[PATCH/RFC 22/32] libcamera: Add CameraSensor implementation for raw V4L2 sensors
Naushir Patuck
naush at raspberrypi.com
Thu Mar 14 14:56:34 CET 2024
Hi Laurent,
On Fri, 1 Mar 2024 at 21:21, Laurent Pinchart
<laurent.pinchart at ideasonboard.com> wrote:
>
> Add a new CameraSensorRaw implementation of the CameraSensor interface
> tailored to devices that implement the new V4L2 raw camera sensors API.
>
> This new class duplicates code from the CameraSensorLegacy class. The
> two classes will be refactored to share code.
>
> Signed-off-by: Laurent Pinchart <laurent.pinchart at ideasonboard.com>
> ---
> Documentation/Doxyfile.in | 1 +
> src/libcamera/sensor/camera_sensor_raw.cpp | 1063 ++++++++++++++++++++
> src/libcamera/sensor/meson.build | 1 +
> 3 files changed, 1065 insertions(+)
> create mode 100644 src/libcamera/sensor/camera_sensor_raw.cpp
>
> diff --git a/Documentation/Doxyfile.in b/Documentation/Doxyfile.in
> index 75326c1964e9..8bc55be60a59 100644
> --- a/Documentation/Doxyfile.in
> +++ b/Documentation/Doxyfile.in
> @@ -43,6 +43,7 @@ EXCLUDE = @TOP_SRCDIR@/include/libcamera/base/span.h \
> @TOP_SRCDIR@/src/libcamera/ipc_pipe_unixsocket.cpp \
> @TOP_SRCDIR@/src/libcamera/pipeline/ \
> @TOP_SRCDIR@/src/libcamera/sensor/camera_sensor_legacy.cpp \
> + @TOP_SRCDIR@/src/libcamera/sensor/camera_sensor_raw.cpp \
> @TOP_SRCDIR@/src/libcamera/tracepoints.cpp \
> @TOP_BUILDDIR@/include/libcamera/internal/tracepoints.h \
> @TOP_BUILDDIR@/src/libcamera/proxy/
> diff --git a/src/libcamera/sensor/camera_sensor_raw.cpp b/src/libcamera/sensor/camera_sensor_raw.cpp
> new file mode 100644
> index 000000000000..8c17da5876a4
> --- /dev/null
> +++ b/src/libcamera/sensor/camera_sensor_raw.cpp
> @@ -0,0 +1,1063 @@
> +/* SPDX-License-Identifier: LGPL-2.1-or-later */
> +/*
> + * Copyright (C) 2024, Ideas on Board Oy.
> + *
> + * camera_sensor_raw.cpp - A raw camera sensor using the V4L2 streams API
> + */
> +
> +#include <algorithm>
> +#include <float.h>
> +#include <iomanip>
> +#include <limits.h>
> +#include <map>
> +#include <math.h>
> +#include <memory>
> +#include <optional>
> +#include <string.h>
> +#include <string>
> +#include <vector>
> +
> +#include <libcamera/base/class.h>
> +#include <libcamera/base/log.h>
> +#include <libcamera/base/utils.h>
> +
> +#include <libcamera/camera.h>
> +#include <libcamera/control_ids.h>
> +#include <libcamera/controls.h>
> +#include <libcamera/geometry.h>
> +#include <libcamera/orientation.h>
> +#include <libcamera/property_ids.h>
> +#include <libcamera/transform.h>
> +
> +#include <libcamera/ipa/core_ipa_interface.h>
> +
> +#include "libcamera/internal/bayer_format.h"
> +#include "libcamera/internal/camera_lens.h"
> +#include "libcamera/internal/camera_sensor.h"
> +#include "libcamera/internal/camera_sensor_properties.h"
> +#include "libcamera/internal/formats.h"
> +#include "libcamera/internal/media_device.h"
> +#include "libcamera/internal/sysfs.h"
> +#include "libcamera/internal/v4l2_subdevice.h"
> +
> +namespace libcamera {
> +
> +class BayerFormat;
> +class CameraLens;
> +class MediaEntity;
> +class SensorConfiguration;
> +
> +struct CameraSensorProperties;
> +
> +enum class Orientation;
> +
> +LOG_DECLARE_CATEGORY(CameraSensor)
> +
> +class CameraSensorRaw : public CameraSensor, protected Loggable
> +{
> +public:
> + CameraSensorRaw(const MediaEntity *entity);
> + ~CameraSensorRaw();
> +
> + static std::variant<std::unique_ptr<CameraSensor>, int>
> + match(MediaEntity *entity);
> +
> + const std::string &model() const override { return model_; }
> + const std::string &id() const override { return id_; }
> +
> + const MediaEntity *entity() const override { return entity_; }
> + V4L2Subdevice *device() override { return subdev_.get(); }
> +
> + CameraLens *focusLens() override { return focusLens_.get(); }
> +
> + const std::vector<unsigned int> &mbusCodes() const override { return mbusCodes_; }
> + std::vector<Size> sizes(unsigned int mbusCode) const override;
> + Size resolution() const override;
> +
> + V4L2SubdeviceFormat getFormat(const std::vector<unsigned int> &mbusCodes,
> + const Size &size) const override;
> + int setFormat(V4L2SubdeviceFormat *format,
> + Transform transform = Transform::Identity) override;
> + int tryFormat(V4L2SubdeviceFormat *format) const override;
> +
> + int applyConfiguration(const SensorConfiguration &config,
> + Transform transform = Transform::Identity,
> + V4L2SubdeviceFormat *sensorFormat = nullptr) override;
> +
> + const ControlList &properties() const override { return properties_; }
> + int sensorInfo(IPACameraSensorInfo *info) const override;
> + Transform computeTransform(Orientation *orientation) const override;
> + BayerFormat::Order bayerOrder(Transform t) const override;
> +
> + const ControlInfoMap &controls() const override;
> + ControlList getControls(const std::vector<uint32_t> &ids) override;
> + int setControls(ControlList *ctrls) override;
> +
> + const std::vector<controls::draft::TestPatternModeEnum> &
> + testPatternModes() const override { return testPatternModes_; }
> + int setTestPatternMode(controls::draft::TestPatternModeEnum mode) override;
> +
> +protected:
> + std::string logPrefix() const override;
> +
> +private:
> + LIBCAMERA_DISABLE_COPY(CameraSensorRaw)
> +
> + std::optional<int> init();
> + int initProperties();
> + void initStaticProperties();
> + void initTestPatternModes();
> + int applyTestPatternMode(controls::draft::TestPatternModeEnum mode);
> +
> + const MediaEntity *entity_;
> + std::unique_ptr<V4L2Subdevice> subdev_;
> +
> + struct Streams {
> + V4L2Subdevice::Stream sink;
> + V4L2Subdevice::Stream source;
> + };
> +
> + struct {
> + Streams image;
> + std::optional<Streams> edata;
> + } streams_;
> +
> + const CameraSensorProperties *staticProps_;
> +
> + std::string model_;
> + std::string id_;
> +
> + V4L2Subdevice::Formats formats_;
> + std::vector<unsigned int> mbusCodes_;
> + std::vector<Size> sizes_;
> + std::vector<controls::draft::TestPatternModeEnum> testPatternModes_;
> + controls::draft::TestPatternModeEnum testPatternMode_;
> +
> + Size pixelArraySize_;
> + Rectangle activeArea_;
> + BayerFormat::Order cfaPattern_;
> + bool supportFlips_;
> + bool flipsAlterBayerOrder_;
> + Orientation mountingOrientation_;
> +
> + ControlList properties_;
> +
> + std::unique_ptr<CameraLens> focusLens_;
> +};
> +
> +/**
> + * \class CameraSensorRaw
> + * \brief A camera sensor based on V4L2 subdevices
> + *
> + * This class supports single-subdev sensors with a single source pad and one
> + * or two internal sink pads (for the image and embedded data streams).
> + */
> +
> +CameraSensorRaw::CameraSensorRaw(const MediaEntity *entity)
> + : entity_(entity), staticProps_(nullptr), supportFlips_(false),
> + flipsAlterBayerOrder_(false), properties_(properties::properties)
> +{
> +}
> +
> +CameraSensorRaw::~CameraSensorRaw() = default;
> +
> +std::variant<std::unique_ptr<CameraSensor>, int>
> +CameraSensorRaw::match(MediaEntity *entity)
> +{
> + /* Check the entity type. */
> + if (entity->type() != MediaEntity::Type::V4L2Subdevice ||
> + entity->function() != MEDIA_ENT_F_CAM_SENSOR) {
> + libcamera::LOG(CameraSensor, Debug)
> + << entity->name() << ": unsupported entity type ("
> + << utils::to_underlying(entity->type())
> + << ") or function (" << utils::hex(entity->function()) << ")";
> + return { 0 };
> + }
> +
> + /* Count and check the number of pads. */
> + static constexpr uint32_t kPadFlagsMask = MEDIA_PAD_FL_SINK
> + | MEDIA_PAD_FL_SOURCE
> + | MEDIA_PAD_FL_INTERNAL;
> + unsigned int numSinks = 0;
> + unsigned int numSources = 0;
> +
> + for (const MediaPad *pad : entity->pads()) {
> + switch (pad->flags() & kPadFlagsMask) {
> + case MEDIA_PAD_FL_SINK | MEDIA_PAD_FL_INTERNAL:
> + numSinks++;
> + break;
> +
> + case MEDIA_PAD_FL_SOURCE:
> + numSources++;
> + break;
> +
> + default:
> + libcamera::LOG(CameraSensor, Debug)
> + << entity->name() << ": unsupported pad " << pad->index()
> + << " type " << utils::hex(pad->flags());
> + return { 0 };
> + }
> + }
> +
> + if (numSinks < 1 || numSinks > 2 || numSources != 1) {
> + libcamera::LOG(CameraSensor, Debug)
> + << entity->name() << ": unsupported number of sinks ("
> + << numSinks << ") or sources (" << numSources << ")";
> + return { 0 };
> + }
> +
> + /*
> + * The entity matches. Create the camera sensor and initialize it. The
> + * init() function will perform further match checks.
> + */
> + std::unique_ptr<CameraSensorRaw> sensor =
> + std::make_unique<CameraSensorRaw>(entity);
> +
> + std::optional<int> err = sensor->init();
> + if (err)
> + return { *err };
> +
> + return { std::move(sensor) };
> +}
> +
> +std::optional<int> CameraSensorRaw::init()
> +{
> + /* Create and open the subdev. */
> + subdev_ = std::make_unique<V4L2Subdevice>(entity_);
> + int ret = subdev_->open();
> + if (ret)
> + return { ret };
> +
> + /*
> + * 1. Identify the pads.
> + */
> +
> + /*
> + * First locate the source pad. The match() function guarantees there
> + * is one and only one source pad.
> + */
> + unsigned int sourcePad = UINT_MAX;
> +
> + for (const MediaPad *pad : entity_->pads()) {
> + if (pad->flags() & MEDIA_PAD_FL_SOURCE) {
> + sourcePad = pad->index();
> + break;
> + }
> + }
> +
> + /*
> + * Iterate over the routes to identify the streams on the source pad,
> + * and the internal sink pads.
> + */
> + V4L2Subdevice::Routing routing = {};
> + ret = subdev_->getRouting(&routing, V4L2Subdevice::TryFormat);
> + if (ret)
> + return { ret };
> +
> + bool imageStreamFound = false;
> +
> + for (const V4L2Subdevice::Route &route : routing) {
> + if (route.source.pad != sourcePad) {
> + LOG(CameraSensor, Error) << "Invalid route " << route;
> + return { -EINVAL };
> + }
> +
> + /* Identify the stream type based on the supported formats. */
> + V4L2Subdevice::Formats formats = subdev_->formats(route.source);
> +
> + std::optional<MediaBusFormatInfo::Type> type;
> +
> + for (const auto &[code, sizes] : formats) {
> + const MediaBusFormatInfo &info =
> + MediaBusFormatInfo::info(code);
> + if (info.isValid()) {
> + type = info.type;
> + break;
> + }
> + }
> +
> + if (!type) {
> + LOG(CameraSensor, Warning)
> + << "No known format on pad " << route.source;
> + continue;
> + }
> +
> + switch (*type) {
> + case MediaBusFormatInfo::Type::Image:
> + if (imageStreamFound) {
> + LOG(CameraSensor, Error)
> + << "Multiple internal image streams ("
> + << streams_.image.sink << " and "
> + << route.sink << ")";
> + return { -EINVAL };
> + }
> +
> + imageStreamFound = true;
> + streams_.image.sink = route.sink;
> + streams_.image.source = route.source;
> + break;
> +
> + case MediaBusFormatInfo::Type::Metadata:
> + /*
> + * Skip metadata streams that are not sensor embedded
> + * data. The source stream reports a generic metadata
> + * format, check the sink stream for the exact format.
> + */
> + formats = subdev_->formats(route.sink);
> + if (formats.size() != 1)
> + continue;
> +
> + if (MediaBusFormatInfo::info(formats.cbegin()->first).type !=
> + MediaBusFormatInfo::Type::EmbeddedData)
> + continue;
> +
> + if (streams_.edata) {
> + LOG(CameraSensor, Error)
> + << "Multiple internal embedded data streams ("
> + << streams_.edata->sink << " and "
> + << route.sink << ")";
> + return { -EINVAL };
> + }
> +
> + streams_.edata = { route.sink, route.source };
> + break;
> +
> + default:
> + break;
> + }
> + }
> +
> + if (!imageStreamFound) {
> + LOG(CameraSensor, Error) << "No image stream found";
> + return { -EINVAL };
> + }
> +
> + LOG(CameraSensor, Debug)
> + << "Found image stream " << streams_.image.sink
> + << " -> " << streams_.image.source;
> +
> + if (streams_.edata)
> + LOG(CameraSensor, Debug)
> + << "Found embedded data stream " << streams_.edata->sink
> + << " -> " << streams_.edata->source;
> +
> + /*
> + * 2. Enumerate and cache the media bus codes, sizes and colour filter
> + * array order for the image stream.
> + */
> +
> + /*
> + * Get the native sensor CFA pattern. It is simpler to retrieve it from
> + * the internal image sink pad as it is guaranteed to expose a single
> + * format, and is not affected by flips.
> + */
> + V4L2Subdevice::Formats formats = subdev_->formats(streams_.image.sink);
> + if (formats.size() != 1) {
> + LOG(CameraSensor, Error)
> + << "Image pad has " << formats.size()
> + << " formats, expected 1";
> + return { -EINVAL };
> + }
> +
> + uint32_t nativeFormat = formats.cbegin()->first;
> + const BayerFormat &bayerFormat = BayerFormat::fromMbusCode(nativeFormat);
> + if (!bayerFormat.isValid()) {
> + LOG(CameraSensor, Error)
> + << "Invalid native format " << nativeFormat;
> + return { 0 };
> + }
> +
> + cfaPattern_ = bayerFormat.order;
> +
> + /*
> + * Retrieve and cache the media bus codes and sizes on the source image
> + * stream.
> + */
> + formats_ = subdev_->formats(streams_.image.source);
> + if (formats_.empty()) {
> + LOG(CameraSensor, Error) << "No image format found";
> + return { -EINVAL };
> + }
> +
> + /* Populate and sort the media bus codes and the sizes. */
> + for (const auto &[code, ranges] : formats_) {
> + /* Drop non-raw formats (in case we have a hybrid sensor). */
> + const MediaBusFormatInfo &info = MediaBusFormatInfo::info(code);
> + if (info.colourEncoding != PixelFormatInfo::ColourEncodingRAW)
> + continue;
> +
> + mbusCodes_.push_back(code);
> + std::transform(ranges.begin(), ranges.end(), std::back_inserter(sizes_),
> + [](const SizeRange &range) { return range.max; });
> + }
> +
> + if (mbusCodes_.empty()) {
> + LOG(CameraSensor, Debug) << "No raw image formats found";
> + return { 0 };
> + }
> +
> + std::sort(mbusCodes_.begin(), mbusCodes_.end());
> + std::sort(sizes_.begin(), sizes_.end());
> +
> + /*
> + * Remove duplicate sizes. There are no duplicate media bus codes as
> + * they are the keys in the formats map.
> + */
> + auto last = std::unique(sizes_.begin(), sizes_.end());
> + sizes_.erase(last, sizes_.end());
> +
> + /*
> + * 3. Query selection rectangles. Retrieve properties, and verify that
> + * all the expected selection rectangles are supported.
> + */
> +
> + Rectangle rect;
> + ret = subdev_->getSelection(streams_.image.sink, V4L2_SEL_TGT_CROP_BOUNDS,
> + &rect);
> + if (ret) {
> + LOG(CameraSensor, Error) << "No pixel array crop bounds";
> + return { ret };
> + }
> +
> + pixelArraySize_ = rect.size();
> +
> + ret = subdev_->getSelection(streams_.image.sink, V4L2_SEL_TGT_CROP_DEFAULT,
> + &activeArea_);
> + if (ret) {
> + LOG(CameraSensor, Error) << "No pixel array crop default";
> + return { ret };
> + }
> +
> + ret = subdev_->getSelection(streams_.image.sink, V4L2_SEL_TGT_CROP,
> + &rect);
> + if (ret) {
> + LOG(CameraSensor, Error) << "No pixel array crop rectangle";
> + return { ret };
> + }
> +
> + /*
> + * 4. Verify that all required controls are present.
> + */
> +
> + const ControlIdMap &controls = subdev_->controls().idmap();
> +
> + static constexpr uint32_t mandatoryControls[] = {
> + V4L2_CID_ANALOGUE_GAIN,
> + V4L2_CID_CAMERA_ORIENTATION,
> + V4L2_CID_EXPOSURE,
> + V4L2_CID_HBLANK,
> + V4L2_CID_PIXEL_RATE,
> + V4L2_CID_VBLANK,
> + };
> +
> + ret = 0;
> +
> + for (uint32_t ctrl : mandatoryControls) {
> + if (!controls.count(ctrl)) {
> + LOG(CameraSensor, Error)
> + << "Mandatory V4L2 control " << utils::hex(ctrl)
> + << " not available";
> + ret = -EINVAL;
> + }
> + }
> +
> + if (ret) {
> + LOG(CameraSensor, Error)
> + << "The sensor kernel driver needs to be fixed";
> + LOG(CameraSensor, Error)
> + << "See Documentation/sensor_driver_requirements.rst in the libcamera sources for more information";
> + return { ret };
> + }
> +
> + /*
> + * Verify if sensor supports horizontal/vertical flips
> + *
> + * \todo Handle horizontal and vertical flips independently.
> + */
> + const struct v4l2_query_ext_ctrl *hflipInfo = subdev_->controlInfo(V4L2_CID_HFLIP);
> + const struct v4l2_query_ext_ctrl *vflipInfo = subdev_->controlInfo(V4L2_CID_VFLIP);
> + if (hflipInfo && !(hflipInfo->flags & V4L2_CTRL_FLAG_READ_ONLY) &&
> + vflipInfo && !(vflipInfo->flags & V4L2_CTRL_FLAG_READ_ONLY))
> + supportFlips_ = true;
> +
> + if (!supportFlips_)
> + LOG(CameraSensor, Debug)
> + << "Camera sensor does not support horizontal/vertical flip";
> +
> + /*
> + * 5. Discover ancillary devices.
> + *
> + * \todo This code may be shared by different V4L2 sensor classes.
> + */
> + for (MediaEntity *ancillary : entity_->ancillaryEntities()) {
> + switch (ancillary->function()) {
> + case MEDIA_ENT_F_LENS:
> + focusLens_ = std::make_unique<CameraLens>(ancillary);
> + ret = focusLens_->init();
> + if (ret) {
> + LOG(CameraSensor, Error)
> + << "Lens initialisation failed, lens disabled";
> + focusLens_.reset();
> + }
> + break;
> +
> + default:
> + LOG(CameraSensor, Warning)
> + << "Unsupported ancillary entity function "
> + << ancillary->function();
> + break;
> + }
> + }
> +
> + /*
> + * 6. Initialize properties.
> + */
> +
> + ret = initProperties();
> + if (ret)
> + return { ret };
> +
> + /*
> + * 7. Initialize controls.
> + */
> +
> + /*
> + * Set HBLANK to the minimum to start with a well-defined line length,
> + * allowing IPA modules that do not modify HBLANK to use the sensor
> + * minimum line length in their calculations.
> + *
> + * At present, there is no way of knowing if a control is read-only.
> + * As a workaround, assume that if the minimum and maximum values of
> + * the V4L2_CID_HBLANK control are the same, it implies the control
> + * is read-only.
> + *
> + * \todo The control API ought to have a flag to specify if a control
> + * is read-only which could be used below.
> + */
> + const ControlInfoMap &ctrls = subdev_->controls();
> + if (ctrls.find(V4L2_CID_HBLANK) != ctrls.end()) {
> + const ControlInfo hblank = ctrls.at(V4L2_CID_HBLANK);
> + const int32_t hblankMin = hblank.min().get<int32_t>();
> + const int32_t hblankMax = hblank.max().get<int32_t>();
> +
> + if (hblankMin != hblankMax) {
> + ControlList ctrl(subdev_->controls());
> +
> + ctrl.set(V4L2_CID_HBLANK, hblankMin);
> + ret = subdev_->setControls(&ctrl);
> + if (ret)
> + return { ret };
> + }
> + }
Presumably this will need changing to match what you did in
https://patchwork.libcamera.org/patch/19608/ for
camera_sensor_legacy.cpp?
Naush
> +
> + ret = applyTestPatternMode(controls::draft::TestPatternModeEnum::TestPatternModeOff);
> + if (ret)
> + return { ret };
> +
> + return {};
> +}
> +
> +int CameraSensorRaw::initProperties()
> +{
> + model_ = subdev_->model();
> + properties_.set(properties::Model, utils::toAscii(model_));
> +
> + /* Generate a unique ID for the sensor. */
> + id_ = sysfs::firmwareNodePath(subdev_->devicePath());
> + if (id_.empty()) {
> + LOG(CameraSensor, Error) << "Can't generate sensor ID";
> + return -EINVAL;
> + }
> +
> + /* Initialize the static properties from the sensor database. */
> + initStaticProperties();
> +
> + /* Retrieve and register properties from the kernel interface. */
> + const ControlInfoMap &controls = subdev_->controls();
> +
> + const auto &orientation = controls.find(V4L2_CID_CAMERA_ORIENTATION);
> + if (orientation != controls.end()) {
> + int32_t v4l2Orientation = orientation->second.def().get<int32_t>();
> + int32_t propertyValue;
> +
> + switch (v4l2Orientation) {
> + default:
> + LOG(CameraSensor, Warning)
> + << "Unsupported camera location "
> + << v4l2Orientation << ", setting to External";
> + [[fallthrough]];
> + case V4L2_CAMERA_ORIENTATION_EXTERNAL:
> + propertyValue = properties::CameraLocationExternal;
> + break;
> + case V4L2_CAMERA_ORIENTATION_FRONT:
> + propertyValue = properties::CameraLocationFront;
> + break;
> + case V4L2_CAMERA_ORIENTATION_BACK:
> + propertyValue = properties::CameraLocationBack;
> + break;
> + }
> + properties_.set(properties::Location, propertyValue);
> + } else {
> + LOG(CameraSensor, Warning) << "Failed to retrieve the camera location";
> + }
> +
> + const auto &rotationControl = controls.find(V4L2_CID_CAMERA_SENSOR_ROTATION);
> + if (rotationControl != controls.end()) {
> + int32_t propertyValue = rotationControl->second.def().get<int32_t>();
> +
> + /*
> + * Cache the Transform associated with the camera mounting
> + * rotation for later use in computeTransform().
> + */
> + bool success;
> + mountingOrientation_ = orientationFromRotation(propertyValue, &success);
> + if (!success) {
> + LOG(CameraSensor, Warning)
> + << "Invalid rotation of " << propertyValue
> + << " degrees - ignoring";
> + mountingOrientation_ = Orientation::Rotate0;
> + }
> +
> + properties_.set(properties::Rotation, propertyValue);
> + } else {
> + LOG(CameraSensor, Warning)
> + << "Rotation control not available, default to 0 degrees";
> + properties_.set(properties::Rotation, 0);
> + mountingOrientation_ = Orientation::Rotate0;
> + }
> +
> + properties_.set(properties::PixelArraySize, pixelArraySize_);
> + properties_.set(properties::PixelArrayActiveAreas, { activeArea_ });
> +
> + /* Color filter array pattern. */
> + uint32_t cfa;
> +
> + switch (cfaPattern_) {
> + case BayerFormat::BGGR:
> + cfa = properties::draft::BGGR;
> + break;
> + case BayerFormat::GBRG:
> + cfa = properties::draft::GBRG;
> + break;
> + case BayerFormat::GRBG:
> + cfa = properties::draft::GRBG;
> + break;
> + case BayerFormat::RGGB:
> + cfa = properties::draft::RGGB;
> + break;
> + case BayerFormat::MONO:
> + cfa = properties::draft::MONO;
> + break;
> + }
> +
> + properties_.set(properties::draft::ColorFilterArrangement, cfa);
> +
> + return 0;
> +}
> +
> +void CameraSensorRaw::initStaticProperties()
> +{
> + staticProps_ = CameraSensorProperties::get(model_);
> + if (!staticProps_)
> + return;
> +
> + /* Register the properties retrieved from the sensor database. */
> + properties_.set(properties::UnitCellSize, staticProps_->unitCellSize);
> +
> + initTestPatternModes();
> +}
> +
> +void CameraSensorRaw::initTestPatternModes()
> +{
> + const auto &v4l2TestPattern = controls().find(V4L2_CID_TEST_PATTERN);
> + if (v4l2TestPattern == controls().end()) {
> + LOG(CameraSensor, Debug) << "V4L2_CID_TEST_PATTERN is not supported";
> + return;
> + }
> +
> + const auto &testPatternModes = staticProps_->testPatternModes;
> + if (testPatternModes.empty()) {
> + /*
> + * The camera sensor supports test patterns but we don't know
> + * how to map them so this should be fixed.
> + */
> + LOG(CameraSensor, Debug) << "No static test pattern map for \'"
> + << model() << "\'";
> + return;
> + }
> +
> + /*
> + * Create a map that associates the V4L2 control index to the test
> + * pattern mode by reversing the testPatternModes map provided by the
> + * camera sensor properties. This makes it easier to verify if the
> + * control index is supported in the below for loop that creates the
> + * list of supported test patterns.
> + */
> + std::map<int32_t, controls::draft::TestPatternModeEnum> indexToTestPatternMode;
> + for (const auto &it : testPatternModes)
> + indexToTestPatternMode[it.second] = it.first;
> +
> + for (const ControlValue &value : v4l2TestPattern->second.values()) {
> + const int32_t index = value.get<int32_t>();
> +
> + const auto it = indexToTestPatternMode.find(index);
> + if (it == indexToTestPatternMode.end()) {
> + LOG(CameraSensor, Debug)
> + << "Test pattern mode " << index << " ignored";
> + continue;
> + }
> +
> + testPatternModes_.push_back(it->second);
> + }
> +}
> +
> +std::vector<Size> CameraSensorRaw::sizes(unsigned int mbusCode) const
> +{
> + std::vector<Size> sizes;
> +
> + const auto &format = formats_.find(mbusCode);
> + if (format == formats_.end())
> + return sizes;
> +
> + const std::vector<SizeRange> &ranges = format->second;
> + std::transform(ranges.begin(), ranges.end(), std::back_inserter(sizes),
> + [](const SizeRange &range) { return range.max; });
> +
> + std::sort(sizes.begin(), sizes.end());
> +
> + return sizes;
> +}
> +
> +Size CameraSensorRaw::resolution() const
> +{
> + return std::min(sizes_.back(), activeArea_.size());
> +}
> +
> +V4L2SubdeviceFormat
> +CameraSensorRaw::getFormat(const std::vector<unsigned int> &mbusCodes,
> + const Size &size) const
> +{
> + unsigned int desiredArea = size.width * size.height;
> + unsigned int bestArea = UINT_MAX;
> + float desiredRatio = static_cast<float>(size.width) / size.height;
> + float bestRatio = FLT_MAX;
> + const Size *bestSize = nullptr;
> + uint32_t bestCode = 0;
> +
> + for (unsigned int code : mbusCodes) {
> + const auto formats = formats_.find(code);
> + if (formats == formats_.end())
> + continue;
> +
> + for (const SizeRange &range : formats->second) {
> + const Size &sz = range.max;
> +
> + if (sz.width < size.width || sz.height < size.height)
> + continue;
> +
> + float ratio = static_cast<float>(sz.width) / sz.height;
> + float ratioDiff = fabsf(ratio - desiredRatio);
> + unsigned int area = sz.width * sz.height;
> + unsigned int areaDiff = area - desiredArea;
> +
> + if (ratioDiff > bestRatio)
> + continue;
> +
> + if (ratioDiff < bestRatio || areaDiff < bestArea) {
> + bestRatio = ratioDiff;
> + bestArea = areaDiff;
> + bestSize = &sz;
> + bestCode = code;
> + }
> + }
> + }
> +
> + if (!bestSize) {
> + LOG(CameraSensor, Debug) << "No supported format or size found";
> + return {};
> + }
> +
> + V4L2SubdeviceFormat format{
> + .code = bestCode,
> + .size = *bestSize,
> + .colorSpace = ColorSpace::Raw,
> + };
> +
> + return format;
> +}
> +
> +int CameraSensorRaw::setFormat(V4L2SubdeviceFormat *format, Transform transform)
> +{
> + /* Configure flips if the sensor supports that. */
> + if (supportFlips_) {
> + ControlList flipCtrls(subdev_->controls());
> +
> + flipCtrls.set(V4L2_CID_HFLIP,
> + static_cast<int32_t>(!!(transform & Transform::HFlip)));
> + flipCtrls.set(V4L2_CID_VFLIP,
> + static_cast<int32_t>(!!(transform & Transform::VFlip)));
> +
> + int ret = subdev_->setControls(&flipCtrls);
> + if (ret)
> + return ret;
> + }
> +
> + /* Apply format on the subdev. */
> + int ret = subdev_->setFormat(streams_.image.source, format);
> + if (ret)
> + return ret;
> +
> + subdev_->updateControlInfo();
> + return 0;
> +}
> +
> +int CameraSensorRaw::tryFormat(V4L2SubdeviceFormat *format) const
> +{
> + return subdev_->setFormat(streams_.image.source, format,
> + V4L2Subdevice::Whence::TryFormat);
> +}
> +
> +int CameraSensorRaw::applyConfiguration(const SensorConfiguration &config,
> + Transform transform,
> + V4L2SubdeviceFormat *sensorFormat)
> +{
> + if (!config.isValid()) {
> + LOG(CameraSensor, Error) << "Invalid sensor configuration";
> + return -EINVAL;
> + }
> +
> + std::vector<unsigned int> filteredCodes;
> + std::copy_if(mbusCodes_.begin(), mbusCodes_.end(),
> + std::back_inserter(filteredCodes),
> + [&config](unsigned int mbusCode) {
> + BayerFormat bayer = BayerFormat::fromMbusCode(mbusCode);
> + if (bayer.bitDepth == config.bitDepth)
> + return true;
> + return false;
> + });
> + if (filteredCodes.empty()) {
> + LOG(CameraSensor, Error)
> + << "Cannot find any format with bit depth "
> + << config.bitDepth;
> + return -EINVAL;
> + }
> +
> + /*
> + * Compute the sensor's data frame size by applying the cropping
> + * rectangle, subsampling and output crop to the sensor's pixel array
> + * size.
> + *
> + * \todo The actual size computation is for now ignored and only the
> + * output size is considered. This implies that resolutions obtained
> + * with two different cropping/subsampling will look identical and
> + * only the first found one will be considered.
> + */
> + V4L2SubdeviceFormat subdevFormat = {};
> + for (unsigned int code : filteredCodes) {
> + for (const Size &size : sizes(code)) {
> + if (size.width != config.outputSize.width ||
> + size.height != config.outputSize.height)
> + continue;
> +
> + subdevFormat.code = code;
> + subdevFormat.size = size;
> + break;
> + }
> + }
> + if (!subdevFormat.code) {
> + LOG(CameraSensor, Error) << "Invalid output size in sensor configuration";
> + return -EINVAL;
> + }
> +
> + int ret = setFormat(&subdevFormat, transform);
> + if (ret)
> + return ret;
> +
> + /*
> + * Return to the caller the format actually applied to the sensor.
> + * This is relevant if transform has changed the bayer pattern order.
> + */
> + if (sensorFormat)
> + *sensorFormat = subdevFormat;
> +
> + /* \todo Handle AnalogCrop. Most sensors do not support set_selection */
> + /* \todo Handle scaling in the digital domain. */
> +
> + return 0;
> +}
> +
> +int CameraSensorRaw::sensorInfo(IPACameraSensorInfo *info) const
> +{
> + info->model = model();
> +
> + /*
> + * The active area size is a static property, while the crop
> + * rectangle needs to be re-read as it depends on the sensor
> + * configuration.
> + */
> + info->activeAreaSize = { activeArea_.width, activeArea_.height };
> +
> + int ret = subdev_->getSelection(streams_.image.sink, V4L2_SEL_TGT_CROP,
> + &info->analogCrop);
> + if (ret)
> + return ret;
> +
> + /*
> + * IPACameraSensorInfo::analogCrop::x and IPACameraSensorInfo::analogCrop::y
> + * are defined relatively to the active pixel area, while V4L2's
> + * TGT_CROP target is defined in respect to the full pixel array.
> + *
> + * Compensate it by subtracting the active area offset.
> + */
> + info->analogCrop.x -= activeArea_.x;
> + info->analogCrop.y -= activeArea_.y;
> +
> + /* The bit depth and image size depend on the currently applied format. */
> + V4L2SubdeviceFormat format{};
> + ret = subdev_->getFormat(streams_.image.source, &format);
> + if (ret)
> + return ret;
> + info->bitsPerPixel = MediaBusFormatInfo::info(format.code).bitsPerPixel;
> + info->outputSize = format.size;
> +
> + std::optional<int32_t> cfa = properties_.get(properties::draft::ColorFilterArrangement);
> + info->cfaPattern = cfa ? *cfa : properties::draft::RGB;
> +
> + /*
> + * Retrieve the pixel rate, line length and minimum/maximum frame
> + * duration through V4L2 controls. Support for the V4L2_CID_PIXEL_RATE,
> + * V4L2_CID_HBLANK and V4L2_CID_VBLANK controls is mandatory.
> + */
> + ControlList ctrls = subdev_->getControls({ V4L2_CID_PIXEL_RATE,
> + V4L2_CID_HBLANK,
> + V4L2_CID_VBLANK });
> + if (ctrls.empty()) {
> + LOG(CameraSensor, Error)
> + << "Failed to retrieve camera info controls";
> + return -EINVAL;
> + }
> +
> + info->pixelRate = ctrls.get(V4L2_CID_PIXEL_RATE).get<int64_t>();
> +
> + const ControlInfo hblank = ctrls.infoMap()->at(V4L2_CID_HBLANK);
> + info->minLineLength = info->outputSize.width + hblank.min().get<int32_t>();
> + info->maxLineLength = info->outputSize.width + hblank.max().get<int32_t>();
> +
> + const ControlInfo vblank = ctrls.infoMap()->at(V4L2_CID_VBLANK);
> + info->minFrameLength = info->outputSize.height + vblank.min().get<int32_t>();
> + info->maxFrameLength = info->outputSize.height + vblank.max().get<int32_t>();
> +
> + return 0;
> +}
> +
> +Transform CameraSensorRaw::computeTransform(Orientation *orientation) const
> +{
> + /*
> + * If we cannot do any flips we cannot change the native camera mounting
> + * orientation.
> + */
> + if (!supportFlips_) {
> + *orientation = mountingOrientation_;
> + return Transform::Identity;
> + }
> +
> + /*
> + * Now compute the required transform to obtain 'orientation' starting
> + * from the mounting rotation.
> + *
> + * As a note:
> + * orientation / mountingOrientation_ = transform
> + * mountingOrientation_ * transform = orientation
> + */
> + Transform transform = *orientation / mountingOrientation_;
> +
> + /*
> + * If transform contains any Transpose we cannot do it, so adjust
> + * 'orientation' to report the image native orientation and return Identity.
> + */
> + if (!!(transform & Transform::Transpose)) {
> + *orientation = mountingOrientation_;
> + return Transform::Identity;
> + }
> +
> + return transform;
> +}
> +
> +BayerFormat::Order CameraSensorRaw::bayerOrder(Transform t) const
> +{
> + if (!flipsAlterBayerOrder_)
> + return cfaPattern_;
> +
> + /*
> + * Apply the transform to the native (i.e. untransformed) Bayer order,
> + * using the rest of the Bayer format supplied by the caller.
> + */
> + BayerFormat format{ cfaPattern_, 8, BayerFormat::Packing::None };
> + return format.transform(t).order;
> +}
> +
> +const ControlInfoMap &CameraSensorRaw::controls() const
> +{
> + return subdev_->controls();
> +}
> +
> +ControlList CameraSensorRaw::getControls(const std::vector<uint32_t> &ids)
> +{
> + return subdev_->getControls(ids);
> +}
> +
> +int CameraSensorRaw::setControls(ControlList *ctrls)
> +{
> + return subdev_->setControls(ctrls);
> +}
> +
> +int CameraSensorRaw::setTestPatternMode(controls::draft::TestPatternModeEnum mode)
> +{
> + if (testPatternMode_ == mode)
> + return 0;
> +
> + if (testPatternModes_.empty()) {
> + LOG(CameraSensor, Error)
> + << "Camera sensor does not support test pattern modes.";
> + return -EINVAL;
> + }
> +
> + return applyTestPatternMode(mode);
> +}
> +
> +int CameraSensorRaw::applyTestPatternMode(controls::draft::TestPatternModeEnum mode)
> +{
> + if (testPatternModes_.empty())
> + return 0;
> +
> + auto it = std::find(testPatternModes_.begin(), testPatternModes_.end(),
> + mode);
> + if (it == testPatternModes_.end()) {
> + LOG(CameraSensor, Error) << "Unsupported test pattern mode "
> + << mode;
> + return -EINVAL;
> + }
> +
> + LOG(CameraSensor, Debug) << "Apply test pattern mode " << mode;
> +
> + int32_t index = staticProps_->testPatternModes.at(mode);
> + ControlList ctrls{ controls() };
> + ctrls.set(V4L2_CID_TEST_PATTERN, index);
> +
> + int ret = setControls(&ctrls);
> + if (ret)
> + return ret;
> +
> + testPatternMode_ = mode;
> +
> + return 0;
> +}
> +
> +std::string CameraSensorRaw::logPrefix() const
> +{
> + return "'" + entity_->name() + "'";
> +}
> +
> +REGISTER_CAMERA_SENSOR(CameraSensorRaw)
> +
> +} /* namespace libcamera */
> diff --git a/src/libcamera/sensor/meson.build b/src/libcamera/sensor/meson.build
> index e83020fc22c3..e3c39aaf13b8 100644
> --- a/src/libcamera/sensor/meson.build
> +++ b/src/libcamera/sensor/meson.build
> @@ -4,4 +4,5 @@ libcamera_sources += files([
> 'camera_sensor.cpp',
> 'camera_sensor_legacy.cpp',
> 'camera_sensor_properties.cpp',
> + 'camera_sensor_raw.cpp',
> ])
> --
> Regards,
>
> Laurent Pinchart
>
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