[libcamera-devel] [PATCH 08/14] py: move conversion funcs to libcamera.utils
Tomi Valkeinen
tomi.valkeinen at ideasonboard.com
Mon May 16 16:10:16 CEST 2022
cam_qt.py has a bunch of utility functions for pixel format conversions.
Create a new libcamera submodule for these.
Also create a symlink from the build dir to the source dir for those new
submodule, so that we can run the bindings directly from the build dir.
Signed-off-by: Tomi Valkeinen <tomi.valkeinen at ideasonboard.com>
---
src/py/cam/cam_qt.py | 195 +-----------------
src/py/libcamera/meson.build | 6 +
src/py/libcamera/utils/__init__.py | 4 +
.../cam_qt.py => libcamera/utils/conv.py} | 164 +--------------
4 files changed, 17 insertions(+), 352 deletions(-)
create mode 100644 src/py/libcamera/utils/__init__.py
copy src/py/{cam/cam_qt.py => libcamera/utils/conv.py} (58%)
diff --git a/src/py/cam/cam_qt.py b/src/py/cam/cam_qt.py
index 5753f0b2..dc5219eb 100644
--- a/src/py/cam/cam_qt.py
+++ b/src/py/cam/cam_qt.py
@@ -1,17 +1,13 @@
# SPDX-License-Identifier: GPL-2.0-or-later
# Copyright (C) 2022, Tomi Valkeinen <tomi.valkeinen at ideasonboard.com>
-#
-# Debayering code from PiCamera documentation
from io import BytesIO
-from numpy.lib.stride_tricks import as_strided
from PIL import Image
from PIL.ImageQt import ImageQt
from PyQt5 import QtCore, QtGui, QtWidgets
-import numpy as np
+import libcamera.utils as camutils
import sys
-
def rgb_to_pix(rgb):
img = Image.frombuffer('RGB', (rgb.shape[1], rgb.shape[0]), rgb)
qim = ImageQt(img).copy()
@@ -19,192 +15,6 @@ def rgb_to_pix(rgb):
return pix
-def separate_components(data, r0, g0, g1, b0):
- # Now to split the data up into its red, green, and blue components. The
- # Bayer pattern of the OV5647 sensor is BGGR. In other words the first
- # row contains alternating green/blue elements, the second row contains
- # alternating red/green elements, and so on as illustrated below:
- #
- # GBGBGBGBGBGBGB
- # RGRGRGRGRGRGRG
- # GBGBGBGBGBGBGB
- # RGRGRGRGRGRGRG
- #
- # Please note that if you use vflip or hflip to change the orientation
- # of the capture, you must flip the Bayer pattern accordingly
-
- rgb = np.zeros(data.shape + (3,), dtype=data.dtype)
- rgb[r0[1]::2, r0[0]::2, 0] = data[r0[1]::2, r0[0]::2] # Red
- rgb[g0[1]::2, g0[0]::2, 1] = data[g0[1]::2, g0[0]::2] # Green
- rgb[g1[1]::2, g1[0]::2, 1] = data[g1[1]::2, g1[0]::2] # Green
- rgb[b0[1]::2, b0[0]::2, 2] = data[b0[1]::2, b0[0]::2] # Blue
-
- return rgb
-
-
-def demosaic(rgb, r0, g0, g1, b0):
- # At this point we now have the raw Bayer data with the correct values
- # and colors but the data still requires de-mosaicing and
- # post-processing. If you wish to do this yourself, end the script here!
- #
- # Below we present a fairly naive de-mosaic method that simply
- # calculates the weighted average of a pixel based on the pixels
- # surrounding it. The weighting is provided b0[1] a b0[1]te representation of
- # the Bayer filter which we construct first:
-
- bayer = np.zeros(rgb.shape, dtype=np.uint8)
- bayer[r0[1]::2, r0[0]::2, 0] = 1 # Red
- bayer[g0[1]::2, g0[0]::2, 1] = 1 # Green
- bayer[g1[1]::2, g1[0]::2, 1] = 1 # Green
- bayer[b0[1]::2, b0[0]::2, 2] = 1 # Blue
-
- # Allocate an array to hold our output with the same shape as the input
- # data. After this we define the size of window that will be used to
- # calculate each weighted average (3x3). Then we pad out the rgb and
- # bayer arrays, adding blank pixels at their edges to compensate for the
- # size of the window when calculating averages for edge pixels.
-
- output = np.empty(rgb.shape, dtype=rgb.dtype)
- window = (3, 3)
- borders = (window[0] - 1, window[1] - 1)
- border = (borders[0] // 2, borders[1] // 2)
-
- # rgb_pad = np.zeros((
- # rgb.shape[0] + borders[0],
- # rgb.shape[1] + borders[1],
- # rgb.shape[2]), dtype=rgb.dtype)
- # rgb_pad[
- # border[0]:rgb_pad.shape[0] - border[0],
- # border[1]:rgb_pad.shape[1] - border[1],
- # :] = rgb
- # rgb = rgb_pad
- #
- # bayer_pad = np.zeros((
- # bayer.shape[0] + borders[0],
- # bayer.shape[1] + borders[1],
- # bayer.shape[2]), dtype=bayer.dtype)
- # bayer_pad[
- # border[0]:bayer_pad.shape[0] - border[0],
- # border[1]:bayer_pad.shape[1] - border[1],
- # :] = bayer
- # bayer = bayer_pad
-
- # In numpy >=1.7.0 just use np.pad (version in Raspbian is 1.6.2 at the
- # time of writing...)
- #
- rgb = np.pad(rgb, [
- (border[0], border[0]),
- (border[1], border[1]),
- (0, 0),
- ], 'constant')
- bayer = np.pad(bayer, [
- (border[0], border[0]),
- (border[1], border[1]),
- (0, 0),
- ], 'constant')
-
- # For each plane in the RGB data, we use a nifty numpy trick
- # (as_strided) to construct a view over the plane of 3x3 matrices. We do
- # the same for the bayer array, then use Einstein summation on each
- # (np.sum is simpler, but copies the data so it's slower), and divide
- # the results to get our weighted average:
-
- for plane in range(3):
- p = rgb[..., plane]
- b = bayer[..., plane]
- pview = as_strided(p, shape=(
- p.shape[0] - borders[0],
- p.shape[1] - borders[1]) + window, strides=p.strides * 2)
- bview = as_strided(b, shape=(
- b.shape[0] - borders[0],
- b.shape[1] - borders[1]) + window, strides=b.strides * 2)
- psum = np.einsum('ijkl->ij', pview)
- bsum = np.einsum('ijkl->ij', bview)
- output[..., plane] = psum // bsum
-
- return output
-
-
-def to_rgb(fmt, size, data):
- w = size[0]
- h = size[1]
-
- if fmt == 'YUYV':
- # YUV422
- yuyv = data.reshape((h, w // 2 * 4))
-
- # YUV444
- yuv = np.empty((h, w, 3), dtype=np.uint8)
- yuv[:, :, 0] = yuyv[:, 0::2] # Y
- yuv[:, :, 1] = yuyv[:, 1::4].repeat(2, axis=1) # U
- yuv[:, :, 2] = yuyv[:, 3::4].repeat(2, axis=1) # V
-
- m = np.array([
- [1.0, 1.0, 1.0],
- [-0.000007154783816076815, -0.3441331386566162, 1.7720025777816772],
- [1.4019975662231445, -0.7141380310058594, 0.00001542569043522235]
- ])
-
- rgb = np.dot(yuv, m)
- rgb[:, :, 0] -= 179.45477266423404
- rgb[:, :, 1] += 135.45870971679688
- rgb[:, :, 2] -= 226.8183044444304
- rgb = rgb.astype(np.uint8)
-
- elif fmt == 'RGB888':
- rgb = data.reshape((h, w, 3))
- rgb[:, :, [0, 1, 2]] = rgb[:, :, [2, 1, 0]]
-
- elif fmt == 'BGR888':
- rgb = data.reshape((h, w, 3))
-
- elif fmt in ['ARGB8888', 'XRGB8888']:
- rgb = data.reshape((h, w, 4))
- rgb = np.flip(rgb, axis=2)
- # drop alpha component
- rgb = np.delete(rgb, np.s_[0::4], axis=2)
-
- elif fmt.startswith('S'):
- bayer_pattern = fmt[1:5]
- bitspp = int(fmt[5:])
-
- # TODO: shifting leaves the lowest bits 0
- if bitspp == 8:
- data = data.reshape((h, w))
- data = data.astype(np.uint16) << 8
- elif bitspp in [10, 12]:
- data = data.view(np.uint16)
- data = data.reshape((h, w))
- data = data << (16 - bitspp)
- else:
- raise Exception('Bad bitspp:' + str(bitspp))
-
- idx = bayer_pattern.find('R')
- assert(idx != -1)
- r0 = (idx % 2, idx // 2)
-
- idx = bayer_pattern.find('G')
- assert(idx != -1)
- g0 = (idx % 2, idx // 2)
-
- idx = bayer_pattern.find('G', idx + 1)
- assert(idx != -1)
- g1 = (idx % 2, idx // 2)
-
- idx = bayer_pattern.find('B')
- assert(idx != -1)
- b0 = (idx % 2, idx // 2)
-
- rgb = separate_components(data, r0, g0, g1, b0)
- rgb = demosaic(rgb, r0, g0, g1, b0)
- rgb = (rgb >> 8).astype(np.uint8)
-
- else:
- rgb = None
-
- return rgb
-
-
class QtRenderer:
def __init__(self, state):
self.state = state
@@ -334,8 +144,7 @@ class MainWindow(QtWidgets.QWidget):
qim = ImageQt(img).copy()
pix = QtGui.QPixmap.fromImage(qim)
else:
- data = np.array(mfb.planes[0], dtype=np.uint8)
- rgb = to_rgb(cfg.pixel_format, cfg.size, data)
+ rgb = camutils.mfb_to_rgb(mfb, cfg)
if rgb is None:
raise Exception('Format not supported: ' + cfg.pixel_format)
diff --git a/src/py/libcamera/meson.build b/src/py/libcamera/meson.build
index fbd33139..af8ba6a5 100644
--- a/src/py/libcamera/meson.build
+++ b/src/py/libcamera/meson.build
@@ -54,10 +54,16 @@ pycamera = shared_module('_libcamera',
dependencies : pycamera_deps,
cpp_args : pycamera_args)
+# Generate symlinks so that we can use the module from the build dir
+
run_command('ln', '-fsT', '../../../../src/py/libcamera/__init__.py',
meson.current_build_dir() / '__init__.py',
check: true)
+run_command('ln', '-fsT', '../../../../src/py/libcamera/utils',
+ meson.current_build_dir() / 'utils',
+ check: true)
+
install_data(['__init__.py'], install_dir : destdir)
# \todo Generate stubs when building, and install them.
diff --git a/src/py/libcamera/utils/__init__.py b/src/py/libcamera/utils/__init__.py
new file mode 100644
index 00000000..5fa884ca
--- /dev/null
+++ b/src/py/libcamera/utils/__init__.py
@@ -0,0 +1,4 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+# Copyright (C) 2022, Tomi Valkeinen <tomi.valkeinen at ideasonboard.com>
+
+from .conv import *
diff --git a/src/py/cam/cam_qt.py b/src/py/libcamera/utils/conv.py
similarity index 58%
copy from src/py/cam/cam_qt.py
copy to src/py/libcamera/utils/conv.py
index 5753f0b2..71270671 100644
--- a/src/py/cam/cam_qt.py
+++ b/src/py/libcamera/utils/conv.py
@@ -3,20 +3,9 @@
#
# Debayering code from PiCamera documentation
-from io import BytesIO
+from libcamera import MappedFrameBuffer, StreamConfiguration
from numpy.lib.stride_tricks import as_strided
-from PIL import Image
-from PIL.ImageQt import ImageQt
-from PyQt5 import QtCore, QtGui, QtWidgets
import numpy as np
-import sys
-
-
-def rgb_to_pix(rgb):
- img = Image.frombuffer('RGB', (rgb.shape[1], rgb.shape[0]), rgb)
- qim = ImageQt(img).copy()
- pix = QtGui.QPixmap.fromImage(qim)
- return pix
def separate_components(data, r0, g0, g1, b0):
@@ -205,150 +194,7 @@ def to_rgb(fmt, size, data):
return rgb
-class QtRenderer:
- def __init__(self, state):
- self.state = state
-
- self.cm = state['cm']
- self.contexts = state['contexts']
-
- def setup(self):
- self.app = QtWidgets.QApplication([])
-
- windows = []
-
- for ctx in self.contexts:
- camera = ctx['camera']
-
- for stream in ctx['streams']:
- fmt = stream.configuration.pixel_format
- size = stream.configuration.size
-
- window = MainWindow(ctx, stream)
- window.setAttribute(QtCore.Qt.WA_ShowWithoutActivating)
- window.show()
- windows.append(window)
-
- self.windows = windows
-
- def run(self):
- camnotif = QtCore.QSocketNotifier(self.cm.efd, QtCore.QSocketNotifier.Read)
- camnotif.activated.connect(lambda x: self.readcam())
-
- keynotif = QtCore.QSocketNotifier(sys.stdin.fileno(), QtCore.QSocketNotifier.Read)
- keynotif.activated.connect(lambda x: self.readkey())
-
- print('Capturing...')
-
- self.app.exec()
-
- print('Exiting...')
-
- def readcam(self):
- running = self.state['event_handler'](self.state)
-
- if not running:
- self.app.quit()
-
- def readkey(self):
- sys.stdin.readline()
- self.app.quit()
-
- def request_handler(self, ctx, req):
- buffers = req.buffers
-
- for stream, fb in buffers.items():
- wnd = next(wnd for wnd in self.windows if wnd.stream == stream)
-
- wnd.handle_request(stream, fb)
-
- self.state['request_prcessed'](ctx, req)
-
- def cleanup(self):
- for w in self.windows:
- w.close()
-
-
-class MainWindow(QtWidgets.QWidget):
- def __init__(self, ctx, stream):
- super().__init__()
-
- self.ctx = ctx
- self.stream = stream
-
- self.label = QtWidgets.QLabel()
-
- windowLayout = QtWidgets.QHBoxLayout()
- self.setLayout(windowLayout)
-
- windowLayout.addWidget(self.label)
-
- controlsLayout = QtWidgets.QVBoxLayout()
- windowLayout.addLayout(controlsLayout)
-
- windowLayout.addStretch()
-
- group = QtWidgets.QGroupBox('Info')
- groupLayout = QtWidgets.QVBoxLayout()
- group.setLayout(groupLayout)
- controlsLayout.addWidget(group)
-
- lab = QtWidgets.QLabel(ctx['id'])
- groupLayout.addWidget(lab)
-
- self.frameLabel = QtWidgets.QLabel()
- groupLayout.addWidget(self.frameLabel)
-
- group = QtWidgets.QGroupBox('Properties')
- groupLayout = QtWidgets.QVBoxLayout()
- group.setLayout(groupLayout)
- controlsLayout.addWidget(group)
-
- camera = ctx['camera']
-
- for k, v in camera.properties.items():
- lab = QtWidgets.QLabel()
- lab.setText(k + ' = ' + str(v))
- groupLayout.addWidget(lab)
-
- group = QtWidgets.QGroupBox('Controls')
- groupLayout = QtWidgets.QVBoxLayout()
- group.setLayout(groupLayout)
- controlsLayout.addWidget(group)
-
- for k, (min, max, default) in camera.controls.items():
- lab = QtWidgets.QLabel()
- lab.setText('{} = {}/{}/{}'.format(k, min, max, default))
- groupLayout.addWidget(lab)
-
- controlsLayout.addStretch()
-
- def buf_to_qpixmap(self, stream, fb):
- with fb.mmap() as mfb:
- cfg = stream.configuration
- w, h = cfg.size
- pitch = cfg.stride
-
- if cfg.pixel_format == 'MJPEG':
- img = Image.open(BytesIO(mfb.planes[0]))
- qim = ImageQt(img).copy()
- pix = QtGui.QPixmap.fromImage(qim)
- else:
- data = np.array(mfb.planes[0], dtype=np.uint8)
- rgb = to_rgb(cfg.pixel_format, cfg.size, data)
-
- if rgb is None:
- raise Exception('Format not supported: ' + cfg.pixel_format)
-
- pix = rgb_to_pix(rgb)
-
- return pix
-
- def handle_request(self, stream, fb):
- ctx = self.ctx
-
- pix = self.buf_to_qpixmap(stream, fb)
- self.label.setPixmap(pix)
-
- self.frameLabel.setText('Queued: {}\nDone: {}\nFps: {:.2f}'
- .format(ctx['reqs-queued'], ctx['reqs-completed'], ctx['fps']))
+def mfb_to_rgb(mfb:MappedFrameBuffer, cfg:StreamConfiguration):
+ data = np.array(mfb.planes[0], dtype=np.uint8)
+ rgb = to_rgb(cfg.pixel_format, cfg.size, data)
+ return rgb
--
2.34.1
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