[v5,5/5] libcamera: rkisp1: Plumb the ConverterDW100 converter
diff mbox series

Message ID 20240709202151.152289-6-umang.jain@ideasonboard.com
State New
Headers show
Series
  • libcamera: rkisp1: Plumb the ConverterDW100 converter
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Commit Message

Umang Jain July 9, 2024, 8:21 p.m. UTC
Plumb the ConverterDW100 converter in the rkisp1 pipeline handler.
If the dewarper is found, it is instantiated and buffers are exported
from it, instead of RkISP1Path. Internal buffers are allocated for the
RkISP1Path in case where dewarper is going to be used.

The RKISP1 pipeline handler now supports scaler crop control through
ConverterDW100. Register the ScalerCrop control for the cameras created
in the RKISP1 pipeline handler.

Signed-off-by: Umang Jain <umang.jain@ideasonboard.com>
---
 src/libcamera/pipeline/rkisp1/rkisp1.cpp      | 148 +++++++++++++++++-
 src/libcamera/pipeline/rkisp1/rkisp1_path.cpp |  12 +-
 src/libcamera/pipeline/rkisp1/rkisp1_path.h   |  14 ++
 3 files changed, 165 insertions(+), 9 deletions(-)

Comments

Jacopo Mondi July 17, 2024, 1:10 p.m. UTC | #1
Hi Umang

On Wed, Jul 10, 2024 at 01:51:51AM GMT, Umang Jain wrote:
> Plumb the ConverterDW100 converter in the rkisp1 pipeline handler.
> If the dewarper is found, it is instantiated and buffers are exported
> from it, instead of RkISP1Path. Internal buffers are allocated for the
> RkISP1Path in case where dewarper is going to be used.
>
> The RKISP1 pipeline handler now supports scaler crop control through
> ConverterDW100. Register the ScalerCrop control for the cameras created
> in the RKISP1 pipeline handler.
>
> Signed-off-by: Umang Jain <umang.jain@ideasonboard.com>
> ---
>  src/libcamera/pipeline/rkisp1/rkisp1.cpp      | 148 +++++++++++++++++-
>  src/libcamera/pipeline/rkisp1/rkisp1_path.cpp |  12 +-
>  src/libcamera/pipeline/rkisp1/rkisp1_path.h   |  14 ++
>  3 files changed, 165 insertions(+), 9 deletions(-)
>
> diff --git a/src/libcamera/pipeline/rkisp1/rkisp1.cpp b/src/libcamera/pipeline/rkisp1/rkisp1.cpp
> index bfc44239..881e10e1 100644
> --- a/src/libcamera/pipeline/rkisp1/rkisp1.cpp
> +++ b/src/libcamera/pipeline/rkisp1/rkisp1.cpp
> @@ -8,9 +8,11 @@
>  #include <algorithm>
>  #include <array>
>  #include <iomanip>
> +#include <map>
>  #include <memory>
>  #include <numeric>
>  #include <queue>
> +#include <vector>
>
>  #include <linux/media-bus-format.h>
>  #include <linux/rkisp1-config.h>
> @@ -33,6 +35,7 @@
>
>  #include "libcamera/internal/camera.h"
>  #include "libcamera/internal/camera_sensor.h"
> +#include "libcamera/internal/converter/converter_dw100.h"
>  #include "libcamera/internal/delayed_controls.h"
>  #include "libcamera/internal/device_enumerator.h"
>  #include "libcamera/internal/framebuffer.h"
> @@ -62,6 +65,8 @@ struct RkISP1FrameInfo {
>
>  	bool paramDequeued;
>  	bool metadataProcessed;
> +
> +	std::optional<Rectangle> scalerCrop;
>  };
>
>  class RkISP1Frames
> @@ -181,6 +186,7 @@ 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);
> @@ -200,6 +206,13 @@ private:
>  	RkISP1MainPath mainPath_;
>  	RkISP1SelfPath selfPath_;
>
> +	std::unique_ptr<ConverterDW100> dewarper_;
> +	bool useDewarper_;
> +
> +	/* 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_;
> @@ -222,6 +235,8 @@ 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()) {
> @@ -239,10 +254,16 @@ RkISP1FrameInfo *RkISP1Frames::create(const RkISP1CameraData *data, Request *req
>
>  		statBuffer = pipe_->availableStatBuffers_.front();
>  		pipe_->availableStatBuffers_.pop();
> +
> +		if (pipe_->useDewarper_) {
> +			mainPathBuffer = pipe_->availableMainPathBuffers_.front();

Can we exaust the availableMainPathBuffers_ queue? Should this be
checked for validity ?

> +			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;
>
> @@ -268,6 +289,7 @@ 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);
>
> @@ -283,6 +305,7 @@ void RkISP1Frames::clear()
>
>  		pipe_->availableParamBuffers_.push(info->paramBuffer);
>  		pipe_->availableStatBuffers_.push(info->statBuffer);
> +		pipe_->availableMainPathBuffers_.push(info->mainPathBuffer);
>
>  		delete info;
>  	}
> @@ -607,7 +630,7 @@ CameraConfiguration::Status RkISP1CameraConfiguration::validate()
>   */
>
>  PipelineHandlerRkISP1::PipelineHandlerRkISP1(CameraManager *manager)
> -	: PipelineHandler(manager), hasSelfPath_(true)
> +	: PipelineHandler(manager), hasSelfPath_(true), useDewarper_(false)
>  {
>  }
>
> @@ -785,12 +808,19 @@ 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));

Why a vector, can you have more than one ?

> +				ret = dewarper_->configure(cfg, outputCfgs);

Ah, the need to have a vector comes from the configure() signature

Seems like
				ret = dewarper_->configure(cfg, { cfg });

would do

> +				useDewarper_ = ret ? false : true;
> +			}
>  		} else if (hasSelfPath_) {
>  			ret = selfPath_.configure(cfg, format);
>  			streamConfig[1] = IPAStream(cfg.pixelFormat,
> @@ -839,6 +869,9 @@ int PipelineHandlerRkISP1::exportFrameBuffers([[maybe_unused]] Camera *camera, S
>  	RkISP1CameraData *data = cameraData(camera);
>  	unsigned int count = stream->configuration().bufferCount;
>
> +	if (useDewarper_)
> +		return dewarper_->exportBuffers(&data->mainPathStream_, count, buffers);
> +

Unconditionally ? Even if the stream is the selfPath one ?

>  	if (stream == &data->mainPathStream_)
>  		return mainPath_.exportBuffers(count, buffers);
>  	else if (hasSelfPath_ && stream == &data->selfPathStream_)
> @@ -866,6 +899,16 @@ 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_.allocateBuffers(maxCount, &mainPathBuffers_);
> +			if (ret < 0)
> +				goto error;

Is this right ?

It seems the model here is to allocate buffers in the main path and
import them in the dewarper.

allocateBuffer() creates and exports the buffers but sets the video
device in MMAP mode.

I would be expecting instead the main path to
1) export buffers
2) import them back to intialize the queue in DMABUF mode

From there buffers dequeued from the main path are queued to the
dewarper without any need to be mapped into a userspace accesible
address.

Am I confused maybe ?


> +
> +			for (std::unique_ptr<FrameBuffer> &buffer : mainPathBuffers_)
> +				availableMainPathBuffers_.push(buffer.get());
> +		}
>  	}
>
>  	for (std::unique_ptr<FrameBuffer> &buffer : paramBuffers_) {
> @@ -889,6 +932,7 @@ int PipelineHandlerRkISP1::allocateBuffers(Camera *camera)
>  error:
>  	paramBuffers_.clear();
>  	statBuffers_.clear();
> +	mainPathBuffers_.clear();
>
>  	return ret;
>  }
> @@ -903,8 +947,12 @@ 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_)
> @@ -919,6 +967,9 @@ int PipelineHandlerRkISP1::freeBuffers(Camera *camera)
>  	if (stat_->releaseBuffers())
>  		LOG(RkISP1, Error) << "Failed to release stat buffers";
>
> +	if (useDewarper_)
> +		mainPath_.releaseBuffers();
> +
>  	return 0;
>  }
>
> @@ -961,6 +1012,14 @@ int PipelineHandlerRkISP1::start(Camera *camera, [[maybe_unused]] const ControlL
>  				<< "Failed to start statistics " << camera->id();
>  			return ret;
>  		}
> +
> +		if (useDewarper_) {
> +			ret = dewarper_->start();
> +			if (ret) {
> +				LOG(RkISP1, Error) << "Failed to start dewarper";

The error handling path should undo all the previous actions

> +				return ret;
> +			}
> +		}
>  	}
>
>  	if (data->mainPath_->isEnabled()) {
> @@ -1015,6 +1074,9 @@ 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());
> @@ -1045,6 +1107,25 @@ int PipelineHandlerRkISP1::queueRequestDevice(Camera *camera, Request *request)
>  					     info->paramBuffer->cookie());
>  	}
>
> +	const auto &crop = request->controls().get(controls::ScalerCrop);
> +	if (crop && useDewarper_) {
> +		Rectangle appliedRect = crop.value();
> +		int ret = dewarper_->setCrop(&data->mainPathStream_, &appliedRect);
> +		if (!ret) {
> +			if (appliedRect != crop.value()) {
> +				/*
> +				 * \todo How to handle these case?
> +				 * Do we aim for pixel perfect set rectangles?
> +				 */

I think this should be reported in metadata as it has been applied and
let the application decide what to do there

> +				LOG(RkISP1, Warning)
> +					<< "Applied rectangle " << appliedRect.toString()
> +					<< " differs from requested " << crop.value().toString();
> +			}
> +
> +			info->scalerCrop = appliedRect;
> +		}
> +	}
> +
>  	data->frame_++;
>
>  	return 0;
> @@ -1110,6 +1191,12 @@ int PipelineHandlerRkISP1::updateControls(RkISP1CameraData *data)
>  {
>  	ControlInfoMap::Map rkisp1Controls;
>
> +	if (dewarper_) {
> +		auto [minCrop, maxCrop] = dewarper_->getCropBounds(&data->mainPathStream_);
> +
> +		rkisp1Controls[&controls::ScalerCrop] = ControlInfo(minCrop, maxCrop, maxCrop);
> +	}
> +
>  	/* Add the IPA registered controls to list of camera controls. */
>  	for (const auto &ipaControl : data->ipaControls_)
>  		rkisp1Controls[ipaControl.first] = ipaControl.second;
> @@ -1173,6 +1260,7 @@ int PipelineHandlerRkISP1::createCamera(MediaEntity *sensor)
>
>  bool PipelineHandlerRkISP1::match(DeviceEnumerator *enumerator)
>  {
> +	std::shared_ptr<MediaDevice> dwpMediaDevice;
>  	const MediaPad *pad;
>
>  	DeviceMatch dm("rkisp1");
> @@ -1237,6 +1325,26 @@ 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");
> +
> +	dwpMediaDevice = enumerator->search(dwp);
> +	if (dwpMediaDevice) {
> +		dewarper_ = std::make_unique<ConverterDW100>(std::move(dwpMediaDevice));
> +		if (dewarper_->isValid()) {
> +			dewarper_->outputBufferReady.connect(
> +				this, &PipelineHandlerRkISP1::dewarpBufferReady);
> +
> +			LOG(RkISP1, Info) << "Using DW100 dewarper " << dewarper_->deviceNode();
> +		} else {
> +			LOG(RkISP1, Debug) << "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.
> @@ -1283,7 +1391,7 @@ void PipelineHandlerRkISP1::bufferReady(FrameBuffer *buffer)
>  		return;
>
>  	const FrameMetadata &metadata = buffer->metadata();
> -	Request *request = buffer->request();
> +	Request *request = info->request;
>
>  	if (metadata.status != FrameMetadata::FrameCancelled) {
>  		/*
> @@ -1300,11 +1408,43 @@ void PipelineHandlerRkISP1::bufferReady(FrameBuffer *buffer)
>  				data->delayedCtrls_->get(metadata.sequence);
>  			data->ipa_->processStatsBuffer(info->frame, 0, ctrls);
>  		}
> +

rougue white line

>  	} else {
>  		if (isRaw_)
>  			info->metadataProcessed = true;
>  	}
>
> +	if (useDewarper_) {
> +		/*
> +		 * 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());

What if buffer comes from the self path ?

> +		if (ret < 0)
> +			LOG(RkISP1, Error) << "Cannot queue buffers to dewarper: "
> +					   << strerror(-ret);
> +
> +		return;
> +	}
> +
> +	completeBuffer(request, buffer);
> +	tryCompleteRequest(info);
> +}
> +
> +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;
> +
> +	if (info->scalerCrop)
> +		request->metadata().set(controls::ScalerCrop, info->scalerCrop.value());
> +
>  	completeBuffer(request, buffer);
>  	tryCompleteRequest(info);
>  }
> diff --git a/src/libcamera/pipeline/rkisp1/rkisp1_path.cpp b/src/libcamera/pipeline/rkisp1/rkisp1_path.cpp
> index c49017d1..c96ec1d6 100644
> --- a/src/libcamera/pipeline/rkisp1/rkisp1_path.cpp
> +++ b/src/libcamera/pipeline/rkisp1/rkisp1_path.cpp
> @@ -56,7 +56,7 @@ const std::map<PixelFormat, uint32_t> formatToMediaBus = {
>
>  RkISP1Path::RkISP1Path(const char *name, const Span<const PixelFormat> &formats,
>  		       const Size &minResolution, const Size &maxResolution)
> -	: name_(name), running_(false), formats_(formats),
> +	: name_(name), running_(false), internalBufs_(false), formats_(formats),
>  	  minResolution_(minResolution), maxResolution_(maxResolution),
>  	  link_(nullptr)
>  {
> @@ -402,10 +402,12 @@ int RkISP1Path::start()
>  	if (running_)
>  		return -EBUSY;
>
> -	/* \todo Make buffer count user configurable. */
> -	ret = video_->importBuffers(RKISP1_BUFFER_COUNT);
> -	if (ret)
> -		return ret;
> +	if (!internalBufs_) {

Would you still need this if you exportBuffers() from the main path ?

> +		/* \todo Make buffer count user configurable. */
> +		ret = video_->importBuffers(RKISP1_BUFFER_COUNT);
> +		if (ret)
> +			return ret;
> +	}
>
>  	ret = video_->streamOn();
>  	if (ret) {
> diff --git a/src/libcamera/pipeline/rkisp1/rkisp1_path.h b/src/libcamera/pipeline/rkisp1/rkisp1_path.h
> index 08edefec..b7fa82d0 100644
> --- a/src/libcamera/pipeline/rkisp1/rkisp1_path.h
> +++ b/src/libcamera/pipeline/rkisp1/rkisp1_path.h
> @@ -55,6 +55,19 @@ public:
>  		return video_->exportBuffers(bufferCount, buffers);
>  	}
>
> +	int allocateBuffers(unsigned int bufferCount,
> +			    std::vector<std::unique_ptr<FrameBuffer>> *buffers)
> +	{
> +		internalBufs_ = true;
> +		return video_->allocateBuffers(bufferCount, buffers);

What if allocateBuffers() fails ? You have sent the internalBufs_ flag
before this call.

> +	}
> +
> +	int releaseBuffers()
> +	{
> +		ASSERT(internalBufs_);
> +		return video_->releaseBuffers();
> +	}
> +

I think you should move these to the cpp file.

>  	int start();
>  	void stop();
>
> @@ -68,6 +81,7 @@ private:
>
>  	const char *name_;
>  	bool running_;
> +	bool internalBufs_;
>
>  	const Span<const PixelFormat> formats_;
>  	std::set<PixelFormat> streamFormats_;
> --
> 2.45.2
>

Patch
diff mbox series

diff --git a/src/libcamera/pipeline/rkisp1/rkisp1.cpp b/src/libcamera/pipeline/rkisp1/rkisp1.cpp
index bfc44239..881e10e1 100644
--- a/src/libcamera/pipeline/rkisp1/rkisp1.cpp
+++ b/src/libcamera/pipeline/rkisp1/rkisp1.cpp
@@ -8,9 +8,11 @@ 
 #include <algorithm>
 #include <array>
 #include <iomanip>
+#include <map>
 #include <memory>
 #include <numeric>
 #include <queue>
+#include <vector>
 
 #include <linux/media-bus-format.h>
 #include <linux/rkisp1-config.h>
@@ -33,6 +35,7 @@ 
 
 #include "libcamera/internal/camera.h"
 #include "libcamera/internal/camera_sensor.h"
+#include "libcamera/internal/converter/converter_dw100.h"
 #include "libcamera/internal/delayed_controls.h"
 #include "libcamera/internal/device_enumerator.h"
 #include "libcamera/internal/framebuffer.h"
@@ -62,6 +65,8 @@  struct RkISP1FrameInfo {
 
 	bool paramDequeued;
 	bool metadataProcessed;
+
+	std::optional<Rectangle> scalerCrop;
 };
 
 class RkISP1Frames
@@ -181,6 +186,7 @@  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);
@@ -200,6 +206,13 @@  private:
 	RkISP1MainPath mainPath_;
 	RkISP1SelfPath selfPath_;
 
+	std::unique_ptr<ConverterDW100> dewarper_;
+	bool useDewarper_;
+
+	/* 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_;
@@ -222,6 +235,8 @@  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()) {
@@ -239,10 +254,16 @@  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;
 
@@ -268,6 +289,7 @@  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);
 
@@ -283,6 +305,7 @@  void RkISP1Frames::clear()
 
 		pipe_->availableParamBuffers_.push(info->paramBuffer);
 		pipe_->availableStatBuffers_.push(info->statBuffer);
+		pipe_->availableMainPathBuffers_.push(info->mainPathBuffer);
 
 		delete info;
 	}
@@ -607,7 +630,7 @@  CameraConfiguration::Status RkISP1CameraConfiguration::validate()
  */
 
 PipelineHandlerRkISP1::PipelineHandlerRkISP1(CameraManager *manager)
-	: PipelineHandler(manager), hasSelfPath_(true)
+	: PipelineHandler(manager), hasSelfPath_(true), useDewarper_(false)
 {
 }
 
@@ -785,12 +808,19 @@  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,
@@ -839,6 +869,9 @@  int PipelineHandlerRkISP1::exportFrameBuffers([[maybe_unused]] Camera *camera, S
 	RkISP1CameraData *data = cameraData(camera);
 	unsigned int count = stream->configuration().bufferCount;
 
+	if (useDewarper_)
+		return dewarper_->exportBuffers(&data->mainPathStream_, count, buffers);
+
 	if (stream == &data->mainPathStream_)
 		return mainPath_.exportBuffers(count, buffers);
 	else if (hasSelfPath_ && stream == &data->selfPathStream_)
@@ -866,6 +899,16 @@  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_.allocateBuffers(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_) {
@@ -889,6 +932,7 @@  int PipelineHandlerRkISP1::allocateBuffers(Camera *camera)
 error:
 	paramBuffers_.clear();
 	statBuffers_.clear();
+	mainPathBuffers_.clear();
 
 	return ret;
 }
@@ -903,8 +947,12 @@  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_)
@@ -919,6 +967,9 @@  int PipelineHandlerRkISP1::freeBuffers(Camera *camera)
 	if (stat_->releaseBuffers())
 		LOG(RkISP1, Error) << "Failed to release stat buffers";
 
+	if (useDewarper_)
+		mainPath_.releaseBuffers();
+
 	return 0;
 }
 
@@ -961,6 +1012,14 @@  int PipelineHandlerRkISP1::start(Camera *camera, [[maybe_unused]] const ControlL
 				<< "Failed to start statistics " << camera->id();
 			return ret;
 		}
+
+		if (useDewarper_) {
+			ret = dewarper_->start();
+			if (ret) {
+				LOG(RkISP1, Error) << "Failed to start dewarper";
+				return ret;
+			}
+		}
 	}
 
 	if (data->mainPath_->isEnabled()) {
@@ -1015,6 +1074,9 @@  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());
@@ -1045,6 +1107,25 @@  int PipelineHandlerRkISP1::queueRequestDevice(Camera *camera, Request *request)
 					     info->paramBuffer->cookie());
 	}
 
+	const auto &crop = request->controls().get(controls::ScalerCrop);
+	if (crop && useDewarper_) {
+		Rectangle appliedRect = crop.value();
+		int ret = dewarper_->setCrop(&data->mainPathStream_, &appliedRect);
+		if (!ret) {
+			if (appliedRect != crop.value()) {
+				/*
+				 * \todo How to handle these case?
+				 * Do we aim for pixel perfect set rectangles?
+				 */
+				LOG(RkISP1, Warning)
+					<< "Applied rectangle " << appliedRect.toString()
+					<< " differs from requested " << crop.value().toString();
+			}
+
+			info->scalerCrop = appliedRect;
+		}
+	}
+
 	data->frame_++;
 
 	return 0;
@@ -1110,6 +1191,12 @@  int PipelineHandlerRkISP1::updateControls(RkISP1CameraData *data)
 {
 	ControlInfoMap::Map rkisp1Controls;
 
+	if (dewarper_) {
+		auto [minCrop, maxCrop] = dewarper_->getCropBounds(&data->mainPathStream_);
+
+		rkisp1Controls[&controls::ScalerCrop] = ControlInfo(minCrop, maxCrop, maxCrop);
+	}
+
 	/* Add the IPA registered controls to list of camera controls. */
 	for (const auto &ipaControl : data->ipaControls_)
 		rkisp1Controls[ipaControl.first] = ipaControl.second;
@@ -1173,6 +1260,7 @@  int PipelineHandlerRkISP1::createCamera(MediaEntity *sensor)
 
 bool PipelineHandlerRkISP1::match(DeviceEnumerator *enumerator)
 {
+	std::shared_ptr<MediaDevice> dwpMediaDevice;
 	const MediaPad *pad;
 
 	DeviceMatch dm("rkisp1");
@@ -1237,6 +1325,26 @@  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");
+
+	dwpMediaDevice = enumerator->search(dwp);
+	if (dwpMediaDevice) {
+		dewarper_ = std::make_unique<ConverterDW100>(std::move(dwpMediaDevice));
+		if (dewarper_->isValid()) {
+			dewarper_->outputBufferReady.connect(
+				this, &PipelineHandlerRkISP1::dewarpBufferReady);
+
+			LOG(RkISP1, Info) << "Using DW100 dewarper " << dewarper_->deviceNode();
+		} else {
+			LOG(RkISP1, Debug) << "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.
@@ -1283,7 +1391,7 @@  void PipelineHandlerRkISP1::bufferReady(FrameBuffer *buffer)
 		return;
 
 	const FrameMetadata &metadata = buffer->metadata();
-	Request *request = buffer->request();
+	Request *request = info->request;
 
 	if (metadata.status != FrameMetadata::FrameCancelled) {
 		/*
@@ -1300,11 +1408,43 @@  void PipelineHandlerRkISP1::bufferReady(FrameBuffer *buffer)
 				data->delayedCtrls_->get(metadata.sequence);
 			data->ipa_->processStatsBuffer(info->frame, 0, ctrls);
 		}
+
 	} else {
 		if (isRaw_)
 			info->metadataProcessed = true;
 	}
 
+	if (useDewarper_) {
+		/*
+		 * 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);
+
+		return;
+	}
+
+	completeBuffer(request, buffer);
+	tryCompleteRequest(info);
+}
+
+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;
+
+	if (info->scalerCrop)
+		request->metadata().set(controls::ScalerCrop, info->scalerCrop.value());
+
 	completeBuffer(request, buffer);
 	tryCompleteRequest(info);
 }
diff --git a/src/libcamera/pipeline/rkisp1/rkisp1_path.cpp b/src/libcamera/pipeline/rkisp1/rkisp1_path.cpp
index c49017d1..c96ec1d6 100644
--- a/src/libcamera/pipeline/rkisp1/rkisp1_path.cpp
+++ b/src/libcamera/pipeline/rkisp1/rkisp1_path.cpp
@@ -56,7 +56,7 @@  const std::map<PixelFormat, uint32_t> formatToMediaBus = {
 
 RkISP1Path::RkISP1Path(const char *name, const Span<const PixelFormat> &formats,
 		       const Size &minResolution, const Size &maxResolution)
-	: name_(name), running_(false), formats_(formats),
+	: name_(name), running_(false), internalBufs_(false), formats_(formats),
 	  minResolution_(minResolution), maxResolution_(maxResolution),
 	  link_(nullptr)
 {
@@ -402,10 +402,12 @@  int RkISP1Path::start()
 	if (running_)
 		return -EBUSY;
 
-	/* \todo Make buffer count user configurable. */
-	ret = video_->importBuffers(RKISP1_BUFFER_COUNT);
-	if (ret)
-		return ret;
+	if (!internalBufs_) {
+		/* \todo Make buffer count user configurable. */
+		ret = video_->importBuffers(RKISP1_BUFFER_COUNT);
+		if (ret)
+			return ret;
+	}
 
 	ret = video_->streamOn();
 	if (ret) {
diff --git a/src/libcamera/pipeline/rkisp1/rkisp1_path.h b/src/libcamera/pipeline/rkisp1/rkisp1_path.h
index 08edefec..b7fa82d0 100644
--- a/src/libcamera/pipeline/rkisp1/rkisp1_path.h
+++ b/src/libcamera/pipeline/rkisp1/rkisp1_path.h
@@ -55,6 +55,19 @@  public:
 		return video_->exportBuffers(bufferCount, buffers);
 	}
 
+	int allocateBuffers(unsigned int bufferCount,
+			    std::vector<std::unique_ptr<FrameBuffer>> *buffers)
+	{
+		internalBufs_ = true;
+		return video_->allocateBuffers(bufferCount, buffers);
+	}
+
+	int releaseBuffers()
+	{
+		ASSERT(internalBufs_);
+		return video_->releaseBuffers();
+	}
+
 	int start();
 	void stop();
 
@@ -68,6 +81,7 @@  private:
 
 	const char *name_;
 	bool running_;
+	bool internalBufs_;
 
 	const Span<const PixelFormat> formats_;
 	std::set<PixelFormat> streamFormats_;