diff options
| -rw-r--r-- | src/libcamera/pipeline/ipu3/imgu.cpp | 355 | ||||
| -rw-r--r-- | src/libcamera/pipeline/ipu3/imgu.h | 20 | ||||
| -rw-r--r-- | src/libcamera/pipeline/ipu3/ipu3.cpp | 2 |
3 files changed, 376 insertions, 1 deletions
diff --git a/src/libcamera/pipeline/ipu3/imgu.cpp b/src/libcamera/pipeline/ipu3/imgu.cpp index 4bec4b2f..e621e293 100644 --- a/src/libcamera/pipeline/ipu3/imgu.cpp +++ b/src/libcamera/pipeline/ipu3/imgu.cpp @@ -7,6 +7,9 @@ #include "imgu.h" +#include <limits> +#include <math.h> + #include <linux/media-bus-format.h> #include <libcamera/formats.h> @@ -14,11 +17,306 @@ #include "libcamera/internal/log.h" #include "libcamera/internal/media_device.h" +#include "libcamera/internal/utils.h" namespace libcamera { LOG_DECLARE_CATEGORY(IPU3) +namespace { + +/* + * The procedure to calculate the ImgU pipe configuration has been ported + * from the pipe_config.py python script, available at: + * https://github.com/intel/intel-ipu3-pipecfg + * at revision: 61e83f2f7606 ("Add more information into README") + */ + +static constexpr unsigned int FILTER_H = 4; + +static constexpr unsigned int IF_ALIGN_W = 2; +static constexpr unsigned int IF_ALIGN_H = 4; + +static constexpr unsigned int BDS_ALIGN_W = 2; +static constexpr unsigned int BDS_ALIGN_H = 4; + +static constexpr unsigned int IF_CROP_MAX_W = 40; +static constexpr unsigned int IF_CROP_MAX_H = 540; + +static constexpr float BDS_SF_MAX = 2.5; +static constexpr float BDS_SF_MIN = 1.0; +static constexpr float BDS_SF_STEP = 0.03125; + +/* BSD scaling factors: min=1, max=2.5, step=1/32 */ +const std::vector<float> bdsScalingFactors = { + 1, 1.03125, 1.0625, 1.09375, 1.125, 1.15625, 1.1875, 1.21875, 1.25, + 1.28125, 1.3125, 1.34375, 1.375, 1.40625, 1.4375, 1.46875, 1.5, 1.53125, + 1.5625, 1.59375, 1.625, 1.65625, 1.6875, 1.71875, 1.75, 1.78125, 1.8125, + 1.84375, 1.875, 1.90625, 1.9375, 1.96875, 2, 2.03125, 2.0625, 2.09375, + 2.125, 2.15625, 2.1875, 2.21875, 2.25, 2.28125, 2.3125, 2.34375, 2.375, + 2.40625, 2.4375, 2.46875, 2.5 +}; + +/* GDC scaling factors: min=1, max=16, step=1/4 */ +const std::vector<float> gdcScalingFactors = { + 1, 1.25, 1.5, 1.75, 2, 2.25, 2.5, 2.75, 3, 3.25, 3.5, 3.75, 4, 4.25, + 4.5, 4.75, 5, 5.25, 5.5, 5.75, 6, 6.25, 6.5, 6.75, 7, 7.25, 7.5, 7.75, + 8, 8.25, 8.5, 8.75, 9, 9.25, 9.5, 9.75, 10, 10.25, 10.5, 10.75, 11, + 11.25, 11.5, 11.75, 12, 12.25, 12.5, 12.75, 13, 13.25, 13.5, 13.75, 14, + 14.25, 14.5, 14.75, 15, 15.25, 15.5, 15.75, 16, +}; + +std::vector<ImgUDevice::PipeConfig> pipeConfigs; + +struct FOV { + float w; + float h; + + bool isLarger(const FOV &other) + { + if (w > other.w) + return true; + if (w == other.w && h > other.h) + return true; + return false; + } +}; + +/* Approximate a scaling factor sf to the closest one available in a range. */ +float findScaleFactor(float sf, const std::vector<float> &range, + bool roundDown = false) +{ + if (sf <= range[0]) + return range[0]; + if (sf >= range[range.size() - 1]) + return range[range.size() - 1]; + + float bestDiff = std::numeric_limits<float>::max(); + unsigned int index = 0; + for (unsigned int i = 0; i < range.size(); ++i) { + float diff = std::abs(sf - range[i]); + if (diff < bestDiff) { + bestDiff = diff; + index = i; + } + } + + if (roundDown && index > 0 && sf < range[index]) + index--; + + return range[index]; +} + +bool isSameRatio(const Size &in, const Size &out) +{ + float inRatio = static_cast<float>(in.width) / in.height; + float outRatio = static_cast<float>(out.width) / out.height; + + if (std::abs(inRatio - outRatio) > 0.1) + return false; + + return true; +} + +void calculateBDSHeight(ImgUDevice::Pipe *pipe, const Size &iif, const Size &gdc, + unsigned int bdsWidth, float bdsSF) +{ + unsigned int minIFHeight = iif.height - IF_CROP_MAX_H; + unsigned int minBDSHeight = gdc.height + FILTER_H * 2; + unsigned int ifHeight; + float bdsHeight; + + if (!isSameRatio(pipe->input, gdc)) { + float estIFHeight = (iif.width * gdc.height) / + static_cast<float>(gdc.width); + estIFHeight = utils::clamp<float>(estIFHeight, minIFHeight, iif.height); + bool found = false; + + ifHeight = utils::alignUp(estIFHeight, IF_ALIGN_H); + while (ifHeight >= minIFHeight && ifHeight / bdsSF >= minBDSHeight) { + + bdsHeight = ifHeight / bdsSF; + if (std::fmod(bdsHeight, 1.0) == 0) { + unsigned int bdsIntHeight = static_cast<unsigned int>(bdsHeight); + + if (!(bdsIntHeight % BDS_ALIGN_H)) { + found = true; + break; + } + } + + ifHeight -= IF_ALIGN_H; + } + + ifHeight = utils::alignUp(estIFHeight, IF_ALIGN_H); + while (ifHeight <= iif.height && ifHeight / bdsSF >= minBDSHeight) { + + bdsHeight = ifHeight / bdsSF; + if (std::fmod(bdsHeight, 1.0) == 0) { + unsigned int bdsIntHeight = static_cast<unsigned int>(bdsHeight); + + if (!(bdsIntHeight % BDS_ALIGN_H)) { + found = true; + break; + } + } + + ifHeight += IF_ALIGN_H; + } + + if (found) { + unsigned int bdsIntHeight = static_cast<unsigned int>(bdsHeight); + + pipeConfigs.push_back({ bdsSF, { iif.width, ifHeight }, + { bdsWidth, bdsIntHeight }, gdc }); + return; + } + } else { + ifHeight = utils::alignUp(iif.height, IF_ALIGN_H); + while (ifHeight > minIFHeight && ifHeight / bdsSF >= minBDSHeight) { + + bdsHeight = ifHeight / bdsSF; + if (std::fmod(ifHeight, 1.0) == 0 && std::fmod(bdsHeight, 1.0) == 0) { + unsigned int bdsIntHeight = static_cast<unsigned int>(bdsHeight); + + if (!(ifHeight % IF_ALIGN_H) && + !(bdsIntHeight % BDS_ALIGN_H)) { + pipeConfigs.push_back({ bdsSF, { iif.width, ifHeight }, + { bdsWidth, bdsIntHeight }, gdc }); + } + } + + ifHeight -= IF_ALIGN_H; + } + } +} + +void calculateBDS(ImgUDevice::Pipe *pipe, const Size &iif, const Size &gdc, float bdsSF) +{ + unsigned int minBDSWidth = gdc.width + FILTER_H * 2; + + float sf = bdsSF; + while (sf <= BDS_SF_MAX && sf >= BDS_SF_MIN) { + float bdsWidth = static_cast<float>(iif.width) / sf; + + if (std::fmod(bdsWidth, 1.0) == 0) { + unsigned int bdsIntWidth = static_cast<unsigned int>(bdsWidth); + if (!(bdsIntWidth % BDS_ALIGN_W) && bdsWidth >= minBDSWidth) + calculateBDSHeight(pipe, iif, gdc, bdsIntWidth, sf); + } + + sf += BDS_SF_STEP; + } + + sf = bdsSF; + while (sf <= BDS_SF_MAX && sf >= BDS_SF_MIN) { + float bdsWidth = static_cast<float>(iif.width) / sf; + + if (std::fmod(bdsWidth, 1.0) == 0) { + unsigned int bdsIntWidth = static_cast<unsigned int>(bdsWidth); + if (!(bdsIntWidth % BDS_ALIGN_W) && bdsWidth >= minBDSWidth) + calculateBDSHeight(pipe, iif, gdc, bdsIntWidth, sf); + } + + sf -= BDS_SF_STEP; + } +} + +Size calculateGDC(ImgUDevice::Pipe *pipe) +{ + const Size &in = pipe->input; + const Size &main = pipe->main; + const Size &vf = pipe->viewfinder; + Size gdc; + + if (!vf.isNull()) { + gdc.width = main.width; + + float ratio = (main.width * vf.height) / static_cast<float>(vf.width); + gdc.height = std::max(static_cast<float>(main.height), ratio); + + return gdc; + } + + if (!isSameRatio(in, main)) { + gdc = main; + return gdc; + } + + float totalSF = static_cast<float>(in.width) / main.width; + float bdsSF = totalSF > 2 ? 2 : 1; + float yuvSF = totalSF / bdsSF; + float sf = findScaleFactor(yuvSF, gdcScalingFactors); + + gdc.width = main.width * sf; + gdc.height = main.height * sf; + + return gdc; +} + +FOV calcFOV(const Size &in, const ImgUDevice::PipeConfig &pipe) +{ + FOV fov{}; + + float inW = static_cast<float>(in.width); + float inH = static_cast<float>(in.height); + float ifCropW = static_cast<float>(in.width - pipe.iif.width); + float ifCropH = static_cast<float>(in.height - pipe.iif.height); + float gdcCropW = static_cast<float>(pipe.bds.width - pipe.gdc.width) * pipe.bds_sf; + float gdcCropH = static_cast<float>(pipe.bds.height - pipe.gdc.height) * pipe.bds_sf; + + fov.w = (inW - (ifCropW + gdcCropW)) / inW; + fov.h = (inH - (ifCropH + gdcCropH)) / inH; + + return fov; +} + +} /* namespace */ + +/** + * \struct PipeConfig + * \brief The ImgU pipe configuration parameters + * + * The ImgU image pipeline is composed of several hardware blocks that crop + * and scale the input image to obtain the desired output sizes. The + * scaling/cropping operations of those components is configured though the + * V4L2 selection API and the V4L2 subdev API applied to the ImgU media entity. + * + * The configurable components in the pipeline are: + * - IF: image feeder + * - BDS: bayer downscaler + * - GDC: geometric distorsion correction + * + * The IF crop rectangle is controlled by the V4L2_SEL_TGT_CROP selection target + * applied to the ImgU media entity sink pad number 0. The BDS scaler is + * controlled by the V4L2_SEL_TGT_COMPOSE target on the same pad, while the GDC + * output size is configured with the VIDIOC_SUBDEV_S_FMT IOCTL, again on pad + * number 0. + * + * The PipeConfig structure collects the sizes of each of those components + * plus the BDS scaling factor used to calculate the field of view + * of the final images. + */ + +/** + * \struct Pipe + * \brief Describe the ImgU requested configuration + * + * The ImgU unit processes images through several components, which have + * to be properly configured inspecting the input image size and the desired + * output sizes. This structure collects the ImgU input configuration and the + * requested main output and viewfinder configurations. + * + * \var Pipe::input + * \brief The input image size + * + * \var Pipe::main + * \brief The requested main output size + * + * \var Pipe::viewfinder + * \brief The requested viewfinder output size + */ + /** * \brief Initialize components of the ImgU instance * \param[in] mediaDevice The ImgU instance media device @@ -75,6 +373,63 @@ int ImgUDevice::init(MediaDevice *media, unsigned int index) } /** + * \brief Calculate the ImgU pipe configuration parameters + * \param[in] pipe The requested ImgU configuration + * \return An ImgUDevice::PipeConfig instance on success, an empty configuration + * otherwise + */ +ImgUDevice::PipeConfig ImgUDevice::calculatePipeConfig(Pipe *pipe) +{ + pipeConfigs.clear(); + + LOG(IPU3, Debug) << "Calculating pipe configuration for: "; + LOG(IPU3, Debug) << "input: " << pipe->input.toString(); + LOG(IPU3, Debug) << "main: " << pipe->main.toString(); + LOG(IPU3, Debug) << "vf: " << pipe->viewfinder.toString(); + + const Size &in = pipe->input; + Size gdc = calculateGDC(pipe); + + unsigned int ifWidth = utils::alignUp(in.width, IF_ALIGN_W); + unsigned int ifHeight = in.height; + unsigned int minIfWidth = in.width - IF_CROP_MAX_W; + float bdsSF = static_cast<float>(in.width) / gdc.width; + float sf = findScaleFactor(bdsSF, bdsScalingFactors, true); + + while (ifWidth >= minIfWidth) { + Size iif{ ifWidth, ifHeight }; + calculateBDS(pipe, iif, gdc, sf); + + ifWidth -= IF_ALIGN_W; + } + + if (pipeConfigs.size() == 0) { + LOG(IPU3, Error) << "Failed to calculate pipe configuration"; + return {}; + } + + FOV bestFov = calcFOV(pipe->input, pipeConfigs[0]); + unsigned int bestIndex = 0; + unsigned int p = 0; + for (auto pipeConfig : pipeConfigs) { + FOV fov = calcFOV(pipe->input, pipeConfig); + if (fov.isLarger(bestFov)) { + bestFov = fov; + bestIndex = p; + } + + ++p; + } + + LOG(IPU3, Debug) << "Computed pipe configuration: "; + LOG(IPU3, Debug) << "IF: " << pipeConfigs[bestIndex].iif.toString(); + LOG(IPU3, Debug) << "BDS: " << pipeConfigs[bestIndex].bds.toString(); + LOG(IPU3, Debug) << "GDC: " << pipeConfigs[bestIndex].gdc.toString(); + + return pipeConfigs[bestIndex]; +} + +/** * \brief Configure the ImgU unit input * \param[in] size The ImgU input frame size * \param[in] inputFormat The format to be applied to ImgU input diff --git a/src/libcamera/pipeline/ipu3/imgu.h b/src/libcamera/pipeline/ipu3/imgu.h index 23ec1ca1..2f9dc022 100644 --- a/src/libcamera/pipeline/ipu3/imgu.h +++ b/src/libcamera/pipeline/ipu3/imgu.h @@ -23,8 +23,28 @@ struct StreamConfiguration; class ImgUDevice { public: + struct PipeConfig { + float bds_sf; + Size iif; + Size bds; + Size gdc; + + bool isNull() const + { + return iif.isNull() || bds.isNull() || gdc.isNull(); + } + }; + + struct Pipe { + Size input; + Size main; + Size viewfinder; + }; + int init(MediaDevice *media, unsigned int index); + PipeConfig calculatePipeConfig(Pipe *pipe); + int configureInput(const Size &size, V4L2DeviceFormat *inputFormat); int configureOutput(const StreamConfiguration &cfg, diff --git a/src/libcamera/pipeline/ipu3/ipu3.cpp b/src/libcamera/pipeline/ipu3/ipu3.cpp index a081a81c..c20ab3ab 100644 --- a/src/libcamera/pipeline/ipu3/ipu3.cpp +++ b/src/libcamera/pipeline/ipu3/ipu3.cpp @@ -314,7 +314,7 @@ CameraConfiguration *PipelineHandlerIPU3::generateConfiguration(Camera *camera, * to the ImgU maximum output size) and aligned down to * the required frame margin. * - * \todo Clarify the alignment constraints as exaplained + * \todo Clarify the alignment constraints as explained * in validate() */ size = sensorResolution.boundedTo(IMGU_OUTPUT_MAX_SIZE); |