435 lines
15 KiB
C++
435 lines
15 KiB
C++
/*
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* cl_utils.cpp - CL Utilities
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*
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* Copyright (c) 2016 Intel Corporation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* Author: Wind Yuan <feng.yuan@intel.com>
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*/
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#include "cl_utils.h"
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#include "image_file_handle.h"
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#if HAVE_LIBDRM
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#include "intel/cl_intel_context.h"
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#include "intel/cl_va_memory.h"
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#endif
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namespace XCam {
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struct NV12Pixel {
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float x_pos;
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float y_pos;
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float y;
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float u;
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float v;
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NV12Pixel ()
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: x_pos (0.0f), y_pos (0.0f)
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, y (0.0f), u (0.0f), v (0.0f)
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{}
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};
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static inline void
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clamp (float &value, float min, float max)
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{
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value = (value < min) ? min : ((value > max) ? max : value);
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}
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bool
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dump_image (SmartPtr<CLImage> image, const char *file_name)
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{
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XCAM_ASSERT (file_name);
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const CLImageDesc &desc = image->get_image_desc ();
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void *ptr = NULL;
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size_t origin[3] = {0, 0, 0};
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size_t region[3] = {desc.width, desc.height, 1};
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size_t row_pitch;
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size_t slice_pitch;
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XCamReturn ret = image->enqueue_map (ptr, origin, region, &row_pitch, &slice_pitch, CL_MAP_READ);
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XCAM_FAIL_RETURN (ERROR, xcam_ret_is_ok (ret), false, "dump image failed in enqueue_map");
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XCAM_ASSERT (ptr);
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XCAM_ASSERT (row_pitch == desc.row_pitch);
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uint8_t *buf_start = (uint8_t *)ptr;
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uint32_t width = image->get_pixel_bytes () * desc.width;
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FILE *fp = fopen (file_name, "wb");
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XCAM_FAIL_RETURN (ERROR, fp, false, "open file(%s) failed", file_name);
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for (uint32_t i = 0; i < desc.height; ++i) {
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uint8_t *buf_line = buf_start + row_pitch * i;
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fwrite (buf_line, width, 1, fp);
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}
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image->enqueue_unmap (ptr);
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fclose (fp);
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XCAM_LOG_INFO ("write image:%s\n", file_name);
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return true;
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}
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SmartPtr<CLBuffer>
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convert_to_clbuffer (
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const SmartPtr<CLContext> &context,
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const SmartPtr<VideoBuffer> &buf)
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{
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SmartPtr<CLBuffer> cl_buf;
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SmartPtr<CLVideoBuffer> cl_video_buf = buf.dynamic_cast_ptr<CLVideoBuffer> ();
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if (cl_video_buf.ptr ()) {
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cl_buf = cl_video_buf;
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}
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#if HAVE_LIBDRM
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else {
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SmartPtr<DrmBoBuffer> bo_buf = buf.dynamic_cast_ptr<DrmBoBuffer> ();
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SmartPtr<CLIntelContext> ctx = context.dynamic_cast_ptr<CLIntelContext> ();
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XCAM_ASSERT (bo_buf.ptr () && ctx.ptr ());
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cl_buf = new CLVaBuffer (ctx, bo_buf);
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}
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#else
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XCAM_UNUSED (context);
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#endif
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XCAM_FAIL_RETURN (WARNING, cl_buf.ptr (), NULL, "convert to clbuffer failed");
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return cl_buf;
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}
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SmartPtr<CLImage>
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convert_to_climage (
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const SmartPtr<CLContext> &context,
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SmartPtr<VideoBuffer> &buf,
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const CLImageDesc &desc,
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uint32_t offset,
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cl_mem_flags flags)
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{
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SmartPtr<CLImage> cl_image;
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SmartPtr<CLVideoBuffer> cl_video_buf = buf.dynamic_cast_ptr<CLVideoBuffer> ();
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if (cl_video_buf.ptr ()) {
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SmartPtr<CLBuffer> cl_buf;
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if (offset == 0) {
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cl_buf = cl_video_buf;
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} else {
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uint32_t row_pitch = CLImage::calculate_pixel_bytes (desc.format) *
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XCAM_ALIGN_UP (desc.width, XCAM_CL_IMAGE_ALIGNMENT_X);
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uint32_t size = row_pitch * desc.height;
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cl_buf = new CLSubBuffer (context, cl_video_buf, flags, offset, size);
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}
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cl_image = new CLImage2D (context, desc, flags, cl_buf);
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}
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#if HAVE_LIBDRM
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else {
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SmartPtr<DrmBoBuffer> bo_buf = buf.dynamic_cast_ptr<DrmBoBuffer> ();
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SmartPtr<CLIntelContext> ctx = context.dynamic_cast_ptr<CLIntelContext> ();
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XCAM_ASSERT (bo_buf.ptr () && ctx.ptr ());
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cl_image = new CLVaImage (ctx, bo_buf, desc, offset);
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}
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#endif
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XCAM_FAIL_RETURN (WARNING, cl_image.ptr (), NULL, "convert to climage failed");
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return cl_image;
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}
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XCamReturn
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convert_nv12_mem_to_video_buffer (
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void *nv12_mem, uint32_t width, uint32_t height, uint32_t row_pitch, uint32_t offset_uv,
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SmartPtr<VideoBuffer> &buf)
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{
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XCAM_ASSERT (nv12_mem);
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XCAM_ASSERT (row_pitch >= width);
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VideoBufferPlanarInfo planar;
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const VideoBufferInfo info = buf->get_video_info ();
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XCAM_FAIL_RETURN (
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DEBUG, (width == info.width) && (height == info.height), XCAM_RETURN_ERROR_PARAM,
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"convert mem to video buffer failed since image sizes are not matched.");
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uint8_t *out_mem = buf->map ();
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XCAM_FAIL_RETURN (ERROR, out_mem, XCAM_RETURN_ERROR_MEM, "map buffer failed");
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uint8_t *src = (uint8_t *)nv12_mem;
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uint8_t *dest = NULL;
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for (uint32_t index = 0; index < info.components; index++) {
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info.get_planar_info (planar, index);
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dest = out_mem + info.offsets[index];
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for (uint32_t i = 0; i < planar.height; i++) {
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memcpy (dest, src, width);
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src += row_pitch;
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dest += info.strides[index];
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}
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src = (uint8_t *)nv12_mem + offset_uv;
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}
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buf->unmap ();
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return XCAM_RETURN_NO_ERROR;
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}
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XCamReturn
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interpolate_pixel_value (
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uint8_t* stitch_mem,
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float image_coord_x, float image_coord_y,
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float &y, float &u, float &v,
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const VideoBufferInfo& stitch_info)
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{
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XCAM_ASSERT (image_coord_y < stitch_info.height && image_coord_x < stitch_info.width);
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uint8_t y00, y01, y10, y11;
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uint8_t u00, u01, u10, u11;
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uint8_t v00, v01, v10, v11;
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uint32_t x0 = (uint32_t) image_coord_x;
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uint32_t x1 = (x0 < stitch_info.width - 1) ? (x0 + 1) : x0;
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uint32_t y0 = (uint32_t) image_coord_y;
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uint32_t y1 = (y0 < stitch_info.height - 1) ? (y0 + 1) : y0;
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float rate00 = (x0 + 1 - image_coord_x) * (y0 + 1 - image_coord_y);
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float rate01 = (x0 + 1 - image_coord_x) * (image_coord_y - y0);
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float rate10 = (image_coord_x - x0) * (y0 + 1 - image_coord_y);
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float rate11 = (image_coord_x - x0) * (image_coord_y - y0);
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y00 = stitch_mem[y0 * stitch_info.strides[0] + x0];
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y01 = stitch_mem[y1 * stitch_info.strides[0] + x0];
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y10 = stitch_mem[y0 * stitch_info.strides[0] + x1];
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y11 = stitch_mem[y1 * stitch_info.strides[0] + x1];
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u00 = stitch_mem[stitch_info.offsets[1] + y0 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x0, 2)];
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u01 = stitch_mem[stitch_info.offsets[1] + y1 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x0, 2)];
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u10 = stitch_mem[stitch_info.offsets[1] + y0 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x1, 2)];
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u11 = stitch_mem[stitch_info.offsets[1] + y1 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x1, 2)];
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v00 = stitch_mem[stitch_info.offsets[1] + y0 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x0, 2) + 1];
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v01 = stitch_mem[stitch_info.offsets[1] + y1 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x0, 2) + 1];
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v10 = stitch_mem[stitch_info.offsets[1] + y0 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x1, 2) + 1];
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v11 = stitch_mem[stitch_info.offsets[1] + y1 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x1, 2) + 1];
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y = y00 * rate00 + y01 * rate01 + y10 * rate10 + y11 * rate11;
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u = u00 * rate00 + u01 * rate01 + u10 * rate10 + u11 * rate11;
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v = v00 * rate00 + v01 * rate01 + v10 * rate10 + v11 * rate11;
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return XCAM_RETURN_NO_ERROR;
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}
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XCamReturn
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map_to_specific_view (
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uint8_t *specific_view_mem, uint8_t* stitch_mem,
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uint32_t row, uint32_t col,
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float image_coord_x, float image_coord_y,
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const VideoBufferInfo& specific_view_info, const VideoBufferInfo& stitch_info)
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{
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XCAM_ASSERT (row < specific_view_info.height && col < specific_view_info.width);
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float y, u, v;
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interpolate_pixel_value (stitch_mem, image_coord_x, image_coord_y, y, u, v, stitch_info);
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uint32_t y_index = row * specific_view_info.strides[0] + col;
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uint32_t u_index = specific_view_info.offsets[1] + row / 2 * specific_view_info.strides[1] + XCAM_ALIGN_DOWN (col, 2);
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specific_view_mem[y_index] = (uint8_t)y;
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specific_view_mem[u_index] = (uint8_t)u;
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specific_view_mem[u_index + 1] = (uint8_t)v;
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return XCAM_RETURN_NO_ERROR;
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}
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XCamReturn
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generate_topview_map_table (
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const VideoBufferInfo &stitch_info,
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const BowlDataConfig &config,
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std::vector<PointFloat2> &map_table,
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int width, int height)
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{
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int center_x = width / 2;
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int center_y = height / 2;
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float show_width_mm = 5000.0f;
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float length_per_pixel = show_width_mm / height;
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map_table.resize (height * width);
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for(int row = 0; row < height; row++) {
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for(int col = 0; col < width; col++) {
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PointFloat3 world;
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world.x = (col - center_x) * length_per_pixel;
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world.y = (center_y - row) * length_per_pixel;
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world.z = 0.0f;
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PointFloat2 image_pos =
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bowl_view_coords_to_image (config, world, stitch_info.width, stitch_info.height);
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map_table[row * width + col] = image_pos;
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}
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}
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return XCAM_RETURN_NO_ERROR;
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}
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XCamReturn
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generate_rectifiedview_map_table (
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const VideoBufferInfo &stitch_info,
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const BowlDataConfig &config,
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std::vector<PointFloat2> &map_table,
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float angle_start, float angle_end,
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int width, int height)
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{
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float center_x = width / 2;
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float focal_plane_dist = 6000.0f;
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float angle_center = (angle_start + angle_end) / 2.0f;
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float theta = degree2radian((angle_end - angle_start)) / 2.0f;
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float length_per_pixel_x = 2 * focal_plane_dist * tan (theta) / width;
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float fov_up = degree2radian (20.0f);
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float fov_down = degree2radian (35.0f);
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float length_per_pixel_y = (focal_plane_dist * tan (fov_up) + focal_plane_dist * tan (fov_down)) / height;
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float center_y = tan (fov_up) / (tan (fov_up) + tan (fov_down)) * height;
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PointFloat3 world_pos;
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float plane_center_coords[3];
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plane_center_coords[0] = focal_plane_dist * cos (degree2radian (angle_center));
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plane_center_coords[1] = -focal_plane_dist * sin (degree2radian (angle_center));
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plane_center_coords[2] = 0.0f;
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map_table.resize (width * height);
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for (int row = 0; row < height; row++) {
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for (int col = 0; col < width; col++) {
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float plane_point_coords[3];
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plane_point_coords[0] = (center_x - col) * length_per_pixel_x * cos (PI / 2 - degree2radian (angle_center)) + plane_center_coords[0];
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plane_point_coords[1] = (center_x - col) * length_per_pixel_x * sin (PI / 2 - degree2radian (angle_center)) + plane_center_coords[1];
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plane_point_coords[2] = (center_y - row) * length_per_pixel_y + plane_center_coords[2];
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float rate_xz, rate_yz;
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if (XCAM_DOUBLE_EQUAL_AROUND (plane_point_coords[2], 0.0f) && XCAM_DOUBLE_EQUAL_AROUND (plane_point_coords[1], 0.0f)) {
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world_pos.x = config.a;
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world_pos.y = 0;
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world_pos.z = 0;
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} else if (XCAM_DOUBLE_EQUAL_AROUND (plane_point_coords[2], 0.0f)) {
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world_pos.z = 0.0f;
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float rate_xy = plane_point_coords[0] / plane_point_coords[1];
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float square_y = 1 / (rate_xy * rate_xy / (config.a * config.a) + 1 / (config.b * config.b));
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world_pos.y = (plane_point_coords[1] > 0) ? sqrt (square_y) : -sqrt (square_y);
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world_pos.x = rate_xy * world_pos.y;
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} else {
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rate_xz = plane_point_coords[0] / plane_point_coords[2];
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rate_yz = plane_point_coords[1] / plane_point_coords[2];
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float square_z = 1 / (rate_xz * rate_xz / (config.a * config.a) + rate_yz * rate_yz / (config.b * config.b) + 1 / (config.c * config.c));
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world_pos.z = (plane_point_coords[2] > 0) ? sqrt (square_z) : -sqrt (square_z);
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world_pos.z = (world_pos.z <= -config.center_z) ? -config.center_z : world_pos.z;
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world_pos.x = rate_xz * world_pos.z;
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world_pos.y = rate_yz * world_pos.z;
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}
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world_pos.z += config.center_z;
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PointFloat2 image_coord =
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bowl_view_coords_to_image (config, world_pos, stitch_info.width, stitch_info.height);
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map_table[row * width + col] = image_coord;
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}
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}
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return XCAM_RETURN_NO_ERROR;
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}
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XCamReturn
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sample_generate_top_view (
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SmartPtr<VideoBuffer> &stitch_buf,
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SmartPtr<VideoBuffer> top_view_buf,
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const BowlDataConfig &config,
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std::vector<PointFloat2> &map_table)
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{
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const VideoBufferInfo top_view_info = top_view_buf->get_video_info ();
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const VideoBufferInfo stitch_info = stitch_buf->get_video_info ();
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int top_view_resolution_w = top_view_buf->get_video_info ().width;
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int top_view_resolution_h = top_view_buf->get_video_info ().height;
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if((int)map_table.size () != top_view_resolution_w * top_view_resolution_h) {
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map_table.clear ();
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generate_topview_map_table (stitch_info, config, map_table, top_view_resolution_w, top_view_resolution_h);
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}
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uint8_t *top_view_mem = NULL;
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uint8_t *stitch_mem = NULL;
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top_view_mem = top_view_buf->map ();
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stitch_mem = stitch_buf->map ();
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for(int row = 0; row < top_view_resolution_h; row++) {
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for(int col = 0; col < top_view_resolution_w; col++) {
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PointFloat2 image_coord = map_table[row * top_view_resolution_w + col];
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map_to_specific_view (top_view_mem, stitch_mem, row, col, image_coord.x, image_coord.y, top_view_info, stitch_info);
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}
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}
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top_view_buf->unmap();
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stitch_buf->unmap();
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return XCAM_RETURN_NO_ERROR;
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}
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XCamReturn
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sample_generate_rectified_view (
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SmartPtr<VideoBuffer> &stitch_buf,
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SmartPtr<VideoBuffer> rectified_view_buf,
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const BowlDataConfig &config,
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float angle_start, float angle_end,
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std::vector<PointFloat2> &map_table)
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{
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const VideoBufferInfo rectified_view_info = rectified_view_buf->get_video_info ();
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const VideoBufferInfo stitch_info = stitch_buf->get_video_info ();
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int rectified_view_resolution_w = rectified_view_buf->get_video_info ().width;
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int rectified_view_resolution_h = rectified_view_buf->get_video_info ().height;
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if((int)map_table.size () != rectified_view_resolution_w * rectified_view_resolution_h) {
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map_table.clear ();
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generate_rectifiedview_map_table (stitch_info, config, map_table, angle_start, angle_end, rectified_view_resolution_w, rectified_view_resolution_h);
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}
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uint8_t *rectified_view_mem = NULL;
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uint8_t *stitch_mem = NULL;
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rectified_view_mem = rectified_view_buf->map ();
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stitch_mem = stitch_buf->map ();
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for(int row = 0; row < rectified_view_resolution_h; row++) {
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for(int col = 0; col < rectified_view_resolution_w; col++) {
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PointFloat2 image_coord = map_table[row * rectified_view_resolution_w + col];
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map_to_specific_view (rectified_view_mem, stitch_mem, row, col, image_coord.x, image_coord.y, rectified_view_info, stitch_info);
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}
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}
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rectified_view_buf->unmap();
|
|
stitch_buf->unmap();
|
|
|
|
return XCAM_RETURN_NO_ERROR;
|
|
}
|
|
|
|
}
|