| Message ID | 20200902104410.7569-7-david.plowman@raspberrypi.com |
|---|---|
| State | Accepted |
| Headers | show |
| Series |
|
| Related | show |
Hi David, On 02/09/2020 11:44, David Plowman wrote: > The Raspberry Pi pipeline handler allows all transforms except those > involving a transpose. The user transform is combined with any > inherent rotation of the camera, and the camera's H and V flip bits > are set accordingly. > > Note that the validate() method has to work out what the final Bayer > order of any raw streams will be, before configure() actually applies > the transform to the sensor. We make a note of the "native" > (untransformed) Bayer order when the system starts, so that we can > deduce transformed Bayer orders more easily. > > Signed-off-by: David Plowman <david.plowman@raspberrypi.com> > --- > .../pipeline/raspberrypi/raspberrypi.cpp | 146 ++++++++++++++++-- > 1 file changed, 134 insertions(+), 12 deletions(-) > > diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > index 1087257..29112da 100644 > --- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > +++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > @@ -23,6 +23,7 @@ > > #include <linux/videodev2.h> > > +#include "libcamera/internal/bayer_format.h" > #include "libcamera/internal/camera_sensor.h" > #include "libcamera/internal/device_enumerator.h" > #include "libcamera/internal/ipa_manager.h" > @@ -287,6 +288,7 @@ class RPiCameraData : public CameraData > public: > RPiCameraData(PipelineHandler *pipe) > : CameraData(pipe), sensor_(nullptr), state_(State::Stopped), > + supportsFlips_(false), flipsAlterBayerOrder_(false), > dropFrame_(false), ispOutputCount_(0) > { > } > @@ -335,6 +337,17 @@ public: > std::queue<FrameBuffer *> embeddedQueue_; > std::deque<Request *> requestQueue_; > > + /* > + * The remaining field are for handling horizontal and vertical flips "The remaining fields"? What would get confusing/ambiguous when new fields are added below... ? Perhaps just 'Manage horizontal and vertical flips supported by the sensor." > + * that sensors may support. > + */ > + bool supportsFlips_; > + bool flipsAlterBayerOrder_; > + BayerFormat::Order nativeBayerOrder_; > + > + Transform combinedTransform_; > + Transform userTransform_; Shouldn't the combinedTransform_ and userTransform_ go in the RPiCameraConfiguration ? > + > private: > void checkRequestCompleted(); > void tryRunPipeline(); > @@ -348,12 +361,12 @@ private: > class RPiCameraConfiguration : public CameraConfiguration > { > public: > - RPiCameraConfiguration(const RPiCameraData *data); > + RPiCameraConfiguration(RPiCameraData *data); > > Status validate() override; > > private: > - const RPiCameraData *data_; > + RPiCameraData *data_; > }; > > class PipelineHandlerRPi : public PipelineHandler > @@ -388,7 +401,7 @@ private: > MediaDevice *isp_; > }; > > -RPiCameraConfiguration::RPiCameraConfiguration(const RPiCameraData *data) > +RPiCameraConfiguration::RPiCameraConfiguration(RPiCameraData *data) > : CameraConfiguration(), data_(data) > { > } > @@ -400,11 +413,56 @@ CameraConfiguration::Status RPiCameraConfiguration::validate() > if (config_.empty()) > return Invalid; > > - if (transform != Transform::Identity) { > - transform = Transform::Identity; > + /* > + * What if the platform has a non-90 degree rotation? We can't even > + * "adjust" the configuration and carry on. Alternatively, raising an > + * error means the platform can never run. Let's just print a warning > + * and continue regardless; the rotation is effectively set to zero. > + */ It sounds like non-90 degree rotations are not permitted. I don't mind keeping that comment, but you could also simplify it if you wish to just: /* * Non-90 degree rotations are not permitted, and no rotation will be * reported(/used) for unsupported values. */ > + int32_t rotation = data_->sensor_->properties().get(properties::Rotation); > + bool success; > + Transform combined = transform * transformFromRotation(rotation, &success); > + if (!success) > + LOG(RPI, Warning) << "Invalid rotation of " << rotation > + << " degrees - ignoring"; > + > + /* > + * We combine the platform and user transform, but must "adjust away" > + * any combined result that includes a transform, as we can't do those. > + * In this case, flipping only the transpose bit is helpful to > + * applications - they either get the transform they requested, or have > + * to do a simple transpose themselves (they don't have to worry about > + * the other possible cases). > + */ > + if (!!(combined & Transform::Transpose)) { > + /* > + * Flipping the transpose bit in "transform" flips it in 'flips it in the' > + * combined result too (as it's the last thing that happens), > + * which is of course clearing it. > + */ > + transform ^= Transform::Transpose; > + combined &= ~Transform::Transpose; > status = Adjusted; > } > > + /* > + * We also check if the sensor doesn't do h/vflips at all, in which > + * case we clear them, and the application will have to do everything. > + */ > + if (!data_->supportsFlips_ && !!combined) { > + transform &= Transform::Transpose; > + combined = Transform::Identity; > + status = Adjusted; > + } > + > + /* > + * Store the final combined transform that configure() will need to > + * apply to the sensor, and the associated user transform that gives > + * rise to it (which is what the IPAs will see). > + */ > + data_->combinedTransform_ = combined; > + data_->userTransform_ = transform; > + This looks like it's modifying the state of the CameraData in validate. I think that means that combinedTransform and userTransform belong in the RPiCameraConfiguration, > unsigned int rawCount = 0, outCount = 0, count = 0, maxIndex = 0; > std::pair<int, Size> outSize[2]; > Size maxSize; > @@ -420,7 +478,23 @@ CameraConfiguration::Status RPiCameraConfiguration::validate() > if (ret) > return Invalid; > > - PixelFormat sensorPixFormat = sensorFormat.fourcc.toPixelFormat(); > + /* > + * Some sensors change their Bayer order when they are > + * h-flipped or v-flipped, according to the transform. > + * If this one does, we must advertise the transformed > + * Bayer order in the raw stream. Note how we must > + * fetch the "native" (i.e. untransformed) Bayer order, > + * because the sensor may currently be flipped! > + */ > + V4L2PixelFormat fourcc = sensorFormat.fourcc; > + if (data_->flipsAlterBayerOrder_) { > + BayerFormat bayer(fourcc); > + bayer.order = data_->nativeBayerOrder_; > + bayer = bayer.transform(combined); > + fourcc = bayer.toV4L2PixelFormat(); > + } > + > + PixelFormat sensorPixFormat = fourcc.toPixelFormat(); > if (cfg.size != sensorFormat.size || > cfg.pixelFormat != sensorPixFormat) { > cfg.size = sensorFormat.size; > @@ -967,6 +1041,48 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator) > /* Initialize the camera properties. */ > data->properties_ = data->sensor_->properties(); > > + /* > + * We cache three things about the sensor in relation to transforms > + * (meaning horizontal and vertical flips). > + * > + * Firstly, does it support them? > + * Secondly, if you use them does it affect the Bayer ordering? > + * Thirdly, what is the "native" Bayer order, when no transforms are > + * applied? > + * > + * As part of answering the final question, we reset the camera to > + * no transform at all. > + */ > + > + V4L2VideoDevice *dev = data->unicam_[Unicam::Image].dev(); > + const struct v4l2_query_ext_ctrl *hflipCtrl = dev->controlInfo(V4L2_CID_HFLIP); > + if (hflipCtrl) { > + /* We assume it will support vflips too... */ > + data->supportsFlips_ = true; > + data->flipsAlterBayerOrder_ = hflipCtrl->flags & V4L2_CTRL_FLAG_MODIFY_LAYOUT; > + > + ControlList ctrls(dev->controls()); > + ctrls.set(V4L2_CID_HFLIP, 0); > + ctrls.set(V4L2_CID_VFLIP, 0); > + dev->setControls(&ctrls); > + } > + > + /* Look for a valid Bayer format. */ > + V4L2VideoDevice::Formats fmts = dev->formats(); > + BayerFormat bayerFormat; > + for (const auto &iter : fmts) { > + V4L2PixelFormat v4l2Format = iter.first; > + bayerFormat = BayerFormat(v4l2Format); > + if (bayerFormat.isValid()) > + break; > + } > + > + if (!bayerFormat.isValid()) { > + LOG(RPI, Error) << "No Bayer format found"; > + return false; > + } > + data->nativeBayerOrder_ = bayerFormat.order; > + > /* > * List the available output streams. > * Currently cannot do Unicam streams! > @@ -1172,12 +1288,18 @@ int RPiCameraData::configureIPA() > sensorMetadata_ = result.data[2]; > } > > - /* Configure the H/V flip controls based on the sensor rotation. */ > - ControlList ctrls(unicam_[Unicam::Image].dev()->controls()); > - int32_t rotation = sensor_->properties().get(properties::Rotation); > - ctrls.set(V4L2_CID_HFLIP, static_cast<int32_t>(!!rotation)); > - ctrls.set(V4L2_CID_VFLIP, static_cast<int32_t>(!!rotation)); > - unicam_[Unicam::Image].dev()->setControls(&ctrls); > + /* > + * Configure the H/V flip controls based on the combination of > + * the sensor and user transform. > + */ > + if (supportsFlips_) { > + ControlList ctrls(unicam_[Unicam::Image].dev()->controls()); > + ctrls.set(V4L2_CID_HFLIP, > + static_cast<int32_t>(!!(combinedTransform_ & Transform::HFlip))); > + ctrls.set(V4L2_CID_VFLIP, > + static_cast<int32_t>(!!(combinedTransform_ & Transform::VFlip))); > + unicam_[Unicam::Image].dev()->setControls(&ctrls); > + } > } > > if (result.operation & RPI_IPA_CONFIG_SENSOR) { > I think the bayer/flip/transform configuration state really needs to be in the configuration - not the camera data objects, but other than that.., the rest is trivial, so with that fixed (or if there's a good reason why it can't...) Reviewed-by: Kieran Bingham <kieran.bingham@ideasonboard.com>
diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp index 1087257..29112da 100644 --- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp +++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp @@ -23,6 +23,7 @@ #include <linux/videodev2.h> +#include "libcamera/internal/bayer_format.h" #include "libcamera/internal/camera_sensor.h" #include "libcamera/internal/device_enumerator.h" #include "libcamera/internal/ipa_manager.h" @@ -287,6 +288,7 @@ class RPiCameraData : public CameraData public: RPiCameraData(PipelineHandler *pipe) : CameraData(pipe), sensor_(nullptr), state_(State::Stopped), + supportsFlips_(false), flipsAlterBayerOrder_(false), dropFrame_(false), ispOutputCount_(0) { } @@ -335,6 +337,17 @@ public: std::queue<FrameBuffer *> embeddedQueue_; std::deque<Request *> requestQueue_; + /* + * The remaining field are for handling horizontal and vertical flips + * that sensors may support. + */ + bool supportsFlips_; + bool flipsAlterBayerOrder_; + BayerFormat::Order nativeBayerOrder_; + + Transform combinedTransform_; + Transform userTransform_; + private: void checkRequestCompleted(); void tryRunPipeline(); @@ -348,12 +361,12 @@ private: class RPiCameraConfiguration : public CameraConfiguration { public: - RPiCameraConfiguration(const RPiCameraData *data); + RPiCameraConfiguration(RPiCameraData *data); Status validate() override; private: - const RPiCameraData *data_; + RPiCameraData *data_; }; class PipelineHandlerRPi : public PipelineHandler @@ -388,7 +401,7 @@ private: MediaDevice *isp_; }; -RPiCameraConfiguration::RPiCameraConfiguration(const RPiCameraData *data) +RPiCameraConfiguration::RPiCameraConfiguration(RPiCameraData *data) : CameraConfiguration(), data_(data) { } @@ -400,11 +413,56 @@ CameraConfiguration::Status RPiCameraConfiguration::validate() if (config_.empty()) return Invalid; - if (transform != Transform::Identity) { - transform = Transform::Identity; + /* + * What if the platform has a non-90 degree rotation? We can't even + * "adjust" the configuration and carry on. Alternatively, raising an + * error means the platform can never run. Let's just print a warning + * and continue regardless; the rotation is effectively set to zero. + */ + int32_t rotation = data_->sensor_->properties().get(properties::Rotation); + bool success; + Transform combined = transform * transformFromRotation(rotation, &success); + if (!success) + LOG(RPI, Warning) << "Invalid rotation of " << rotation + << " degrees - ignoring"; + + /* + * We combine the platform and user transform, but must "adjust away" + * any combined result that includes a transform, as we can't do those. + * In this case, flipping only the transpose bit is helpful to + * applications - they either get the transform they requested, or have + * to do a simple transpose themselves (they don't have to worry about + * the other possible cases). + */ + if (!!(combined & Transform::Transpose)) { + /* + * Flipping the transpose bit in "transform" flips it in + * combined result too (as it's the last thing that happens), + * which is of course clearing it. + */ + transform ^= Transform::Transpose; + combined &= ~Transform::Transpose; status = Adjusted; } + /* + * We also check if the sensor doesn't do h/vflips at all, in which + * case we clear them, and the application will have to do everything. + */ + if (!data_->supportsFlips_ && !!combined) { + transform &= Transform::Transpose; + combined = Transform::Identity; + status = Adjusted; + } + + /* + * Store the final combined transform that configure() will need to + * apply to the sensor, and the associated user transform that gives + * rise to it (which is what the IPAs will see). + */ + data_->combinedTransform_ = combined; + data_->userTransform_ = transform; + unsigned int rawCount = 0, outCount = 0, count = 0, maxIndex = 0; std::pair<int, Size> outSize[2]; Size maxSize; @@ -420,7 +478,23 @@ CameraConfiguration::Status RPiCameraConfiguration::validate() if (ret) return Invalid; - PixelFormat sensorPixFormat = sensorFormat.fourcc.toPixelFormat(); + /* + * Some sensors change their Bayer order when they are + * h-flipped or v-flipped, according to the transform. + * If this one does, we must advertise the transformed + * Bayer order in the raw stream. Note how we must + * fetch the "native" (i.e. untransformed) Bayer order, + * because the sensor may currently be flipped! + */ + V4L2PixelFormat fourcc = sensorFormat.fourcc; + if (data_->flipsAlterBayerOrder_) { + BayerFormat bayer(fourcc); + bayer.order = data_->nativeBayerOrder_; + bayer = bayer.transform(combined); + fourcc = bayer.toV4L2PixelFormat(); + } + + PixelFormat sensorPixFormat = fourcc.toPixelFormat(); if (cfg.size != sensorFormat.size || cfg.pixelFormat != sensorPixFormat) { cfg.size = sensorFormat.size; @@ -967,6 +1041,48 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator) /* Initialize the camera properties. */ data->properties_ = data->sensor_->properties(); + /* + * We cache three things about the sensor in relation to transforms + * (meaning horizontal and vertical flips). + * + * Firstly, does it support them? + * Secondly, if you use them does it affect the Bayer ordering? + * Thirdly, what is the "native" Bayer order, when no transforms are + * applied? + * + * As part of answering the final question, we reset the camera to + * no transform at all. + */ + + V4L2VideoDevice *dev = data->unicam_[Unicam::Image].dev(); + const struct v4l2_query_ext_ctrl *hflipCtrl = dev->controlInfo(V4L2_CID_HFLIP); + if (hflipCtrl) { + /* We assume it will support vflips too... */ + data->supportsFlips_ = true; + data->flipsAlterBayerOrder_ = hflipCtrl->flags & V4L2_CTRL_FLAG_MODIFY_LAYOUT; + + ControlList ctrls(dev->controls()); + ctrls.set(V4L2_CID_HFLIP, 0); + ctrls.set(V4L2_CID_VFLIP, 0); + dev->setControls(&ctrls); + } + + /* Look for a valid Bayer format. */ + V4L2VideoDevice::Formats fmts = dev->formats(); + BayerFormat bayerFormat; + for (const auto &iter : fmts) { + V4L2PixelFormat v4l2Format = iter.first; + bayerFormat = BayerFormat(v4l2Format); + if (bayerFormat.isValid()) + break; + } + + if (!bayerFormat.isValid()) { + LOG(RPI, Error) << "No Bayer format found"; + return false; + } + data->nativeBayerOrder_ = bayerFormat.order; + /* * List the available output streams. * Currently cannot do Unicam streams! @@ -1172,12 +1288,18 @@ int RPiCameraData::configureIPA() sensorMetadata_ = result.data[2]; } - /* Configure the H/V flip controls based on the sensor rotation. */ - ControlList ctrls(unicam_[Unicam::Image].dev()->controls()); - int32_t rotation = sensor_->properties().get(properties::Rotation); - ctrls.set(V4L2_CID_HFLIP, static_cast<int32_t>(!!rotation)); - ctrls.set(V4L2_CID_VFLIP, static_cast<int32_t>(!!rotation)); - unicam_[Unicam::Image].dev()->setControls(&ctrls); + /* + * Configure the H/V flip controls based on the combination of + * the sensor and user transform. + */ + if (supportsFlips_) { + ControlList ctrls(unicam_[Unicam::Image].dev()->controls()); + ctrls.set(V4L2_CID_HFLIP, + static_cast<int32_t>(!!(combinedTransform_ & Transform::HFlip))); + ctrls.set(V4L2_CID_VFLIP, + static_cast<int32_t>(!!(combinedTransform_ & Transform::VFlip))); + unicam_[Unicam::Image].dev()->setControls(&ctrls); + } } if (result.operation & RPI_IPA_CONFIG_SENSOR) {
The Raspberry Pi pipeline handler allows all transforms except those involving a transpose. The user transform is combined with any inherent rotation of the camera, and the camera's H and V flip bits are set accordingly. Note that the validate() method has to work out what the final Bayer order of any raw streams will be, before configure() actually applies the transform to the sensor. We make a note of the "native" (untransformed) Bayer order when the system starts, so that we can deduce transformed Bayer orders more easily. Signed-off-by: David Plowman <david.plowman@raspberrypi.com> --- .../pipeline/raspberrypi/raspberrypi.cpp | 146 ++++++++++++++++-- 1 file changed, 134 insertions(+), 12 deletions(-)