[v3,23/29] libcamera: rkisp1: Handle requested orientation using dewarper

25202 diff mbox series

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 <stefan.klug@ideasonboard.com>
Reviewed-by: Paul Elder <paul.elder@ideasonboard.com>

---

Changes in v3:
- Collected tag

Changes in v2:
- Fix path validation for cases where a transpose is involved
---
 src/libcamera/pipeline/rkisp1/rkisp1.cpp | 89 ++++++++++++++++++------
 1 file changed, 67 insertions(+), 22 deletions(-)

Quoting Stefan Klug (2025-11-25 16:28:35)
> 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 <stefan.klug@ideasonboard.com>
> Reviewed-by: Paul Elder <paul.elder@ideasonboard.com>
> 
> ---
> 
> Changes in v3:
> - Collected tag
> 
> Changes in v2:
> - Fix path validation for cases where a transpose is involved

Looks good...


Reviewed-by: Kieran Bingham <kieran.bingham@ideasonboard.com>

> ---
>  src/libcamera/pipeline/rkisp1/rkisp1.cpp | 89 ++++++++++++++++++------
>  1 file changed, 67 insertions(+), 22 deletions(-)
> 
> diff --git a/src/libcamera/pipeline/rkisp1/rkisp1.cpp b/src/libcamera/pipeline/rkisp1/rkisp1.cpp
> index e3dca8b837e8..746eeffab207 100644
> --- a/src/libcamera/pipeline/rkisp1/rkisp1.cpp
> +++ b/src/libcamera/pipeline/rkisp1/rkisp1.cpp
> @@ -593,11 +593,6 @@ 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.
>          * Let the first stream decide on the type.
> @@ -622,7 +617,23 @@ 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 = (data_->canUseDewarper_ && !isRaw);
> +       if (useDewarper) {
> +               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
> @@ -638,12 +649,18 @@ 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;
> @@ -652,6 +669,8 @@ 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.
> @@ -674,6 +693,8 @@ CameraConfiguration::Status RkISP1CameraConfiguration::validate()
>  
>                 cfg = tryCfg;
>                 cfg.setStream(stream);
> +
> +               accumulatedSensorSize = std::max(accumulatedSensorSize, sensorSize);
>                 return true;
>         };
>  
> @@ -724,13 +745,6 @@ 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<unsigned int> mbusCodes;
>  
>         if (isRaw) {
> @@ -741,7 +755,7 @@ 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())
> @@ -776,6 +790,22 @@ 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
> @@ -804,7 +834,7 @@ PipelineHandlerRkISP1::generateConfiguration(Camera *camera,
>                         if (!colorSpace)
>                                 colorSpace = ColorSpace::Sycc;
>  
> -                       size = kRkISP1PreviewSize;
> +                       size = previewSize;
>                         break;
>  
>                 case StreamRole::VideoRecording:
> @@ -812,7 +842,7 @@ PipelineHandlerRkISP1::generateConfiguration(Camera *camera,
>                         if (!colorSpace)
>                                 colorSpace = ColorSpace::Rec709;
>  
> -                       size = kRkISP1PreviewSize;
> +                       size = previewSize;
>                         break;
>  
>                 case StreamRole::Raw:
> @@ -854,6 +884,9 @@ 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);
> @@ -876,6 +909,19 @@ 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.
> @@ -885,10 +931,10 @@ 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;
> @@ -915,10 +961,6 @@ 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_)
> @@ -1013,11 +1055,14 @@ int PipelineHandlerRkISP1::configure(Camera *camera, CameraConfiguration *c)
>                                 if (ret)
>                                         return ret;
>  
> +                               dewarper_->setTransform(cfg.stream(), config->combinedTransform());
>                                 /*
>                                  * Apply a default scaler crop that keeps the
>                                  * aspect ratio.
>                                  */
>                                 Size size = cfg.size;
> +                               if (transposeAfterIsp)
> +                                       size.transpose();
>                                 size = sensorCrop.size().boundedToAspectRatio(size);
>  
>                                 ControlList ctrls;
> -- 
> 2.51.0
>