[libcamera-devel] [PATCH v3 13/13] pipeline: rkisp1: Support raw Bayer capture configuration
paul.elder at ideasonboard.com
paul.elder at ideasonboard.com
Mon Oct 24 11:46:20 CEST 2022
On Mon, Oct 24, 2022 at 03:03:56AM +0300, Laurent Pinchart wrote:
> From: Florian Sylvestre <fsylvestre at baylibre.com>
>
> Implement support for raw Bayer capture during configuration generation,
> validation and camera configuration.
>
> While at it, fix a typo in a comment.
>
> Signed-off-by: Florian Sylvestre <fsylvestre at baylibre.com>
> Signed-off-by: Paul Elder <paul.elder at ideasonboard.com>
> Signed-off-by: Laurent Pinchart <laurent.pinchart at ideasonboard.com>
Reviewed-by: Paul Elder <paul.elder at ideasonboard.com>
> ---
> Changes since v2:
>
> - Nearly complete rewrite
> ---
> src/libcamera/pipeline/rkisp1/rkisp1.cpp | 116 +++++++---
> src/libcamera/pipeline/rkisp1/rkisp1_path.cpp | 209 +++++++++++++++---
> src/libcamera/pipeline/rkisp1/rkisp1_path.h | 3 +-
> 3 files changed, 273 insertions(+), 55 deletions(-)
>
> diff --git a/src/libcamera/pipeline/rkisp1/rkisp1.cpp b/src/libcamera/pipeline/rkisp1/rkisp1.cpp
> index e57411544f7a..891fd2d50270 100644
> --- a/src/libcamera/pipeline/rkisp1/rkisp1.cpp
> +++ b/src/libcamera/pipeline/rkisp1/rkisp1.cpp
> @@ -403,6 +403,30 @@ void RkISP1CameraData::metadataReady(unsigned int frame, const ControlList &meta
> pipe()->tryCompleteRequest(info);
> }
>
> +/* -----------------------------------------------------------------------------
> + * Camera Configuration
> + */
> +
> +namespace {
> +
> +/* Keep in sync with the supported raw formats in rkisp1_path.cpp. */
> +const std::map<PixelFormat, uint32_t> rawFormats = {
> + { formats::SBGGR8, MEDIA_BUS_FMT_SBGGR8_1X8 },
> + { formats::SGBRG8, MEDIA_BUS_FMT_SGBRG8_1X8 },
> + { formats::SGRBG8, MEDIA_BUS_FMT_SGRBG8_1X8 },
> + { formats::SRGGB8, MEDIA_BUS_FMT_SRGGB8_1X8 },
> + { formats::SBGGR10, MEDIA_BUS_FMT_SBGGR10_1X10 },
> + { formats::SGBRG10, MEDIA_BUS_FMT_SGBRG10_1X10 },
> + { formats::SGRBG10, MEDIA_BUS_FMT_SGRBG10_1X10 },
> + { formats::SRGGB10, MEDIA_BUS_FMT_SRGGB10_1X10 },
> + { formats::SBGGR12, MEDIA_BUS_FMT_SBGGR12_1X12 },
> + { formats::SGBRG12, MEDIA_BUS_FMT_SGBRG12_1X12 },
> + { formats::SGRBG12, MEDIA_BUS_FMT_SGRBG12_1X12 },
> + { formats::SRGGB12, MEDIA_BUS_FMT_SRGGB12_1X12 },
> +};
> +
> +} /* namespace */
> +
> RkISP1CameraConfiguration::RkISP1CameraConfiguration(Camera *camera,
> RkISP1CameraData *data)
> : CameraConfiguration()
> @@ -449,6 +473,21 @@ CameraConfiguration::Status RkISP1CameraConfiguration::validate()
> status = Adjusted;
> }
>
> + /*
> + * Simultaneous capture of raw and processed streams isn't possible. If
> + * there is any raw stream, cap the number of streams to one.
> + */
> + if (config_.size() > 1) {
> + for (const auto &cfg : config_) {
> + if (PixelFormatInfo::info(cfg.pixelFormat).colourEncoding ==
> + PixelFormatInfo::ColourEncodingRAW) {
> + config_.resize(1);
> + status = Adjusted;
> + }
> + break;
> + }
> + }
> +
> /*
> * If there are more than one stream in the configuration figure out the
> * order to evaluate the streams. The first stream has the highest
> @@ -510,45 +549,51 @@ CameraConfiguration::Status RkISP1CameraConfiguration::validate()
> }
> }
>
> - /* All paths rejected configuraiton. */
> + /* All paths rejected configuration. */
> LOG(RkISP1, Debug) << "Camera configuration not supported "
> << cfg.toString();
> return Invalid;
> }
>
> /* Select the sensor format. */
> + PixelFormat rawFormat;
> Size maxSize;
> - for (const StreamConfiguration &cfg : config_)
> +
> + for (const StreamConfiguration &cfg : config_) {
> + const PixelFormatInfo &info = PixelFormatInfo::info(cfg.pixelFormat);
> + if (info.colourEncoding == PixelFormatInfo::ColourEncodingRAW)
> + rawFormat = cfg.pixelFormat;
> +
> maxSize = std::max(maxSize, cfg.size);
> + }
> +
> + std::vector<unsigned int> mbusCodes;
> +
> + if (rawFormat.isValid()) {
> + mbusCodes = { rawFormats.at(rawFormat) };
> + } else {
> + std::transform(rawFormats.begin(), rawFormats.end(),
> + std::back_inserter(mbusCodes),
> + [](const auto &value) { return value.second; });
> + }
> +
> + sensorFormat_ = sensor->getFormat(mbusCodes, maxSize);
>
> - sensorFormat_ = sensor->getFormat({ MEDIA_BUS_FMT_SBGGR12_1X12,
> - MEDIA_BUS_FMT_SGBRG12_1X12,
> - MEDIA_BUS_FMT_SGRBG12_1X12,
> - MEDIA_BUS_FMT_SRGGB12_1X12,
> - MEDIA_BUS_FMT_SBGGR10_1X10,
> - MEDIA_BUS_FMT_SGBRG10_1X10,
> - MEDIA_BUS_FMT_SGRBG10_1X10,
> - MEDIA_BUS_FMT_SRGGB10_1X10,
> - MEDIA_BUS_FMT_SBGGR8_1X8,
> - MEDIA_BUS_FMT_SGBRG8_1X8,
> - MEDIA_BUS_FMT_SGRBG8_1X8,
> - MEDIA_BUS_FMT_SRGGB8_1X8 },
> - maxSize);
> if (sensorFormat_.size.isNull())
> sensorFormat_.size = sensor->resolution();
>
> return status;
> }
>
> +/* -----------------------------------------------------------------------------
> + * Pipeline Operations
> + */
> +
> PipelineHandlerRkISP1::PipelineHandlerRkISP1(CameraManager *manager)
> : PipelineHandler(manager), hasSelfPath_(true)
> {
> }
>
> -/* -----------------------------------------------------------------------------
> - * Pipeline Operations
> - */
> -
> std::unique_ptr<CameraConfiguration>
> PipelineHandlerRkISP1::generateConfiguration(Camera *camera,
> const StreamRoles &roles)
> @@ -604,23 +649,38 @@ PipelineHandlerRkISP1::generateConfiguration(Camera *camera,
> colorSpace = ColorSpace::Rec709;
> break;
>
> + case StreamRole::Raw:
> + if (roles.size() > 1) {
> + LOG(RkISP1, Error)
> + << "Can't capture both raw and processed streams";
> + return nullptr;
> + }
> +
> + useMainPath = true;
> + colorSpace = ColorSpace::Raw;
> + break;
> +
> default:
> LOG(RkISP1, Warning)
> << "Requested stream role not supported: " << role;
> return nullptr;
> }
>
> - StreamConfiguration cfg;
> + RkISP1Path *path;
> +
> if (useMainPath) {
> - cfg = data->mainPath_->generateConfiguration(
> - data->sensor_.get());
> + path = data->mainPath_;
> mainPathAvailable = false;
> } else {
> - cfg = data->selfPath_->generateConfiguration(
> - data->sensor_.get());
> + path = data->selfPath_;
> selfPathAvailable = false;
> }
>
> + StreamConfiguration cfg =
> + path->generateConfiguration(data->sensor_.get(), role);
> + if (!cfg.pixelFormat.isValid())
> + return nullptr;
> +
> cfg.colorSpace = colorSpace;
> config->addConfiguration(cfg);
> }
> @@ -674,10 +734,14 @@ int PipelineHandlerRkISP1::configure(Camera *camera, CameraConfiguration *c)
> << "ISP input pad configured with " << format
> << " crop " << rect;
>
> - isRaw_ = false;
> + const PixelFormat &streamFormat = config->at(0).pixelFormat;
> + const PixelFormatInfo &info = PixelFormatInfo::info(streamFormat);
> + isRaw_ = info.colourEncoding == PixelFormatInfo::ColourEncodingRAW;
>
> /* YUYV8_2X8 is required on the ISP source path pad for YUV output. */
> - format.mbus_code = MEDIA_BUS_FMT_YUYV8_2X8;
> + if (!isRaw_)
> + format.mbus_code = MEDIA_BUS_FMT_YUYV8_2X8;
> +
> LOG(RkISP1, Debug)
> << "Configuring ISP output pad with " << format
> << " crop " << rect;
> diff --git a/src/libcamera/pipeline/rkisp1/rkisp1_path.cpp b/src/libcamera/pipeline/rkisp1/rkisp1_path.cpp
> index cc2ac66e6939..2994bd665ebb 100644
> --- a/src/libcamera/pipeline/rkisp1/rkisp1_path.cpp
> +++ b/src/libcamera/pipeline/rkisp1/rkisp1_path.cpp
> @@ -21,6 +21,39 @@ namespace libcamera {
>
> LOG_DECLARE_CATEGORY(RkISP1)
>
> +namespace {
> +
> +/* Keep in sync with the supported raw formats in rkisp1.cpp. */
> +const std::map<PixelFormat, uint32_t> formatToMediaBus = {
> + { formats::UYVY, MEDIA_BUS_FMT_YUYV8_2X8 },
> + { formats::YUYV, MEDIA_BUS_FMT_YUYV8_2X8 },
> + { formats::NV12, MEDIA_BUS_FMT_YUYV8_1_5X8 },
> + { formats::NV21, MEDIA_BUS_FMT_YUYV8_1_5X8 },
> + { formats::NV16, MEDIA_BUS_FMT_YUYV8_2X8 },
> + { formats::NV61, MEDIA_BUS_FMT_YUYV8_2X8 },
> + { formats::YUV420, MEDIA_BUS_FMT_YUYV8_1_5X8 },
> + { formats::YVU420, MEDIA_BUS_FMT_YUYV8_1_5X8 },
> + { formats::YUV422, MEDIA_BUS_FMT_YUYV8_2X8 },
> + { formats::YVU422, MEDIA_BUS_FMT_YUYV8_2X8 },
> + { formats::R8, MEDIA_BUS_FMT_YUYV8_2X8 },
> + { formats::RGB565, MEDIA_BUS_FMT_YUYV8_2X8 },
> + { formats::XRGB8888, MEDIA_BUS_FMT_YUYV8_2X8 },
> + { formats::SBGGR8, MEDIA_BUS_FMT_SBGGR8_1X8 },
> + { formats::SGBRG8, MEDIA_BUS_FMT_SGBRG8_1X8 },
> + { formats::SGRBG8, MEDIA_BUS_FMT_SGRBG8_1X8 },
> + { formats::SRGGB8, MEDIA_BUS_FMT_SRGGB8_1X8 },
> + { formats::SBGGR10, MEDIA_BUS_FMT_SBGGR10_1X10 },
> + { formats::SGBRG10, MEDIA_BUS_FMT_SGBRG10_1X10 },
> + { formats::SGRBG10, MEDIA_BUS_FMT_SGRBG10_1X10 },
> + { formats::SRGGB10, MEDIA_BUS_FMT_SRGGB10_1X10 },
> + { formats::SBGGR12, MEDIA_BUS_FMT_SBGGR12_1X12 },
> + { formats::SGBRG12, MEDIA_BUS_FMT_SGBRG12_1X12 },
> + { formats::SGRBG12, MEDIA_BUS_FMT_SGRBG12_1X12 },
> + { formats::SRGGB12, MEDIA_BUS_FMT_SRGGB12_1X12 },
> +};
> +
> +} /* namespace */
> +
> RkISP1Path::RkISP1Path(const char *name, const Span<const PixelFormat> &formats,
> const Size &minResolution, const Size &maxResolution)
> : name_(name), running_(false), formats_(formats),
> @@ -69,11 +102,18 @@ void RkISP1Path::populateFormats()
> std::vector<PixelFormat> formats;
> for (const auto &[format, sizes] : v4l2Formats) {
> const PixelFormat pixelFormat = format.toPixelFormat();
> - const PixelFormatInfo &info = PixelFormatInfo::info(pixelFormat);
>
> - /* \todo Add support for RAW formats. */
> - if (info.colourEncoding == PixelFormatInfo::ColourEncodingRAW)
> + /*
> + * As a defensive measure, skip any pixel format exposed by the
> + * driver that we don't know about. This ensures that looking up
> + * formats in formatToMediaBus using a key from streamFormats_
> + * will never fail in any of the other functions.
> + */
> + if (!formatToMediaBus.count(pixelFormat)) {
> + LOG(RkISP1, Warning)
> + << "Unsupported pixel format " << pixelFormat;
> continue;
> + }
>
> streamFormats_.insert(pixelFormat);
>
> @@ -86,21 +126,68 @@ void RkISP1Path::populateFormats()
> }
> }
>
> -StreamConfiguration RkISP1Path::generateConfiguration(const CameraSensor *sensor)
> +StreamConfiguration
> +RkISP1Path::generateConfiguration(const CameraSensor *sensor, StreamRole role)
> {
> + const std::vector<unsigned int> &mbusCodes = sensor->mbusCodes();
> const Size &resolution = sensor->resolution();
>
> Size maxResolution = maxResolution_.boundedToAspectRatio(resolution)
> .boundedTo(resolution);
> Size minResolution = minResolution_.expandedToAspectRatio(resolution);
>
> + /* Create the list of supported stream formats. */
> std::map<PixelFormat, std::vector<SizeRange>> streamFormats;
> - for (const auto &format : streamFormats_)
> - streamFormats[format] = { { minResolution, maxResolution } };
> + unsigned int rawBitsPerPixel = 0;
> + PixelFormat rawFormat;
> +
> + for (const auto &format : streamFormats_) {
> + const PixelFormatInfo &info = PixelFormatInfo::info(format);
> +
> + if (info.colourEncoding == PixelFormatInfo::ColourEncodingRAW) {
> + /* Skip raw formats not supported by the sensor. */
> + uint32_t mbusCode = formatToMediaBus.at(format);
> + if (std::find(mbusCodes.begin(), mbusCodes.end(), mbusCode) ==
> + mbusCodes.end())
> + continue;
> +
> + streamFormats[format] = { { resolution, resolution } };
> +
> + /*
> + * Store the raw format with the higher bits per pixel
> + * for later usage.
> + */
> + if (info.bitsPerPixel > rawBitsPerPixel) {
> + rawBitsPerPixel = info.bitsPerPixel;
> + rawFormat = format;
> + }
> + } else {
> + streamFormats[format] = { { minResolution, maxResolution } };
> + }
> + }
> +
> + /*
> + * Pick a suitable pixel format for the role. Raw streams need to use a
> + * raw format, processed streams use NV12 by default.
> + */
> + PixelFormat format;
> +
> + if (role == StreamRole::Raw) {
> + if (!rawFormat.isValid()) {
> + LOG(RkISP1, Error)
> + << "Sensor " << sensor->model()
> + << " doesn't support raw capture";
> + return {};
> + }
> +
> + format = rawFormat;
> + } else {
> + format = formats::NV12;
> + }
>
> StreamFormats formats(streamFormats);
> StreamConfiguration cfg(formats);
> - cfg.pixelFormat = formats::NV12;
> + cfg.pixelFormat = format;
> cfg.size = maxResolution;
> cfg.bufferCount = RKISP1_BUFFER_COUNT;
>
> @@ -110,26 +197,85 @@ StreamConfiguration RkISP1Path::generateConfiguration(const CameraSensor *sensor
> CameraConfiguration::Status RkISP1Path::validate(const CameraSensor *sensor,
> StreamConfiguration *cfg)
> {
> + const std::vector<unsigned int> &mbusCodes = sensor->mbusCodes();
> const Size &resolution = sensor->resolution();
>
> const StreamConfiguration reqCfg = *cfg;
> CameraConfiguration::Status status = CameraConfiguration::Valid;
>
> /*
> - * Default to NV12 if the requested format is not supported. All
> - * versions of the ISP are guaranteed to support NV12 on both the main
> - * and self paths.
> + * Validate the pixel format. If the requested format isn't supported,
> + * default to either NV12 (all versions of the ISP are guaranteed to
> + * support NV12 on both the main and self paths) if the requested format
> + * is not a raw format, or to the supported raw format with the highest
> + * bits per pixel otherwise.
> */
> - if (!streamFormats_.count(cfg->pixelFormat))
> - cfg->pixelFormat = formats::NV12;
> + unsigned int rawBitsPerPixel = 0;
> + PixelFormat rawFormat;
> + bool found = false;
> +
> + for (const auto &format : streamFormats_) {
> + const PixelFormatInfo &info = PixelFormatInfo::info(format);
> +
> + if (info.colourEncoding == PixelFormatInfo::ColourEncodingRAW) {
> + /* Skip raw formats not supported by the sensor. */
> + uint32_t mbusCode = formatToMediaBus.at(format);
> + if (std::find(mbusCodes.begin(), mbusCodes.end(), mbusCode) ==
> + mbusCodes.end())
> + continue;
> +
> + /*
> + * Store the raw format with the higher bits per pixel
> + * for later usage.
> + */
> + if (info.bitsPerPixel > rawBitsPerPixel) {
> + rawBitsPerPixel = info.bitsPerPixel;
> + rawFormat = format;
> + }
> + }
> +
> + if (cfg->pixelFormat == format) {
> + found = true;
> + break;
> + }
> + }
> +
> + bool isRaw = PixelFormatInfo::info(cfg->pixelFormat).colourEncoding ==
> + PixelFormatInfo::ColourEncodingRAW;
>
> /*
> - * Adjust the size based on the sensor resolution and absolute limits
> - * of the ISP.
> + * If no raw format supported by the sensor has been found, use a
> + * processed format.
> */
> - Size maxResolution = maxResolution_.boundedToAspectRatio(resolution)
> - .boundedTo(resolution);
> - Size minResolution = minResolution_.expandedToAspectRatio(resolution);
> + if (!rawFormat.isValid())
> + isRaw = false;
> +
> + if (!found)
> + cfg->pixelFormat = isRaw ? rawFormat : formats::NV12;
> +
> + Size minResolution;
> + Size maxResolution;
> +
> + if (isRaw) {
> + /*
> + * Use the sensor output size closest to the requested stream
> + * size.
> + */
> + uint32_t mbusCode = formatToMediaBus.at(cfg->pixelFormat);
> + V4L2SubdeviceFormat sensorFormat =
> + sensor->getFormat({ mbusCode }, cfg->size);
> +
> + minResolution = sensorFormat.size;
> + maxResolution = sensorFormat.size;
> + } else {
> + /*
> + * Adjust the size based on the sensor resolution and absolute
> + * limits of the ISP.
> + */
> + minResolution = minResolution_.expandedToAspectRatio(resolution);
> + maxResolution = maxResolution_.boundedToAspectRatio(resolution)
> + .boundedTo(resolution);
> + }
>
> cfg->size.boundTo(maxResolution);
> cfg->size.expandTo(minResolution);
> @@ -182,15 +328,11 @@ int RkISP1Path::configure(const StreamConfiguration &config,
> << "Configuring " << name_ << " resizer output pad with "
> << ispFormat;
>
> - switch (config.pixelFormat) {
> - case formats::NV12:
> - case formats::NV21:
> - ispFormat.mbus_code = MEDIA_BUS_FMT_YUYV8_1_5X8;
> - break;
> - default:
> - ispFormat.mbus_code = MEDIA_BUS_FMT_YUYV8_2X8;
> - break;
> - }
> + /*
> + * The configuration has been validated, the pixel format is guaranteed
> + * to be supported and thus found in formatToMediaBus.
> + */
> + ispFormat.mbus_code = formatToMediaBus.at(config.pixelFormat);
>
> ret = resizer_->setFormat(1, &ispFormat);
> if (ret < 0)
> @@ -266,14 +408,25 @@ void RkISP1Path::stop()
> namespace {
> constexpr Size RKISP1_RSZ_MP_SRC_MIN{ 32, 16 };
> constexpr Size RKISP1_RSZ_MP_SRC_MAX{ 4416, 3312 };
> -constexpr std::array<PixelFormat, 6> RKISP1_RSZ_MP_FORMATS{
> +constexpr std::array<PixelFormat, 18> RKISP1_RSZ_MP_FORMATS{
> formats::YUYV,
> formats::NV16,
> formats::NV61,
> formats::NV21,
> formats::NV12,
> formats::R8,
> - /* \todo Add support for RAW formats. */
> + formats::SBGGR8,
> + formats::SGBRG8,
> + formats::SGRBG8,
> + formats::SRGGB8,
> + formats::SBGGR10,
> + formats::SGBRG10,
> + formats::SGRBG10,
> + formats::SRGGB10,
> + formats::SBGGR12,
> + formats::SGBRG12,
> + formats::SGRBG12,
> + formats::SRGGB12,
> };
>
> constexpr Size RKISP1_RSZ_SP_SRC_MIN{ 32, 16 };
> diff --git a/src/libcamera/pipeline/rkisp1/rkisp1_path.h b/src/libcamera/pipeline/rkisp1/rkisp1_path.h
> index bf4ad18fbbf2..bdf3f95b95e1 100644
> --- a/src/libcamera/pipeline/rkisp1/rkisp1_path.h
> +++ b/src/libcamera/pipeline/rkisp1/rkisp1_path.h
> @@ -40,7 +40,8 @@ public:
> int setEnabled(bool enable) { return link_->setEnabled(enable); }
> bool isEnabled() const { return link_->flags() & MEDIA_LNK_FL_ENABLED; }
>
> - StreamConfiguration generateConfiguration(const CameraSensor *sensor);
> + StreamConfiguration generateConfiguration(const CameraSensor *sensor,
> + StreamRole role);
> CameraConfiguration::Status validate(const CameraSensor *sensor,
> StreamConfiguration *cfg);
>
> --
> Regards,
>
> Laurent Pinchart
>
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