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libcamera: rkisp1: Use the dw100 converter module instead of the generic v4l2 converter

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The dewarper integration into the rkisp1 pipeline is quite complicated.
Simplify that by switching to the now available ConverterDW100Module. As
there is no other known converter in combination with the rkisp1 ISP this
is a safe step to do.

This change also paves the way to implement dw100 specific features later.

The input crop implemented in the dw100 kernel driver is quite limited
in that it doesn't allow arbitrary crop rectangles but only scale
factors quantized to the underlying fixed point representation and only
aspect ratio preserving crops.

The vertex map based implementation allows for pixel perfect crops. The
only downside is that ScalerCrop can no longer be set dynamically on
older kernels. A corresponding warning is already implemented in the
converter module.

Signed-off-by: Stefan Klug <stefan.klug@ideasonboard.com>
Reviewed-by: Kieran Bingham <kieran.bingham@ideasonboard.com>
This commit is contained in:
Stefan Klug
2025-11-25 17:28:29 +01:00
parent ffde6b28f3
commit 13e5c71294
1 changed files with 30 additions and 89 deletions
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119
src/libcamera/pipeline/rkisp1/rkisp1.cpp
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@@ -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<V4L2M2MConverter> dewarper_;
Rectangle scalerMaxCrop_;
std::optional<Rectangle> activeCrop_;
std::unique_ptr<ConverterDW100Module> dewarper_;
/* Internal buffers used when dewarper is being used */
std::vector<std::unique_ptr<FrameBuffer>> mainPathBuffers_;
@@ -940,6 +937,13 @@ 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<unsigned int, IPAStream> streamConfig;
std::vector<std::reference_wrapper<StreamConfiguration>> outputCfgs;
@@ -965,13 +969,15 @@ 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 +1171,9 @@ 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 +1324,8 @@ int PipelineHandlerRkISP1::updateControls(RkISP1CameraData *data)
{
ControlInfoMap::Map controls;
if (data->usesDewarper_) {
std::pair<Rectangle, Rectangle> 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 +1365,6 @@ 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<uint32_t, DelayedControls::ControlParams> params = {
{ V4L2_CID_ANALOGUE_GAIN, { delays.gainDelay, false } },
@@ -1472,27 +1459,11 @@ 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<MediaDevice> dwpMediaDevice = enumerator->search(dwp);
if (dwpMediaDevice) {
dewarper_ = std::make_unique<V4L2M2MConverter>(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 +1574,7 @@ 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<Rectangle, Rectangle> 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 +1583,7 @@ 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 +1591,7 @@ void PipelineHandlerRkISP1::imageBufferReady(FrameBuffer *buffer)
return;
}
request->metadata().set(controls::ScalerCrop, activeCrop_.value());
dewarper_->populateMetadata(&data->mainPathStream_, request->metadata());
}
void PipelineHandlerRkISP1::dewarpBufferReady(FrameBuffer *buffer)