@@ -6,6 +6,7 @@
*/
#include <algorithm>
#include <assert.h>
+#include <cmath>
#include <fcntl.h>
#include <memory>
#include <mutex>
@@ -49,6 +50,8 @@ LOG_DEFINE_CATEGORY(RPI)
namespace {
+constexpr unsigned int defaultRawBitDepth = 12;
+
/* Map of mbus codes to supported sizes reported by the sensor. */
using SensorFormats = std::map<unsigned int, std::vector<Size>>;
@@ -125,15 +128,13 @@ double scoreFormat(double desired, double actual)
return score;
}
-V4L2SubdeviceFormat findBestFormat(const SensorFormats &formatsMap, const Size &req)
+V4L2SubdeviceFormat findBestFormat(const SensorFormats &formatsMap, const Size &req, unsigned int bitDepth)
{
double bestScore = std::numeric_limits<double>::max(), score;
V4L2SubdeviceFormat bestFormat;
-#define PENALTY_AR 1500.0
-#define PENALTY_8BIT 2000.0
-#define PENALTY_10BIT 1000.0
-#define PENALTY_12BIT 0.0
+ constexpr float penaltyAr = 1500.0;
+ constexpr float penaltyBitDepth = 500.0;
/* Calculate the closest/best mode from the user requested size. */
for (const auto &iter : formatsMap) {
@@ -149,15 +150,10 @@ V4L2SubdeviceFormat findBestFormat(const SensorFormats &formatsMap, const Size &
/* Score the dimensions for closeness. */
score = scoreFormat(req.width, size.width);
score += scoreFormat(req.height, size.height);
- score += PENALTY_AR * scoreFormat(reqAr, fmtAr);
+ score += penaltyAr * scoreFormat(reqAr, fmtAr);
/* Add any penalties... this is not an exact science! */
- if (info.bitsPerPixel == 12)
- score += PENALTY_12BIT;
- else if (info.bitsPerPixel == 10)
- score += PENALTY_10BIT;
- else if (info.bitsPerPixel == 8)
- score += PENALTY_8BIT;
+ score += std::abs(static_cast<int>(info.bitsPerPixel - bitDepth)) * penaltyBitDepth;
if (score <= bestScore) {
bestScore = score;
@@ -397,9 +393,14 @@ CameraConfiguration::Status RPiCameraConfiguration::validate()
* Calculate the best sensor mode we can use based on
* the user request.
*/
- V4L2SubdeviceFormat sensorFormat = findBestFormat(data_->sensorFormats_, cfg.size);
+ const PixelFormatInfo &info = PixelFormatInfo::info(cfg.pixelFormat);
+ unsigned int bitDepth = info.isValid() ? info.bitsPerPixel : defaultRawBitDepth;
+ V4L2SubdeviceFormat sensorFormat = findBestFormat(data_->sensorFormats_, cfg.size, bitDepth);
+ BayerFormat::Packing packing = BayerFormat::Packing::CSI2;
+ if (info.isValid() && !info.packed)
+ packing = BayerFormat::Packing::None;
V4L2DeviceFormat unicamFormat = toV4L2DeviceFormat(sensorFormat,
- BayerFormat::Packing::CSI2);
+ packing);
int ret = data_->unicam_[Unicam::Image].dev()->tryFormat(&unicamFormat);
if (ret)
return Invalid;
@@ -533,7 +534,7 @@ CameraConfiguration *PipelineHandlerRPi::generateConfiguration(Camera *camera,
switch (role) {
case StreamRole::Raw:
size = data->sensor_->resolution();
- sensorFormat = findBestFormat(data->sensorFormats_, size);
+ sensorFormat = findBestFormat(data->sensorFormats_, size, defaultRawBitDepth);
pixelFormat = mbusCodeToPixelFormat(sensorFormat.mbus_code,
BayerFormat::Packing::CSI2);
ASSERT(pixelFormat.isValid());
@@ -622,6 +623,7 @@ int PipelineHandlerRPi::configure(Camera *camera, CameraConfiguration *config)
Size maxSize, sensorSize;
unsigned int maxIndex = 0;
bool rawStream = false;
+ unsigned int bitDepth = defaultRawBitDepth;
/*
* Look for the RAW stream (if given) size as well as the largest
@@ -638,7 +640,9 @@ int PipelineHandlerRPi::configure(Camera *camera, CameraConfiguration *config)
sensorSize = cfg.size;
rawStream = true;
/* Check if the user has explicitly set an unpacked format. */
- packing = BayerFormat::fromPixelFormat(cfg.pixelFormat).packing;
+ BayerFormat bayerFormat = BayerFormat::fromPixelFormat(cfg.pixelFormat);
+ packing = bayerFormat.packing;
+ bitDepth = bayerFormat.bitDepth;
} else {
if (cfg.size > maxSize) {
maxSize = config->at(i).size;
@@ -664,7 +668,7 @@ int PipelineHandlerRPi::configure(Camera *camera, CameraConfiguration *config)
}
/* First calculate the best sensor mode we can use based on the user request. */
- V4L2SubdeviceFormat sensorFormat = findBestFormat(data->sensorFormats_, rawStream ? sensorSize : maxSize);
+ V4L2SubdeviceFormat sensorFormat = findBestFormat(data->sensorFormats_, rawStream ? sensorSize : maxSize, bitDepth);
ret = data->sensor_->setFormat(&sensorFormat);
if (ret)
return ret;