[libcamera-devel] [PATCH v4] pipeline-rkisp1-Fix-sensor-ISP-format-mismatch
Dafna Hirschfeld
dafna.hirschfeld at collabora.com
Mon Feb 22 14:13:48 CET 2021
On 16.02.21 17:27, Dafna Hirschfeld wrote:
>
>
> On 16.02.21 06:00, Sebastian Fricke wrote:
>> Hey Dafna,
>>
>> Thank you for your review.
>>
>> On 15.02.2021 21:11, Dafna Hirschfeld wrote:
>>> Hi
>>>
>>> On 15.02.21 14:00, Helen Koike wrote:
>>>> Hi Sebastian,
>>>>
>>>>
>>>> On 2/7/21 9:58 AM, Sebastian Fricke wrote:
>>>>> This patch fixes a mismatch of image formats during the pipeline
>>>>> creation of the RkISP1. The mismatch happens because the current code
>>>>> does not check if the configured format exceeds the maximum viable
>>>>> resolution of the ISP.
>>>>>
>>>>> Make sure to use a sensor format resolution that is smaller or equal to
>>>>> the maximum allowed resolution for the RkISP1. The maximum resolution
>>>>> is defined within the `rkisp1-common.h` file as:
>>>>> define RKISP1_ISP_MAX_WIDTH 4032
>>>>> define RKISP1_ISP_MAX_HEIGHT 3024
>>>>>
>>>>> Enumerate the frame-sizes of the ISP entity and compare the maximum with
>>>>> the configured resolution. Additionally, make sure that the media bus code
>>>>> of the format is valid on the ISP.
>>>>>
>>>>> This means that some camera sensors can never operate with their maximum
>>>>> resolution, for example on my OV13850 camera sensor, there are two
>>>>> possible resolutions: 4224x3136 & 2112x1568, the first of those two will
>>>>> never be picked as it surpasses the maximum of the ISP.
>>>>>
>>>>> Signed-off-by: Sebastian Fricke <sebastian.fricke at posteo.net>
>>>>
>>>> This patch doesn't compile, I believe things changed since you submitted.
>>>> Could you submit a fixed version please?
>>>>
>>>> Thanks
>>>> Helen
>>>>
>>>>> ---
>>>>>
>>>>> v1: https://lists.libcamera.org/pipermail/libcamera-devel/2020-November/015113.html
>>>>> v2: https://lists.libcamera.org/pipermail/libcamera-devel/2020-November/015136.html
>>>>> v3: https://patchwork.libcamera.org/patch/10660/
>>>>>
>>>>> Changelog:
>>>>>
>>>>> Changes since v3:
>>>>>
>>>>> * Introduce a helper method for finding the correct sensor format:
>>>>> `findBestFitFormat`
>>>>> * Besides checking for a valid format resolution also check for a
>>>>> matching media bus code
>>>>> * Return -EINVAL on an error instead of -1
>>>>> * Add documentation for the `findBestFitFormat` method
>>>>>
>>>>> Changes since v2:
>>>>>
>>>>> * Replace the act of attempting to set the ISP format before negotiating
>>>>> the actual format for both the ISP input pad and the sensor in order
>>>>> to get the maximum frame size. With a logic that involves enumerating
>>>>> the maximum size directly from the subdevice and using that size for
>>>>> the negotiation process.
>>>>> * Improve the log messages
>>>>>
>>>>> Changes since v1:
>>>>>
>>>>> * Change snake_case variable names to camelCase
>>>>> * Use the request comment style
>>>>> * Correct the scope of the newly implemented variables
>>>>> * Correct the subject of the debug log for the ISP format configuration
>>>>> * Update the comment above the ISP format configuration
>>>>> * Check if the original format is not equal to the configured ISP format
>>>>> instead of checking if it is greater, this denies a false positive
>>>>> where the height exceeds the maximum while the width is smaller.
>>>>> If the configured format does not exceed the maximum resolution of the
>>>>> ISP, it will stay untouched so the inequality always means that we
>>>>> have to reconfigure the format.
>>>>> * Adjust the comparison of the ISP format size with the available sensor
>>>>> formats, to detect a false-positive were the width is smaller while
>>>>> the height exceeds the maximum
>>>>> * Use the standard function `max`
>>>>>
>>>>> -----
>>>>>
>>>>> The following tests were all able to create a working camera pipeline:
>>>>> 1. Without stream configuration
>>>>> 2. With a normal stream configuration
>>>>> 3. With a stream configuration that exceeds the maximum of the ISP
>>>>> 4. With a very small resolution stream configuration
>>>>> 5. With a configuration that is closer to the upper than to the lower
>>>>> resolution
>>>>>
>>>>> -----
>>>>>
>>>>> 1. LIBCAMERA_LOG_LEVELS=0 cam -c 1 --capture=3
>>>>>
>>>>> [6:41:00.383092648] [28903] DEBUG Camera camera.cpp:831 streams configuration: (0) 1920x1920-NV12
>>>>> [6:41:00.383284855] [28903] INFO Camera camera.cpp:890 configuring streams: (0) 1920x1920-NV12
>>>>> ...
>>>>> [6:41:00.384053394] [28904] INFO RkISP1 rkisp1.cpp:573 Sensor format 4224x3136 is not supported by the ISP (maximum: 4032x3024), trying to re-configure to a smaller sensor format
>>>>> [6:41:00.384124851] [28904] DEBUG RkISP1 rkisp1.cpp:637 Sensor configured with 2112x1568-SBGGR10_1X10
>>>>> [6:41:00.384184351] [28904] DEBUG RkISP1 rkisp1.cpp:648 ISP input pad configured with 2112x1568-SBGGR10_1X10 crop (0x0)/2112x1568
>>>>> [6:41:00.384214684] [28904] DEBUG RkISP1 rkisp1.cpp:654 Configuring ISP output pad with 2112x1568-YUYV8_2X8 crop (0x0)/2112x1568
>>>>> [6:41:00.384252309] [28904] DEBUG RkISP1 rkisp1.cpp:666 ISP output pad configured with 2112x1568-YUYV8_2X8 crop (0x0)/2112x1568
>>>>> [6:41:00.384295184] [28904] DEBUG RkISP1 rkisp1_path.cpp:119 Configured main resizer input pad with 2112x1568-YUYV8_2X8 crop (0x0)/2112x1568
>>>>> [6:41:00.384324059] [28904] DEBUG RkISP1 rkisp1_path.cpp:125 Configuring main resizer output pad with 1920x1920-YUYV8_2X8
>>>>> [6:41:00.384351475] [28904] DEBUG RkISP1 rkisp1_path.cpp:143 Configured main resizer output pad with 1920x1920-YUYV8_1_5X8
>>>>>
>>>>> 2. LIBCAMERA_LOG_LEVELS=0 cam -c 1 --capture=3 -s width=900,height=600,pixelformat=NV12,role=video
>>>>>
>>>>> [6:51:11.037976397] [28922] DEBUG Camera camera.cpp:831 streams configuration: (0) 1920x1920-NV12
>>>>> [6:51:11.038439562] [28922] INFO Camera camera.cpp:890 configuring streams: (0) 900x600-NV12
>>>>> ...
>>>>> [6:51:11.040661843] [28923] DEBUG RkISP1 rkisp1.cpp:609 Sensor configured with 2112x1568-SBGGR10_1X10
>>>>> [6:51:11.040884092] [28923] DEBUG RkISP1 rkisp1.cpp:620 ISP input pad configured with 2112x1568-SBGGR10_1X10 crop (0x0)/2112x1568
>>>>> [6:51:11.041015633] [28923] DEBUG RkISP1 rkisp1.cpp:626 Configuring ISP output pad with 2112x1568-YUYV8_2X8 crop (0x0)/2112x1568
>>>>> [6:51:11.041182757] [28923] DEBUG RkISP1 rkisp1.cpp:638 ISP output pad configured with 2112x1568-YUYV8_2X8 crop (0x0)/2112x1568
>>>>> [6:51:11.041374089] [28923] DEBUG RkISP1 rkisp1_path.cpp:119 Configured main resizer input pad with 2112x1568-YUYV8_2X8 crop (0x0)/2112x1568
>>>>> [6:51:11.041498339] [28923] DEBUG RkISP1 rkisp1_path.cpp:125 Configuring main resizer output pad with 900x600-YUYV8_2X8
>>>>> [6:51:11.041619380] [28923] DEBUG RkISP1 rkisp1_path.cpp:143 Configured main resizer output pad with 900x600-YUYV8_1_5X8
>>>>>
>>>>> 3. LIBCAMERA_LOG_LEVELS=0 cam -c 1 --capture=3 -s width=4500,height=3500,pixelformat=NV12,role=video
>>>>>
>>>>> [6:52:41.156286265] [28926] DEBUG Camera camera.cpp:831 streams configuration: (0) 1920x1920-NV12
>>>>> [6:52:41.156612639] [28926] DEBUG RkISP1 rkisp1_path.cpp:94 Adjusting format from 4500x3500-NV12 to 4416x3312-NV12
>>>>> [6:52:41.156745055] [28926] DEBUG RkISP1 rkisp1_path.cpp:94 Adjusting format from 4500x3500-NV12 to 1920x1920-NV12
>>>>> [6:52:41.156849471] [28926] DEBUG RkISP1 rkisp1_path.cpp:94 Adjusting format from 4500x3500-NV12 to 4416x3312-NV12
>>>>> [6:52:41.156959137] [28926] DEBUG CameraSensor camera_sensor.cpp:560 'ov13850 1-0010': No supported format or size found
>>>>> Camera configuration adjusted
>>>>> [6:52:41.157176136] [28926] DEBUG CameraSensor camera_sensor.cpp:560 'ov13850 1-0010': No supported format or size found
>>>>> [6:52:41.157245844] [28926] INFO Camera camera.cpp:890 configuring streams: (0) 4416x3312-NV12
>>>>> ...
>>>>> [6:52:41.159387000] [28927] INFO RkISP1 rkisp1.cpp:585 Sensor format 4224x3136 is not supported by the ISP (maximum: 4032x3024), trying to re-configure to a smaller sensor format
>>>>> [6:52:41.159552958] [28927] DEBUG RkISP1 rkisp1.cpp:609 Sensor configured with 2112x1568-SBGGR10_1X10
>>>>> [6:52:41.159752749] [28927] DEBUG RkISP1 rkisp1.cpp:620 ISP input pad configured with 2112x1568-SBGGR10_1X10 crop (0x0)/2112x1568
>>>>> [6:52:41.159883123] [28927] DEBUG RkISP1 rkisp1.cpp:626 Configuring ISP output pad with 2112x1568-YUYV8_2X8 crop (0x0)/2112x1568
>>>>> [6:52:41.160129289] [28927] DEBUG RkISP1 rkisp1.cpp:638 ISP output pad configured with 2112x1568-YUYV8_2X8 crop (0x0)/2112x1568
>>>>> [6:52:41.160322079] [28927] DEBUG RkISP1 rkisp1_path.cpp:119 Configured main resizer input pad with 2112x1568-YUYV8_2X8 crop (0x0)/2112x1568
>>>>> [6:52:41.160451870] [28927] DEBUG RkISP1 rkisp1_path.cpp:125 Configuring main resizer output pad with 4416x3312-YUYV8_2X8
>>>>> [6:52:41.160574370] [28927] DEBUG RkISP1 rkisp1_path.cpp:143 Configured main resizer output pad with 4416x3312-YUYV8_1_5X8
>>>>>
>>>>> 4. LIBCAMERA_LOG_LEVELS=0 cam -c 1 --capture=3 -s width=40,height=30,pixelformat=NV12,role=video
>>>>>
>>>>> [6:53:43.547487714] [28930] DEBUG Camera camera.cpp:831 streams configuration: (0) 1920x1920-NV12
>>>>> [6:53:43.547902462] [28930] INFO Camera camera.cpp:890 configuring streams: (0) 40x30-NV12
>>>>> ...
>>>>> [6:53:43.550449033] [28931] DEBUG RkISP1 rkisp1.cpp:609 Sensor configured with 2112x1568-SBGGR10_1X10
>>>>> [6:53:43.550650282] [28931] DEBUG RkISP1 rkisp1.cpp:620 ISP input pad configured with 2112x1568-SBGGR10_1X10 crop (0x0)/2112x1568
>>>>> [6:53:43.550773657] [28931] DEBUG RkISP1 rkisp1.cpp:626 Configuring ISP output pad with 2112x1568-YUYV8_2X8 crop (0x0)/2112x1568
>>>>> [6:53:43.550932323] [28931] DEBUG RkISP1 rkisp1.cpp:638 ISP output pad configured with 2112x1568-YUYV8_2X8 crop (0x0)/2112x1568
>>>>> [6:53:43.551103822] [28931] DEBUG RkISP1 rkisp1_path.cpp:119 Configured main resizer input pad with 2112x1568-YUYV8_2X8 crop (0x0)/2112x1568
>>>>> [6:53:43.551222530] [28931] DEBUG RkISP1 rkisp1_path.cpp:125 Configuring main resizer output pad with 40x30-YUYV8_2X8
>>>>> [6:53:43.551334237] [28931] DEBUG RkISP1 rkisp1_path.cpp:143 Configured main resizer output pad with 40x30-YUYV8_1_5X8
>>>>>
>>>>> 5. LIBCAMERA_LOG_LEVELS=0 cam -c 1 --capture=3 -s width=3450,height=2456,pixelformat=NV12,role=video
>>>>>
>>>>> [6:54:43.212517584] [28933] DEBUG Camera camera.cpp:831 streams configuration: (0) 1920x1920-NV12
>>>>> [6:54:43.212946040] [28933] INFO Camera camera.cpp:890 configuring streams: (0) 3450x2456-NV12
>>>>> ...
>>>>> [6:54:43.215050739] [28934] INFO RkISP1 rkisp1.cpp:585 Sensor format 4224x3136 is not supported by the ISP (maximum: 4032x3024), trying to re-configure to a smaller sensor format
>>>>> [6:54:43.215213779] [28934] DEBUG RkISP1 rkisp1.cpp:609 Sensor configured with 2112x1568-SBGGR10_1X10
>>>>> [6:54:43.215416487] [28934] DEBUG RkISP1 rkisp1.cpp:620 ISP input pad configured with 2112x1568-SBGGR10_1X10 crop (0x0)/2112x1568
>>>>> [6:54:43.215545986] [28934] DEBUG RkISP1 rkisp1.cpp:626 Configuring ISP output pad with 2112x1568-YUYV8_2X8 crop (0x0)/2112x1568
>>>>> [6:54:43.215710485] [28934] DEBUG RkISP1 rkisp1.cpp:638 ISP output pad configured with 2112x1568-YUYV8_2X8 crop (0x0)/2112x1568
>>>>> [6:54:43.215891026] [28934] DEBUG RkISP1 rkisp1_path.cpp:119 Configured main resizer input pad with 2112x1568-YUYV8_2X8 crop (0x0)/2112x1568
>>>>> [6:54:43.216104233] [28934] DEBUG RkISP1 rkisp1_path.cpp:125 Configuring main resizer output pad with 3450x2456-YUYV8_2X8
>>>>> [6:54:43.216246274] [28934] DEBUG RkISP1 rkisp1_path.cpp:143 Configured main resizer output pad with 3450x2456-YUYV8_1_5X8
>>>>>
>>>>> ---
>>>>> src/libcamera/pipeline/rkisp1/rkisp1.cpp | 67 ++++++++++++++++++++++++
>>>>> 1 file changed, 67 insertions(+)
>>>>>
>>>>> diff --git a/src/libcamera/pipeline/rkisp1/rkisp1.cpp b/src/libcamera/pipeline/rkisp1/rkisp1.cpp
>>>>> index e85979a7..55b1a10d 100644
>>>>> --- a/src/libcamera/pipeline/rkisp1/rkisp1.cpp
>>>>> +++ b/src/libcamera/pipeline/rkisp1/rkisp1.cpp
>>>>> @@ -163,6 +163,8 @@ private:
>>>>> void paramReady(FrameBuffer *buffer);
>>>>> void statReady(FrameBuffer *buffer);
>>>>> void frameStart(uint32_t sequence);
>>>>> + int findBestFitFormat(V4L2SubdeviceFormat *format,
>>>>> + CameraSensor *sensor);
>>>>> int allocateBuffers(Camera *camera);
>>>>> int freeBuffers(Camera *camera);
>>>>> @@ -551,6 +553,67 @@ CameraConfiguration *PipelineHandlerRkISP1::generateConfiguration(Camera *camera
>>>>> return config;
>>>>> }
>>>>> +/**
>>>>> + * \brief Find the closest possible match to the desired configuration format,
>>>>> + * that is valid on the RkISP1.
>>>>> + * \param[out] format The configuration format for the image sensor
>>>>> + * \param[in] sensor The camera sensor object
>>>>> + * \return 0 on success, -1 on failure
>>>>> + */
>>>>> +int PipelineHandlerRkISP1::findBestFitFormat(
>>>>> + V4L2SubdeviceFormat *format, CameraSensor *sensor)
>>>>> +{
>>>>> + V4L2Subdevice::Formats ispFormats = isp_->formats(0);
>>>>> + if (ispFormats.empty()) {
>>>>> + LOG(RkISP1, Error) << "Unable to fetch ISP formats.";
>>>>> + return -1;
>>>>> + }
>>>>> + /*
>>>>> + * The maximum resolution is identical for all media bus codes on
>>>>> + * the RkISP1 isp entity. Therefore take the first available resolution.
>>>>> + */
>>>>> + Size ispMaximum = ispFormats.begin()->second[0].max;
>>>>> +
>>>>> + if (ispMaximum.width < format->size.width ||
>>>>> + ispMaximum.height < format->size.height) {
>>>>> + Size maxSize;
>>>>> + LOG(RkISP1, Info) << "Sensor format " << format->size.toString()
>>>>> + << " is not supported by the ISP (maximum: "
>>>>> + << ispMaximum.toString() << "), trying to "
>>>>> + << "re-configure to a smaller sensor format";
>>>>> +
>>>>> + for (const Size &size : sensor->sizes()) {
>>>
>>> The sizes are sorted in increasing order and you want to get the max size
>>> so it make sense to iterate it in reverse and break once a valid size is found.
>>
>> That is a good idea, I will give this a shot.
>>
>>>
>>>>> + if (size.width > ispMaximum.width ||
>>>>> + size.height > ispMaximum.height)
>>>>> + continue;
>>>>> + maxSize = std::max(maxSize, size);
>>>>> + }
>>>
>>> I think you can add this loop to the validate function just before the
>>> sensor->getFormat call.
>>> Then the 'maxSize' can be the maxSize sent to the sensor->getFormat
>>
>> I really tried to make this work, but the problem is I don't have access
>> to the isp sub device within the scope of the validate method. Because
>> validate is a method of RkISP1CameraConfiguration and configure is a
>> method of PipelineHandlerRkISP1.
>
> From what I understand, in the 'configure' stage we should already
> know how to configure the sensor. So searching for a valid size should
> be done in the 'validate'. I might be wrong though. Better ask
> libcamera people. I think you can hard-code the max resolution
> of pad 0 of the isp entity. The supported bus formats are already
> hard coded in the call to sensor->getFormat probably for the same reason.
> Maybe it means we should change the design somehow so we do have access
> to the isp entity from 'validate'?
>
> Thanks,
> Dafna
I see that the CameraData has a pointer pipe_ to the pipeline-handler so
you can reach the PipelineHandlerRkISP1::isp_ from there.
Looking at how other pipeline-handlers are implemented, I see that there is no consistency
in terms of where sub devices reside. In vimc and raspberrypi they are all
in the CameraData subclass. In IPU3, they are in the Pipelinehandler subclass but pointers
are kept in IPU3CameraData. So I think you can add a pointer to PipelineHandlerRkISP1::isp_
from RkISP1CameraData to make the access easier.
Thanks,
Dafna
>
>>
>>>
>>> Thanks,
>>> Dafna
>>
>> Greetings,
>> Sebastian
>>
>>>
>>>>> + if (maxSize == Size(0, 0)) {
>>>>> + LOG(RkISP1, Error) << "No avail. sensor resolution <= "
>>>>> + << format->toString();
>>>>> + return -1;
>>>>> + }
>>>>> + format->size = maxSize;
>>>>> + }
>>>>> +
>>>>> + auto mbusCodeMatch = ispFormats.find(format->mbus_code);
>>>>> + if (mbusCodeMatch == ispFormats.end()) {
>>>>> + format->mbus_code = 0;
>>>>> + for (unsigned int mbusCode : sensor->mbusCodes()) {
>>>>> + mbusCodeMatch = ispFormats.find(mbusCode);
>>>>> + if (mbusCodeMatch != ispFormats.end()) {
>>>>> + format->mbus_code = mbusCode;
>>>>> + break;
>>>>> + }
>>>>> + }
>>>>> + if (format->mbus_code == 0) {
>>>>> + LOG(RkISP1, Error) << "No valid sensor mbus-code found";
>>>>> + return -1;
>>>>> + }
>>>>> + }
>>>>> + return 0;
>>>>> +}
>>>>> +
>>>>> int PipelineHandlerRkISP1::configure(Camera *camera, CameraConfiguration *c)
>>>>> {
>>>>> RkISP1CameraConfiguration *config =
>>>>> @@ -570,6 +633,10 @@ int PipelineHandlerRkISP1::configure(Camera *camera, CameraConfiguration *c)
>>>>> V4L2SubdeviceFormat format = config->sensorFormat();
>>>>> LOG(RkISP1, Debug) << "Configuring sensor with " << format.toString();
>>>>> + ret = findBestFitFormat(&format, sensor);
>>>>> + if (ret < 0)
>>>>> + return -EINVAL;
>>>>> +
>>>>> ret = sensor->setFormat(&format);
>>>>> if (ret < 0)
>>>>> return ret;
>>>>>
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