[RFC] libcamera: lc-compliance: Add initial set of per frame control tests
David Plowman
david.plowman at raspberrypi.com
Fri Mar 1 08:56:34 CET 2024
Hi Stefan
Thanks for posting this and re-starting the discussion of per-frame controls.
Could you perhaps just summarise exactly what you mean by per-frame
controls, that is to say, what is being tested here?
Eye-balling the code, I think I understood that:
* You are setting controls in a specific request.
* When that request completes, you are expecting the controls to have
taken effect in the images that were returned with that request (but
not earlier).
But I wasn't totally sure - have I understood that correctly?
Also, do we know if any other pipeline handlers implement this
behaviour? Do folks think that all pipeline handlers should implement
this behaviour?
Thanks again!
David
On Thu, 29 Feb 2024 at 17:01, Stefan Klug <stefan.klug at ideasonboard.com> wrote:
>
> These tests check if controls (only exposure time and analogue gain at
> the moment) get applied on the frame they were requested for.
>
> This is tested by looking at the metadata and additionally by
> calculating a mean brightness on a centered rect of 20x20 pixels.
>
> Until today, these tests where only run on a project specific branch
> with a modified simple pipeline. In theory they should pass on a
> current master :-)
>
> Current test setup: imx219 with simple pipeline on an imx8mp.
> Modifications of either the exposure delay or the gain delay in
> the camera_sensor class resulted in test failures.
> Which is exactly what this test shall proove.
>
> Signed-off-by: Stefan Klug <stefan.klug at ideasonboard.com>
> ---
> src/apps/lc-compliance/capture_test.cpp | 39 ++++
> src/apps/lc-compliance/meson.build | 2 +
> src/apps/lc-compliance/per_frame_controls.cpp | 214 ++++++++++++++++++
> src/apps/lc-compliance/per_frame_controls.h | 41 ++++
> src/apps/lc-compliance/simple_capture.cpp | 4 +-
> src/apps/lc-compliance/simple_capture.h | 2 +-
> src/apps/lc-compliance/time_sheet.cpp | 135 +++++++++++
> src/apps/lc-compliance/time_sheet.h | 53 +++++
> 8 files changed, 487 insertions(+), 3 deletions(-)
> create mode 100644 src/apps/lc-compliance/per_frame_controls.cpp
> create mode 100644 src/apps/lc-compliance/per_frame_controls.h
> create mode 100644 src/apps/lc-compliance/time_sheet.cpp
> create mode 100644 src/apps/lc-compliance/time_sheet.h
>
> diff --git a/src/apps/lc-compliance/capture_test.cpp b/src/apps/lc-compliance/capture_test.cpp
> index 1dcfcf92..43fe59f3 100644
> --- a/src/apps/lc-compliance/capture_test.cpp
> +++ b/src/apps/lc-compliance/capture_test.cpp
> @@ -11,6 +11,7 @@
> #include <gtest/gtest.h>
>
> #include "environment.h"
> +#include "per_frame_controls.h"
> #include "simple_capture.h"
>
> using namespace libcamera;
> @@ -133,3 +134,41 @@ INSTANTIATE_TEST_SUITE_P(CaptureTests,
> testing::Combine(testing::ValuesIn(ROLES),
> testing::ValuesIn(NUMREQUESTS)),
> SingleStream::nameParameters);
> +
> +/*
> + * Test Per frame controls
> + */
> +TEST_F(SingleStream, testFramePreciseExposureChange)
> +{
> + PerFrameControls capture(camera_);
> + capture.configure(StreamRole::Viewfinder);
> + capture.testFramePreciseExposureChange();
> +}
> +
> +TEST_F(SingleStream, testFramePreciseGainChange)
> +{
> + PerFrameControls capture(camera_);
> + capture.configure(StreamRole::Viewfinder);
> + capture.testFramePreciseGainChange();
> +}
> +
> +TEST_F(SingleStream, testExposureGainIsAppliedOnFirstFrame)
> +{
> + PerFrameControls capture(camera_);
> + capture.configure(StreamRole::Viewfinder);
> + capture.testExposureGainIsAppliedOnFirstFrame();
> +}
> +
> +TEST_F(SingleStream, testExposureGainFromFirstRequestGetsApplied)
> +{
> + PerFrameControls capture(camera_);
> + capture.configure(StreamRole::Viewfinder);
> + capture.testExposureGainFromFirstRequestGetsApplied();
> +}
> +
> +TEST_F(SingleStream, testExposureGainFromFirstAndSecondRequestGetsApplied)
> +{
> + PerFrameControls capture(camera_);
> + capture.configure(StreamRole::Viewfinder);
> + capture.testExposureGainFromFirstAndSecondRequestGetsApplied();
> +}
> diff --git a/src/apps/lc-compliance/meson.build b/src/apps/lc-compliance/meson.build
> index c792f072..2a6f52af 100644
> --- a/src/apps/lc-compliance/meson.build
> +++ b/src/apps/lc-compliance/meson.build
> @@ -15,7 +15,9 @@ lc_compliance_sources = files([
> 'capture_test.cpp',
> 'environment.cpp',
> 'main.cpp',
> + 'per_frame_controls.cpp',
> 'simple_capture.cpp',
> + 'time_sheet.cpp',
> ])
>
> lc_compliance = executable('lc-compliance', lc_compliance_sources,
> diff --git a/src/apps/lc-compliance/per_frame_controls.cpp b/src/apps/lc-compliance/per_frame_controls.cpp
> new file mode 100644
> index 00000000..70fc44ac
> --- /dev/null
> +++ b/src/apps/lc-compliance/per_frame_controls.cpp
> @@ -0,0 +1,214 @@
> +/* SPDX-License-Identifier: GPL-2.0-or-later */
> +/*
> + * Copyright (C) 2024, Ideas on Board Oy
> + *
> + * per_frame_controls.cpp - Tests for per frame controls
> + */
> +#include "per_frame_controls.h"
> +
> +#include <gtest/gtest.h>
> +
> +#include "time_sheet.h"
> +
> +using namespace libcamera;
> +
> +PerFrameControls::PerFrameControls(std::shared_ptr<Camera> camera)
> + : SimpleCapture(camera)
> +{
> +}
> +
> +std::shared_ptr<TimeSheet> PerFrameControls::startCaptureWithTimeSheet(unsigned int framesToCapture, const ControlList *controls)
> +{
> + ControlList ctrls(camera_->controls().idmap());
> + /* Ensure defined default values */
> + ctrls.set(controls::AeEnable, false);
> + ctrls.set(controls::AeExposureMode, controls::ExposureCustom);
> + ctrls.set(controls::ExposureTime, 10000);
> + ctrls.set(controls::AnalogueGain, 1.0);
> +
> + if (controls) {
> + ctrls.merge(*controls, true);
> + }
> +
> + start(&ctrls);
> +
> + queueCount_ = 0;
> + captureCount_ = 0;
> + captureLimit_ = framesToCapture;
> +
> + auto timeSheet = std::make_shared<TimeSheet>(captureLimit_, camera_->controls().idmap());
> + timeSheet_ = timeSheet;
> + return timeSheet;
> +}
> +
> +int PerFrameControls::queueRequest(Request *request)
> +{
> + queueCount_++;
> + if (queueCount_ > captureLimit_)
> + return 0;
> +
> + auto ts = timeSheet_.lock();
> + if (ts) {
> + ts->prepareForQueue(request, queueCount_ - 1);
> + }
> +
> + return camera_->queueRequest(request);
> +}
> +
> +void PerFrameControls::requestComplete(Request *request)
> +{
> + auto ts = timeSheet_.lock();
> + if (ts) {
> + ts->handleCompleteRequest(request);
> + }
> +
> + captureCount_++;
> + if (captureCount_ >= captureLimit_) {
> + loop_->exit(0);
> + return;
> + }
> +
> + request->reuse(Request::ReuseBuffers);
> + if (queueRequest(request))
> + loop_->exit(-EINVAL);
> +}
> +
> +void PerFrameControls::runCaptureSession()
> +{
> + Stream *stream = config_->at(0).stream();
> + const std::vector<std::unique_ptr<FrameBuffer>> &buffers = allocator_->buffers(stream);
> +
> + /* Queue the recommended number of reqeuests. */
> + for (const std::unique_ptr<FrameBuffer> &buffer : buffers) {
> + std::unique_ptr<Request> request = camera_->createRequest();
> + request->addBuffer(stream, buffer.get());
> + queueRequest(request.get());
> + requests_.push_back(std::move(request));
> + }
> +
> + /* Run capture session. */
> + loop_ = new EventLoop();
> + loop_->exec();
> + stop();
> + delete loop_;
> +}
> +
> +void PerFrameControls::testFramePreciseExposureChange()
> +{
> + auto timeSheet = startCaptureWithTimeSheet(10);
> + auto &ts = *timeSheet;
> +
> +
> + ts[3].controls().set(controls::ExposureTime, 5000);
> + //wait a few frames to settle
> + ts[6].controls().set(controls::ExposureTime, 20000);
> + ts.printAllInfos();
> +
> + runCaptureSession();
> +
> + EXPECT_NEAR(ts[5].metadata().get(controls::ExposureTime).value(), 5000, 20);
> + EXPECT_NEAR(ts[6].metadata().get(controls::ExposureTime).value(), 20000, 20);
> +
> + /* No increase just before setting exposure */
> + EXPECT_NEAR(ts[5].getBrightnessChange(), 1.0, 0.05) << "Brightness changed too much before the expected time of change (control delay too high?).";
> + /*
> + * Todo: The change is brightness was a bit low (Exposure time increase by 4x resulted in a brightness increase of < 2).
> + * This should be investigated.
> + */
> + EXPECT_GT(ts[6].getBrightnessChange(), 1.3) << "Brightness in frame " << 6 << " did not increase as expected (reference: "
> + << ts[3].getSpotBrightness() << " current: " << ts[6].getSpotBrightness() << " )" << std::endl;
> +
> + /* No increase just after setting exposure */
> + EXPECT_NEAR(ts[7].getBrightnessChange(), 1.0, 0.05) << "Brightness changed too much after the expected time of change (control delay too low?).";
> +
> + /* No increase just after setting exposure */
> + EXPECT_NEAR(ts[8].getBrightnessChange(), 1.0, 0.05) << "Brightness changed too much2 frames after the expected time of change (control delay too low?).";
> +}
> +
> +void PerFrameControls::testFramePreciseGainChange()
> +{
> + auto timeSheet = startCaptureWithTimeSheet(10);
> + auto &ts = *timeSheet;
> +
> + ts[3].controls().set(controls::AnalogueGain, 1.0);
> + //wait a few frames to settle
> + ts[6].controls().set(controls::AnalogueGain, 4.0);
> +
> + runCaptureSession();
> +
> + EXPECT_NEAR(ts[5].metadata().get(controls::AnalogueGain).value(), 1.0, 0.1);
> + EXPECT_NEAR(ts[6].metadata().get(controls::AnalogueGain).value(), 4.0, 0.1);
> +
> + /* No increase just before setting gain */
> + EXPECT_NEAR(ts[5].getBrightnessChange(), 1.0, 0.05) << "Brightness changed too much before the expected time of change (control delay too high?).";
> + /*
> + * Todo: I see a brightness change of roughly half the expected one. This is not yet understood and needs investigation
> + */
> + EXPECT_GT(ts[6].getBrightnessChange(), 1.7) << "Brightness in frame " << 6 << " did not increase as expected (reference: "
> + << ts[5].getSpotBrightness() << " current: " << ts[6].getSpotBrightness() << " )" << std::endl;
> +
> + /* No increase just after setting gain */
> + EXPECT_NEAR(ts[7].getBrightnessChange(), 1.0, 0.05) << "Brightness changed too much after the expected time of change (control delay too low?).";
> +}
> +
> +void PerFrameControls::testExposureGainFromFirstRequestGetsApplied()
> +{
> + auto timeSheet = startCaptureWithTimeSheet(5);
> + auto &ts = *timeSheet;
> +
> + ts[0].controls().set(controls::ExposureTime, 10000);
> + ts[0].controls().set(controls::AnalogueGain, 4.0);
> +
> + runCaptureSession();
> +
> + /* We expect it to be applied after 3 frames, the latest*/
> + EXPECT_NEAR(ts[4].metadata().get(controls::ExposureTime).value(), 10000, 20);
> + EXPECT_NEAR(ts[4].metadata().get(controls::AnalogueGain).value(), 4.0, 0.1);
> +}
> +
> +void PerFrameControls::testExposureGainFromFirstAndSecondRequestGetsApplied()
> +{
> + auto timeSheet = startCaptureWithTimeSheet(5);
> + auto &ts = *timeSheet;
> +
> + ts[0].controls().set(controls::ExposureTime, 8000);
> + ts[0].controls().set(controls::AnalogueGain, 2.0);
> + ts[1].controls().set(controls::ExposureTime, 10000);
> + ts[1].controls().set(controls::AnalogueGain, 4.0);
> +
> + runCaptureSession();
> +
> + /* We expect it to be applied after 3 frames, the latest*/
> + EXPECT_NEAR(ts[4].metadata().get(controls::ExposureTime).value(), 10000, 20);
> + EXPECT_NEAR(ts[4].metadata().get(controls::AnalogueGain).value(), 4.0, 0.1);
> +}
> +
> +void PerFrameControls::testExposureGainIsAppliedOnFirstFrame()
> +{
> + ControlList startValues;
> + startValues.set(controls::ExposureTime, 5000);
> + startValues.set(controls::AnalogueGain, 1.0);
> +
> + auto ts1 = startCaptureWithTimeSheet(3, &startValues);
> +
> + runCaptureSession();
> +
> + EXPECT_NEAR((*ts1)[0].metadata().get(controls::ExposureTime).value(), 5000, 20);
> + EXPECT_NEAR((*ts1)[0].metadata().get(controls::AnalogueGain).value(), 1.0, 0.01);
> +
> + /* Second capture with different values to ensure we don't hit default/old values */
> +
> + startValues.set(controls::ExposureTime, 15000);
> + startValues.set(controls::AnalogueGain, 4.0);
> +
> + auto ts2 = startCaptureWithTimeSheet(3, &startValues);
> +
> + runCaptureSession();
> +
> + EXPECT_NEAR((*ts2)[0].metadata().get(controls::ExposureTime).value(), 15000, 20);
> + EXPECT_NEAR((*ts2)[0].metadata().get(controls::AnalogueGain).value(), 4.0, 0.01);
> +
> + /* with 3x exposure and 4x gain we could expect a brightness increase of 2x */
> + double brightnessChange = ts2->get(1).getSpotBrightness() / ts1->get(1).getSpotBrightness();
> + EXPECT_GT(brightnessChange, 2.0);
> +}
> diff --git a/src/apps/lc-compliance/per_frame_controls.h b/src/apps/lc-compliance/per_frame_controls.h
> new file mode 100644
> index 00000000..e783f024
> --- /dev/null
> +++ b/src/apps/lc-compliance/per_frame_controls.h
> @@ -0,0 +1,41 @@
> +/* SPDX-License-Identifier: GPL-2.0-or-later */
> +/*
> + * Copyright (C) 2024, Ideas on Board Oy
> + *
> + * per_frame_controls.h - Tests for per frame controls
> + */
> +
> +#pragma once
> +
> +#include <memory>
> +
> +#include <libcamera/libcamera.h>
> +
> +#include "../common/event_loop.h"
> +
> +#include "simple_capture.h"
> +#include "time_sheet.h"
> +
> +class PerFrameControls : public SimpleCapture
> +{
> +public:
> + PerFrameControls(std::shared_ptr<libcamera::Camera> camera);
> +
> + std::shared_ptr<TimeSheet> startCaptureWithTimeSheet(unsigned int framesToCapture, const libcamera::ControlList *controls = nullptr);
> + void runCaptureSession();
> +
> + void testFramePreciseExposureChange();
> + void testFramePreciseGainChange();
> + void testExposureGainIsAppliedOnFirstFrame();
> + void testExposureGainFromFirstRequestGetsApplied();
> + void testExposureGainFromFirstAndSecondRequestGetsApplied();
> +
> + int queueRequest(libcamera::Request *request);
> + void requestComplete(libcamera::Request *request) override;
> +
> + unsigned int queueCount_;
> + unsigned int captureCount_;
> + unsigned int captureLimit_;
> +
> + std::weak_ptr<TimeSheet> timeSheet_;
> +};
> diff --git a/src/apps/lc-compliance/simple_capture.cpp b/src/apps/lc-compliance/simple_capture.cpp
> index cf4d7cf3..56680a83 100644
> --- a/src/apps/lc-compliance/simple_capture.cpp
> +++ b/src/apps/lc-compliance/simple_capture.cpp
> @@ -42,7 +42,7 @@ void SimpleCapture::configure(StreamRole role)
> }
> }
>
> -void SimpleCapture::start()
> +void SimpleCapture::start(const ControlList *controls)
> {
> Stream *stream = config_->at(0).stream();
> int count = allocator_->allocate(stream);
> @@ -52,7 +52,7 @@ void SimpleCapture::start()
>
> camera_->requestCompleted.connect(this, &SimpleCapture::requestComplete);
>
> - ASSERT_EQ(camera_->start(), 0) << "Failed to start camera";
> + ASSERT_EQ(camera_->start(controls), 0) << "Failed to start camera";
> }
>
> void SimpleCapture::stop()
> diff --git a/src/apps/lc-compliance/simple_capture.h b/src/apps/lc-compliance/simple_capture.h
> index 2911d601..54b1d54b 100644
> --- a/src/apps/lc-compliance/simple_capture.h
> +++ b/src/apps/lc-compliance/simple_capture.h
> @@ -22,7 +22,7 @@ protected:
> SimpleCapture(std::shared_ptr<libcamera::Camera> camera);
> virtual ~SimpleCapture();
>
> - void start();
> + void start(const libcamera::ControlList *controls = nullptr);
> void stop();
>
> virtual void requestComplete(libcamera::Request *request) = 0;
> diff --git a/src/apps/lc-compliance/time_sheet.cpp b/src/apps/lc-compliance/time_sheet.cpp
> new file mode 100644
> index 00000000..9a0e6544
> --- /dev/null
> +++ b/src/apps/lc-compliance/time_sheet.cpp
> @@ -0,0 +1,135 @@
> +/* SPDX-License-Identifier: LGPL-2.1-or-later */
> +/*
> + * Copyright (C) 2024, Ideas on Board Oy
> + *
> + * time_sheet.cpp
> + */
> +#include "time_sheet.h"
> +
> +#include <sstream>
> +#include <libcamera/libcamera.h>
> +
> +#include "libcamera/internal/formats.h"
> +#include "libcamera/internal/mapped_framebuffer.h"
> +
> +using namespace libcamera;
> +
> +double calcPixelMeanNV12(const uint8_t *data)
> +{
> + return (double)*data;
> +}
> +
> +double calcPixelMeanRAW10(const uint8_t *data)
> +{
> + return (double)*((const uint16_t *)data);
> +}
> +
> +double calculateMeanBrightnessFromCenterSpot(libcamera::Request *request)
> +{
> + const Request::BufferMap &buffers = request->buffers();
> + for (const auto &[stream, buffer] : buffers) {
> + MappedFrameBuffer in(buffer, MappedFrameBuffer::MapFlag::Read);
> + if (in.isValid()) {
> + auto data = in.planes()[0].data();
> + auto streamConfig = stream->configuration();
> + auto formatInfo = PixelFormatInfo::info(streamConfig.pixelFormat);
> +
> + std::function<double(const uint8_t *data)> calcPixelMean;
> + int pixelStride;
> +
> + switch (streamConfig.pixelFormat) {
> + case formats::NV12:
> + calcPixelMean = calcPixelMeanNV12;
> + pixelStride = 1;
> + break;
> + case formats::SRGGB10:
> + calcPixelMean = calcPixelMeanRAW10;
> + pixelStride = 2;
> + break;
> + default:
> + std::stringstream s;
> + s << "Unsupported Pixelformat " << formatInfo.name;
> + throw std::invalid_argument(s.str());
> + }
> +
> + double sum = 0;
> + int w = 20;
> + int xs = streamConfig.size.width / 2 - w / 2;
> + int ys = streamConfig.size.height / 2 - w / 2;
> +
> + for (auto y = ys; y < ys + w; y++) {
> + auto line = data + y * streamConfig.stride;
> + for (auto x = xs; x < xs + w; x++) {
> + sum += calcPixelMean(line + x * pixelStride);
> + }
> + }
> + sum = sum / (w * w);
> + return sum;
> + }
> + }
> + return 0;
> +}
> +
> +TimeSheetEntry::TimeSheetEntry(const ControlIdMap &idmap)
> + : controls_(idmap)
> +{
> +}
> +
> +void TimeSheetEntry::handleCompleteRequest(libcamera::Request *request, const TimeSheetEntry *previous)
> +{
> + metadata_ = request->metadata();
> +
> + spotBrightness_ = calculateMeanBrightnessFromCenterSpot(request);
> + if (previous) {
> + brightnessChange_ = spotBrightness_ / previous->getSpotBrightness();
> + }
> + sequence_ = request->sequence();
> +}
> +
> +void TimeSheetEntry::printInfo()
> +{
> + std::cout << "=== Frame " << sequence_ << std::endl;
> + std::cout << "Brightness: " << spotBrightness_ << std::endl;
> +
> + if (!metadata_.empty()) {
> + std::cout << "Metadata:" << std::endl;
> + auto idMap = metadata_.idMap();
> + assert(idMap);
> + for (const auto &[id, value] : metadata_) {
> + std::cout << " " << idMap->at(id)->name() << " : " << value.toString() << std::endl;
> + }
> + }
> +}
> +
> +TimeSheetEntry &TimeSheet::get(size_t pos)
> +{
> + auto &entry = entries_[pos];
> + if (!entry)
> + entry = std::make_shared<TimeSheetEntry>(idmap_);
> + return *entry;
> +}
> +
> +void TimeSheet::prepareForQueue(libcamera::Request *request, uint32_t sequence)
> +{
> + request->controls() = get(sequence).controls();
> +}
> +
> +void TimeSheet::handleCompleteRequest(libcamera::Request *request)
> +{
> + uint32_t sequence = request->sequence();
> + auto &entry = get(sequence);
> + TimeSheetEntry *previous = nullptr;
> + if (sequence >= 1) {
> + previous = entries_[sequence - 1].get();
> + }
> +
> + entry.handleCompleteRequest(request, previous);
> +}
> +
> +void TimeSheet::printAllInfos()
> +{
> + for (auto entry : entries_) {
> + if (entry)
> + entry->printInfo();
> + }
> +}
> diff --git a/src/apps/lc-compliance/time_sheet.h b/src/apps/lc-compliance/time_sheet.h
> new file mode 100644
> index 00000000..c155763c
> --- /dev/null
> +++ b/src/apps/lc-compliance/time_sheet.h
> @@ -0,0 +1,53 @@
> +/* SPDX-License-Identifier: LGPL-2.1-or-later */
> +/*
> + * Copyright (C) 2024, Ideas on Board Oy
> + *
> + * time_sheet.h
> + */
> +
> +#pragma once
> +
> +#include <future>
> +#include <vector>
> +
> +#include <libcamera/libcamera.h>
> +
> +class TimeSheetEntry
> +{
> +public:
> + TimeSheetEntry(const libcamera::ControlIdMap &idmap);
> + TimeSheetEntry(TimeSheetEntry &&other) noexcept = default;
> + TimeSheetEntry(const TimeSheetEntry &) = delete;
> +
> + libcamera::ControlList &controls() { return controls_; };
> + libcamera::ControlList &metadata() { return metadata_; };
> + void handleCompleteRequest(libcamera::Request *request, const TimeSheetEntry *previous);
> + void printInfo();
> + double getSpotBrightness() const { return spotBrightness_; };
> + double getBrightnessChange() const { return brightnessChange_; };
> +
> +private:
> + double spotBrightness_ = 0.0;
> + double brightnessChange_ = 0.0;
> + libcamera::ControlList controls_;
> + libcamera::ControlList metadata_;
> + uint32_t sequence_ = 0;
> +};
> +
> +class TimeSheet
> +{
> +public:
> + TimeSheet(int count, const libcamera::ControlIdMap &idmap)
> + : idmap_(idmap), entries_(count){};
> +
> + void prepareForQueue(libcamera::Request *request, uint32_t sequence);
> + void handleCompleteRequest(libcamera::Request *request);
> + void printAllInfos();
> +
> + TimeSheetEntry &operator[](size_t pos) { return get(pos); };
> + TimeSheetEntry &get(size_t pos);
> +
> +private:
> + const libcamera::ControlIdMap &idmap_;
> + std::vector<std::shared_ptr<TimeSheetEntry>> entries_;
> +};
> --
> 2.40.1
>
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