From 302f285b3b2e2c9b84694e882f301331097bbdbb Mon Sep 17 00:00:00 2001
From: Stefan Klug <stefan.klug@ideasonboard.com>
Date: Tue, 25 Nov 2025 17:28:37 +0100
Subject: [PATCH] pipeline: rkisp1: Load dewarp parameters from tuning file

Load the dewarp parameters from the tuning file.

Signed-off-by: Stefan Klug <stefan.klug@ideasonboard.com>
Reviewed-by: Kieran Bingham <kieran.bingham@ideasonboard.com>
---
 .../internal/converter/converter_dw100.h      |  8 +++
 src/libcamera/converter/converter_dw100.cpp   | 71 +++++++++++++++++++
 src/libcamera/pipeline/rkisp1/rkisp1.cpp      | 16 +++--
 3 files changed, 91 insertions(+), 4 deletions(-)

diff --git a/include/libcamera/internal/converter/converter_dw100.h b/include/libcamera/internal/converter/converter_dw100.h
index 5219a0dd..d70c8fe7 100644
--- a/include/libcamera/internal/converter/converter_dw100.h
+++ b/include/libcamera/internal/converter/converter_dw100.h
@@ -31,6 +31,8 @@ public:
 
 	static std::unique_ptr<ConverterDW100Module> createModule(DeviceEnumerator *enumerator);
 
+	int init(const YamlObject &params);
+
 	int configure(const StreamConfiguration &inputCfg,
 		      const std::vector<std::reference_wrapper<StreamConfiguration>>
 			      &outputCfg);
@@ -67,12 +69,18 @@ private:
 	int applyControls(const Stream *stream, const V4L2Request *request);
 	void reinitRequest(V4L2Request *request);
 
+	struct DewarpParms {
+		Matrix<double, 3, 3> cm;
+		std::vector<double> coeffs;
+	};
+
 	struct VertexMapInfo {
 		Dw100VertexMap map;
 		bool update;
 	};
 
 	std::map<const Stream *, VertexMapInfo> vertexMaps_;
+	std::optional<DewarpParms> dewarpParams_;
 	unsigned int inputBufferCount_;
 	V4L2M2MConverter converter_;
 	Rectangle sensorCrop_;
diff --git a/src/libcamera/converter/converter_dw100.cpp b/src/libcamera/converter/converter_dw100.cpp
index c6a37507..16bbc417 100644
--- a/src/libcamera/converter/converter_dw100.cpp
+++ b/src/libcamera/converter/converter_dw100.cpp
@@ -70,6 +70,74 @@ ConverterDW100Module::createModule(DeviceEnumerator *enumerator)
 	return {};
 }
 
+/**
+ * \brief Initialize the module with configuration data
+ * \param[in] params The config parameters
+ *
+ * This function shall be called from the pipeline handler to initialize the
+ * module with the provided parameters.
+ *
+ * A typical tuning file entry for the dewarper looks like this:
+ * \code{.unparsed}
+ * modules:
+ * - Dewarp:
+ *    cm: [
+ *      1.0, 0.0, 0.0,
+ *      0.0, 1.0, 0.0,
+ *      0.0, 0.0, 1.0,
+ *    ]
+ *    coefficients: [
+ *      0,0,0,0,0,
+ *    ]
+ * \endcode
+ *
+ * The \a cm and \a coefficients parameters are documented in
+ * Dw100VertexMap::setDewarpParams()
+ *
+ * \sa Dw100VertexMap::setDewarpParams()
+ * \return 0 if successful, an error code otherwise
+ */
+int ConverterDW100Module::init(const YamlObject &params)
+{
+	DewarpParms dp;
+
+	auto &cm = params["cm"];
+	auto &coefficients = params["coefficients"];
+
+	/* If nothing is provided, the dewarper is still functional */
+	if (!cm && !coefficients)
+		return 0;
+
+	if (!cm) {
+		LOG(Converter, Error) << "Dewarp parameters are missing 'cm' value";
+		return -EINVAL;
+	}
+
+	auto matrix = cm.get<Matrix<double, 3, 3>>();
+	if (!matrix) {
+		LOG(Converter, Error) << "Failed to load 'cm' value";
+		return -EINVAL;
+	}
+
+	dp.cm = *matrix;
+
+	if (!coefficients) {
+		LOG(Converter, Error) << "Dewarp parameters are missing 'coefficients' value";
+		return -EINVAL;
+	}
+
+	const auto coeffs = coefficients.getList<double>();
+	if (!coeffs) {
+		LOG(Converter, Error) << "Dewarp parameters 'coefficients' value is not a list";
+		return -EINVAL;
+	}
+	dp.coeffs = std::move(*coeffs);
+
+	dewarpParams_ = dp;
+
+	return 0;
+}
+
 /**
  * \copydoc libcamera::V4L2M2MConverter::configure
  */
@@ -93,6 +161,9 @@ int ConverterDW100Module::configure(const StreamConfiguration &inputCfg,
 		vertexMap.setInputSize(inputCfg.size);
 		vertexMap.setOutputSize(outputCfg.size);
 		vertexMap.setSensorCrop(sensorCrop_);
+
+		if (dewarpParams_)
+			vertexMap.setDewarpParams(dewarpParams_->cm, dewarpParams_->coeffs);
 		info.update = true;
 	}
 
diff --git a/src/libcamera/pipeline/rkisp1/rkisp1.cpp b/src/libcamera/pipeline/rkisp1/rkisp1.cpp
index e9652905..5fd11026 100644
--- a/src/libcamera/pipeline/rkisp1/rkisp1.cpp
+++ b/src/libcamera/pipeline/rkisp1/rkisp1.cpp
@@ -453,10 +453,18 @@ int RkISP1CameraData::loadTuningFile(const std::string &path)
 
 	const auto &modules = (*data)["modules"].asList();
 	for (const auto &module : modules) {
-		if (module.contains("Dewarp")) {
-			canUseDewarper_ = true;
-			break;
-		}
+		const auto &params = module["Dewarp"];
+		if (!params)
+			continue;
+
+		ret = pipe()->dewarper_->init(params);
+		if (ret)
+			return ret;
+
+		LOG(RkISP1, Info) << "Dw100 dewarper initialized";
+
+		canUseDewarper_ = true;
+		return 0;
 	}
 
 	return 0;