libcamera: ipa: Raspberry Pi IPA

Initial implementation of the Raspberry Pi (BCM2835) libcamera IPA and associated libraries. All code is licensed under the BSD-2-Clause terms. Copyright (c) 2019-2020 Raspberry Pi Trading Ltd. Signed-off-by: Naushir Patuck <naush@raspberrypi.com> Acked-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com> Signed-off-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
2020-05-03 16:48:42 +01:00 · 2020-05-03 16:48:42 +01:00 · 0db2c8dc75
commit 0db2c8dc75
parent 740fd1b62f
69 changed files with 8242 additions and 0 deletions
--- a/src/ipa/raspberrypi/controller/rpi/agc.cpp
+++ b/src/ipa/raspberrypi/controller/rpi/agc.cpp
@ -0,0 +1,642 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi (Trading) Limited
+ *
+ * agc.cpp - AGC/AEC control algorithm
+ */
+
+#include <map>
+
+#include "linux/bcm2835-isp.h"
+
+#include "../awb_status.h"
+#include "../device_status.h"
+#include "../histogram.hpp"
+#include "../logging.hpp"
+#include "../lux_status.h"
+#include "../metadata.hpp"
+
+#include "agc.hpp"
+
+using namespace RPi;
+
+#define NAME "rpi.agc"
+
+#define PIPELINE_BITS 13 // seems to be a 13-bit pipeline
+
+void AgcMeteringMode::Read(boost::property_tree::ptree const &params)
+{
+	int num = 0;
+	for (auto &p : params.get_child("weights")) {
+		if (num == AGC_STATS_SIZE)
+			throw std::runtime_error("AgcConfig: too many weights");
+		weights[num++] = p.second.get_value<double>();
+	}
+	if (num != AGC_STATS_SIZE)
+		throw std::runtime_error("AgcConfig: insufficient weights");
+}
+
+static std::string
+read_metering_modes(std::map<std::string, AgcMeteringMode> &metering_modes,
+		    boost::property_tree::ptree const &params)
+{
+	std::string first;
+	for (auto &p : params) {
+		AgcMeteringMode metering_mode;
+		metering_mode.Read(p.second);
+		metering_modes[p.first] = std::move(metering_mode);
+		if (first.empty())
+			first = p.first;
+	}
+	return first;
+}
+
+static int read_double_list(std::vector<double> &list,
+			    boost::property_tree::ptree const &params)
+{
+	for (auto &p : params)
+		list.push_back(p.second.get_value<double>());
+	return list.size();
+}
+
+void AgcExposureMode::Read(boost::property_tree::ptree const &params)
+{
+	int num_shutters =
+		read_double_list(shutter, params.get_child("shutter"));
+	int num_ags = read_double_list(gain, params.get_child("gain"));
+	if (num_shutters < 2 || num_ags < 2)
+		throw std::runtime_error(
+			"AgcConfig: must have at least two entries in exposure profile");
+	if (num_shutters != num_ags)
+		throw std::runtime_error(
+			"AgcConfig: expect same number of exposure and gain entries in exposure profile");
+}
+
+static std::string
+read_exposure_modes(std::map<std::string, AgcExposureMode> &exposure_modes,
+		    boost::property_tree::ptree const &params)
+{
+	std::string first;
+	for (auto &p : params) {
+		AgcExposureMode exposure_mode;
+		exposure_mode.Read(p.second);
+		exposure_modes[p.first] = std::move(exposure_mode);
+		if (first.empty())
+			first = p.first;
+	}
+	return first;
+}
+
+void AgcConstraint::Read(boost::property_tree::ptree const &params)
+{
+	std::string bound_string = params.get<std::string>("bound", "");
+	transform(bound_string.begin(), bound_string.end(),
+		  bound_string.begin(), ::toupper);
+	if (bound_string != "UPPER" && bound_string != "LOWER")
+		throw std::runtime_error(
+			"AGC constraint type should be UPPER or LOWER");
+	bound = bound_string == "UPPER" ? Bound::UPPER : Bound::LOWER;
+	q_lo = params.get<double>("q_lo");
+	q_hi = params.get<double>("q_hi");
+	Y_target.Read(params.get_child("y_target"));
+}
+
+static AgcConstraintMode
+read_constraint_mode(boost::property_tree::ptree const &params)
+{
+	AgcConstraintMode mode;
+	for (auto &p : params) {
+		AgcConstraint constraint;
+		constraint.Read(p.second);
+		mode.push_back(std::move(constraint));
+	}
+	return mode;
+}
+
+static std::string read_constraint_modes(
+	std::map<std::string, AgcConstraintMode> &constraint_modes,
+	boost::property_tree::ptree const &params)
+{
+	std::string first;
+	for (auto &p : params) {
+		constraint_modes[p.first] = read_constraint_mode(p.second);
+		if (first.empty())
+			first = p.first;
+	}
+	return first;
+}
+
+void AgcConfig::Read(boost::property_tree::ptree const &params)
+{
+	RPI_LOG("AgcConfig");
+	default_metering_mode = read_metering_modes(
+		metering_modes, params.get_child("metering_modes"));
+	default_exposure_mode = read_exposure_modes(
+		exposure_modes, params.get_child("exposure_modes"));
+	default_constraint_mode = read_constraint_modes(
+		constraint_modes, params.get_child("constraint_modes"));
+	Y_target.Read(params.get_child("y_target"));
+	speed = params.get<double>("speed", 0.2);
+	startup_frames = params.get<uint16_t>("startup_frames", 10);
+	fast_reduce_threshold =
+		params.get<double>("fast_reduce_threshold", 0.4);
+	base_ev = params.get<double>("base_ev", 1.0);
+}
+
+Agc::Agc(Controller *controller)
+	: AgcAlgorithm(controller), metering_mode_(nullptr),
+	  exposure_mode_(nullptr), constraint_mode_(nullptr),
+	  frame_count_(0), lock_count_(0)
+{
+	ev_ = status_.ev = 1.0;
+	flicker_period_ = status_.flicker_period = 0.0;
+	fixed_shutter_ = status_.fixed_shutter = 0;
+	fixed_analogue_gain_ = status_.fixed_analogue_gain = 0.0;
+	// set to zero initially, so we can tell it's not been calculated
+	status_.total_exposure_value = 0.0;
+	status_.target_exposure_value = 0.0;
+	status_.locked = false;
+	output_status_ = status_;
+}
+
+char const *Agc::Name() const
+{
+	return NAME;
+}
+
+void Agc::Read(boost::property_tree::ptree const &params)
+{
+	RPI_LOG("Agc");
+	config_.Read(params);
+	// Set the config's defaults (which are the first ones it read) as our
+	// current modes, until someone changes them.  (they're all known to
+	// exist at this point)
+	metering_mode_name_ = config_.default_metering_mode;
+	metering_mode_ = &config_.metering_modes[metering_mode_name_];
+	exposure_mode_name_ = config_.default_exposure_mode;
+	exposure_mode_ = &config_.exposure_modes[exposure_mode_name_];
+	constraint_mode_name_ = config_.default_constraint_mode;
+	constraint_mode_ = &config_.constraint_modes[constraint_mode_name_];
+}
+
+void Agc::SetEv(double ev)
+{
+	std::unique_lock<std::mutex> lock(settings_mutex_);
+	ev_ = ev;
+}
+
+void Agc::SetFlickerPeriod(double flicker_period)
+{
+	std::unique_lock<std::mutex> lock(settings_mutex_);
+	flicker_period_ = flicker_period;
+}
+
+void Agc::SetFixedShutter(double fixed_shutter)
+{
+	std::unique_lock<std::mutex> lock(settings_mutex_);
+	fixed_shutter_ = fixed_shutter;
+}
+
+void Agc::SetFixedAnalogueGain(double fixed_analogue_gain)
+{
+	std::unique_lock<std::mutex> lock(settings_mutex_);
+	fixed_analogue_gain_ = fixed_analogue_gain;
+}
+
+void Agc::SetMeteringMode(std::string const &metering_mode_name)
+{
+	std::unique_lock<std::mutex> lock(settings_mutex_);
+	metering_mode_name_ = metering_mode_name;
+}
+
+void Agc::SetExposureMode(std::string const &exposure_mode_name)
+{
+	std::unique_lock<std::mutex> lock(settings_mutex_);
+	exposure_mode_name_ = exposure_mode_name;
+}
+
+void Agc::SetConstraintMode(std::string const &constraint_mode_name)
+{
+	std::unique_lock<std::mutex> lock(settings_mutex_);
+	constraint_mode_name_ = constraint_mode_name;
+}
+
+void Agc::Prepare(Metadata *image_metadata)
+{
+	AgcStatus status;
+	{
+		std::unique_lock<std::mutex> lock(output_mutex_);
+		status = output_status_;
+	}
+	int lock_count = lock_count_;
+	lock_count_ = 0;
+	status.digital_gain = 1.0;
+	if (status_.total_exposure_value) {
+		// Process has run, so we have meaningful values.
+		DeviceStatus device_status;
+		if (image_metadata->Get("device.status", device_status) == 0) {
+			double actual_exposure = device_status.shutter_speed *
+						 device_status.analogue_gain;
+			if (actual_exposure) {
+				status.digital_gain =
+					status_.total_exposure_value /
+					actual_exposure;
+				RPI_LOG("Want total exposure " << status_.total_exposure_value);
+				// Never ask for a gain < 1.0, and also impose
+				// some upper limit. Make it customisable?
+				status.digital_gain = std::max(
+					1.0,
+					std::min(status.digital_gain, 4.0));
+				RPI_LOG("Actual exposure " << actual_exposure);
+				RPI_LOG("Use digital_gain " << status.digital_gain);
+				RPI_LOG("Effective exposure " << actual_exposure * status.digital_gain);
+				// Decide whether AEC/AGC has converged.
+				// Insist AGC is steady for MAX_LOCK_COUNT
+				// frames before we say we are "locked".
+				// (The hard-coded constants may need to
+				// become customisable.)
+				if (status.target_exposure_value) {
+#define MAX_LOCK_COUNT 3
+					double err = 0.10 * status.target_exposure_value + 200;
+					if (actual_exposure <
+					    status.target_exposure_value + err
+					    && actual_exposure >
+					    status.target_exposure_value - err)
+						lock_count_ =
+							std::min(lock_count + 1,
+							       MAX_LOCK_COUNT);
+					else if (actual_exposure <
+						 status.target_exposure_value
+						 + 1.5 * err &&
+						 actual_exposure >
+						 status.target_exposure_value
+						 - 1.5 * err)
+						lock_count_ = lock_count;
+					RPI_LOG("Lock count: " << lock_count_);
+				}
+			}
+		} else
+			RPI_LOG(Name() << ": no device metadata");
+		status.locked = lock_count_ >= MAX_LOCK_COUNT;
+		//printf("%s\n", status.locked ? "+++++++++" : "-");
+		image_metadata->Set("agc.status", status);
+	}
+}
+
+void Agc::Process(StatisticsPtr &stats, Metadata *image_metadata)
+{
+	frame_count_++;
+	// First a little bit of housekeeping, fetching up-to-date settings and
+	// configuration, that kind of thing.
+	housekeepConfig();
+	// Get the current exposure values for the frame that's just arrived.
+	fetchCurrentExposure(image_metadata);
+	// Compute the total gain we require relative to the current exposure.
+	double gain, target_Y;
+	computeGain(stats.get(), image_metadata, gain, target_Y);
+	// Now compute the target (final) exposure which we think we want.
+	computeTargetExposure(gain);
+	// Some of the exposure has to be applied as digital gain, so work out
+	// what that is. This function also tells us whether it's decided to
+	// "desaturate" the image more quickly.
+	bool desaturate = applyDigitalGain(image_metadata, gain, target_Y);
+	// The results have to be filtered so as not to change too rapidly.
+	filterExposure(desaturate);
+	// The last thing is to divvy up the exposure value into a shutter time
+	// and analogue_gain, according to the current exposure mode.
+	divvyupExposure();
+	// Finally advertise what we've done.
+	writeAndFinish(image_metadata, desaturate);
+}
+
+static void copy_string(std::string const &s, char *d, size_t size)
+{
+	size_t length = s.copy(d, size - 1);
+	d[length] = '\0';
+}
+
+void Agc::housekeepConfig()
+{
+	// First fetch all the up-to-date settings, so no one else has to do it.
+	std::string new_exposure_mode_name, new_constraint_mode_name,
+		new_metering_mode_name;
+	{
+		std::unique_lock<std::mutex> lock(settings_mutex_);
+		new_metering_mode_name = metering_mode_name_;
+		new_exposure_mode_name = exposure_mode_name_;
+		new_constraint_mode_name = constraint_mode_name_;
+		status_.ev = ev_;
+		status_.fixed_shutter = fixed_shutter_;
+		status_.fixed_analogue_gain = fixed_analogue_gain_;
+		status_.flicker_period = flicker_period_;
+	}
+	RPI_LOG("ev " << status_.ev << " fixed_shutter "
+		      << status_.fixed_shutter << " fixed_analogue_gain "
+		      << status_.fixed_analogue_gain);
+	// Make sure the "mode" pointers point to the up-to-date things, if
+	// they've changed.
+	if (strcmp(new_metering_mode_name.c_str(), status_.metering_mode)) {
+		auto it = config_.metering_modes.find(new_metering_mode_name);
+		if (it == config_.metering_modes.end())
+			throw std::runtime_error("Agc: no metering mode " +
+						 new_metering_mode_name);
+		metering_mode_ = &it->second;
+		copy_string(new_metering_mode_name, status_.metering_mode,
+			    sizeof(status_.metering_mode));
+	}
+	if (strcmp(new_exposure_mode_name.c_str(), status_.exposure_mode)) {
+		auto it = config_.exposure_modes.find(new_exposure_mode_name);
+		if (it == config_.exposure_modes.end())
+			throw std::runtime_error("Agc: no exposure profile " +
+						 new_exposure_mode_name);
+		exposure_mode_ = &it->second;
+		copy_string(new_exposure_mode_name, status_.exposure_mode,
+			    sizeof(status_.exposure_mode));
+	}
+	if (strcmp(new_constraint_mode_name.c_str(), status_.constraint_mode)) {
+		auto it =
+			config_.constraint_modes.find(new_constraint_mode_name);
+		if (it == config_.constraint_modes.end())
+			throw std::runtime_error("Agc: no constraint list " +
+						 new_constraint_mode_name);
+		constraint_mode_ = &it->second;
+		copy_string(new_constraint_mode_name, status_.constraint_mode,
+			    sizeof(status_.constraint_mode));
+	}
+	RPI_LOG("exposure_mode "
+		<< new_exposure_mode_name << " constraint_mode "
+		<< new_constraint_mode_name << " metering_mode "
+		<< new_metering_mode_name);
+}
+
+void Agc::fetchCurrentExposure(Metadata *image_metadata)
+{
+	std::unique_lock<Metadata> lock(*image_metadata);
+	DeviceStatus *device_status =
+		image_metadata->GetLocked<DeviceStatus>("device.status");
+	if (!device_status)
+		throw std::runtime_error("Agc: no device metadata");
+	current_.shutter = device_status->shutter_speed;
+	current_.analogue_gain = device_status->analogue_gain;
+	AgcStatus *agc_status =
+		image_metadata->GetLocked<AgcStatus>("agc.status");
+	current_.total_exposure = agc_status ? agc_status->total_exposure_value : 0;
+	current_.total_exposure_no_dg = current_.shutter * current_.analogue_gain;
+}
+
+static double compute_initial_Y(bcm2835_isp_stats *stats, Metadata *image_metadata,
+				double weights[])
+{
+	bcm2835_isp_stats_region *regions = stats->agc_stats;
+	struct AwbStatus awb;
+	awb.gain_r = awb.gain_g = awb.gain_b = 1.0; // in case no metadata
+	if (image_metadata->Get("awb.status", awb) != 0)
+		RPI_WARN("Agc: no AWB status found");
+	double Y_sum = 0, weight_sum = 0;
+	for (int i = 0; i < AGC_STATS_SIZE; i++) {
+		if (regions[i].counted == 0)
+			continue;
+		weight_sum += weights[i];
+		double Y = regions[i].r_sum * awb.gain_r * .299 +
+			   regions[i].g_sum * awb.gain_g * .587 +
+			   regions[i].b_sum * awb.gain_b * .114;
+		Y /= regions[i].counted;
+		Y_sum += Y * weights[i];
+	}
+	return Y_sum / weight_sum / (1 << PIPELINE_BITS);
+}
+
+// We handle extra gain through EV by adjusting our Y targets. However, you
+// simply can't monitor histograms once they get very close to (or beyond!)
+// saturation, so we clamp the Y targets to this value. It does mean that EV
+// increases don't necessarily do quite what you might expect in certain
+// (contrived) cases.
+
+#define EV_GAIN_Y_TARGET_LIMIT 0.9
+
+static double constraint_compute_gain(AgcConstraint &c, Histogram &h,
+				      double lux, double ev_gain,
+				      double &target_Y)
+{
+	target_Y = c.Y_target.Eval(c.Y_target.Domain().Clip(lux));
+	target_Y = std::min(EV_GAIN_Y_TARGET_LIMIT, target_Y * ev_gain);
+	double iqm = h.InterQuantileMean(c.q_lo, c.q_hi);
+	return (target_Y * NUM_HISTOGRAM_BINS) / iqm;
+}
+
+void Agc::computeGain(bcm2835_isp_stats *statistics, Metadata *image_metadata,
+		      double &gain, double &target_Y)
+{
+	struct LuxStatus lux = {};
+	lux.lux = 400; // default lux level to 400 in case no metadata found
+	if (image_metadata->Get("lux.status", lux) != 0)
+		RPI_WARN("Agc: no lux level found");
+	Histogram h(statistics->hist[0].g_hist, NUM_HISTOGRAM_BINS);
+	double ev_gain = status_.ev * config_.base_ev;
+	// The initial gain and target_Y come from some of the regions. After
+	// that we consider the histogram constraints.
+	target_Y =
+		config_.Y_target.Eval(config_.Y_target.Domain().Clip(lux.lux));
+	target_Y = std::min(EV_GAIN_Y_TARGET_LIMIT, target_Y * ev_gain);
+	double initial_Y = compute_initial_Y(statistics, image_metadata,
+					     metering_mode_->weights);
+	gain = std::min(10.0, target_Y / (initial_Y + .001));
+	RPI_LOG("Initially Y " << initial_Y << " target " << target_Y
+			       << " gives gain " << gain);
+	for (auto &c : *constraint_mode_) {
+		double new_target_Y;
+		double new_gain =
+			constraint_compute_gain(c, h, lux.lux, ev_gain,
+						new_target_Y);
+		RPI_LOG("Constraint has target_Y "
+			<< new_target_Y << " giving gain " << new_gain);
+		if (c.bound == AgcConstraint::Bound::LOWER &&
+		    new_gain > gain) {
+			RPI_LOG("Lower bound constraint adopted");
+			gain = new_gain, target_Y = new_target_Y;
+		} else if (c.bound == AgcConstraint::Bound::UPPER &&
+			   new_gain < gain) {
+			RPI_LOG("Upper bound constraint adopted");
+			gain = new_gain, target_Y = new_target_Y;
+		}
+	}
+	RPI_LOG("Final gain " << gain << " (target_Y " << target_Y << " ev "
+			      << status_.ev << " base_ev " << config_.base_ev
+			      << ")");
+}
+
+void Agc::computeTargetExposure(double gain)
+{
+	// The statistics reflect the image without digital gain, so the final
+	// total exposure we're aiming for is:
+	target_.total_exposure = current_.total_exposure_no_dg * gain;
+	// The final target exposure is also limited to what the exposure
+	// mode allows.
+	double max_total_exposure =
+		(status_.fixed_shutter != 0.0
+			 ? status_.fixed_shutter
+			 : exposure_mode_->shutter.back()) *
+		(status_.fixed_analogue_gain != 0.0
+			 ? status_.fixed_analogue_gain
+			 : exposure_mode_->gain.back());
+	target_.total_exposure = std::min(target_.total_exposure,
+					  max_total_exposure);
+	RPI_LOG("Target total_exposure " << target_.total_exposure);
+}
+
+bool Agc::applyDigitalGain(Metadata *image_metadata, double gain,
+			   double target_Y)
+{
+	double dg = 1.0;
+	// I think this pipeline subtracts black level and rescales before we
+	// get the stats, so no need to worry about it.
+	struct AwbStatus awb;
+	if (image_metadata->Get("awb.status", awb) == 0) {
+		double min_gain = std::min(awb.gain_r,
+					   std::min(awb.gain_g, awb.gain_b));
+		dg *= std::max(1.0, 1.0 / min_gain);
+	} else
+		RPI_WARN("Agc: no AWB status found");
+	RPI_LOG("after AWB, target dg " << dg << " gain " << gain
+					<< " target_Y " << target_Y);
+	// Finally, if we're trying to reduce exposure but the target_Y is
+	// "close" to 1.0, then the gain computed for that constraint will be
+	// only slightly less than one, because the measured Y can never be
+	// larger than 1.0. When this happens, demand a large digital gain so
+	// that the exposure can be reduced, de-saturating the image much more
+	// quickly (and we then approach the correct value more quickly from
+	// below).
+	bool desaturate = target_Y > config_.fast_reduce_threshold &&
+			  gain < sqrt(target_Y);
+	if (desaturate)
+		dg /= config_.fast_reduce_threshold;
+	RPI_LOG("Digital gain " << dg << " desaturate? " << desaturate);
+	target_.total_exposure_no_dg = target_.total_exposure / dg;
+	RPI_LOG("Target total_exposure_no_dg " << target_.total_exposure_no_dg);
+	return desaturate;
+}
+
+void Agc::filterExposure(bool desaturate)
+{
+	double speed = frame_count_ <= config_.startup_frames ? 1.0 : config_.speed;
+	if (filtered_.total_exposure == 0.0) {
+		filtered_.total_exposure = target_.total_exposure;
+		filtered_.total_exposure_no_dg = target_.total_exposure_no_dg;
+	} else {
+		// If close to the result go faster, to save making so many
+		// micro-adjustments on the way. (Make this customisable?)
+		if (filtered_.total_exposure < 1.2 * target_.total_exposure &&
+		    filtered_.total_exposure > 0.8 * target_.total_exposure)
+			speed = sqrt(speed);
+		filtered_.total_exposure = speed * target_.total_exposure +
+					   filtered_.total_exposure * (1.0 - speed);
+		// When desaturing, take a big jump down in exposure_no_dg,
+		// which we'll hide with digital gain.
+		if (desaturate)
+			filtered_.total_exposure_no_dg =
+				target_.total_exposure_no_dg;
+		else
+			filtered_.total_exposure_no_dg =
+				speed * target_.total_exposure_no_dg +
+				filtered_.total_exposure_no_dg * (1.0 - speed);
+	}
+	// We can't let the no_dg exposure deviate too far below the
+	// total exposure, as there might not be enough digital gain available
+	// in the ISP to hide it (which will cause nasty oscillation).
+	if (filtered_.total_exposure_no_dg <
+	    filtered_.total_exposure * config_.fast_reduce_threshold)
+		filtered_.total_exposure_no_dg = filtered_.total_exposure *
+						 config_.fast_reduce_threshold;
+	RPI_LOG("After filtering, total_exposure " << filtered_.total_exposure <<
+		" no dg " << filtered_.total_exposure_no_dg);
+}
+
+void Agc::divvyupExposure()
+{
+	// Sending the fixed shutter/gain cases through the same code may seem
+	// unnecessary, but it will make more sense when extend this to cover
+	// variable aperture.
+	double exposure_value = filtered_.total_exposure_no_dg;
+	double shutter_time, analogue_gain;
+	shutter_time = status_.fixed_shutter != 0.0
+			       ? status_.fixed_shutter
+			       : exposure_mode_->shutter[0];
+	analogue_gain = status_.fixed_analogue_gain != 0.0
+				? status_.fixed_analogue_gain
+				: exposure_mode_->gain[0];
+	if (shutter_time * analogue_gain < exposure_value) {
+		for (unsigned int stage = 1;
+		     stage < exposure_mode_->gain.size(); stage++) {
+			if (status_.fixed_shutter == 0.0) {
+				if (exposure_mode_->shutter[stage] *
+					    analogue_gain >=
+				    exposure_value) {
+					shutter_time =
+						exposure_value / analogue_gain;
+					break;
+				}
+				shutter_time = exposure_mode_->shutter[stage];
+			}
+			if (status_.fixed_analogue_gain == 0.0) {
+				if (exposure_mode_->gain[stage] *
+					    shutter_time >=
+				    exposure_value) {
+					analogue_gain =
+						exposure_value / shutter_time;
+					break;
+				}
+				analogue_gain = exposure_mode_->gain[stage];
+			}
+		}
+	}
+	RPI_LOG("Divided up shutter and gain are " << shutter_time << " and "
+						   << analogue_gain);
+	// Finally adjust shutter time for flicker avoidance (require both
+	// shutter and gain not to be fixed).
+	if (status_.fixed_shutter == 0.0 &&
+	    status_.fixed_analogue_gain == 0.0 &&
+	    status_.flicker_period != 0.0) {
+		int flicker_periods = shutter_time / status_.flicker_period;
+		if (flicker_periods > 0) {
+			double new_shutter_time = flicker_periods * status_.flicker_period;
+			analogue_gain *= shutter_time / new_shutter_time;
+			// We should still not allow the ag to go over the
+			// largest value in the exposure mode. Note that this
+			// may force more of the total exposure into the digital
+			// gain as a side-effect.
+			analogue_gain = std::min(analogue_gain,
+						 exposure_mode_->gain.back());
+			shutter_time = new_shutter_time;
+		}
+		RPI_LOG("After flicker avoidance, shutter "
+			<< shutter_time << " gain " << analogue_gain);
+	}
+	filtered_.shutter = shutter_time;
+	filtered_.analogue_gain = analogue_gain;
+}
+
+void Agc::writeAndFinish(Metadata *image_metadata, bool desaturate)
+{
+	status_.total_exposure_value = filtered_.total_exposure;
+	status_.target_exposure_value = desaturate ? 0 : target_.total_exposure_no_dg;
+	status_.shutter_time = filtered_.shutter;
+	status_.analogue_gain = filtered_.analogue_gain;
+	{
+		std::unique_lock<std::mutex> lock(output_mutex_);
+		output_status_ = status_;
+	}
+	// Write to metadata as well, in case anyone wants to update the camera
+	// immediately.
+	image_metadata->Set("agc.status", status_);
+	RPI_LOG("Output written, total exposure requested is "
+		<< filtered_.total_exposure);
+	RPI_LOG("Camera exposure update: shutter time " << filtered_.shutter <<
+		" analogue gain " << filtered_.analogue_gain);
+}
+
+// Register algorithm with the system.
+static Algorithm *Create(Controller *controller)
+{
+	return (Algorithm *)new Agc(controller);
+}
+static RegisterAlgorithm reg(NAME, &Create);