diff --git a/src/libcamera/camera_sensor.cpp b/src/libcamera/camera_sensor.cpp index 4154700a19b5..abafb30eb977 100644 --- a/src/libcamera/camera_sensor.cpp +++ b/src/libcamera/camera_sensor.cpp @@ -119,8 +119,7 @@ LOG_DEFINE_CATEGORY(CameraSensor); * information. * * The implementation is currently limited to sensors that expose a single V4L2 - * subdevice with a single pad, and support the same frame sizes for all - * supported media bus codes. It will be extended to support more complex + * subdevice with a single pad. It will be extended to support more complex * devices as the needs arise. */ @@ -245,36 +244,34 @@ int CameraSensor::init() propertyValue = 0; properties_.set(properties::Rotation, propertyValue); - /* Enumerate and cache media bus codes and sizes. */ - const ImageFormats formats = subdev_->formats(pad_); - if (formats.isEmpty()) { + /* Enumerate, sort and cache media bus codes and sizes. */ + formats_ = subdev_->formats(pad_); + if (formats_.isEmpty()) { LOG(CameraSensor, Error) << "No image format found"; return -EINVAL; } - mbusCodes_ = formats.formats(); - - /* - * Extract the supported sizes from the first format as we only support - * sensors that offer the same frame sizes for all media bus codes. - * Verify this assumption and reject the sensor if it isn't true. - */ - const std::vector &sizes = formats.sizes(mbusCodes_[0]); - std::transform(sizes.begin(), sizes.end(), std::back_inserter(sizes_), - [](const SizeRange &range) { return range.max; }); - - for (unsigned int code : mbusCodes_) { - if (formats.sizes(code) != sizes) { - LOG(CameraSensor, Error) - << "Frame sizes differ between media bus codes"; - return -EINVAL; - } - } - - /* Sort the media bus codes and sizes. */ + mbusCodes_ = formats_.formats(); std::sort(mbusCodes_.begin(), mbusCodes_.end()); + + for (const auto format : formats_.data()) { + const std::vector &ranges = format.second; + std::transform(ranges.begin(), ranges.end(), std::back_inserter(sizes_), + [](const SizeRange &range) { return range.max; }); + } + std::sort(sizes_.begin(), sizes_.end()); + /* Remove duplicates. */ + auto last = std::unique(sizes_.begin(), sizes_.end()); + sizes_.erase(last, sizes_.end()); + + /* + * The sizes_ vector is sorted in ascending order, the resolution is + * thus the last element of the vector. + */ + resolution_ = sizes_.back(); + return 0; } @@ -303,21 +300,18 @@ int CameraSensor::init() /** * \fn CameraSensor::sizes() * \brief Retrieve the frame sizes supported by the camera sensor + * + * The reported sizes span all media bus codes supported by the camera sensor. + * Not all sizes may be supported by all media bus codes. + * * \return The supported frame sizes sorted in increasing order */ /** + * \fn CameraSensor::resolution() * \brief Retrieve the camera sensor resolution * \return The camera sensor resolution in pixels */ -const Size &CameraSensor::resolution() const -{ - /* - * The sizes_ vector is sorted in ascending order, the resolution is - * thus the last element of the vector. - */ - return sizes_.back(); -} /** * \brief Retrieve the best sensor format for a desired output @@ -325,13 +319,13 @@ const Size &CameraSensor::resolution() const * \param[in] size The desired size * * Media bus codes are selected from \a mbusCodes, which lists all acceptable - * codes in decreasing order of preference. This method selects the first code - * from the list that is supported by the sensor. If none of the desired codes - * is supported, it returns an error. + * codes in decreasing order of preference. Media bus codes supported by the + * sensor but not listed in \a mbusCodes are ignored. If none of the desired + * codes is supported, it returns an error. * * \a size indicates the desired size at the output of the sensor. This method - * selects the best size supported by the sensor according to the following - * criteria. + * selects the best media bus code and size supported by the sensor according + * to the following criteria. * * - The desired \a size shall fit in the sensor output size to avoid the need * to up-scale. @@ -339,6 +333,11 @@ const Size &CameraSensor::resolution() const * need to crop the field of view. * - The sensor output size shall be as small as possible to lower the required * bandwidth. + * - The desired \a size shall be supported by one of the media bus code listed + * in \a mbusCodes. + * + * When multiple media bus codes can produce the same size, the code at the + * lowest position in \a mbusCodes is selected. * * The use of this method is optional, as the above criteria may not match the * needs of all pipeline handlers. Pipeline handlers may implement custom @@ -353,52 +352,48 @@ const Size &CameraSensor::resolution() const V4L2SubdeviceFormat CameraSensor::getFormat(const std::vector &mbusCodes, const Size &size) const { - V4L2SubdeviceFormat format{}; - - for (unsigned int code : mbusCodes) { - if (std::any_of(mbusCodes_.begin(), mbusCodes_.end(), - [code](unsigned int c) { return c == code; })) { - format.mbus_code = code; - break; - } - } - - if (!format.mbus_code) { - LOG(CameraSensor, Debug) << "No supported format found"; - return format; - } - unsigned int desiredArea = size.width * size.height; unsigned int bestArea = UINT_MAX; float desiredRatio = static_cast(size.width) / size.height; float bestRatio = FLT_MAX; const Size *bestSize = nullptr; + uint32_t bestCode = 0; - for (const Size &sz : sizes_) { - if (sz.width < size.width || sz.height < size.height) - continue; + for (unsigned int code : mbusCodes) { + const std::vector &ranges = formats_.sizes(code); - float ratio = static_cast(sz.width) / sz.height; - float ratioDiff = fabsf(ratio - desiredRatio); - unsigned int area = sz.width * sz.height; - unsigned int areaDiff = area - desiredArea; + for (const SizeRange &range : ranges) { + const Size &sz = range.max; - if (ratioDiff > bestRatio) - continue; + if (sz.width < size.width || sz.height < size.height) + continue; - if (ratioDiff < bestRatio || areaDiff < bestArea) { - bestRatio = ratioDiff; - bestArea = areaDiff; - bestSize = &sz; + float ratio = static_cast(sz.width) / sz.height; + float ratioDiff = fabsf(ratio - desiredRatio); + unsigned int area = sz.width * sz.height; + unsigned int areaDiff = area - desiredArea; + + if (ratioDiff > bestRatio) + continue; + + if (ratioDiff < bestRatio || areaDiff < bestArea) { + bestRatio = ratioDiff; + bestArea = areaDiff; + bestSize = &sz; + bestCode = code; + } } } if (!bestSize) { - LOG(CameraSensor, Debug) << "No supported size found"; - return format; + LOG(CameraSensor, Debug) << "No supported format or size found"; + return {}; } - format.size = *bestSize; + V4L2SubdeviceFormat format{ + .mbus_code = bestCode, + .size = *bestSize, + }; return format; } @@ -424,7 +419,7 @@ const ControlInfoMap &CameraSensor::controls() const /** * \brief Read controls from the sensor - * \param[in] ids The list of control to read, specified by their ID + * \param[in] ids The list of controls to read, specified by their ID * * This method reads the value of all controls contained in \a ids, and returns * their values as a ControlList. diff --git a/src/libcamera/include/camera_sensor.h b/src/libcamera/include/camera_sensor.h index 24993b74148f..30cf5f34f485 100644 --- a/src/libcamera/include/camera_sensor.h +++ b/src/libcamera/include/camera_sensor.h @@ -14,6 +14,7 @@ #include #include +#include "formats.h" #include "log.h" namespace libcamera { @@ -51,7 +52,7 @@ public: const MediaEntity *entity() const { return entity_; } const std::vector &mbusCodes() const { return mbusCodes_; } const std::vector &sizes() const { return sizes_; } - const Size &resolution() const; + const Size &resolution() const { return resolution_; } V4L2SubdeviceFormat getFormat(const std::vector &mbusCodes, const Size &size) const; @@ -74,6 +75,8 @@ private: std::string model_; + ImageFormats formats_; + Size resolution_; std::vector mbusCodes_; std::vector sizes_;