[PATCH v2 7/8] pipeline: rkisp1: Fix ScalerCrop to be in sensor coordinates

[Jacopo Mondi]

HI Stefan

On Mon, Nov 25, 2024 at 04:14:16PM +0100, Stefan Klug wrote:
> ScalerCrop is specified as being in sensor coordinates. The current
> dewarper implementation on the imx8mp handles ScalerCrop in dewarper
> coordinates. This leads to unexpected results and an unusable ScalerCrop
> control in camshark. Fix that by transforming back and forth between
> sensor coordinates and dewarper coordinates.
>
> Signed-off-by: Stefan Klug <stefan.klug at ideasonboard.com>
> Reviewed-by: Paul Elder <paul.elder at ideasonboard.com>
>
> ---
> Changes in v2:
> - Initialize dewarperSensorCrop_ to sane defaults
> - Collected tags
> ---
>  src/libcamera/pipeline/rkisp1/rkisp1.cpp | 50 +++++++++++++++++++-----
>  1 file changed, 41 insertions(+), 9 deletions(-)
>
> diff --git a/src/libcamera/pipeline/rkisp1/rkisp1.cpp b/src/libcamera/pipeline/rkisp1/rkisp1.cpp
> index 1ba416aaa545..0a044b08bc87 100644
> --- a/src/libcamera/pipeline/rkisp1/rkisp1.cpp
> +++ b/src/libcamera/pipeline/rkisp1/rkisp1.cpp
> @@ -204,6 +204,7 @@ private:
>  	RkISP1SelfPath selfPath_;
>
>  	std::unique_ptr<V4L2M2MConverter> dewarper_;
> +	Rectangle dewarperSensorCrop_;
>  	bool useDewarper_;
>
>  	std::optional<Rectangle> activeCrop_;
> @@ -863,6 +864,15 @@ int PipelineHandlerRkISP1::configure(Camera *camera, CameraConfiguration *c)
>  				outputCfgs.push_back(const_cast<StreamConfiguration &>(cfg));
>  				ret = dewarper_->configure(cfg, outputCfgs);
>  				useDewarper_ = ret ? false : true;
> +
> +				/*
> +				 * Calculate the crop rectangle of the data
> +				 * flowing into the dewarper in sensor
> +				 * coordinates.
> +				 */
> +				dewarperSensorCrop_ =
> +					outputCrop.transformedBetween(inputCrop,
> +								      sensorInfo.analogCrop);

I have a little trouble with the name dewarperSensorCrop_.

It represent the maximum crop rectangle in sensor's coordinate, right?

Why not call it scalerMaxCrop_ and initialize the ScalerCropMaximum
control as well with it ?

>  			}
>  		} else if (hasSelfPath_) {
>  			ret = selfPath_.configure(cfg, format);
> @@ -1225,10 +1235,19 @@ int PipelineHandlerRkISP1::updateControls(RkISP1CameraData *data)
>  		std::pair<Rectangle, Rectangle> cropLimits =
>  			dewarper_->inputCropBounds(&data->mainPathStream_);
>
> -		controls[&controls::ScalerCrop] = ControlInfo(cropLimits.first,
> -							      cropLimits.second,
> -							      cropLimits.second);
> -		activeCrop_ = cropLimits.second;
> +		/*
> +		 * ScalerCrop is specified to be in Sensor coordinates.
> +		 * So we need to transform the limits to sensor coordinates.
> +		 * We can safely assume that the maximum crop limit contains the
> +		 * full fov of the dewarper.
> +		 */
> +		Rectangle min = cropLimits.first.transformedBetween(cropLimits.second,
> +								    dewarperSensorCrop_);
> +		Rectangle max = cropLimits.second.transformedBetween(cropLimits.second,
> +								     dewarperSensorCrop_);
> +
> +		controls[&controls::ScalerCrop] = ControlInfo(min, max, max);
> +		activeCrop_ = max;
>  	}
>
>  	/* Add the IPA registered controls to list of camera controls. */
> @@ -1256,6 +1275,8 @@ int PipelineHandlerRkISP1::createCamera(MediaEntity *sensor)
>  	/* Initialize the camera properties. */
>  	data->properties_ = data->sensor_->properties();
>
> +	dewarperSensorCrop_ = Rectangle(data->sensor_->resolution());
> +
>  	/*
>  	 * \todo Read delay values from the sensor itself or from a
>  	 * a sensor database. For now use generic values taken from
> @@ -1479,22 +1500,33 @@ void PipelineHandlerRkISP1::imageBufferReady(FrameBuffer *buffer)
>  	/* Handle scaler crop control. */
>  	const auto &crop = request->controls().get(controls::ScalerCrop);
>  	if (crop) {
> -		Rectangle appliedRect = crop.value();
> +		Rectangle rect = crop.value();
> +
> +		/*
> +		 * ScalerCrop is specified to be in Sensor coordinates.
> +		 * So we need to transform it into dewarper coordinates.
> +		 * We can safely assume that the maximum crop limit contains the
> +		 * full fov of the dewarper.
> +		 */
> +		std::pair<Rectangle, Rectangle> cropLimits =
> +			dewarper_->inputCropBounds(&data->mainPathStream_);
>
> +		rect = rect.transformedBetween(dewarperSensorCrop_, cropLimits.second);

Does this call for a Rectangle::transformBetween() ?

>  		int ret = dewarper_->setInputCrop(&data->mainPathStream_,
> -						  &appliedRect);
> -		if (!ret && appliedRect != crop.value()) {
> +						  &rect);
> +		rect = rect.transformedBetween(cropLimits.second, dewarperSensorCrop_);
> +		if (!ret && rect != crop.value()) {
>  			/*
>  			 * If the rectangle is changed by setInputCrop on the
>  			 * dewarper, log a debug message and cache the actual
>  			 * applied rectangle for metadata reporting.
>  			 */
>  			LOG(RkISP1, Debug)
> -				<< "Applied rectangle " << appliedRect.toString()
> +				<< "Applied rectangle " << rect.toString()
>  				<< " differs from requested " << crop.value().toString();
>  		}
>
> -		activeCrop_ = appliedRect;
> +		activeCrop_ = rect;
>  	}
>
>  	/*
> --
> 2.43.0
>