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pipeline: ipa: raspberrypi: Refactor and move the Raspberry Pi code
Split the Raspberry Pi pipeline handler and IPA source code into common
and VC4/BCM2835 specific file structures.
For the pipeline handler, the common code files now live in
src/libcamera/pipeline/rpi/common/
and the VC4-specific files in src/libcamera/pipeline/rpi/vc4/.
For the IPA, the common code files now live in
src/ipa/rpi/{cam_helper,controller}/
and the vc4 specific files in src/ipa/rpi/vc4/. With this change, the
camera tuning files are now installed under share/libcamera/ipa/rpi/vc4/.
To build the pipeline and IPA, the meson configuration options have now
changed from "raspberrypi" to "rpi/vc4":
meson setup build -Dipas=rpi/vc4 -Dpipelines=rpi/vc4
Signed-off-by: Naushir Patuck <naush@raspberrypi.com>
Reviewed-by: Jacopo Mondi <jacopo.mondi@ideasonboard.com>
Reviewed-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
Signed-off-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
This commit is contained in:
Naushir Patuck
Laurent Pinchart
parent
46aefed208
commit
726e9274ea
121 changed files with 172 additions and 109 deletions
269
src/ipa/rpi/controller/pwl.cpp
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269
src/ipa/rpi/controller/pwl.cpp
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/* SPDX-License-Identifier: BSD-2-Clause */
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/*
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* Copyright (C) 2019, Raspberry Pi Ltd
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*
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* pwl.cpp - piecewise linear functions
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*/
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#include <cassert>
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#include <cmath>
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#include <stdexcept>
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#include "pwl.h"
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using namespace RPiController;
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int Pwl::read(const libcamera::YamlObject ¶ms)
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{
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if (!params.size() || params.size() % 2)
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return -EINVAL;
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const auto &list = params.asList();
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for (auto it = list.begin(); it != list.end(); it++) {
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auto x = it->get<double>();
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if (!x)
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return -EINVAL;
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if (it != list.begin() && *x <= points_.back().x)
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return -EINVAL;
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auto y = (++it)->get<double>();
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if (!y)
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return -EINVAL;
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points_.push_back(Point(*x, *y));
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}
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return 0;
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}
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void Pwl::append(double x, double y, const double eps)
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{
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if (points_.empty() || points_.back().x + eps < x)
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points_.push_back(Point(x, y));
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}
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void Pwl::prepend(double x, double y, const double eps)
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{
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if (points_.empty() || points_.front().x - eps > x)
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points_.insert(points_.begin(), Point(x, y));
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}
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Pwl::Interval Pwl::domain() const
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{
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return Interval(points_[0].x, points_[points_.size() - 1].x);
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}
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Pwl::Interval Pwl::range() const
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{
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double lo = points_[0].y, hi = lo;
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for (auto &p : points_)
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lo = std::min(lo, p.y), hi = std::max(hi, p.y);
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return Interval(lo, hi);
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}
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bool Pwl::empty() const
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{
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return points_.empty();
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}
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double Pwl::eval(double x, int *spanPtr, bool updateSpan) const
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{
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int span = findSpan(x, spanPtr && *spanPtr != -1 ? *spanPtr : points_.size() / 2 - 1);
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if (spanPtr && updateSpan)
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*spanPtr = span;
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return points_[span].y +
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(x - points_[span].x) * (points_[span + 1].y - points_[span].y) /
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(points_[span + 1].x - points_[span].x);
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}
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int Pwl::findSpan(double x, int span) const
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{
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/*
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* Pwls are generally small, so linear search may well be faster than
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* binary, though could review this if large PWls start turning up.
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*/
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int lastSpan = points_.size() - 2;
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/*
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* some algorithms may call us with span pointing directly at the last
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* control point
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*/
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span = std::max(0, std::min(lastSpan, span));
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while (span < lastSpan && x >= points_[span + 1].x)
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span++;
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while (span && x < points_[span].x)
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span--;
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return span;
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}
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Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span,
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const double eps) const
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{
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assert(span >= -1);
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bool prevOffEnd = false;
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for (span = span + 1; span < (int)points_.size() - 1; span++) {
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Point spanVec = points_[span + 1] - points_[span];
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double t = ((xy - points_[span]) % spanVec) / spanVec.len2();
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if (t < -eps) /* off the start of this span */
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{
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if (span == 0) {
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perp = points_[span];
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return PerpType::Start;
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} else if (prevOffEnd) {
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perp = points_[span];
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return PerpType::Vertex;
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}
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} else if (t > 1 + eps) /* off the end of this span */
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{
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if (span == (int)points_.size() - 2) {
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perp = points_[span + 1];
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return PerpType::End;
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}
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prevOffEnd = true;
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} else /* a true perpendicular */
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{
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perp = points_[span] + spanVec * t;
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return PerpType::Perpendicular;
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}
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}
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return PerpType::None;
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}
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Pwl Pwl::inverse(bool *trueInverse, const double eps) const
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{
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bool appended = false, prepended = false, neither = false;
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Pwl inverse;
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for (Point const &p : points_) {
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if (inverse.empty())
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inverse.append(p.y, p.x, eps);
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else if (std::abs(inverse.points_.back().x - p.y) <= eps ||
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std::abs(inverse.points_.front().x - p.y) <= eps)
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/* do nothing */;
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else if (p.y > inverse.points_.back().x) {
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inverse.append(p.y, p.x, eps);
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appended = true;
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} else if (p.y < inverse.points_.front().x) {
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inverse.prepend(p.y, p.x, eps);
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prepended = true;
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} else
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neither = true;
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}
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/*
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* This is not a proper inverse if we found ourselves putting points
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* onto both ends of the inverse, or if there were points that couldn't
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* go on either.
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*/
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if (trueInverse)
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*trueInverse = !(neither || (appended && prepended));
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return inverse;
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}
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Pwl Pwl::compose(Pwl const &other, const double eps) const
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{
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double thisX = points_[0].x, thisY = points_[0].y;
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int thisSpan = 0, otherSpan = other.findSpan(thisY, 0);
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Pwl result({ { thisX, other.eval(thisY, &otherSpan, false) } });
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while (thisSpan != (int)points_.size() - 1) {
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double dx = points_[thisSpan + 1].x - points_[thisSpan].x,
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dy = points_[thisSpan + 1].y - points_[thisSpan].y;
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if (std::abs(dy) > eps &&
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otherSpan + 1 < (int)other.points_.size() &&
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points_[thisSpan + 1].y >=
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other.points_[otherSpan + 1].x + eps) {
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/*
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* next control point in result will be where this
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* function's y reaches the next span in other
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*/
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thisX = points_[thisSpan].x +
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(other.points_[otherSpan + 1].x -
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points_[thisSpan].y) *
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dx / dy;
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thisY = other.points_[++otherSpan].x;
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} else if (std::abs(dy) > eps && otherSpan > 0 &&
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points_[thisSpan + 1].y <=
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other.points_[otherSpan - 1].x - eps) {
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/*
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* next control point in result will be where this
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* function's y reaches the previous span in other
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*/
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thisX = points_[thisSpan].x +
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(other.points_[otherSpan + 1].x -
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points_[thisSpan].y) *
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dx / dy;
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thisY = other.points_[--otherSpan].x;
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} else {
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/* we stay in the same span in other */
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thisSpan++;
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thisX = points_[thisSpan].x,
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thisY = points_[thisSpan].y;
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}
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result.append(thisX, other.eval(thisY, &otherSpan, false),
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eps);
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}
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return result;
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}
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void Pwl::map(std::function<void(double x, double y)> f) const
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{
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for (auto &pt : points_)
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f(pt.x, pt.y);
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}
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void Pwl::map2(Pwl const &pwl0, Pwl const &pwl1,
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std::function<void(double x, double y0, double y1)> f)
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{
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int span0 = 0, span1 = 0;
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double x = std::min(pwl0.points_[0].x, pwl1.points_[0].x);
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f(x, pwl0.eval(x, &span0, false), pwl1.eval(x, &span1, false));
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while (span0 < (int)pwl0.points_.size() - 1 ||
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span1 < (int)pwl1.points_.size() - 1) {
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if (span0 == (int)pwl0.points_.size() - 1)
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x = pwl1.points_[++span1].x;
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else if (span1 == (int)pwl1.points_.size() - 1)
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x = pwl0.points_[++span0].x;
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else if (pwl0.points_[span0 + 1].x > pwl1.points_[span1 + 1].x)
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x = pwl1.points_[++span1].x;
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else
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x = pwl0.points_[++span0].x;
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f(x, pwl0.eval(x, &span0, false), pwl1.eval(x, &span1, false));
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}
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}
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Pwl Pwl::combine(Pwl const &pwl0, Pwl const &pwl1,
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std::function<double(double x, double y0, double y1)> f,
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const double eps)
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{
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Pwl result;
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map2(pwl0, pwl1, [&](double x, double y0, double y1) {
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result.append(x, f(x, y0, y1), eps);
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});
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return result;
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}
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void Pwl::matchDomain(Interval const &domain, bool clip, const double eps)
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{
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int span = 0;
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prepend(domain.start, eval(clip ? points_[0].x : domain.start, &span),
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eps);
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span = points_.size() - 2;
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append(domain.end, eval(clip ? points_.back().x : domain.end, &span),
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eps);
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}
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Pwl &Pwl::operator*=(double d)
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{
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for (auto &pt : points_)
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pt.y *= d;
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return *this;
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}
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void Pwl::debug(FILE *fp) const
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{
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fprintf(fp, "Pwl {\n");
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for (auto &p : points_)
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fprintf(fp, "\t(%g, %g)\n", p.x, p.y);
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fprintf(fp, "}\n");
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}
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