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/awb.cpp
+++ b/src/ipa/raspberrypi/controller/rpi/awb.cpp
@ -0,0 +1,608 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi (Trading) Limited
+ *
+ * awb.cpp - AWB control algorithm
+ */
+
+#include "../logging.hpp"
+#include "../lux_status.h"
+
+#include "awb.hpp"
+
+using namespace RPi;
+
+#define NAME "rpi.awb"
+
+#define AWB_STATS_SIZE_X DEFAULT_AWB_REGIONS_X
+#define AWB_STATS_SIZE_Y DEFAULT_AWB_REGIONS_Y
+
+const double Awb::RGB::INVALID = -1.0;
+
+void AwbMode::Read(boost::property_tree::ptree const &params)
+{
+	ct_lo = params.get<double>("lo");
+	ct_hi = params.get<double>("hi");
+}
+
+void AwbPrior::Read(boost::property_tree::ptree const &params)
+{
+	lux = params.get<double>("lux");
+	prior.Read(params.get_child("prior"));
+}
+
+static void read_ct_curve(Pwl &ct_r, Pwl &ct_b,
+			  boost::property_tree::ptree const &params)
+{
+	int num = 0;
+	for (auto it = params.begin(); it != params.end(); it++) {
+		double ct = it->second.get_value<double>();
+		assert(it == params.begin() || ct != ct_r.Domain().end);
+		if (++it == params.end())
+			throw std::runtime_error(
+				"AwbConfig: incomplete CT curve entry");
+		ct_r.Append(ct, it->second.get_value<double>());
+		if (++it == params.end())
+			throw std::runtime_error(
+				"AwbConfig: incomplete CT curve entry");
+		ct_b.Append(ct, it->second.get_value<double>());
+		num++;
+	}
+	if (num < 2)
+		throw std::runtime_error(
+			"AwbConfig: insufficient points in CT curve");
+}
+
+void AwbConfig::Read(boost::property_tree::ptree const &params)
+{
+	RPI_LOG("AwbConfig");
+	bayes = params.get<int>("bayes", 1);
+	frame_period = params.get<uint16_t>("frame_period", 10);
+	startup_frames = params.get<uint16_t>("startup_frames", 10);
+	speed = params.get<double>("speed", 0.05);
+	if (params.get_child_optional("ct_curve"))
+		read_ct_curve(ct_r, ct_b, params.get_child("ct_curve"));
+	if (params.get_child_optional("priors")) {
+		for (auto &p : params.get_child("priors")) {
+			AwbPrior prior;
+			prior.Read(p.second);
+			if (!priors.empty() && prior.lux <= priors.back().lux)
+				throw std::runtime_error(
+					"AwbConfig: Prior must be ordered in increasing lux value");
+			priors.push_back(prior);
+		}
+		if (priors.empty())
+			throw std::runtime_error(
+				"AwbConfig: no AWB priors configured");
+	}
+	if (params.get_child_optional("modes")) {
+		for (auto &p : params.get_child("modes")) {
+			modes[p.first].Read(p.second);
+			if (default_mode == nullptr)
+				default_mode = &modes[p.first];
+		}
+		if (default_mode == nullptr)
+			throw std::runtime_error(
+				"AwbConfig: no AWB modes configured");
+	}
+	min_pixels = params.get<double>("min_pixels", 16.0);
+	min_G = params.get<uint16_t>("min_G", 32);
+	min_regions = params.get<uint32_t>("min_regions", 10);
+	delta_limit = params.get<double>("delta_limit", 0.2);
+	coarse_step = params.get<double>("coarse_step", 0.2);
+	transverse_pos = params.get<double>("transverse_pos", 0.01);
+	transverse_neg = params.get<double>("transverse_neg", 0.01);
+	if (transverse_pos <= 0 || transverse_neg <= 0)
+		throw std::runtime_error(
+			"AwbConfig: transverse_pos/neg must be > 0");
+	sensitivity_r = params.get<double>("sensitivity_r", 1.0);
+	sensitivity_b = params.get<double>("sensitivity_b", 1.0);
+	if (bayes) {
+		if (ct_r.Empty() || ct_b.Empty() || priors.empty() ||
+		    default_mode == nullptr) {
+			RPI_WARN(
+				"Bayesian AWB mis-configured - switch to Grey method");
+			bayes = false;
+		}
+	}
+	fast = params.get<int>(
+		"fast", bayes); // default to fast for Bayesian, otherwise slow
+	whitepoint_r = params.get<double>("whitepoint_r", 0.0);
+	whitepoint_b = params.get<double>("whitepoint_b", 0.0);
+	if (bayes == false)
+		sensitivity_r = sensitivity_b =
+			1.0; // nor do sensitivities make any sense
+}
+
+Awb::Awb(Controller *controller)
+	: AwbAlgorithm(controller)
+{
+	async_abort_ = async_start_ = async_started_ = async_finished_ = false;
+	mode_ = nullptr;
+	manual_r_ = manual_b_ = 0.0;
+	async_thread_ = std::thread(std::bind(&Awb::asyncFunc, this));
+}
+
+Awb::~Awb()
+{
+	{
+		std::lock_guard<std::mutex> lock(mutex_);
+		async_abort_ = true;
+		async_signal_.notify_one();
+	}
+	async_thread_.join();
+}
+
+char const *Awb::Name() const
+{
+	return NAME;
+}
+
+void Awb::Read(boost::property_tree::ptree const &params)
+{
+	config_.Read(params);
+}
+
+void Awb::Initialise()
+{
+	frame_count2_ = frame_count_ = frame_phase_ = 0;
+	// Put something sane into the status that we are filtering towards,
+	// just in case the first few frames don't have anything meaningful in
+	// them.
+	if (!config_.ct_r.Empty() && !config_.ct_b.Empty()) {
+		sync_results_.temperature_K = config_.ct_r.Domain().Clip(4000);
+		sync_results_.gain_r =
+			1.0 / config_.ct_r.Eval(sync_results_.temperature_K);
+		sync_results_.gain_g = 1.0;
+		sync_results_.gain_b =
+			1.0 / config_.ct_b.Eval(sync_results_.temperature_K);
+	} else {
+		// random values just to stop the world blowing up
+		sync_results_.temperature_K = 4500;
+		sync_results_.gain_r = sync_results_.gain_g =
+			sync_results_.gain_b = 1.0;
+	}
+	prev_sync_results_ = sync_results_;
+}
+
+void Awb::SetMode(std::string const &mode_name)
+{
+	std::unique_lock<std::mutex> lock(settings_mutex_);
+	mode_name_ = mode_name;
+}
+
+void Awb::SetManualGains(double manual_r, double manual_b)
+{
+	std::unique_lock<std::mutex> lock(settings_mutex_);
+	// If any of these are 0.0, we swich back to auto.
+	manual_r_ = manual_r;
+	manual_b_ = manual_b;
+}
+
+void Awb::fetchAsyncResults()
+{
+	RPI_LOG("Fetch AWB results");
+	async_finished_ = false;
+	async_started_ = false;
+	sync_results_ = async_results_;
+}
+
+void Awb::restartAsync(StatisticsPtr &stats, std::string const &mode_name,
+		       double lux)
+{
+	RPI_LOG("Starting AWB thread");
+	// this makes a new reference which belongs to the asynchronous thread
+	statistics_ = stats;
+	// store the mode as it could technically change
+	auto m = config_.modes.find(mode_name);
+	mode_ = m != config_.modes.end()
+			? &m->second
+			: (mode_ == nullptr ? config_.default_mode : mode_);
+	lux_ = lux;
+	frame_phase_ = 0;
+	async_start_ = true;
+	async_started_ = true;
+	size_t len = mode_name.copy(async_results_.mode,
+				    sizeof(async_results_.mode) - 1);
+	async_results_.mode[len] = '\0';
+	async_signal_.notify_one();
+}
+
+void Awb::Prepare(Metadata *image_metadata)
+{
+	if (frame_count_ < (int)config_.startup_frames)
+		frame_count_++;
+	double speed = frame_count_ < (int)config_.startup_frames
+			       ? 1.0
+			       : config_.speed;
+	RPI_LOG("Awb: frame_count " << frame_count_ << " speed " << speed);
+	{
+		std::unique_lock<std::mutex> lock(mutex_);
+		if (async_started_ && async_finished_) {
+			RPI_LOG("AWB thread finished");
+			fetchAsyncResults();
+		}
+	}
+	// Finally apply IIR filter to results and put into metadata.
+	memcpy(prev_sync_results_.mode, sync_results_.mode,
+	       sizeof(prev_sync_results_.mode));
+	prev_sync_results_.temperature_K =
+		speed * sync_results_.temperature_K +
+		(1.0 - speed) * prev_sync_results_.temperature_K;
+	prev_sync_results_.gain_r = speed * sync_results_.gain_r +
+				    (1.0 - speed) * prev_sync_results_.gain_r;
+	prev_sync_results_.gain_g = speed * sync_results_.gain_g +
+				    (1.0 - speed) * prev_sync_results_.gain_g;
+	prev_sync_results_.gain_b = speed * sync_results_.gain_b +
+				    (1.0 - speed) * prev_sync_results_.gain_b;
+	image_metadata->Set("awb.status", prev_sync_results_);
+	RPI_LOG("Using AWB gains r " << prev_sync_results_.gain_r << " g "
+				     << prev_sync_results_.gain_g << " b "
+				     << prev_sync_results_.gain_b);
+}
+
+void Awb::Process(StatisticsPtr &stats, Metadata *image_metadata)
+{
+	// Count frames since we last poked the async thread.
+	if (frame_phase_ < (int)config_.frame_period)
+		frame_phase_++;
+	if (frame_count2_ < (int)config_.startup_frames)
+		frame_count2_++;
+	RPI_LOG("Awb: frame_phase " << frame_phase_);
+	if (frame_phase_ >= (int)config_.frame_period ||
+	    frame_count2_ < (int)config_.startup_frames) {
+		// Update any settings and any image metadata that we need.
+		std::string mode_name;
+		{
+			std::unique_lock<std::mutex> lock(settings_mutex_);
+			mode_name = mode_name_;
+		}
+		struct LuxStatus lux_status = {};
+		lux_status.lux = 400; // in case no metadata
+		if (image_metadata->Get("lux.status", lux_status) != 0)
+			RPI_LOG("No lux metadata found");
+		RPI_LOG("Awb lux value is " << lux_status.lux);
+
+		std::unique_lock<std::mutex> lock(mutex_);
+		if (async_started_ == false) {
+			RPI_LOG("AWB thread starting");
+			restartAsync(stats, mode_name, lux_status.lux);
+		}
+	}
+}
+
+void Awb::asyncFunc()
+{
+	while (true) {
+		{
+			std::unique_lock<std::mutex> lock(mutex_);
+			async_signal_.wait(lock, [&] {
+				return async_start_ || async_abort_;
+			});
+			async_start_ = false;
+			if (async_abort_)
+				break;
+		}
+		doAwb();
+		{
+			std::lock_guard<std::mutex> lock(mutex_);
+			async_finished_ = true;
+			sync_signal_.notify_one();
+		}
+	}
+}
+
+static void generate_stats(std::vector<Awb::RGB> &zones,
+			   bcm2835_isp_stats_region *stats, double min_pixels,
+			   double min_G)
+{
+	for (int i = 0; i < AWB_STATS_SIZE_X * AWB_STATS_SIZE_Y; i++) {
+		Awb::RGB zone; // this is "invalid", unless R gets overwritten later
+		double counted = stats[i].counted;
+		if (counted >= min_pixels) {
+			zone.G = stats[i].g_sum / counted;
+			if (zone.G >= min_G) {
+				zone.R = stats[i].r_sum / counted;
+				zone.B = stats[i].b_sum / counted;
+			}
+		}
+		zones.push_back(zone);
+	}
+}
+
+void Awb::prepareStats()
+{
+	zones_.clear();
+	// LSC has already been applied to the stats in this pipeline, so stop
+	// any LSC compensation.  We also ignore config_.fast in this version.
+	generate_stats(zones_, statistics_->awb_stats, config_.min_pixels,
+		       config_.min_G);
+	// we're done with these; we may as well relinquish our hold on the
+	// pointer.
+	statistics_.reset();
+	// apply sensitivities, so values appear to come from our "canonical"
+	// sensor.
+	for (auto &zone : zones_)
+		zone.R *= config_.sensitivity_r,
+			zone.B *= config_.sensitivity_b;
+}
+
+double Awb::computeDelta2Sum(double gain_r, double gain_b)
+{
+	// Compute the sum of the squared colour error (non-greyness) as it
+	// appears in the log likelihood equation.
+	double delta2_sum = 0;
+	for (auto &z : zones_) {
+		double delta_r = gain_r * z.R - 1 - config_.whitepoint_r;
+		double delta_b = gain_b * z.B - 1 - config_.whitepoint_b;
+		double delta2 = delta_r * delta_r + delta_b * delta_b;
+		//RPI_LOG("delta_r " << delta_r << " delta_b " << delta_b << " delta2 " << delta2);
+		delta2 = std::min(delta2, config_.delta_limit);
+		delta2_sum += delta2;
+	}
+	return delta2_sum;
+}
+
+Pwl Awb::interpolatePrior()
+{
+	// Interpolate the prior log likelihood function for our current lux
+	// value.
+	if (lux_ <= config_.priors.front().lux)
+		return config_.priors.front().prior;
+	else if (lux_ >= config_.priors.back().lux)
+		return config_.priors.back().prior;
+	else {
+		int idx = 0;
+		// find which two we lie between
+		while (config_.priors[idx + 1].lux < lux_)
+			idx++;
+		double lux0 = config_.priors[idx].lux,
+		       lux1 = config_.priors[idx + 1].lux;
+		return Pwl::Combine(config_.priors[idx].prior,
+				    config_.priors[idx + 1].prior,
+				    [&](double /*x*/, double y0, double y1) {
+					    return y0 + (y1 - y0) *
+							(lux_ - lux0) / (lux1 - lux0);
+				    });
+	}
+}
+
+static double interpolate_quadatric(Pwl::Point const &A, Pwl::Point const &B,
+				    Pwl::Point const &C)
+{
+	// Given 3 points on a curve, find the extremum of the function in that
+	// interval by fitting a quadratic.
+	const double eps = 1e-3;
+	Pwl::Point CA = C - A, BA = B - A;
+	double denominator = 2 * (BA.y * CA.x - CA.y * BA.x);
+	if (abs(denominator) > eps) {
+		double numerator = BA.y * CA.x * CA.x - CA.y * BA.x * BA.x;
+		double result = numerator / denominator + A.x;
+		return std::max(A.x, std::min(C.x, result));
+	}
+	// has degenerated to straight line segment
+	return A.y < C.y - eps ? A.x : (C.y < A.y - eps ? C.x : B.x);
+}
+
+double Awb::coarseSearch(Pwl const &prior)
+{
+	points_.clear(); // assume doesn't deallocate memory
+	size_t best_point = 0;
+	double t = mode_->ct_lo;
+	int span_r = 0, span_b = 0;
+	// Step down the CT curve evaluating log likelihood.
+	while (true) {
+		double r = config_.ct_r.Eval(t, &span_r);
+		double b = config_.ct_b.Eval(t, &span_b);
+		double gain_r = 1 / r, gain_b = 1 / b;
+		double delta2_sum = computeDelta2Sum(gain_r, gain_b);
+		double prior_log_likelihood =
+			prior.Eval(prior.Domain().Clip(t));
+		double final_log_likelihood = delta2_sum - prior_log_likelihood;
+		RPI_LOG("t: " << t << " gain_r " << gain_r << " gain_b "
+			      << gain_b << " delta2_sum " << delta2_sum
+			      << " prior " << prior_log_likelihood << " final "
+			      << final_log_likelihood);
+		points_.push_back(Pwl::Point(t, final_log_likelihood));
+		if (points_.back().y < points_[best_point].y)
+			best_point = points_.size() - 1;
+		if (t == mode_->ct_hi)
+			break;
+		// for even steps along the r/b curve scale them by the current t
+		t = std::min(t + t / 10 * config_.coarse_step,
+			     mode_->ct_hi);
+	}
+	t = points_[best_point].x;
+	RPI_LOG("Coarse search found CT " << t);
+	// We have the best point of the search, but refine it with a quadratic
+	// interpolation around its neighbours.
+	if (points_.size() > 2) {
+		unsigned long bp = std::min(best_point, points_.size() - 2);
+		best_point = std::max(1UL, bp);
+		t = interpolate_quadatric(points_[best_point - 1],
+					  points_[best_point],
+					  points_[best_point + 1]);
+		RPI_LOG("After quadratic refinement, coarse search has CT "
+			<< t);
+	}
+	return t;
+}
+
+void Awb::fineSearch(double &t, double &r, double &b, Pwl const &prior)
+{
+	int span_r, span_b;
+	config_.ct_r.Eval(t, &span_r);
+	config_.ct_b.Eval(t, &span_b);
+	double step = t / 10 * config_.coarse_step * 0.1;
+	int nsteps = 5;
+	double r_diff = config_.ct_r.Eval(t + nsteps * step, &span_r) -
+			config_.ct_r.Eval(t - nsteps * step, &span_r);
+	double b_diff = config_.ct_b.Eval(t + nsteps * step, &span_b) -
+			config_.ct_b.Eval(t - nsteps * step, &span_b);
+	Pwl::Point transverse(b_diff, -r_diff);
+	if (transverse.Len2() < 1e-6)
+		return;
+	// unit vector orthogonal to the b vs. r function (pointing outwards
+	// with r and b increasing)
+	transverse = transverse / transverse.Len();
+	double best_log_likelihood = 0, best_t = 0, best_r = 0, best_b = 0;
+	double transverse_range =
+		config_.transverse_neg + config_.transverse_pos;
+	const int MAX_NUM_DELTAS = 12;
+	// a transverse step approximately every 0.01 r/b units
+	int num_deltas = floor(transverse_range * 100 + 0.5) + 1;
+	num_deltas = num_deltas < 3 ? 3 :
+		     (num_deltas > MAX_NUM_DELTAS ? MAX_NUM_DELTAS : num_deltas);
+	// Step down CT curve. March a bit further if the transverse range is
+	// large.
+	nsteps += num_deltas;
+	for (int i = -nsteps; i <= nsteps; i++) {
+		double t_test = t + i * step;
+		double prior_log_likelihood =
+			prior.Eval(prior.Domain().Clip(t_test));
+		double r_curve = config_.ct_r.Eval(t_test, &span_r);
+		double b_curve = config_.ct_b.Eval(t_test, &span_b);
+		// x will be distance off the curve, y the log likelihood there
+		Pwl::Point points[MAX_NUM_DELTAS];
+		int best_point = 0;
+		// Take some measurements transversely *off* the CT curve.
+		for (int j = 0; j < num_deltas; j++) {
+			points[j].x = -config_.transverse_neg +
+				      (transverse_range * j) / (num_deltas - 1);
+			Pwl::Point rb_test = Pwl::Point(r_curve, b_curve) +
+					     transverse * points[j].x;
+			double r_test = rb_test.x, b_test = rb_test.y;
+			double gain_r = 1 / r_test, gain_b = 1 / b_test;
+			double delta2_sum = computeDelta2Sum(gain_r, gain_b);
+			points[j].y = delta2_sum - prior_log_likelihood;
+			RPI_LOG("At t " << t_test << " r " << r_test << " b "
+					<< b_test << ": " << points[j].y);
+			if (points[j].y < points[best_point].y)
+				best_point = j;
+		}
+		// We have NUM_DELTAS points transversely across the CT curve,
+		// now let's do a quadratic interpolation for the best result.
+		best_point = std::max(1, std::min(best_point, num_deltas - 2));
+		Pwl::Point rb_test =
+			Pwl::Point(r_curve, b_curve) +
+			transverse *
+				interpolate_quadatric(points[best_point - 1],
+						      points[best_point],
+						      points[best_point + 1]);
+		double r_test = rb_test.x, b_test = rb_test.y;
+		double gain_r = 1 / r_test, gain_b = 1 / b_test;
+		double delta2_sum = computeDelta2Sum(gain_r, gain_b);
+		double final_log_likelihood = delta2_sum - prior_log_likelihood;
+		RPI_LOG("Finally "
+			<< t_test << " r " << r_test << " b " << b_test << ": "
+			<< final_log_likelihood
+			<< (final_log_likelihood < best_log_likelihood ? " BEST"
+								       : ""));
+		if (best_t == 0 || final_log_likelihood < best_log_likelihood)
+			best_log_likelihood = final_log_likelihood,
+			best_t = t_test, best_r = r_test, best_b = b_test;
+	}
+	t = best_t, r = best_r, b = best_b;
+	RPI_LOG("Fine search found t " << t << " r " << r << " b " << b);
+}
+
+void Awb::awbBayes()
+{
+	// May as well divide out G to save computeDelta2Sum from doing it over
+	// and over.
+	for (auto &z : zones_)
+		z.R = z.R / (z.G + 1), z.B = z.B / (z.G + 1);
+	// Get the current prior, and scale according to how many zones are
+	// valid... not entirely sure about this.
+	Pwl prior = interpolatePrior();
+	prior *= zones_.size() / (double)(AWB_STATS_SIZE_X * AWB_STATS_SIZE_Y);
+	prior.Map([](double x, double y) {
+		RPI_LOG("(" << x << "," << y << ")");
+	});
+	double t = coarseSearch(prior);
+	double r = config_.ct_r.Eval(t);
+	double b = config_.ct_b.Eval(t);
+	RPI_LOG("After coarse search: r " << r << " b " << b << " (gains r "
+					  << 1 / r << " b " << 1 / b << ")");
+	// Not entirely sure how to handle the fine search yet. Mostly the
+	// estimated CT is already good enough, but the fine search allows us to
+	// wander transverely off the CT curve. Under some illuminants, where
+	// there may be more or less green light, this may prove beneficial,
+	// though I probably need more real datasets before deciding exactly how
+	// this should be controlled and tuned.
+	fineSearch(t, r, b, prior);
+	RPI_LOG("After fine search: r " << r << " b " << b << " (gains r "
+					<< 1 / r << " b " << 1 / b << ")");
+	// Write results out for the main thread to pick up. Remember to adjust
+	// the gains from the ones that the "canonical sensor" would require to
+	// the ones needed by *this* sensor.
+	async_results_.temperature_K = t;
+	async_results_.gain_r = 1.0 / r * config_.sensitivity_r;
+	async_results_.gain_g = 1.0;
+	async_results_.gain_b = 1.0 / b * config_.sensitivity_b;
+}
+
+void Awb::awbGrey()
+{
+	RPI_LOG("Grey world AWB");
+	// Make a separate list of the derivatives for each of red and blue, so
+	// that we can sort them to exclude the extreme gains.  We could
+	// consider some variations, such as normalising all the zones first, or
+	// doing an L2 average etc.
+	std::vector<RGB> &derivs_R(zones_);
+	std::vector<RGB> derivs_B(derivs_R);
+	std::sort(derivs_R.begin(), derivs_R.end(),
+		  [](RGB const &a, RGB const &b) {
+			  return a.G * b.R < b.G * a.R;
+		  });
+	std::sort(derivs_B.begin(), derivs_B.end(),
+		  [](RGB const &a, RGB const &b) {
+			  return a.G * b.B < b.G * a.B;
+		  });
+	// Average the middle half of the values.
+	int discard = derivs_R.size() / 4;
+	RGB sum_R(0, 0, 0), sum_B(0, 0, 0);
+	for (auto ri = derivs_R.begin() + discard,
+		  bi = derivs_B.begin() + discard;
+	     ri != derivs_R.end() - discard; ri++, bi++)
+		sum_R += *ri, sum_B += *bi;
+	double gain_r = sum_R.G / (sum_R.R + 1),
+	       gain_b = sum_B.G / (sum_B.B + 1);
+	async_results_.temperature_K = 4500; // don't know what it is
+	async_results_.gain_r = gain_r;
+	async_results_.gain_g = 1.0;
+	async_results_.gain_b = gain_b;
+}
+
+void Awb::doAwb()
+{
+	if (manual_r_ != 0.0 && manual_b_ != 0.0) {
+		async_results_.temperature_K = 4500; // don't know what it is
+		async_results_.gain_r = manual_r_;
+		async_results_.gain_g = 1.0;
+		async_results_.gain_b = manual_b_;
+		RPI_LOG("Using manual white balance: gain_r "
+			<< async_results_.gain_r << " gain_b "
+			<< async_results_.gain_b);
+	} else {
+		prepareStats();
+		RPI_LOG("Valid zones: " << zones_.size());
+		if (zones_.size() > config_.min_regions) {
+			if (config_.bayes)
+				awbBayes();
+			else
+				awbGrey();
+			RPI_LOG("CT found is "
+				<< async_results_.temperature_K
+				<< " with gains r " << async_results_.gain_r
+				<< " and b " << async_results_.gain_b);
+		}
+	}
+}
+
+// Register algorithm with the system.
+static Algorithm *Create(Controller *controller)
+{
+	return (Algorithm *)new Awb(controller);
+}
+static RegisterAlgorithm reg(NAME, &Create);