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android13/hardware/rockchip/camera_engine_rkisp/modules/soft/soft_stitcher.cpp

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/*
* soft_stitcher.cpp - soft stitcher implementation
*
* Copyright (c) 2017 Intel Corporation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
* Author: Wind Yuan <feng.yuan@intel.com>
*/
#include "soft_stitcher.h"
#include "soft_blender.h"
#include "soft_geo_mapper.h"
#include "soft_video_buf_allocator.h"
#include "interface/feature_match.h"
#include "surview_fisheye_dewarp.h"
#include "soft_copy_task.h"
#include "xcam_utils.h"
#include <map>
#define ENABLE_FEATURE_MATCH HAVE_OPENCV
#if ENABLE_FEATURE_MATCH
#include "cv_capi_feature_match.h"
#ifndef ANDROID
#include <opencv2/core/ocl.hpp>
#endif
#endif
#define SOFT_STITCHER_ALIGNMENT_X 8
#define SOFT_STITCHER_ALIGNMENT_Y 4
#define MAP_FACTOR_X 16
#define MAP_FACTOR_Y 16
#define DUMP_STITCHER 0
namespace XCam {
#if DUMP_STITCHER
static void
stitcher_dump_buf (const SmartPtr<VideoBuffer> buf, uint32_t idx, const char *prefix)
{
XCAM_ASSERT (prefix);
char name[256];
snprintf (name, 256, "%s-%d", prefix, idx);
dump_buf_perfix_path (buf, name);
}
#else
static void stitcher_dump_buf (const SmartPtr<VideoBuffer> buf, ...) {
XCAM_UNUSED (buf);
}
#endif
namespace SoftSitcherPriv {
DECLARE_HANDLER_CALLBACK (CbGeoMap, SoftStitcher, dewarp_done);
DECLARE_HANDLER_CALLBACK (CbBlender, SoftStitcher, blender_done);
DECLARE_WORK_CALLBACK (CbCopyTask, SoftStitcher, copy_task_done);
struct BlenderParam
: SoftBlender::BlenderParam
{
SmartPtr<SoftStitcher::StitcherParam> stitch_param;
uint32_t idx;
BlenderParam (
uint32_t i,
const SmartPtr<VideoBuffer> &in0,
const SmartPtr<VideoBuffer> &in1,
const SmartPtr<VideoBuffer> &out)
: SoftBlender::BlenderParam (in0, in1, out)
, idx (i)
{}
};
typedef std::map<void*, SmartPtr<BlenderParam>> BlenderParams;
typedef std::map<void*, int32_t> BlendCopyTaskNums;
struct HandlerParam
: ImageHandler::Parameters
{
SmartPtr<SoftStitcher::StitcherParam> stitch_param;
uint32_t idx;
HandlerParam (uint32_t i)
: idx (i)
{}
};
struct StitcherCopyArgs
: XCamSoftTasks::CopyTask::Args
{
uint32_t idx;
StitcherCopyArgs (
uint32_t i,
const SmartPtr<ImageHandler::Parameters> &param)
: XCamSoftTasks::CopyTask::Args (param)
, idx (i)
{}
};
struct Factor {
float x, y;
Factor () : x (1.0f), y (1.0f) {}
void reset () {
x = 1.0f;
y = 1.0f;
}
};
struct Overlap {
SmartPtr<FeatureMatch> matcher;
SmartPtr<SoftBlender> blender;
BlenderParams param_map;
SmartPtr<BlenderParam> find_blender_param_in_map (
const SmartPtr<SoftStitcher::StitcherParam> &key,
const uint32_t idx);
};
struct FisheyeDewarp {
SmartPtr<SoftGeoMapper> dewarp;
SmartPtr<BufferPool> buf_pool;
Factor left_match_factor, right_match_factor;
bool set_dewarp_factor ();
XCamReturn set_dewarp_geo_table (
SmartPtr<SoftGeoMapper> mapper,
const CameraInfo &cam_info,
const Stitcher::RoundViewSlice &view_slice,
const BowlDataConfig &bowl);
};
struct Copier {
SmartPtr<XCamSoftTasks::CopyTask> copy_task;
Stitcher::CopyArea copy_area;
XCamReturn start_copy_task (
const SmartPtr<ImageHandler::Parameters> &param,
const uint32_t idx, const SmartPtr<VideoBuffer> &buf);
};
typedef std::vector<Copier> Copiers;
class StitcherImpl {
friend class XCam::SoftStitcher;
public:
StitcherImpl (SoftStitcher *handler)
: _stitcher (handler)
{}
XCamReturn init_config (uint32_t count);
bool remove_task_count (const SmartPtr<SoftStitcher::StitcherParam> &param);
int32_t dec_task_count (const SmartPtr<SoftStitcher::StitcherParam> &param);
XCamReturn start_dewarp_works (const SmartPtr<SoftStitcher::StitcherParam> &param);
XCamReturn start_task_count (const SmartPtr<SoftStitcher::StitcherParam> &param);
XCamReturn start_overlap_tasks (
const SmartPtr<SoftStitcher::StitcherParam> &param,
const uint32_t idx, const SmartPtr<VideoBuffer> &buf);
XCamReturn start_copy_tasks (
const SmartPtr<SoftStitcher::StitcherParam> &param,
const uint32_t idx, const SmartPtr<VideoBuffer> &buf);
XCamReturn start_single_blender (const uint32_t idx, const SmartPtr<BlenderParam> &param);
XCamReturn stop ();
XCamReturn fisheye_dewarp_to_table ();
XCamReturn feature_match (
const SmartPtr<VideoBuffer> &left_buf,
const SmartPtr<VideoBuffer> &right_buf,
const uint32_t idx);
bool get_and_reset_feature_match_factors (uint32_t idx, Factor &left, Factor &right);
private:
XCamReturn init_fisheye (uint32_t idx);
bool init_dewarp_factors (uint32_t idx);
XCamReturn create_copier (Stitcher::CopyArea area);
private:
FisheyeDewarp _fisheye [XCAM_STITCH_MAX_CAMERAS];
Overlap _overlaps [XCAM_STITCH_MAX_CAMERAS];
Copiers _copiers;
SmartPtr<BufferPool> _dewarp_pool;
Mutex _map_mutex;
BlendCopyTaskNums _task_counts;
SoftStitcher *_stitcher;
};
bool
StitcherImpl::init_dewarp_factors (uint32_t idx)
{
XCAM_FAIL_RETURN (
ERROR, _fisheye[idx].dewarp.ptr (), false,
"FisheyeDewarp dewarp handler empty");
Factor match_left_factor, match_right_factor;
get_and_reset_feature_match_factors (idx, match_left_factor, match_right_factor);
Factor unify_factor, last_left_factor, last_right_factor;
_fisheye[idx].dewarp->get_factors (unify_factor.x, unify_factor.y);
last_left_factor = last_right_factor = unify_factor;
if (XCAM_DOUBLE_EQUAL_AROUND (unify_factor.x, 0.0f) ||
XCAM_DOUBLE_EQUAL_AROUND (unify_factor.y, 0.0f)) { // not started.
return true;
}
Factor cur_left, cur_right;
cur_left.x = last_left_factor.x * match_left_factor.x;
cur_left.y = last_left_factor.y * match_left_factor.y;
cur_right.x = last_right_factor.x * match_right_factor.x;
cur_right.y = last_right_factor.y * match_right_factor.y;
unify_factor.x = (cur_left.x + cur_right.x) / 2.0f;
unify_factor.y = (cur_left.y + cur_right.y) / 2.0f;
_fisheye[idx].dewarp->set_factors (unify_factor.x, unify_factor.y);
return true;
}
XCamReturn
FisheyeDewarp::set_dewarp_geo_table (
SmartPtr<SoftGeoMapper> mapper,
const CameraInfo &cam_info,
const Stitcher::RoundViewSlice &view_slice,
const BowlDataConfig &bowl)
{
PolyFisheyeDewarp fd;
fd.set_intrinsic_param (cam_info.calibration.intrinsic);
fd.set_extrinsic_param (cam_info.calibration.extrinsic);
uint32_t table_width, table_height;
table_width = view_slice.width / MAP_FACTOR_X;
table_width = XCAM_ALIGN_UP (table_width, 4);
table_height = view_slice.height / MAP_FACTOR_Y;
table_height = XCAM_ALIGN_UP (table_height, 2);
SurViewFisheyeDewarp::MapTable map_table(table_width * table_height);
fd.fisheye_dewarp (
map_table, table_width, table_height,
view_slice.width, view_slice.height, bowl);
XCAM_FAIL_RETURN (
ERROR, mapper->set_lookup_table (map_table.data (), table_width, table_height),
XCAM_RETURN_ERROR_UNKNOWN, "set fisheye dewarp lookup table failed");
return XCAM_RETURN_NO_ERROR;
}
bool
StitcherImpl::get_and_reset_feature_match_factors (uint32_t idx, Factor &left, Factor &right)
{
uint32_t cam_num = _stitcher->get_camera_num ();
XCAM_FAIL_RETURN (
ERROR, idx < cam_num, false,
"get dewarp factor failed, idx(%d) > camera_num(%d)", idx, cam_num);
SmartLock locker (_map_mutex);
left = _fisheye[idx].left_match_factor;
right = _fisheye[idx].right_match_factor;
_fisheye[idx].left_match_factor.reset ();
_fisheye[idx].right_match_factor.reset ();
return true;
}
XCamReturn
StitcherImpl::init_fisheye (uint32_t idx)
{
FisheyeDewarp &fisheye = _fisheye[idx];
SmartPtr<ImageHandler::Callback> dewarp_cb = new CbGeoMap (_stitcher);
SmartPtr<SoftGeoMapper> dewarp = new SoftGeoMapper ("sitcher_remapper");
XCAM_ASSERT (dewarp.ptr ());
fisheye.dewarp = dewarp;
fisheye.dewarp->set_callback (dewarp_cb);
Stitcher::RoundViewSlice view_slice =
_stitcher->get_round_view_slice (idx);
VideoBufferInfo buf_info;
buf_info.init (
V4L2_PIX_FMT_NV12, view_slice.width, view_slice.height,
XCAM_ALIGN_UP (view_slice.width, SOFT_STITCHER_ALIGNMENT_X),
XCAM_ALIGN_UP (view_slice.height, SOFT_STITCHER_ALIGNMENT_Y));
SmartPtr<BufferPool> pool = new SoftVideoBufAllocator (buf_info);
XCAM_ASSERT (pool.ptr ());
fisheye.buf_pool = pool;
XCAM_FAIL_RETURN (
ERROR, fisheye.buf_pool->reserve (2), XCAM_RETURN_ERROR_MEM,
"stitcher:%s reserve dewarp buffer pool(w:%d,h:%d) failed",
XCAM_STR (_stitcher->get_name ()), buf_info.width, buf_info.height);
return XCAM_RETURN_NO_ERROR;
}
XCamReturn
StitcherImpl::create_copier (Stitcher::CopyArea area)
{
XCAM_FAIL_RETURN (
ERROR,
area.in_idx != INVALID_INDEX &&
area.in_area.width == area.out_area.width && area.in_area.height == area.out_area.height,
XCAM_RETURN_ERROR_PARAM,
"stitcher: copy area (idx:%d) is invalid", area.in_idx);
SmartPtr<Worker::Callback> copy_cb = new CbCopyTask (_stitcher);
XCAM_ASSERT (copy_cb.ptr ());
Copier copier;
copier.copy_task = new XCamSoftTasks::CopyTask (copy_cb);
XCAM_ASSERT (copier.copy_task.ptr ());
copier.copy_area = area;
_copiers.push_back (copier);
return XCAM_RETURN_NO_ERROR;
}
XCamReturn
StitcherImpl::init_config (uint32_t count)
{
XCamReturn ret = XCAM_RETURN_NO_ERROR;
SmartPtr<ImageHandler::Callback> blender_cb = new CbBlender (_stitcher);
for (uint32_t i = 0; i < count; ++i) {
ret = init_fisheye (i);
XCAM_FAIL_RETURN (
ERROR, xcam_ret_is_ok (ret), ret,
"stitcher:%s init fisheye failed, idx:%d.", XCAM_STR (_stitcher->get_name ()), i);
#if ENABLE_FEATURE_MATCH
_overlaps[i].matcher = new CVCapiFeatureMatch;
CVFMConfig config;
config.sitch_min_width = 136;
config.min_corners = 4;
config.offset_factor = 0.8f;
config.delta_mean_offset = 120.0f;
config.recur_offset_error = 8.0f;
config.max_adjusted_offset = 24.0f;
config.max_valid_offset_y = 20.0f;
#ifndef ANDROID
config.max_track_error = 28.0f;
#else
config.max_track_error = 3600.0f;
#endif
_overlaps[i].matcher->set_config (config);
_overlaps[i].matcher->set_fm_index (i);
#endif
_overlaps[i].blender = create_soft_blender ().dynamic_cast_ptr<SoftBlender>();
XCAM_ASSERT (_overlaps[i].blender.ptr ());
_overlaps[i].blender->set_callback (blender_cb);
_overlaps[i].param_map.clear ();
}
Stitcher::CopyAreaArray areas = _stitcher->get_copy_area ();
uint32_t size = areas.size ();
for (uint32_t i = 0; i < size; ++i) {
XCAM_LOG_DEBUG ("soft-stitcher:copy area (idx:%d) input area(%d, %d, %d, %d) output area(%d, %d, %d, %d)",
areas[i].in_idx,
areas[i].in_area.pos_x, areas[i].in_area.pos_y, areas[i].in_area.width, areas[i].in_area.height,
areas[i].out_area.pos_x, areas[i].out_area.pos_y, areas[i].out_area.width, areas[i].out_area.height);
XCAM_ASSERT (areas[i].in_idx < size);
ret = create_copier (areas[i]);
XCAM_FAIL_RETURN (
ERROR, xcam_ret_is_ok (ret), ret,
"soft-stitcher::%s init copier failed, idx:%d.", XCAM_STR (_stitcher->get_name ()), i);
}
return XCAM_RETURN_NO_ERROR;
}
bool
StitcherImpl::remove_task_count (const SmartPtr<SoftStitcher::StitcherParam> &param)
{
XCAM_ASSERT (param.ptr ());
SmartLock locker (_map_mutex);
BlendCopyTaskNums::iterator i = _task_counts.find (param.ptr ());
if (i == _task_counts.end ())
return false;
_task_counts.erase (i);
return true;
}
int32_t
StitcherImpl::dec_task_count (const SmartPtr<SoftStitcher::StitcherParam> &param)
{
XCAM_ASSERT (param.ptr ());
SmartLock locker (_map_mutex);
BlendCopyTaskNums::iterator i = _task_counts.find (param.ptr ());
if (i == _task_counts.end ())
return -1;
int32_t &count = i->second;
--count;
if (count > 0)
return count;
XCAM_ASSERT (count == 0);
_task_counts.erase (i);
return 0;
}
XCamReturn
StitcherImpl::fisheye_dewarp_to_table ()
{
uint32_t camera_num = _stitcher->get_camera_num ();
for (uint32_t i = 0; i < camera_num; ++i) {
CameraInfo cam_info;
_stitcher->get_camera_info (i, cam_info);
Stitcher::RoundViewSlice view_slice = _stitcher->get_round_view_slice (i);
BowlDataConfig bowl = _stitcher->get_bowl_config ();
bowl.angle_start = view_slice.hori_angle_start;
bowl.angle_end = format_angle (view_slice.hori_angle_start + view_slice.hori_angle_range);
uint32_t out_width, out_height;
_stitcher->get_output_size (out_width, out_height);
_fisheye[i].dewarp->set_output_size (view_slice.width, view_slice.height);
if (bowl.angle_end < bowl.angle_start)
bowl.angle_start -= 360.0f;
XCAM_LOG_INFO (
"soft-stitcher:%s camera(idx:%d) info (angle start:%.2f, range:%.2f), bowl info (angle start%.2f, end:%.2f)",
XCAM_STR (_stitcher->get_name ()), i,
view_slice.hori_angle_start, view_slice.hori_angle_range,
bowl.angle_start, bowl.angle_end);
XCamReturn ret = _fisheye[i].set_dewarp_geo_table (_fisheye[i].dewarp, cam_info, view_slice, bowl);
XCAM_FAIL_RETURN (
ERROR, xcam_ret_is_ok (ret), ret,
"stitcher:%s set dewarp geo table failed, idx:%d.", XCAM_STR (_stitcher->get_name ()), i);
}
return XCAM_RETURN_NO_ERROR;
}
XCamReturn
StitcherImpl::start_dewarp_works (const SmartPtr<SoftStitcher::StitcherParam> &param)
{
uint32_t camera_num = _stitcher->get_camera_num ();
Factor cur_left, cur_right;
for (uint32_t i = 0; i < camera_num; ++i) {
SmartPtr<VideoBuffer> out_buf = _fisheye[i].buf_pool->get_buffer ();
SmartPtr<HandlerParam> dewarp_params = new HandlerParam (i);
dewarp_params->in_buf = param->in_bufs[i];
dewarp_params->out_buf = out_buf;
dewarp_params->stitch_param = param;
init_dewarp_factors (i);
XCamReturn ret = _fisheye[i].dewarp->execute_buffer (dewarp_params, false);
XCAM_FAIL_RETURN (
ERROR, xcam_ret_is_ok (ret), ret,
"soft-stitcher:%s fisheye dewarp buffer failed", XCAM_STR (_stitcher->get_name ()));
}
return XCAM_RETURN_NO_ERROR;
}
SmartPtr<BlenderParam>
Overlap::find_blender_param_in_map (
const SmartPtr<SoftStitcher::StitcherParam> &key,
const uint32_t idx)
{
SmartPtr<BlenderParam> param;
BlenderParams::iterator i = param_map.find (key.ptr ());
if (i == param_map.end ()) {
param = new BlenderParam (idx, NULL, NULL, NULL);
XCAM_ASSERT (param.ptr ());
param->stitch_param = key;
param_map.insert (std::make_pair ((void*)key.ptr (), param));
} else {
param = (*i).second;
}
return param;
}
XCamReturn
StitcherImpl::feature_match (
const SmartPtr<VideoBuffer> &left_buf,
const SmartPtr<VideoBuffer> &right_buf,
const uint32_t idx)
{
const Stitcher::ImageOverlapInfo overlap_info = _stitcher->get_overlap (idx);
Rect left_ovlap = overlap_info.left;
Rect right_ovlap = overlap_info.right;
const VideoBufferInfo left_buf_info = left_buf->get_video_info ();
left_ovlap.pos_y = left_ovlap.height / 5;
left_ovlap.height = left_ovlap.height / 2;
right_ovlap.pos_y = right_ovlap.height / 5;
right_ovlap.height = right_ovlap.height / 2;
_overlaps[idx].matcher->reset_offsets ();
_overlaps[idx].matcher->optical_flow_feature_match (
left_buf, right_buf, left_ovlap, right_ovlap, left_buf_info.width);
float left_offsetx = _overlaps[idx].matcher->get_current_left_offset_x ();
Factor left_factor, right_factor;
uint32_t left_idx = idx;
float center_x = (float) _stitcher->get_center (left_idx).slice_center_x;
float feature_center_x = (float)left_ovlap.pos_x + (left_ovlap.width / 2.0f);
float range = feature_center_x - center_x;
XCAM_ASSERT (range > 1.0f);
right_factor.x = (range + left_offsetx / 2.0f) / range;
right_factor.y = 1.0;
XCAM_ASSERT (right_factor.x > 0.0f && right_factor.x < 2.0f);
uint32_t right_idx = (idx + 1) % _stitcher->get_camera_num ();
center_x = (float) _stitcher->get_center (right_idx).slice_center_x;
feature_center_x = (float)right_ovlap.pos_x + (right_ovlap.width / 2.0f);
range = center_x - feature_center_x;
XCAM_ASSERT (range > 1.0f);
left_factor.x = (range + left_offsetx / 2.0f) / range;
left_factor.y = 1.0;
XCAM_ASSERT (left_factor.x > 0.0f && left_factor.x < 2.0f);
{
SmartLock locker (_map_mutex);
_fisheye[left_idx].right_match_factor = right_factor;
_fisheye[right_idx].left_match_factor = left_factor;
}
return XCAM_RETURN_NO_ERROR;
}
XCamReturn
StitcherImpl::start_single_blender (
const uint32_t idx,
const SmartPtr<BlenderParam> &param)
{
SmartPtr<SoftBlender> blender = _overlaps[idx].blender;
const Stitcher::ImageOverlapInfo &overlap_info = _stitcher->get_overlap (idx);
uint32_t out_width, out_height;
_stitcher->get_output_size (out_width, out_height);
blender->set_output_size (out_width, out_height);
blender->set_merge_window (overlap_info.out_area);
blender->set_input_valid_area (overlap_info.left, 0);
blender->set_input_valid_area (overlap_info.right, 1);
blender->set_input_merge_area (overlap_info.left, 0);
blender->set_input_merge_area (overlap_info.right, 1);
return blender->execute_buffer (param, false);
}
XCamReturn
StitcherImpl::start_overlap_tasks (
const SmartPtr<SoftStitcher::StitcherParam> &param,
const uint32_t idx, const SmartPtr<VideoBuffer> &buf)
{
SmartPtr<BlenderParam> cur_param, prev_param;
const uint32_t camera_num = _stitcher->get_camera_num ();
uint32_t pre_idx = (idx + camera_num - 1) % camera_num;
XCamReturn ret = XCAM_RETURN_NO_ERROR;
{
SmartPtr<BlenderParam> param_b;
SmartLock locker (_map_mutex);
param_b = _overlaps[idx].find_blender_param_in_map (param, idx);
param_b->in_buf = buf;
if (param_b->in_buf.ptr () && param_b->in1_buf.ptr ()) {
cur_param = param_b;
_overlaps[idx].param_map.erase (param.ptr ());
}
param_b = _overlaps[pre_idx].find_blender_param_in_map (param, pre_idx);
param_b->in1_buf = buf;
if (param_b->in_buf.ptr () && param_b->in1_buf.ptr ()) {
prev_param = param_b;
_overlaps[pre_idx].param_map.erase (param.ptr ());
}
}
if (cur_param.ptr ()) {
cur_param->out_buf = param->out_buf;
ret = start_single_blender (idx, cur_param);
XCAM_FAIL_RETURN (
ERROR, xcam_ret_is_ok (ret), ret,
"soft-stitcher:%s blend overlap idx:%d failed", XCAM_STR (_stitcher->get_name ()), idx);
}
if (prev_param.ptr ()) {
prev_param->out_buf = param->out_buf;
ret = start_single_blender (pre_idx, prev_param);
XCAM_FAIL_RETURN (
ERROR, xcam_ret_is_ok (ret), ret,
"soft-stitcher:%s blend overlap idx:%d failed", XCAM_STR (_stitcher->get_name ()), pre_idx);
}
#if ENABLE_FEATURE_MATCH
//start feature match
if (cur_param.ptr ()) {
ret = feature_match (cur_param->in_buf, cur_param->in1_buf, idx);
XCAM_FAIL_RETURN (
ERROR, xcam_ret_is_ok (ret), ret,
"soft-stitcher:%s feature-match overlap idx:%d failed", XCAM_STR (_stitcher->get_name ()), idx);
}
if (prev_param.ptr ()) {
ret = feature_match (prev_param->in_buf, prev_param->in1_buf, pre_idx);
XCAM_FAIL_RETURN (
ERROR, xcam_ret_is_ok (ret), ret,
"soft-stitcher:%s feature-match overlap idx:%d failed", XCAM_STR (_stitcher->get_name ()), pre_idx);
}
#endif
return XCAM_RETURN_NO_ERROR;
}
XCamReturn
Copier::start_copy_task (
const SmartPtr<ImageHandler::Parameters> &param,
const uint32_t idx, const SmartPtr<VideoBuffer> &buf)
{
XCAM_ASSERT (copy_task.ptr ());
SmartPtr<VideoBuffer> in_buf = buf, out_buf = param->out_buf;
const VideoBufferInfo &in_info = in_buf->get_video_info ();
const VideoBufferInfo &out_info = out_buf->get_video_info ();
SmartPtr<StitcherCopyArgs> args = new StitcherCopyArgs (idx, param);
args->in_luma = new UcharImage (
in_buf, copy_area.in_area.width, copy_area.in_area.height, in_info.strides[0],
in_info.offsets[0] + copy_area.in_area.pos_x + copy_area.in_area.pos_y * in_info.strides[0]);
args->in_uv = new Uchar2Image (
in_buf, copy_area.in_area.width / 2, copy_area.in_area.height / 2, in_info.strides[0],
in_info.offsets[1] + copy_area.in_area.pos_x + copy_area.in_area.pos_y / 2 * in_info.strides[1]);
args->out_luma = new UcharImage (
out_buf, copy_area.out_area.width, copy_area.out_area.height, out_info.strides[0],
out_info.offsets[0] + copy_area.out_area.pos_x + copy_area.out_area.pos_y * out_info.strides[0]);
args->out_uv = new Uchar2Image (
out_buf, copy_area.out_area.width / 2, copy_area.out_area.height / 2, out_info.strides[0],
out_info.offsets[1] + copy_area.out_area.pos_x + copy_area.out_area.pos_y / 2 * out_info.strides[1]);
uint32_t thread_x = 1, thread_y = 4;
WorkSize global_size (1, xcam_ceil (copy_area.in_area.height, 2) / 2);
WorkSize local_size (
xcam_ceil (global_size.value[0], thread_x) / thread_x,
xcam_ceil (global_size.value[1], thread_y) / thread_y);
copy_task->set_local_size (local_size);
copy_task->set_global_size (global_size);
return copy_task->work (args);
}
XCamReturn
StitcherImpl::start_copy_tasks (
const SmartPtr<SoftStitcher::StitcherParam> &param,
const uint32_t idx, const SmartPtr<VideoBuffer> &buf)
{
uint32_t size = _stitcher->get_copy_area ().size ();
for (uint32_t i = 0; i < size; ++i) {
if(_copiers[i].copy_area.in_idx == idx) {
XCamReturn ret = _copiers[i].start_copy_task (param, idx, buf);
XCAM_FAIL_RETURN (
ERROR, xcam_ret_is_ok (ret), ret,
"soft-stitcher:%s start copy task failed, idx:%d", XCAM_STR (_stitcher->get_name ()), idx);
}
}
return XCAM_RETURN_NO_ERROR;
}
XCamReturn
StitcherImpl::stop ()
{
uint32_t cam_num = _stitcher->get_camera_num ();
for (uint32_t i = 0; i < cam_num; ++i) {
if (_fisheye[i].dewarp.ptr ()) {
_fisheye[i].dewarp->terminate ();
_fisheye[i].dewarp.release ();
}
if (_fisheye[i].buf_pool.ptr ()) {
_fisheye[i].buf_pool->stop ();
}
if (_overlaps[i].blender.ptr ()) {
_overlaps[i].blender->terminate ();
_overlaps[i].blender.release ();
}
}
for (Copiers::iterator i_copy = _copiers.begin (); i_copy != _copiers.end (); ++i_copy) {
Copier &copy = *i_copy;
if (copy.copy_task.ptr ()) {
copy.copy_task->stop ();
copy.copy_task.release ();
}
}
if (_dewarp_pool.ptr ()) {
_dewarp_pool->stop ();
}
return XCAM_RETURN_NO_ERROR;
}
};
SoftStitcher::SoftStitcher (const char *name)
: SoftHandler (name)
, Stitcher (SOFT_STITCHER_ALIGNMENT_X, SOFT_STITCHER_ALIGNMENT_Y)
{
SmartPtr<SoftSitcherPriv::StitcherImpl> impl = new SoftSitcherPriv::StitcherImpl (this);
XCAM_ASSERT (impl.ptr ());
_impl = impl;
#if ENABLE_FEATURE_MATCH
#ifndef ANDROID
cv::ocl::setUseOpenCL (false);
#endif
#endif
}
SoftStitcher::~SoftStitcher ()
{
}
XCamReturn
SoftStitcher::stitch_buffers (const VideoBufferList &in_bufs, SmartPtr<VideoBuffer> &out_buf)
{
XCAM_FAIL_RETURN (
ERROR, !in_bufs.empty (), XCAM_RETURN_ERROR_PARAM,
"soft-stitcher:%s stitch buffer failed, in_bufs is empty", XCAM_STR (get_name ()));
SmartPtr<StitcherParam> param = new StitcherParam;
param->out_buf = out_buf;
uint32_t count = 0;
for (VideoBufferList::const_iterator i = in_bufs.begin(); i != in_bufs.end (); ++i) {
SmartPtr<VideoBuffer> buf = *i;
XCAM_ASSERT (buf.ptr ());
param->in_bufs[count++] = buf;
}
param->in_buf_num = count;
XCamReturn ret = execute_buffer (param, true);
if (!out_buf.ptr () && xcam_ret_is_ok (ret)) {
out_buf = param->out_buf;
}
return ret;
}
XCamReturn
SoftStitcher::terminate ()
{
_impl->stop ();
return SoftHandler::terminate ();
}
XCamReturn
SoftStitcher::start_task_count (const SmartPtr<SoftStitcher::StitcherParam> &param)
{
XCAM_ASSERT (param.ptr ());
XCAM_ASSERT (_impl.ptr ());
SmartLock locker (_impl->_map_mutex);
XCAM_FAIL_RETURN (
ERROR, check_work_continue (param, XCAM_RETURN_NO_ERROR), XCAM_RETURN_ERROR_PARAM,
"soft-stitcher:%s start task count failed in work check", XCAM_STR (get_name ()));
if (_impl->_task_counts.find (param.ptr ()) != _impl->_task_counts.end ()) {
XCAM_LOG_ERROR ("tasks already started, this should never happen.");
return XCAM_RETURN_ERROR_UNKNOWN;
}
int32_t count = get_camera_num ();
count += get_copy_area ().size ();
XCAM_LOG_DEBUG ("stitcher :%s start task count :%d", XCAM_STR(get_name ()), count);
_impl->_task_counts.insert (std::make_pair((void*)param.ptr(), count));
return XCAM_RETURN_NO_ERROR;
}
void
SoftStitcher::dewarp_done (
const SmartPtr<ImageHandler> &handler,
const SmartPtr<ImageHandler::Parameters> &base,
const XCamReturn error)
{
SmartPtr<SoftSitcherPriv::HandlerParam> dewarp_param = base.dynamic_cast_ptr<SoftSitcherPriv::HandlerParam> ();
XCAM_ASSERT (dewarp_param.ptr ());
SmartPtr<SoftStitcher::StitcherParam> param = dewarp_param->stitch_param;
XCAM_ASSERT (param.ptr ());
XCAM_UNUSED (handler);
if (!check_work_continue (param, error))
return;
XCAM_LOG_INFO ("soft-stitcher:%s camera(idx:%d) dewarp done", XCAM_STR (get_name ()), dewarp_param->idx);
stitcher_dump_buf (dewarp_param->out_buf, dewarp_param->idx, "stitcher-dewarp");
//start both blender and feature match
XCamReturn ret = _impl->start_overlap_tasks (param, dewarp_param->idx, dewarp_param->out_buf);
if (!xcam_ret_is_ok (ret)) {
work_broken (param, ret);
}
ret = _impl->start_copy_tasks (param, dewarp_param->idx, dewarp_param->out_buf);
if (!xcam_ret_is_ok (ret)) {
work_broken (param, ret);
}
}
void
SoftStitcher::blender_done (
const SmartPtr<ImageHandler> &handler,
const SmartPtr<ImageHandler::Parameters> &base,
const XCamReturn error)
{
SmartPtr<SoftSitcherPriv::BlenderParam> blender_param = base.dynamic_cast_ptr<SoftSitcherPriv::BlenderParam> ();
XCAM_ASSERT (blender_param.ptr ());
SmartPtr<SoftStitcher::StitcherParam> param = blender_param->stitch_param;
XCAM_ASSERT (param.ptr ());
XCAM_UNUSED (handler);
if (!check_work_continue (param, error)) {
_impl->remove_task_count (param);
return;
}
stitcher_dump_buf (blender_param->out_buf, blender_param->idx, "stitcher-blend");
XCAM_LOG_INFO ("blender:(%s) overlap:%d done", XCAM_STR (handler->get_name ()), blender_param->idx);
if (_impl->dec_task_count (param) == 0) {
work_well_done (param, error);
}
}
void
SoftStitcher::copy_task_done (
const SmartPtr<Worker> &worker,
const SmartPtr<Worker::Arguments> &base,
const XCamReturn error)
{
XCAM_UNUSED (worker);
XCAM_ASSERT (worker.ptr ());
SmartPtr<SoftSitcherPriv::StitcherCopyArgs> args = base.dynamic_cast_ptr<SoftSitcherPriv::StitcherCopyArgs> ();
XCAM_ASSERT (args.ptr ());
const SmartPtr<SoftStitcher::StitcherParam> param =
args->get_param ().dynamic_cast_ptr<SoftStitcher::StitcherParam> ();
XCAM_ASSERT (param.ptr ());
if (!check_work_continue (param, error)) {
_impl->remove_task_count (param);
return;
}
XCAM_LOG_INFO ("soft-stitcher:%s camera(idx:%d) copy done", XCAM_STR (get_name ()), args->idx);
if (_impl->dec_task_count (param) == 0) {
work_well_done (param, error);
}
}
XCamReturn
SoftStitcher::configure_resource (const SmartPtr<Parameters> &param)
{
XCAM_UNUSED (param);
XCAM_ASSERT (_impl.ptr ());
XCamReturn ret = estimate_round_slices ();
XCAM_FAIL_RETURN (
ERROR, xcam_ret_is_ok (ret), ret,
"soft-stitcher:%s estimate round view slices failed", XCAM_STR (get_name ()));
ret = estimate_coarse_crops ();
XCAM_FAIL_RETURN (
ERROR, xcam_ret_is_ok (ret), ret,
"soft-stitcher:%s estimate coarse crops failed", XCAM_STR (get_name ()));
ret = mark_centers ();
XCAM_FAIL_RETURN (
ERROR, xcam_ret_is_ok (ret), ret,
"soft-stitcher:%s mark centers failed", XCAM_STR (get_name ()));
ret = estimate_overlap ();
XCAM_FAIL_RETURN (
ERROR, xcam_ret_is_ok (ret), ret,
"soft-stitcher:%s estimake coarse overlap failed", XCAM_STR (get_name ()));
ret = update_copy_areas ();
XCAM_FAIL_RETURN (
ERROR, xcam_ret_is_ok (ret), ret,
"soft-stitcher:%s update copy areas failed", XCAM_STR (get_name ()));
uint32_t camera_count = get_camera_num ();
ret = _impl->init_config (camera_count);
XCAM_FAIL_RETURN (
ERROR, xcam_ret_is_ok (ret), ret,
"soft-stitcher:%s initialize private config failed", XCAM_STR (get_name ()));
ret = _impl->fisheye_dewarp_to_table ();
XCAM_FAIL_RETURN (
ERROR, xcam_ret_is_ok (ret), ret,
"soft-stitcher:%s fisheye_dewarp_to_table failed", XCAM_STR (get_name ()));
VideoBufferInfo out_info;
uint32_t out_width, out_height;
get_output_size (out_width, out_height);
XCAM_FAIL_RETURN (
ERROR, out_width && out_height, XCAM_RETURN_ERROR_PARAM,
"soft-stitcher:%s output size was not set", XCAM_STR(get_name ()));
out_info.init (
V4L2_PIX_FMT_NV12, out_width, out_height,
XCAM_ALIGN_UP (out_width, SOFT_STITCHER_ALIGNMENT_X),
XCAM_ALIGN_UP (out_height, SOFT_STITCHER_ALIGNMENT_Y));
set_out_video_info (out_info);
return ret;
}
XCamReturn
SoftStitcher::start_work (const SmartPtr<Parameters> &base)
{
SmartPtr<StitcherParam> param = base.dynamic_cast_ptr<StitcherParam> ();
XCAM_FAIL_RETURN (
ERROR, param.ptr () && param->in_buf_num > 0 && param->in_bufs[0].ptr (), XCAM_RETURN_ERROR_PARAM,
"soft_stitcher:%s start_work failed, params(in_buf_num) in_bufs are set",
XCAM_STR (get_name ()));
XCamReturn ret = start_task_count (param);
XCAM_FAIL_RETURN (
ERROR, xcam_ret_is_ok (ret), XCAM_RETURN_ERROR_PARAM,
"soft_stitcher:%s start blender count failed", XCAM_STR (get_name ()));
ret = _impl->start_dewarp_works (param);
XCAM_FAIL_RETURN (
ERROR, xcam_ret_is_ok (ret), XCAM_RETURN_ERROR_PARAM,
"soft_stitcher:%s start dewarp works failed", XCAM_STR (get_name ()));
//for (uint32_t i = 0; i < param->in_buf_num; ++i) {
// param->in_bufs[i].release ();
//}
return ret;
}
SmartPtr<Stitcher>
Stitcher::create_soft_stitcher ()
{
return new SoftStitcher;
}
}
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