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/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
* Copyright (C) 2020, Raspberry Pi (Trading) Limited
*
* bayer_format.cpp - Class to represent Bayer formats
*/
#include "libcamera/internal/bayer_format.h"
#include <algorithm>
#include <map>
#include <unordered_map>
#include <linux/media-bus-format.h>
#include <libcamera/transform.h>
/**
* \file bayer_format.h
* \brief Class to represent Bayer formats and manipulate them
*/
namespace libcamera {
/**
* \class BayerFormat
* \brief Class to represent a raw image Bayer format
*
* This class encodes the different Bayer formats in such a way that they can
* be easily manipulated. For example, the bit depth or Bayer order can be
* easily altered - the Bayer order can even be "transformed" in the same
* manner as happens in many sensors when their horizontal or vertical "flip"
* controls are set.
*/
/**
* \enum BayerFormat::Order
* \brief The order of the colour channels in the Bayer pattern
*
* \var BayerFormat::BGGR
* \brief B then G on the first row, G then R on the second row.
* \var BayerFormat::GBRG
* \brief G then B on the first row, R then G on the second row.
* \var BayerFormat::GRBG
* \brief G then R on the first row, B then G on the second row.
* \var BayerFormat::RGGB
* \brief R then G on the first row, G then B on the second row.
* \var BayerFormat::MONO
* \brief Monochrome image data, there is no colour filter array.
*/
/**
* \enum BayerFormat::Packing
* \brief Different types of packing that can be applied to a BayerFormat
*
* \var BayerFormat::None
* \brief No packing
* \var BayerFormat::CSI2Packed
* \brief Format uses MIPI CSI-2 style packing
* \var BayerFormat::IPU3Packed
* \brief Format uses IPU3 style packing
*/
namespace {
/* Define a slightly arbitrary ordering so that we can use a std::map. */
struct BayerFormatComparator {
constexpr bool operator()(const BayerFormat &lhs, const BayerFormat &rhs) const
{
if (lhs.bitDepth < rhs.bitDepth)
return true;
else if (lhs.bitDepth > rhs.bitDepth)
return false;
if (lhs.order < rhs.order)
return true;
else if (lhs.order > rhs.order)
return false;
if (lhs.packing < rhs.packing)
return true;
else
return false;
}
};
const std::map<BayerFormat, V4L2PixelFormat, BayerFormatComparator> bayerToV4l2{
{ { BayerFormat::BGGR, 8, BayerFormat::None }, V4L2PixelFormat(V4L2_PIX_FMT_SBGGR8) },
{ { BayerFormat::GBRG, 8, BayerFormat::None }, V4L2PixelFormat(V4L2_PIX_FMT_SGBRG8) },
{ { BayerFormat::GRBG, 8, BayerFormat::None }, V4L2PixelFormat(V4L2_PIX_FMT_SGRBG8) },
{ { BayerFormat::RGGB, 8, BayerFormat::None }, V4L2PixelFormat(V4L2_PIX_FMT_SRGGB8) },
{ { BayerFormat::BGGR, 10, BayerFormat::None }, V4L2PixelFormat(V4L2_PIX_FMT_SBGGR10) },
{ { BayerFormat::GBRG, 10, BayerFormat::None }, V4L2PixelFormat(V4L2_PIX_FMT_SGBRG10) },
{ { BayerFormat::GRBG, 10, BayerFormat::None }, V4L2PixelFormat(V4L2_PIX_FMT_SGRBG10) },
{ { BayerFormat::RGGB, 10, BayerFormat::None }, V4L2PixelFormat(V4L2_PIX_FMT_SRGGB10) },
{ { BayerFormat::BGGR, 10, BayerFormat::CSI2Packed }, V4L2PixelFormat(V4L2_PIX_FMT_SBGGR10P) },
{ { BayerFormat::GBRG, 10, BayerFormat::CSI2Packed }, V4L2PixelFormat(V4L2_PIX_FMT_SGBRG10P) },
{ { BayerFormat::GRBG, 10, BayerFormat::CSI2Packed }, V4L2PixelFormat(V4L2_PIX_FMT_SGRBG10P) },
{ { BayerFormat::RGGB, 10, BayerFormat::CSI2Packed }, V4L2PixelFormat(V4L2_PIX_FMT_SRGGB10P) },
{ { BayerFormat::BGGR, 10, BayerFormat::IPU3Packed }, V4L2PixelFormat(V4L2_PIX_FMT_IPU3_SBGGR10) },
{ { BayerFormat::GBRG, 10, BayerFormat::IPU3Packed }, V4L2PixelFormat(V4L2_PIX_FMT_IPU3_SGBRG10) },
{ { BayerFormat::GRBG, 10, BayerFormat::IPU3Packed }, V4L2PixelFormat(V4L2_PIX_FMT_IPU3_SGRBG10) },
{ { BayerFormat::RGGB, 10, BayerFormat::IPU3Packed }, V4L2PixelFormat(V4L2_PIX_FMT_IPU3_SRGGB10) },
{ { BayerFormat::BGGR, 12, BayerFormat::None }, V4L2PixelFormat(V4L2_PIX_FMT_SBGGR12) },
{ { BayerFormat::GBRG, 12, BayerFormat::None }, V4L2PixelFormat(V4L2_PIX_FMT_SGBRG12) },
{ { BayerFormat::GRBG, 12, BayerFormat::None }, V4L2PixelFormat(V4L2_PIX_FMT_SGRBG12) },
{ { BayerFormat::RGGB, 12, BayerFormat::None }, V4L2PixelFormat(V4L2_PIX_FMT_SRGGB12) },
{ { BayerFormat::BGGR, 12, BayerFormat::CSI2Packed }, V4L2PixelFormat(V4L2_PIX_FMT_SBGGR12P) },
{ { BayerFormat::GBRG, 12, BayerFormat::CSI2Packed }, V4L2PixelFormat(V4L2_PIX_FMT_SGBRG12P) },
{ { BayerFormat::GRBG, 12, BayerFormat::CSI2Packed }, V4L2PixelFormat(V4L2_PIX_FMT_SGRBG12P) },
{ { BayerFormat::RGGB, 12, BayerFormat::CSI2Packed }, V4L2PixelFormat(V4L2_PIX_FMT_SRGGB12P) },
{ { BayerFormat::BGGR, 16, BayerFormat::None }, V4L2PixelFormat(V4L2_PIX_FMT_SBGGR16) },
{ { BayerFormat::GBRG, 16, BayerFormat::None }, V4L2PixelFormat(V4L2_PIX_FMT_SGBRG16) },
{ { BayerFormat::GRBG, 16, BayerFormat::None }, V4L2PixelFormat(V4L2_PIX_FMT_SGRBG16) },
{ { BayerFormat::RGGB, 16, BayerFormat::None }, V4L2PixelFormat(V4L2_PIX_FMT_SRGGB16) },
{ { BayerFormat::MONO, 8, BayerFormat::None }, V4L2PixelFormat(V4L2_PIX_FMT_GREY) },
{ { BayerFormat::MONO, 10, BayerFormat::CSI2Packed }, V4L2PixelFormat(V4L2_PIX_FMT_Y10P) },
};
const std::unordered_map<unsigned int, BayerFormat> mbusCodeToBayer{
{ MEDIA_BUS_FMT_SBGGR8_1X8, { BayerFormat::BGGR, 8, BayerFormat::None } },
{ MEDIA_BUS_FMT_SGBRG8_1X8, { BayerFormat::GBRG, 8, BayerFormat::None } },
{ MEDIA_BUS_FMT_SGRBG8_1X8, { BayerFormat::GRBG, 8, BayerFormat::None } },
{ MEDIA_BUS_FMT_SRGGB8_1X8, { BayerFormat::RGGB, 8, BayerFormat::None } },
{ MEDIA_BUS_FMT_SBGGR10_ALAW8_1X8, { BayerFormat::BGGR, 8, BayerFormat::None } },
{ MEDIA_BUS_FMT_SGBRG10_ALAW8_1X8, { BayerFormat::GBRG, 8, BayerFormat::None } },
{ MEDIA_BUS_FMT_SGRBG10_ALAW8_1X8, { BayerFormat::GRBG, 8, BayerFormat::None } },
{ MEDIA_BUS_FMT_SRGGB10_ALAW8_1X8, { BayerFormat::RGGB, 8, BayerFormat::None } },
{ MEDIA_BUS_FMT_SBGGR10_DPCM8_1X8, { BayerFormat::BGGR, 8, BayerFormat::None } },
{ MEDIA_BUS_FMT_SGBRG10_DPCM8_1X8, { BayerFormat::GBRG, 8, BayerFormat::None } },
{ MEDIA_BUS_FMT_SGRBG10_DPCM8_1X8, { BayerFormat::GRBG, 8, BayerFormat::None } },
{ MEDIA_BUS_FMT_SRGGB10_DPCM8_1X8, { BayerFormat::RGGB, 8, BayerFormat::None } },
{ MEDIA_BUS_FMT_SBGGR10_2X8_PADHI_BE, { BayerFormat::BGGR, 10, BayerFormat::None } },
{ MEDIA_BUS_FMT_SBGGR10_2X8_PADHI_LE, { BayerFormat::BGGR, 10, BayerFormat::None } },
{ MEDIA_BUS_FMT_SBGGR10_2X8_PADLO_BE, { BayerFormat::BGGR, 10, BayerFormat::None } },
{ MEDIA_BUS_FMT_SBGGR10_2X8_PADLO_LE, { BayerFormat::BGGR, 10, BayerFormat::None } },
{ MEDIA_BUS_FMT_SBGGR10_1X10, { BayerFormat::BGGR, 10, BayerFormat::None } },
{ MEDIA_BUS_FMT_SGBRG10_1X10, { BayerFormat::GBRG, 10, BayerFormat::None } },
{ MEDIA_BUS_FMT_SGRBG10_1X10, { BayerFormat::GRBG, 10, BayerFormat::None } },
{ MEDIA_BUS_FMT_SRGGB10_1X10, { BayerFormat::RGGB, 10, BayerFormat::None } },
{ MEDIA_BUS_FMT_SBGGR12_1X12, { BayerFormat::BGGR, 12, BayerFormat::None } },
{ MEDIA_BUS_FMT_SGBRG12_1X12, { BayerFormat::GBRG, 12, BayerFormat::None } },
{ MEDIA_BUS_FMT_SGRBG12_1X12, { BayerFormat::GRBG, 12, BayerFormat::None } },
{ MEDIA_BUS_FMT_SRGGB12_1X12, { BayerFormat::RGGB, 12, BayerFormat::None } },
{ MEDIA_BUS_FMT_SBGGR14_1X14, { BayerFormat::BGGR, 14, BayerFormat::None } },
{ MEDIA_BUS_FMT_SGBRG14_1X14, { BayerFormat::GBRG, 14, BayerFormat::None } },
{ MEDIA_BUS_FMT_SGRBG14_1X14, { BayerFormat::GRBG, 14, BayerFormat::None } },
{ MEDIA_BUS_FMT_SRGGB14_1X14, { BayerFormat::RGGB, 14, BayerFormat::None } },
{ MEDIA_BUS_FMT_SBGGR16_1X16, { BayerFormat::BGGR, 16, BayerFormat::None } },
{ MEDIA_BUS_FMT_SGBRG16_1X16, { BayerFormat::GBRG, 16, BayerFormat::None } },
{ MEDIA_BUS_FMT_SGRBG16_1X16, { BayerFormat::GRBG, 16, BayerFormat::None } },
{ MEDIA_BUS_FMT_SRGGB16_1X16, { BayerFormat::RGGB, 16, BayerFormat::None } },
{ MEDIA_BUS_FMT_Y8_1X8, { BayerFormat::MONO, 8, BayerFormat::None } },
{ MEDIA_BUS_FMT_Y10_1X10, { BayerFormat::MONO, 10, BayerFormat::None } },
};
} /* namespace */
/**
* \fn BayerFormat::BayerFormat()
* \brief Construct an empty (and invalid) BayerFormat
*/
/**
* \fn BayerFormat::BayerFormat(Order o, uint8_t b, Packing p)
* \brief Construct a BayerFormat from explicit values
* \param[in] o The order of the Bayer pattern
* \param[in] b The bit depth of the Bayer samples
* \param[in] p The type of packing applied to the pixel values
*/
/**
* \brief Retrieve the BayerFormat associated with a media bus code
* \param[in] mbusCode The media bus code to convert into a BayerFormat
*
* The media bus code numeric identifiers are defined by the V4L2 specification.
*/
const BayerFormat &BayerFormat::fromMbusCode(unsigned int mbusCode)
{
static BayerFormat empty;
const auto it = mbusCodeToBayer.find(mbusCode);
if (it == mbusCodeToBayer.end())
return empty;
else
return it->second;
}
/**
* \fn BayerFormat::isValid()
* \brief Return whether a BayerFormat is valid
*/
/**
* \brief Assemble and return a readable string representation of the
* BayerFormat
* \return A string describing the BayerFormat
*/
std::string BayerFormat::toString() const
{
std::string result;
static const char *orderStrings[] = {
"BGGR",
"GBRG",
"GRBG",
"RGGB",
"MONO"
};
if (isValid() && order <= MONO)
result = orderStrings[order];
else
return "INVALID";
result += "-" + std::to_string(bitDepth);
if (packing == CSI2Packed)
result += "-CSI2P";
else if (packing == IPU3Packed)
result += "-IPU3P";
return result;
}
/**
* \brief Compare two BayerFormats for equality
* \return True if order, bitDepth and packing are equal, or false otherwise
*/
bool operator==(const BayerFormat &lhs, const BayerFormat &rhs)
{
return lhs.order == rhs.order && lhs.bitDepth == rhs.bitDepth &&
lhs.packing == rhs.packing;
}
/**
* \fn bool operator!=(const BayerFormat &lhs, const BayerFormat &rhs)
* \brief Compare two BayerFormats for inequality
* \return True if either order, bitdepth or packing are not equal, or false
* otherwise
*/
/**
* \brief Convert a BayerFormat into the corresponding V4L2PixelFormat
* \return The V4L2PixelFormat corresponding to this BayerFormat
*/
V4L2PixelFormat BayerFormat::toV4L2PixelFormat() const
{
const auto it = bayerToV4l2.find(*this);
if (it != bayerToV4l2.end())
return it->second;
return V4L2PixelFormat();
}
/**
* \brief Convert \a v4l2Format to the corresponding BayerFormat
* \param[in] v4l2Format The raw format to convert into a BayerFormat
* \return The BayerFormat corresponding to \a v4l2Format
*/
BayerFormat BayerFormat::fromV4L2PixelFormat(V4L2PixelFormat v4l2Format)
{
auto it = std::find_if(bayerToV4l2.begin(), bayerToV4l2.end(),
[v4l2Format](const auto &i) {
return i.second == v4l2Format;
});
if (it != bayerToV4l2.end())
return it->first;
return BayerFormat();
}
/**
* \brief Apply a transform to this BayerFormat
* \param[in] t The transform to apply
*
* Appplying a transform to an image stored in a Bayer format affects the Bayer
* order. For example, performing a horizontal flip on the Bayer pattern
* RGGB causes the RG rows of pixels to become GR, and the GB rows to become BG.
* The transformed image would have a GRBG order. The bit depth and modifiers
* are not affected.
*
* Horizontal and vertical flips are applied before transpose.
*
* \return The transformed Bayer format
*/
BayerFormat BayerFormat::transform(Transform t) const
{
BayerFormat result = *this;
if (order == MONO)
return result;
/*
* Observe that flipping bit 0 of the Order enum performs a horizontal
* mirror on the Bayer pattern (e.g. RGGB goes to GRBG). Similarly,
* flipping bit 1 performs a vertical mirror operation on it. Hence:
*/
if (!!(t & Transform::HFlip))
result.order = static_cast<Order>(result.order ^ 1);
if (!!(t & Transform::VFlip))
result.order = static_cast<Order>(result.order ^ 2);
if (!!(t & Transform::Transpose) && result.order == 1)
result.order = static_cast<Order>(2);
else if (!!(t & Transform::Transpose) && result.order == 2)
result.order = static_cast<Order>(1);
return result;
}
/**
* \var BayerFormat::order
* \brief The order of the colour channels in the Bayer pattern
*/
/**
* \var BayerFormat::bitDepth
* \brief The bit depth of the samples in the Bayer pattern
*/
/**
* \var BayerFormat::packing
* \brief Any packing scheme applied to this BayerFormat
*/
} /* namespace libcamera */
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