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-rw-r--r--src/libcamera/pipeline/rkisp1/rkisp1.cpp186
1 files changed, 179 insertions, 7 deletions
diff --git a/src/libcamera/pipeline/rkisp1/rkisp1.cpp b/src/libcamera/pipeline/rkisp1/rkisp1.cpp
index 53aff2ed..c7b0b392 100644
--- a/src/libcamera/pipeline/rkisp1/rkisp1.cpp
+++ b/src/libcamera/pipeline/rkisp1/rkisp1.cpp
@@ -6,10 +6,12 @@
*/
#include <algorithm>
+#include <map>
#include <memory>
#include <numeric>
#include <optional>
#include <queue>
+#include <vector>
#include <linux/media-bus-format.h>
#include <linux/rkisp1-config.h>
@@ -32,6 +34,7 @@
#include "libcamera/internal/camera.h"
#include "libcamera/internal/camera_sensor.h"
+#include "libcamera/internal/converter/converter_v4l2_m2m.h"
#include "libcamera/internal/delayed_controls.h"
#include "libcamera/internal/device_enumerator.h"
#include "libcamera/internal/framebuffer.h"
@@ -180,6 +183,7 @@ private:
void bufferReady(FrameBuffer *buffer);
void paramReady(FrameBuffer *buffer);
void statReady(FrameBuffer *buffer);
+ void dewarpBufferReady(FrameBuffer *buffer);
void frameStart(uint32_t sequence);
int allocateBuffers(Camera *camera);
@@ -199,6 +203,15 @@ private:
RkISP1MainPath mainPath_;
RkISP1SelfPath selfPath_;
+ std::unique_ptr<V4L2M2MConverter> dewarper_;
+ bool useDewarper_;
+
+ std::optional<Rectangle> activeCrop_;
+
+ /* Internal buffers used when dewarper is being used */
+ std::vector<std::unique_ptr<FrameBuffer>> mainPathBuffers_;
+ std::queue<FrameBuffer *> availableMainPathBuffers_;
+
std::vector<std::unique_ptr<FrameBuffer>> paramBuffers_;
std::vector<std::unique_ptr<FrameBuffer>> statBuffers_;
std::queue<FrameBuffer *> availableParamBuffers_;
@@ -221,6 +234,8 @@ RkISP1FrameInfo *RkISP1Frames::create(const RkISP1CameraData *data, Request *req
FrameBuffer *paramBuffer = nullptr;
FrameBuffer *statBuffer = nullptr;
+ FrameBuffer *mainPathBuffer = nullptr;
+ FrameBuffer *selfPathBuffer = nullptr;
if (!isRaw) {
if (pipe_->availableParamBuffers_.empty()) {
@@ -238,10 +253,16 @@ RkISP1FrameInfo *RkISP1Frames::create(const RkISP1CameraData *data, Request *req
statBuffer = pipe_->availableStatBuffers_.front();
pipe_->availableStatBuffers_.pop();
+
+ if (pipe_->useDewarper_) {
+ mainPathBuffer = pipe_->availableMainPathBuffers_.front();
+ pipe_->availableMainPathBuffers_.pop();
+ }
}
- FrameBuffer *mainPathBuffer = request->findBuffer(&data->mainPathStream_);
- FrameBuffer *selfPathBuffer = request->findBuffer(&data->selfPathStream_);
+ if (!mainPathBuffer)
+ mainPathBuffer = request->findBuffer(&data->mainPathStream_);
+ selfPathBuffer = request->findBuffer(&data->selfPathStream_);
RkISP1FrameInfo *info = new RkISP1FrameInfo;
@@ -267,6 +288,7 @@ int RkISP1Frames::destroy(unsigned int frame)
pipe_->availableParamBuffers_.push(info->paramBuffer);
pipe_->availableStatBuffers_.push(info->statBuffer);
+ pipe_->availableMainPathBuffers_.push(info->mainPathBuffer);
frameInfo_.erase(info->frame);
@@ -282,6 +304,7 @@ void RkISP1Frames::clear()
pipe_->availableParamBuffers_.push(info->paramBuffer);
pipe_->availableStatBuffers_.push(info->statBuffer);
+ pipe_->availableMainPathBuffers_.push(info->mainPathBuffer);
delete info;
}
@@ -622,7 +645,7 @@ CameraConfiguration::Status RkISP1CameraConfiguration::validate()
*/
PipelineHandlerRkISP1::PipelineHandlerRkISP1(CameraManager *manager)
- : PipelineHandler(manager), hasSelfPath_(true)
+ : PipelineHandler(manager), hasSelfPath_(true), useDewarper_(false)
{
}
@@ -806,12 +829,19 @@ int PipelineHandlerRkISP1::configure(Camera *camera, CameraConfiguration *c)
<< " crop " << rect;
std::map<unsigned int, IPAStream> streamConfig;
+ std::vector<std::reference_wrapper<StreamConfiguration>> outputCfgs;
for (const StreamConfiguration &cfg : *config) {
if (cfg.stream() == &data->mainPathStream_) {
ret = mainPath_.configure(cfg, format);
streamConfig[0] = IPAStream(cfg.pixelFormat,
cfg.size);
+ /* Configure dewarp */
+ if (dewarper_ && !isRaw_) {
+ outputCfgs.push_back(const_cast<StreamConfiguration &>(cfg));
+ ret = dewarper_->configure(cfg, outputCfgs);
+ useDewarper_ = ret ? false : true;
+ }
} else if (hasSelfPath_) {
ret = selfPath_.configure(cfg, format);
streamConfig[1] = IPAStream(cfg.pixelFormat,
@@ -861,10 +891,19 @@ int PipelineHandlerRkISP1::exportFrameBuffers([[maybe_unused]] Camera *camera, S
RkISP1CameraData *data = cameraData(camera);
unsigned int count = stream->configuration().bufferCount;
- if (stream == &data->mainPathStream_)
- return mainPath_.exportBuffers(count, buffers);
- else if (hasSelfPath_ && stream == &data->selfPathStream_)
+ if (stream == &data->mainPathStream_) {
+ /*
+ * Currently, i.MX8MP is the only platform with DW100 dewarper.
+ * It has mainpath and no self path. Hence, export buffers from
+ * dewarper just for the main path stream, for now.
+ */
+ if (useDewarper_)
+ return dewarper_->exportBuffers(&data->mainPathStream_, count, buffers);
+ else
+ return mainPath_.exportBuffers(count, buffers);
+ } else if (hasSelfPath_ && stream == &data->selfPathStream_) {
return selfPath_.exportBuffers(count, buffers);
+ }
return -EINVAL;
}
@@ -888,6 +927,16 @@ int PipelineHandlerRkISP1::allocateBuffers(Camera *camera)
ret = stat_->allocateBuffers(maxCount, &statBuffers_);
if (ret < 0)
goto error;
+
+ /* If the dewarper is being used, allocate internal buffers for ISP. */
+ if (useDewarper_) {
+ ret = mainPath_.exportBuffers(maxCount, &mainPathBuffers_);
+ if (ret < 0)
+ goto error;
+
+ for (std::unique_ptr<FrameBuffer> &buffer : mainPathBuffers_)
+ availableMainPathBuffers_.push(buffer.get());
+ }
}
for (std::unique_ptr<FrameBuffer> &buffer : paramBuffers_) {
@@ -911,6 +960,7 @@ int PipelineHandlerRkISP1::allocateBuffers(Camera *camera)
error:
paramBuffers_.clear();
statBuffers_.clear();
+ mainPathBuffers_.clear();
return ret;
}
@@ -925,8 +975,12 @@ int PipelineHandlerRkISP1::freeBuffers(Camera *camera)
while (!availableParamBuffers_.empty())
availableParamBuffers_.pop();
+ while (!availableMainPathBuffers_.empty())
+ availableMainPathBuffers_.pop();
+
paramBuffers_.clear();
statBuffers_.clear();
+ mainPathBuffers_.clear();
std::vector<unsigned int> ids;
for (IPABuffer &ipabuf : data->ipaBuffers_)
@@ -982,6 +1036,15 @@ int PipelineHandlerRkISP1::start(Camera *camera, [[maybe_unused]] const ControlL
return ret;
}
actions += [&]() { stat_->streamOff(); };
+
+ if (useDewarper_) {
+ ret = dewarper_->start();
+ if (ret) {
+ LOG(RkISP1, Error) << "Failed to start dewarper";
+ return ret;
+ }
+ }
+ actions += [&]() { dewarper_->stop(); };
}
if (data->mainPath_->isEnabled()) {
@@ -1028,6 +1091,9 @@ void PipelineHandlerRkISP1::stopDevice(Camera *camera)
if (ret)
LOG(RkISP1, Warning)
<< "Failed to stop parameters for " << camera->id();
+
+ if (useDewarper_)
+ dewarper_->stop();
}
ASSERT(data->queuedRequests_.empty());
@@ -1138,6 +1204,16 @@ int PipelineHandlerRkISP1::updateControls(RkISP1CameraData *data)
{
ControlInfoMap::Map controls;
+ if (dewarper_) {
+ std::pair<Rectangle, Rectangle> cropLimits =
+ dewarper_->inputCropBounds(&data->mainPathStream_);
+
+ controls[&controls::ScalerCrop] = ControlInfo(cropLimits.first,
+ cropLimits.second,
+ cropLimits.second);
+ activeCrop_ = cropLimits.second;
+ }
+
/* Add the IPA registered controls to list of camera controls. */
for (const auto &ipaControl : data->ipaControls_)
controls[ipaControl.first] = ipaControl.second;
@@ -1264,6 +1340,29 @@ bool PipelineHandlerRkISP1::match(DeviceEnumerator *enumerator)
stat_->bufferReady.connect(this, &PipelineHandlerRkISP1::statReady);
param_->bufferReady.connect(this, &PipelineHandlerRkISP1::paramReady);
+ /* If dewarper is present, create its instance. */
+ DeviceMatch dwp("dw100");
+ dwp.add("dw100-source");
+ dwp.add("dw100-sink");
+
+ std::shared_ptr<MediaDevice> dwpMediaDevice = enumerator->search(dwp);
+ if (dwpMediaDevice) {
+ dewarper_ = std::make_unique<V4L2M2MConverter>(dwpMediaDevice.get());
+ if (dewarper_->isValid()) {
+ dewarper_->outputBufferReady.connect(
+ this, &PipelineHandlerRkISP1::dewarpBufferReady);
+
+ LOG(RkISP1, Info)
+ << "Using DW100 dewarper " << dewarper_->deviceNode();
+ } else {
+ LOG(RkISP1, Warning)
+ << "Found DW100 dewarper " << dewarper_->deviceNode()
+ << " but invalid";
+
+ dewarper_.reset();
+ }
+ }
+
/*
* Enumerate all sensors connected to the ISP and create one
* camera instance for each of them.
@@ -1310,7 +1409,7 @@ void PipelineHandlerRkISP1::bufferReady(FrameBuffer *buffer)
return;
const FrameMetadata &metadata = buffer->metadata();
- Request *request = buffer->request();
+ Request *request = info->request;
if (metadata.status != FrameMetadata::FrameCancelled) {
/*
@@ -1332,6 +1431,79 @@ void PipelineHandlerRkISP1::bufferReady(FrameBuffer *buffer)
info->metadataProcessed = true;
}
+ if (!useDewarper_) {
+ completeBuffer(request, buffer);
+ tryCompleteRequest(info);
+
+ return;
+ }
+
+ /* Do not queue cancelled frames to dewarper. */
+ if (metadata.status == FrameMetadata::FrameCancelled) {
+ /*
+ * i.MX8MP is the only known platform with dewarper. It has
+ * no self path. Hence, only main path buffer completion is
+ * required.
+ *
+ * Also, we cannot completeBuffer(request, buffer) as buffer
+ * here, is an internal buffer (between ISP and dewarper) and
+ * is not associated to the any specific request. The request
+ * buffer associated with main path stream is the one that
+ * is required to be completed (not the internal buffer).
+ */
+ for (auto it : request->buffers()) {
+ if (it.first == &data->mainPathStream_)
+ completeBuffer(request, it.second);
+ }
+
+ tryCompleteRequest(info);
+ return;
+ }
+
+ /* Handle scaler crop control. */
+ const auto &crop = request->controls().get(controls::ScalerCrop);
+ if (crop) {
+ Rectangle appliedRect = crop.value();
+
+ int ret = dewarper_->setInputCrop(&data->mainPathStream_,
+ &appliedRect);
+ if (!ret && appliedRect != crop.value()) {
+ /*
+ * If the rectangle is changed by setInputCrop on the
+ * dewarper, log a debug message and cache the actual
+ * applied rectangle for metadata reporting.
+ */
+ LOG(RkISP1, Debug)
+ << "Applied rectangle " << appliedRect.toString()
+ << " differs from requested " << crop.value().toString();
+ }
+
+ activeCrop_ = appliedRect;
+ }
+
+ /*
+ * Queue input and output buffers to the dewarper. The output
+ * buffers for the dewarper are the buffers of the request, supplied
+ * by the application.
+ */
+ int ret = dewarper_->queueBuffers(buffer, request->buffers());
+ if (ret < 0)
+ LOG(RkISP1, Error) << "Cannot queue buffers to dewarper: "
+ << strerror(-ret);
+
+ request->metadata().set(controls::ScalerCrop, activeCrop_.value());
+}
+
+void PipelineHandlerRkISP1::dewarpBufferReady(FrameBuffer *buffer)
+{
+ ASSERT(activeCamera_);
+ RkISP1CameraData *data = cameraData(activeCamera_);
+ Request *request = buffer->request();
+
+ RkISP1FrameInfo *info = data->frameInfo_.find(buffer->request());
+ if (!info)
+ return;
+
completeBuffer(request, buffer);
tryCompleteRequest(info);
}
generated by cgit v1.2.1 (git 2.18.0) at 2024-10-26 04:35:38 +0000