diff --git a/src/libcamera/pipeline/rkisp1/rkisp1.cpp b/src/libcamera/pipeline/rkisp1/rkisp1.cpp index 138e1d5bf06b..6256a67bc31e 100644 --- a/src/libcamera/pipeline/rkisp1/rkisp1.cpp +++ b/src/libcamera/pipeline/rkisp1/rkisp1.cpp @@ -36,7 +36,7 @@ #include "libcamera/internal/camera.h" #include "libcamera/internal/camera_sensor.h" #include "libcamera/internal/camera_sensor_properties.h" -#include "libcamera/internal/converter/converter_v4l2_m2m.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" @@ -232,10 +232,7 @@ private: RkISP1MainPath mainPath_; RkISP1SelfPath selfPath_; - std::unique_ptr dewarper_; - Rectangle scalerMaxCrop_; - - std::optional activeCrop_; + std::unique_ptr dewarper_; /* Internal buffers used when dewarper is being used */ std::vector> mainPathBuffers_; @@ -940,6 +937,16 @@ int PipelineHandlerRkISP1::configure(Camera *camera, CameraConfiguration *c) if (ret) return ret; + /* + * Apply the actual sensor crop, for proper + * dewarp map calculation + */ + Rectangle sensorCrop = outputCrop.transformedBetween( + inputCrop, sensorInfo.analogCrop); + if (data->usesDewarper_) + dewarper_->setSensorCrop(sensorCrop); + data->properties_.set(properties::ScalerCropMaximum, sensorCrop); + std::map streamConfig; std::vector> outputCfgs; @@ -965,13 +972,15 @@ int PipelineHandlerRkISP1::configure(Camera *camera, CameraConfiguration *c) return ret; /* - * Calculate the crop rectangle of the data - * flowing into the dewarper in sensor - * coordinates. + * Apply a default scaler crop that keeps the + * aspect ratio. */ - scalerMaxCrop_ = - outputCrop.transformedBetween(inputCrop, - sensorInfo.analogCrop); + Size size = cfg.size; + size = sensorCrop.size().boundedToAspectRatio(size); + + ControlList ctrls; + ctrls.set(controls::ScalerCrop, size.centeredTo(sensorCrop.center())); + dewarper_->setControls(cfg.stream(), ctrls); } ret = mainPath_.configure(ispCfg, format); @@ -1165,6 +1174,9 @@ int PipelineHandlerRkISP1::start(Camera *camera, [[maybe_unused]] const ControlL actions += [&]() { stat_->streamOff(); }; if (data->usesDewarper_) { + if (controls) + dewarper_->setControls(&data->mainPathStream_, *controls); + ret = dewarper_->start(); if (ret) { LOG(RkISP1, Error) << "Failed to start dewarper"; @@ -1315,28 +1327,8 @@ int PipelineHandlerRkISP1::updateControls(RkISP1CameraData *data) { ControlInfoMap::Map controls; - if (data->usesDewarper_) { - std::pair cropLimits; - if (dewarper_->isConfigured(&data->mainPathStream_)) - cropLimits = dewarper_->inputCropBounds(&data->mainPathStream_); - else - cropLimits = dewarper_->inputCropBounds(); - - /* - * ScalerCrop is specified to be in Sensor coordinates. - * So we need to transform the limits to sensor coordinates. - * We can safely assume that the maximum crop limit contains the - * full fov of the dewarper. - */ - Rectangle min = cropLimits.first.transformedBetween(cropLimits.second, - scalerMaxCrop_); - - controls[&controls::ScalerCrop] = ControlInfo(min, - scalerMaxCrop_, - scalerMaxCrop_); - data->properties_.set(properties::ScalerCropMaximum, scalerMaxCrop_); - activeCrop_ = scalerMaxCrop_; - } + if (data->usesDewarper_) + dewarper_->updateControlInfos(&data->mainPathStream_, controls); /* Add the IPA registered controls to list of camera controls. */ for (const auto &ipaControl : data->ipaControls_) @@ -1376,8 +1368,6 @@ int PipelineHandlerRkISP1::createCamera(MediaEntity *sensor) /* Initialize the camera properties. */ data->properties_ = data->sensor_->properties(); - scalerMaxCrop_ = Rectangle(data->sensor_->resolution()); - const CameraSensorProperties::SensorDelays &delays = data->sensor_->sensorDelays(); std::unordered_map params = { { V4L2_CID_ANALOGUE_GAIN, { delays.gainDelay, false } }, @@ -1472,27 +1462,11 @@ bool PipelineHandlerRkISP1::match(DeviceEnumerator *enumerator) stat_->bufferReady.connect(this, &PipelineHandlerRkISP1::statBufferReady); param_->bufferReady.connect(this, &PipelineHandlerRkISP1::paramBufferReady); - /* If dewarper is present, create its instance. */ - DeviceMatch dwp("dw100"); - dwp.add("dw100-source"); - dwp.add("dw100-sink"); - - std::shared_ptr dwpMediaDevice = enumerator->search(dwp); - if (dwpMediaDevice) { - dewarper_ = std::make_unique(dwpMediaDevice); - if (dewarper_->isValid()) { - dewarper_->outputBufferReady.connect( - this, &PipelineHandlerRkISP1::dewarpBufferReady); - - LOG(RkISP1, Info) - << "Found DW100 dewarper " << dewarper_->deviceNode(); - } else { - LOG(RkISP1, Warning) - << "Found DW100 dewarper " << dewarper_->deviceNode() - << " but invalid"; - - dewarper_.reset(); - } + dewarper_ = ConverterDW100Module::createModule(enumerator); + if (dewarper_) { + dewarper_->outputBufferReady.connect( + this, &PipelineHandlerRkISP1::dewarpBufferReady); + LOG(RkISP1, Debug) << "Found DW100 dewarper"; } /* @@ -1603,37 +1577,7 @@ void PipelineHandlerRkISP1::imageBufferReady(FrameBuffer *buffer) return; } - /* Handle scaler crop control. */ - const auto &crop = request->controls().get(controls::ScalerCrop); - if (crop) { - Rectangle rect = crop.value(); - - /* - * ScalerCrop is specified to be in Sensor coordinates. - * So we need to transform it into dewarper coordinates. - * We can safely assume that the maximum crop limit contains the - * full fov of the dewarper. - */ - std::pair cropLimits = - dewarper_->inputCropBounds(&data->mainPathStream_); - - rect = rect.transformedBetween(scalerMaxCrop_, cropLimits.second); - int ret = dewarper_->setInputCrop(&data->mainPathStream_, - &rect); - rect = rect.transformedBetween(cropLimits.second, scalerMaxCrop_); - if (!ret && rect != 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 " << rect.toString() - << " differs from requested " << crop.value().toString(); - } - - activeCrop_ = rect; - } + dewarper_->setControls(&data->mainPathStream_, request->controls()); /* * Queue input and output buffers to the dewarper. The output @@ -1642,7 +1586,7 @@ void PipelineHandlerRkISP1::imageBufferReady(FrameBuffer *buffer) */ int ret = dewarper_->queueBuffers(buffer, request->buffers()); if (ret < 0) { - LOG(RkISP1, Error) << "Cannot queue buffers to dewarper: " + LOG(RkISP1, Error) << "Failed to queue buffers to dewarper: -" << strerror(-ret); cancelDewarpRequest(info); @@ -1650,7 +1594,7 @@ void PipelineHandlerRkISP1::imageBufferReady(FrameBuffer *buffer) return; } - request->metadata().set(controls::ScalerCrop, activeCrop_.value()); + dewarper_->populateMetadata(&data->mainPathStream_, request->metadata()); } void PipelineHandlerRkISP1::dewarpBufferReady(FrameBuffer *buffer)