array<std::vector<std::array<double, 4>>, 3> tmpM_;
> > };
> >
> > } /* namespace RPiController */
> > diff --git a/src/ipa/raspberrypi/raspberrypi.cpp
> b/src/ipa/raspberrypi/raspberrypi.cpp
> > index b64cb96e2dde..0fa79bb4af41 100644
> > --- a/src/ipa/raspberrypi/raspberrypi.cpp
> > +++ b/src/ipa/raspberrypi/raspberrypi.cpp
> > @@ -13,6 +13,7 @@
> > #include <math.h>
> > #include <stdint.h>
> > #include <string.h>
> > +#include <vector>
>
> Should this be moved after <sys/mman.h> ?
>
Ack.
>
> > #include <sys/mman.h>
> >
> > #include <linux/bcm2835-isp.h>
> > @@ -174,7 +175,7 @@ private:
> > void applyDPC(const struct DpcStatus *dpcStatus, ControlList
> &ctrls);
> > void applyLS(const struct AlscStatus *lsStatus, ControlList
> &ctrls);
> > void applyAF(const struct AfStatus *afStatus, ControlList
> &lensCtrls);
> > - void resampleTable(uint16_t dest[], double const src[12][16], int
> destW, int destH);
> > + void resampleTable(uint16_t dest[], const std::vector<double>
> &src, int destW, int destH);
> >
> > std::map<unsigned int, MappedFrameBuffer> buffers_;
> >
> > @@ -1768,7 +1769,7 @@ void IPARPi::applyAF(const struct AfStatus
> *afStatus, ControlList &lensCtrls)
> > * Resamples a 16x12 table with central sampling to destW x destH with
> corner
>
> The 16x12 size is mentioned here
The raspberrypi.cpp file is platform specific as it translates the platform
independent params from the algorithms into HW pipeline specific params. As
such, I think it's ok to reference the actual grid values in this file.
Ditto
for the reference below.
>
> > * sampling.
> > */
> > -void IPARPi::resampleTable(uint16_t dest[], double const src[12][16],
> > +void IPARPi::resampleTable(uint16_t dest[], const std::vector<double>
> &src,
> > int destW, int destH)
> > {
> > /*
> > @@ -1793,8 +1794,8 @@ void IPARPi::resampleTable(uint16_t dest[], double
> const src[12][16],
> > double yf = y - yLo;
> > int yHi = yLo < 11 ? yLo + 1 : 11;
> > yLo = yLo > 0 ? yLo : 0;
> > - double const *rowAbove = src[yLo];
> > - double const *rowBelow = src[yHi];
> > + double const *rowAbove = src.data() + yLo * 16;
> > + double const *rowBelow = src.data() + yHi * 16;
>
> As well as assumed here. Also the previous index was yLo and the new
> one (yLo * 16). Is it ok ?
>
Yes this is fine. The platform independent algorithm code writes out a
flat 1D
array of 16*12 values. This bit of code here interprets that as a 2D table
again.
Regards,
Naush
>
> > for (int i = 0; i < destW; i++) {
> > double above = rowAbove[xLo[i]] * (1 - xf[i]) +
> rowAbove[xHi[i]] * xf[i];
> > double below = rowBelow[xLo[i]] * (1 - xf[i]) +
> rowBelow[xHi[i]] * xf[i];
> > --
> > 2.34.1
> >
>
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <https://lists.libcamera.org/pipermail/libcamera-devel/attachments/20230327/7f017f2e/attachment.htm>
More information about the libcamera-devel
mailing list