From patchwork Thu Oct 23 14:48:30 2025 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Stefan Klug X-Patchwork-Id: 24756 Return-Path: X-Original-To: parsemail@patchwork.libcamera.org Delivered-To: parsemail@patchwork.libcamera.org Received: from lancelot.ideasonboard.com (lancelot.ideasonboard.com [92.243.16.209]) by patchwork.libcamera.org (Postfix) with ESMTPS id 5772AC3336 for ; Thu, 23 Oct 2025 14:50:16 +0000 (UTC) Received: from lancelot.ideasonboard.com (localhost [IPv6:::1]) by lancelot.ideasonboard.com (Postfix) with ESMTP id ED33260854; Thu, 23 Oct 2025 16:50:15 +0200 (CEST) Authentication-Results: lancelot.ideasonboard.com; dkim=pass (1024-bit key; unprotected) header.d=ideasonboard.com header.i=@ideasonboard.com header.b="bp+BjQYY"; dkim-atps=neutral Received: from perceval.ideasonboard.com (perceval.ideasonboard.com [IPv6:2001:4b98:dc2:55:216:3eff:fef7:d647]) by lancelot.ideasonboard.com (Postfix) with ESMTPS id 59B6E607ED for ; Thu, 23 Oct 2025 16:50:14 +0200 (CEST) Received: from ideasonboard.com (unknown [IPv6:2a00:6020:448c:6c00:7328:357b:4ce1:72b6]) by perceval.ideasonboard.com (Postfix) with UTF8SMTPSA id 62D8E1AA6; Thu, 23 Oct 2025 16:48:29 +0200 (CEST) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/simple; d=ideasonboard.com; s=mail; t=1761230909; bh=fnekDP4Y6VsfeMeZXhHHLYR7osZb/stTo6p0peHGrrs=; h=From:To:Cc:Subject:Date:In-Reply-To:References:From; b=bp+BjQYYUp2//GnqxcbOuy2icDKtD0OlHM1sjAZM3XKoEONO8RZAlFYTb0St1O8Zd ezlQ4TyVTEhjm34iVMYF64DXORI46w0K1ROu5zOI6gO6c4v5aLwkXfzg7geOhGOzni trLJAMVnZdGsHIR+tIF1vuaI0OGibb82PKjsvhcs= From: Stefan Klug To: libcamera-devel@lists.libcamera.org Cc: Stefan Klug Subject: [PATCH v2 29/35] libcamera: rkisp1: Handle requested orientation using dewarper Date: Thu, 23 Oct 2025 16:48:30 +0200 Message-ID: <20251023144841.403689-30-stefan.klug@ideasonboard.com> X-Mailer: git-send-email 2.48.1 In-Reply-To: <20251023144841.403689-1-stefan.klug@ideasonboard.com> References: <20251023144841.403689-1-stefan.klug@ideasonboard.com> MIME-Version: 1.0 X-BeenThere: libcamera-devel@lists.libcamera.org X-Mailman-Version: 2.1.29 Precedence: list List-Id: List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , Errors-To: libcamera-devel-bounces@lists.libcamera.org Sender: "libcamera-devel" When the dewarper is present it can handle arbitrary orientations specified in the requested camera configuration. In that case handle all transformations inside the dewarper (even if the sensor supports some of them) because that makes it easier to handle coordinates for lens dewarping inside the dewarper. This complicates the path selection a bit, as for transformations that include a transpose, the format before the dewarper has swapped width/height. Signed-off-by: Stefan Klug --- Changes in v2: - Fix path validation for cases where a transpose is involved --- src/libcamera/pipeline/rkisp1/rkisp1.cpp | 97 +++++++++++++++++------- 1 file changed, 71 insertions(+), 26 deletions(-) diff --git a/src/libcamera/pipeline/rkisp1/rkisp1.cpp b/src/libcamera/pipeline/rkisp1/rkisp1.cpp index 943f26ece974..eaf82d0f1097 100644 --- a/src/libcamera/pipeline/rkisp1/rkisp1.cpp +++ b/src/libcamera/pipeline/rkisp1/rkisp1.cpp @@ -596,11 +596,6 @@ CameraConfiguration::Status RkISP1CameraConfiguration::validate() status = Adjusted; } - Orientation requestedOrientation = orientation; - combinedTransform_ = data_->sensor_->computeTransform(&orientation); - if (orientation != requestedOrientation) - status = Adjusted; - /* * Simultaneous capture of raw and processed streams isn't possible. If * there is any raw stream, cap the number of streams to one. @@ -618,9 +613,24 @@ CameraConfiguration::Status RkISP1CameraConfiguration::validate() } } + /* + * If the dewarper supports orientation adjustments, apply that completely + * there. Even if the sensor supports flips, it is beneficial to do that + * in the dewarper so that lens dewarping happens on the unflipped image + */ + bool transposeAfterIsp = false; bool useDewarper = false; - if (data_->canUseDewarper_ && !isRaw) + if (data_->canUseDewarper_ && !isRaw) { useDewarper = true; + combinedTransform_ = orientation / data_->sensor_->mountingOrientation(); + if (!!(combinedTransform_ & Transform::Transpose)) + transposeAfterIsp = true; + } else { + Orientation requestedOrientation = orientation; + combinedTransform_ = data_->sensor_->computeTransform(&orientation); + if (orientation != requestedOrientation) + status = Adjusted; + } /* * If there are more than one stream in the configuration figure out the @@ -636,12 +646,18 @@ CameraConfiguration::Status RkISP1CameraConfiguration::validate() /* * Validate the configuration against the desired path and, if the - * platform supports it, the dewarper. + * platform supports it, the dewarper. While iterating over the + * configurations collect the smallest common sensor format. */ + Size accumulatedSensorSize; auto validateConfig = [&](StreamConfiguration &cfg, RkISP1Path *path, Stream *stream, Status expectedStatus) { StreamConfiguration tryCfg = cfg; + /* Need to validate the path before the transpose */ + if (transposeAfterIsp) + tryCfg.size.transpose(); + Status ret = path->validate(sensor, sensorConfig, &tryCfg); if (ret == Invalid) return false; @@ -650,6 +666,8 @@ CameraConfiguration::Status RkISP1CameraConfiguration::validate() (expectedStatus == Valid && ret == Adjusted)) return false; + Size sensorSize = tryCfg.size; + if (useDewarper) { /* * The dewarper output is independent of the ISP path. @@ -672,6 +690,8 @@ CameraConfiguration::Status RkISP1CameraConfiguration::validate() cfg = tryCfg; cfg.setStream(stream); + + accumulatedSensorSize = std::max(accumulatedSensorSize, sensorSize); return true; }; @@ -722,13 +742,6 @@ CameraConfiguration::Status RkISP1CameraConfiguration::validate() return Invalid; } - /* Select the sensor format. */ - Size maxSize; - - for (const StreamConfiguration &cfg : config_) { - maxSize = std::max(maxSize, cfg.size); - } - std::vector mbusCodes; if (isRaw) { @@ -739,7 +752,7 @@ CameraConfiguration::Status RkISP1CameraConfiguration::validate() [](const auto &value) { return value.second; }); } - sensorFormat_ = sensor->getFormat(mbusCodes, maxSize, + sensorFormat_ = sensor->getFormat(mbusCodes, accumulatedSensorSize, mainPath->maxResolution()); if (sensorFormat_.size.isNull()) @@ -774,6 +787,22 @@ PipelineHandlerRkISP1::generateConfiguration(Camera *camera, if (roles.empty()) return config; + Transform transform = Transform::Identity; + Size previewSize = kRkISP1PreviewSize; + bool transposeAfterIsp = false; + if (data->canUseDewarper_) { + transform = Orientation::Rotate0 / data->sensor_->mountingOrientation(); + if (!!(transform & Transform::Transpose)) + transposeAfterIsp = true; + } + + /* + * In case of a transpose transform we need to create a path for the + * transposed size. + */ + if (transposeAfterIsp) + previewSize.transpose(); + /* * As the ISP can't output different color spaces for the main and self * path, pick a sensible default color space based on the role of the @@ -802,7 +831,7 @@ PipelineHandlerRkISP1::generateConfiguration(Camera *camera, if (!colorSpace) colorSpace = ColorSpace::Sycc; - size = kRkISP1PreviewSize; + size = previewSize; break; case StreamRole::VideoRecording: @@ -810,7 +839,7 @@ PipelineHandlerRkISP1::generateConfiguration(Camera *camera, if (!colorSpace) colorSpace = ColorSpace::Rec709; - size = kRkISP1PreviewSize; + size = previewSize; break; case StreamRole::Raw: @@ -852,6 +881,9 @@ PipelineHandlerRkISP1::generateConfiguration(Camera *camera, if (!cfg.pixelFormat.isValid()) return nullptr; + if (transposeAfterIsp && role != StreamRole::Raw) + cfg.size.transpose(); + cfg.colorSpace = colorSpace; cfg.bufferCount = kRkISP1MinBufferCount; config->addConfiguration(cfg); @@ -874,6 +906,19 @@ int PipelineHandlerRkISP1::configure(Camera *camera, CameraConfiguration *c) if (ret) return ret; + const PixelFormat &streamFormat = config->at(0).pixelFormat; + const PixelFormatInfo &info = PixelFormatInfo::info(streamFormat); + isRaw_ = info.colourEncoding == PixelFormatInfo::ColourEncodingRAW; + data->usesDewarper_ = data->canUseDewarper_ && !isRaw_; + + Transform transform = config->combinedTransform(); + bool transposeAfterIsp = false; + if (data->usesDewarper_) { + if (!!(transform & Transform::Transpose)) + transposeAfterIsp = true; + transform = Transform::Identity; + } + /* * Configure the format on the sensor output and propagate it through * the pipeline. @@ -883,10 +928,10 @@ int PipelineHandlerRkISP1::configure(Camera *camera, CameraConfiguration *c) if (config->sensorConfig) ret = sensor->applyConfiguration(*config->sensorConfig, - config->combinedTransform(), + transform, &format); else - ret = sensor->setFormat(&format, config->combinedTransform()); + ret = sensor->setFormat(&format, transform); if (ret < 0) return ret; @@ -913,10 +958,6 @@ int PipelineHandlerRkISP1::configure(Camera *camera, CameraConfiguration *c) << " crop " << inputCrop; Rectangle outputCrop = inputCrop; - const PixelFormat &streamFormat = config->at(0).pixelFormat; - const PixelFormatInfo &info = PixelFormatInfo::info(streamFormat); - isRaw_ = info.colourEncoding == PixelFormatInfo::ColourEncodingRAW; - data->usesDewarper_ = dewarper_ && !isRaw_; /* YUYV8_2X8 is required on the ISP source path pad for YUV output. */ if (!isRaw_) @@ -1008,15 +1049,19 @@ int PipelineHandlerRkISP1::configure(Camera *camera, CameraConfiguration *c) inputCrop, sensorInfo.analogCrop); auto &vertexMap = dewarper_->vertexMap(cfg.stream()); vertexMap.setSensorCrop(sensorCrop); + vertexMap.setTransform(config->combinedTransform()); data->properties_.set(properties::ScalerCropMaximum, sensorCrop); /* * Apply a default sensor crop that keeps the * aspect ratio. */ - Size crop = format.size.boundedToAspectRatio(cfg.size); - vertexMap.setScalerCrop(crop.centeredTo( - Rectangle(format.size).center())); + Size size = cfg.size; + if (transposeAfterIsp) + size.transpose(); + size = sensorCrop.size().boundedToAspectRatio(size); + vertexMap.setScalerCrop( + size.centeredTo(sensorCrop.center())); } ret = mainPath_.configure(ispCfg, format);