1 /*
2 * cl_utils.cpp - CL Utilities
3 *
4 * Copyright (c) 2016 Intel Corporation
5 *
6 * Licensed under the Apache License, Version 2.0 (the "License");
7 * you may not use this file except in compliance with the License.
8 * You may obtain a copy of the License at
9 *
10 * http://www.apache.org/licenses/LICENSE-2.0
11 *
12 * Unless required by applicable law or agreed to in writing, software
13 * distributed under the License is distributed on an "AS IS" BASIS,
14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 * See the License for the specific language governing permissions and
16 * limitations under the License.
17 *
18 * Author: Wind Yuan <feng.yuan@intel.com>
19 */
20
21 #include "cl_utils.h"
22 #include "image_file_handle.h"
23 #if HAVE_LIBDRM
24 #include "intel/cl_intel_context.h"
25 #include "intel/cl_va_memory.h"
26 #endif
27
28 namespace XCam {
29
30 struct NV12Pixel {
31 float x_pos;
32 float y_pos;
33
34 float y;
35 float u;
36 float v;
37
NV12PixelXCam::NV12Pixel38 NV12Pixel ()
39 : x_pos (0.0f), y_pos (0.0f)
40 , y (0.0f), u (0.0f), v (0.0f)
41 {}
42 };
43
44 static inline void
clamp(float & value,float min,float max)45 clamp (float &value, float min, float max)
46 {
47 value = (value < min) ? min : ((value > max) ? max : value);
48 }
49
50 bool
dump_image(SmartPtr<CLImage> image,const char * file_name)51 dump_image (SmartPtr<CLImage> image, const char *file_name)
52 {
53 XCAM_ASSERT (file_name);
54
55 const CLImageDesc &desc = image->get_image_desc ();
56 void *ptr = NULL;
57 size_t origin[3] = {0, 0, 0};
58 size_t region[3] = {desc.width, desc.height, 1};
59 size_t row_pitch;
60 size_t slice_pitch;
61
62 XCamReturn ret = image->enqueue_map (ptr, origin, region, &row_pitch, &slice_pitch, CL_MAP_READ);
63 XCAM_FAIL_RETURN (ERROR, xcam_ret_is_ok (ret), false, "dump image failed in enqueue_map");
64 XCAM_ASSERT (ptr);
65 XCAM_ASSERT (row_pitch == desc.row_pitch);
66 uint8_t *buf_start = (uint8_t *)ptr;
67 uint32_t width = image->get_pixel_bytes () * desc.width;
68
69 FILE *fp = fopen (file_name, "wb");
70 XCAM_FAIL_RETURN (ERROR, fp, false, "open file(%s) failed", file_name);
71
72 for (uint32_t i = 0; i < desc.height; ++i) {
73 uint8_t *buf_line = buf_start + row_pitch * i;
74 fwrite (buf_line, width, 1, fp);
75 }
76 image->enqueue_unmap (ptr);
77 fclose (fp);
78 XCAM_LOG_INFO ("write image:%s\n", file_name);
79 return true;
80 }
81
82 SmartPtr<CLBuffer>
convert_to_clbuffer(const SmartPtr<CLContext> & context,const SmartPtr<VideoBuffer> & buf)83 convert_to_clbuffer (
84 const SmartPtr<CLContext> &context,
85 const SmartPtr<VideoBuffer> &buf)
86 {
87 SmartPtr<CLBuffer> cl_buf;
88
89 SmartPtr<CLVideoBuffer> cl_video_buf = buf.dynamic_cast_ptr<CLVideoBuffer> ();
90 if (cl_video_buf.ptr ()) {
91 cl_buf = cl_video_buf;
92 }
93 #if HAVE_LIBDRM
94 else {
95 SmartPtr<DrmBoBuffer> bo_buf = buf.dynamic_cast_ptr<DrmBoBuffer> ();
96 SmartPtr<CLIntelContext> ctx = context.dynamic_cast_ptr<CLIntelContext> ();
97 XCAM_ASSERT (bo_buf.ptr () && ctx.ptr ());
98
99 cl_buf = new CLVaBuffer (ctx, bo_buf);
100 }
101 #else
102 XCAM_UNUSED (context);
103 #endif
104
105 XCAM_FAIL_RETURN (WARNING, cl_buf.ptr (), NULL, "convert to clbuffer failed");
106 return cl_buf;
107 }
108
109 SmartPtr<CLImage>
convert_to_climage(const SmartPtr<CLContext> & context,SmartPtr<VideoBuffer> & buf,const CLImageDesc & desc,uint32_t offset,cl_mem_flags flags)110 convert_to_climage (
111 const SmartPtr<CLContext> &context,
112 SmartPtr<VideoBuffer> &buf,
113 const CLImageDesc &desc,
114 uint32_t offset,
115 cl_mem_flags flags)
116 {
117 SmartPtr<CLImage> cl_image;
118
119 SmartPtr<CLVideoBuffer> cl_video_buf = buf.dynamic_cast_ptr<CLVideoBuffer> ();
120 if (cl_video_buf.ptr ()) {
121 SmartPtr<CLBuffer> cl_buf;
122
123 if (offset == 0) {
124 cl_buf = cl_video_buf;
125 } else {
126 uint32_t row_pitch = CLImage::calculate_pixel_bytes (desc.format) *
127 XCAM_ALIGN_UP (desc.width, XCAM_CL_IMAGE_ALIGNMENT_X);
128 uint32_t size = row_pitch * desc.height;
129
130 cl_buf = new CLSubBuffer (context, cl_video_buf, flags, offset, size);
131 }
132
133 cl_image = new CLImage2D (context, desc, flags, cl_buf);
134 }
135 #if HAVE_LIBDRM
136 else {
137 SmartPtr<DrmBoBuffer> bo_buf = buf.dynamic_cast_ptr<DrmBoBuffer> ();
138 SmartPtr<CLIntelContext> ctx = context.dynamic_cast_ptr<CLIntelContext> ();
139 XCAM_ASSERT (bo_buf.ptr () && ctx.ptr ());
140
141 cl_image = new CLVaImage (ctx, bo_buf, desc, offset);
142 }
143 #endif
144
145 XCAM_FAIL_RETURN (WARNING, cl_image.ptr (), NULL, "convert to climage failed");
146 return cl_image;
147 }
148
149 XCamReturn
convert_nv12_mem_to_video_buffer(void * nv12_mem,uint32_t width,uint32_t height,uint32_t row_pitch,uint32_t offset_uv,SmartPtr<VideoBuffer> & buf)150 convert_nv12_mem_to_video_buffer (
151 void *nv12_mem, uint32_t width, uint32_t height, uint32_t row_pitch, uint32_t offset_uv,
152 SmartPtr<VideoBuffer> &buf)
153 {
154 XCAM_ASSERT (nv12_mem);
155 XCAM_ASSERT (row_pitch >= width);
156
157 VideoBufferPlanarInfo planar;
158 const VideoBufferInfo info = buf->get_video_info ();
159 XCAM_FAIL_RETURN (
160 DEBUG, (width == info.width) && (height == info.height), XCAM_RETURN_ERROR_PARAM,
161 "convert mem to video buffer failed since image sizes are not matched.");
162
163 uint8_t *out_mem = buf->map ();
164 XCAM_FAIL_RETURN (ERROR, out_mem, XCAM_RETURN_ERROR_MEM, "map buffer failed");
165
166 uint8_t *src = (uint8_t *)nv12_mem;
167 uint8_t *dest = NULL;
168 for (uint32_t index = 0; index < info.components; index++) {
169 info.get_planar_info (planar, index);
170
171 dest = out_mem + info.offsets[index];
172 for (uint32_t i = 0; i < planar.height; i++) {
173 memcpy (dest, src, width);
174 src += row_pitch;
175 dest += info.strides[index];
176 }
177
178 src = (uint8_t *)nv12_mem + offset_uv;
179 }
180
181 buf->unmap ();
182 return XCAM_RETURN_NO_ERROR;
183 }
184
185 XCamReturn
interpolate_pixel_value(uint8_t * stitch_mem,float image_coord_x,float image_coord_y,float & y,float & u,float & v,const VideoBufferInfo & stitch_info)186 interpolate_pixel_value (
187 uint8_t* stitch_mem,
188 float image_coord_x, float image_coord_y,
189 float &y, float &u, float &v,
190 const VideoBufferInfo& stitch_info)
191 {
192 XCAM_ASSERT (image_coord_y < stitch_info.height && image_coord_x < stitch_info.width);
193
194 uint8_t y00, y01, y10, y11;
195 uint8_t u00, u01, u10, u11;
196 uint8_t v00, v01, v10, v11;
197
198 uint32_t x0 = (uint32_t) image_coord_x;
199 uint32_t x1 = (x0 < stitch_info.width - 1) ? (x0 + 1) : x0;
200 uint32_t y0 = (uint32_t) image_coord_y;
201 uint32_t y1 = (y0 < stitch_info.height - 1) ? (y0 + 1) : y0;
202
203 float rate00 = (x0 + 1 - image_coord_x) * (y0 + 1 - image_coord_y);
204 float rate01 = (x0 + 1 - image_coord_x) * (image_coord_y - y0);
205 float rate10 = (image_coord_x - x0) * (y0 + 1 - image_coord_y);
206 float rate11 = (image_coord_x - x0) * (image_coord_y - y0);
207
208 y00 = stitch_mem[y0 * stitch_info.strides[0] + x0];
209 y01 = stitch_mem[y1 * stitch_info.strides[0] + x0];
210 y10 = stitch_mem[y0 * stitch_info.strides[0] + x1];
211 y11 = stitch_mem[y1 * stitch_info.strides[0] + x1];
212
213 u00 = stitch_mem[stitch_info.offsets[1] + y0 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x0, 2)];
214 u01 = stitch_mem[stitch_info.offsets[1] + y1 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x0, 2)];
215 u10 = stitch_mem[stitch_info.offsets[1] + y0 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x1, 2)];
216 u11 = stitch_mem[stitch_info.offsets[1] + y1 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x1, 2)];
217
218 v00 = stitch_mem[stitch_info.offsets[1] + y0 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x0, 2) + 1];
219 v01 = stitch_mem[stitch_info.offsets[1] + y1 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x0, 2) + 1];
220 v10 = stitch_mem[stitch_info.offsets[1] + y0 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x1, 2) + 1];
221 v11 = stitch_mem[stitch_info.offsets[1] + y1 / 2 * stitch_info.strides[1] + XCAM_ALIGN_DOWN (x1, 2) + 1];
222
223 y = y00 * rate00 + y01 * rate01 + y10 * rate10 + y11 * rate11;
224 u = u00 * rate00 + u01 * rate01 + u10 * rate10 + u11 * rate11;
225 v = v00 * rate00 + v01 * rate01 + v10 * rate10 + v11 * rate11;
226
227 return XCAM_RETURN_NO_ERROR;
228 }
229
230 XCamReturn
map_to_specific_view(uint8_t * specific_view_mem,uint8_t * stitch_mem,uint32_t row,uint32_t col,float image_coord_x,float image_coord_y,const VideoBufferInfo & specific_view_info,const VideoBufferInfo & stitch_info)231 map_to_specific_view (
232 uint8_t *specific_view_mem, uint8_t* stitch_mem,
233 uint32_t row, uint32_t col,
234 float image_coord_x, float image_coord_y,
235 const VideoBufferInfo& specific_view_info, const VideoBufferInfo& stitch_info)
236 {
237 XCAM_ASSERT (row < specific_view_info.height && col < specific_view_info.width);
238
239 float y, u, v;
240
241 interpolate_pixel_value (stitch_mem, image_coord_x, image_coord_y, y, u, v, stitch_info);
242
243 uint32_t y_index = row * specific_view_info.strides[0] + col;
244 uint32_t u_index = specific_view_info.offsets[1] + row / 2 * specific_view_info.strides[1] + XCAM_ALIGN_DOWN (col, 2);
245
246 specific_view_mem[y_index] = (uint8_t)y;
247 specific_view_mem[u_index] = (uint8_t)u;
248 specific_view_mem[u_index + 1] = (uint8_t)v;
249
250 return XCAM_RETURN_NO_ERROR;
251 }
252
253 XCamReturn
generate_topview_map_table(const VideoBufferInfo & stitch_info,const BowlDataConfig & config,std::vector<PointFloat2> & map_table,int width,int height)254 generate_topview_map_table (
255 const VideoBufferInfo &stitch_info,
256 const BowlDataConfig &config,
257 std::vector<PointFloat2> &map_table,
258 int width, int height)
259 {
260 int center_x = width / 2;
261 int center_y = height / 2;
262
263 float show_width_mm = 5000.0f;
264 float length_per_pixel = show_width_mm / height;
265
266 map_table.resize (height * width);
267
268 for(int row = 0; row < height; row++) {
269 for(int col = 0; col < width; col++) {
270 PointFloat3 world;
271 world.x = (col - center_x) * length_per_pixel;
272 world.y = (center_y - row) * length_per_pixel;
273 world.z = 0.0f;
274
275 PointFloat2 image_pos =
276 bowl_view_coords_to_image (config, world, stitch_info.width, stitch_info.height);
277
278 map_table[row * width + col] = image_pos;
279 }
280 }
281
282 return XCAM_RETURN_NO_ERROR;
283 }
284
285 XCamReturn
generate_rectifiedview_map_table(const VideoBufferInfo & stitch_info,const BowlDataConfig & config,std::vector<PointFloat2> & map_table,float angle_start,float angle_end,int width,int height)286 generate_rectifiedview_map_table (
287 const VideoBufferInfo &stitch_info,
288 const BowlDataConfig &config,
289 std::vector<PointFloat2> &map_table,
290 float angle_start, float angle_end,
291 int width, int height)
292 {
293 float center_x = width / 2;
294
295 float focal_plane_dist = 6000.0f;
296
297 float angle_center = (angle_start + angle_end) / 2.0f;
298 float theta = degree2radian((angle_end - angle_start)) / 2.0f;
299 float length_per_pixel_x = 2 * focal_plane_dist * tan (theta) / width;
300
301 float fov_up = degree2radian (20.0f);
302 float fov_down = degree2radian (35.0f);
303
304 float length_per_pixel_y = (focal_plane_dist * tan (fov_up) + focal_plane_dist * tan (fov_down)) / height;
305
306 float center_y = tan (fov_up) / (tan (fov_up) + tan (fov_down)) * height;
307
308 PointFloat3 world_pos;
309 float plane_center_coords[3];
310
311 plane_center_coords[0] = focal_plane_dist * cos (degree2radian (angle_center));
312 plane_center_coords[1] = -focal_plane_dist * sin (degree2radian (angle_center));
313 plane_center_coords[2] = 0.0f;
314
315 map_table.resize (width * height);
316
317 for (int row = 0; row < height; row++) {
318 for (int col = 0; col < width; col++) {
319 float plane_point_coords[3];
320 plane_point_coords[0] = (center_x - col) * length_per_pixel_x * cos (PI / 2 - degree2radian (angle_center)) + plane_center_coords[0];
321 plane_point_coords[1] = (center_x - col) * length_per_pixel_x * sin (PI / 2 - degree2radian (angle_center)) + plane_center_coords[1];
322 plane_point_coords[2] = (center_y - row) * length_per_pixel_y + plane_center_coords[2];
323
324 float rate_xz, rate_yz;
325 if (XCAM_DOUBLE_EQUAL_AROUND (plane_point_coords[2], 0.0f) && XCAM_DOUBLE_EQUAL_AROUND (plane_point_coords[1], 0.0f)) {
326 world_pos.x = config.a;
327 world_pos.y = 0;
328 world_pos.z = 0;
329 } else if (XCAM_DOUBLE_EQUAL_AROUND (plane_point_coords[2], 0.0f)) {
330 world_pos.z = 0.0f;
331
332 float rate_xy = plane_point_coords[0] / plane_point_coords[1];
333 float square_y = 1 / (rate_xy * rate_xy / (config.a * config.a) + 1 / (config.b * config.b));
334 world_pos.y = (plane_point_coords[1] > 0) ? sqrt (square_y) : -sqrt (square_y);
335 world_pos.x = rate_xy * world_pos.y;
336 } else {
337 rate_xz = plane_point_coords[0] / plane_point_coords[2];
338 rate_yz = plane_point_coords[1] / plane_point_coords[2];
339
340 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));
341 world_pos.z = (plane_point_coords[2] > 0) ? sqrt (square_z) : -sqrt (square_z);
342 world_pos.z = (world_pos.z <= -config.center_z) ? -config.center_z : world_pos.z;
343 world_pos.x = rate_xz * world_pos.z;
344 world_pos.y = rate_yz * world_pos.z;
345 }
346
347 world_pos.z += config.center_z;
348
349 PointFloat2 image_coord =
350 bowl_view_coords_to_image (config, world_pos, stitch_info.width, stitch_info.height);
351
352 map_table[row * width + col] = image_coord;
353 }
354 }
355
356 return XCAM_RETURN_NO_ERROR;
357 }
358
359 XCamReturn
sample_generate_top_view(SmartPtr<VideoBuffer> & stitch_buf,SmartPtr<VideoBuffer> top_view_buf,const BowlDataConfig & config,std::vector<PointFloat2> & map_table)360 sample_generate_top_view (
361 SmartPtr<VideoBuffer> &stitch_buf,
362 SmartPtr<VideoBuffer> top_view_buf,
363 const BowlDataConfig &config,
364 std::vector<PointFloat2> &map_table)
365 {
366 const VideoBufferInfo top_view_info = top_view_buf->get_video_info ();
367 const VideoBufferInfo stitch_info = stitch_buf->get_video_info ();
368
369 int top_view_resolution_w = top_view_buf->get_video_info ().width;
370 int top_view_resolution_h = top_view_buf->get_video_info ().height;
371
372 if((int)map_table.size () != top_view_resolution_w * top_view_resolution_h) {
373 map_table.clear ();
374 generate_topview_map_table (stitch_info, config, map_table, top_view_resolution_w, top_view_resolution_h);
375 }
376
377 uint8_t *top_view_mem = NULL;
378 uint8_t *stitch_mem = NULL;
379 top_view_mem = top_view_buf->map ();
380 stitch_mem = stitch_buf->map ();
381
382 for(int row = 0; row < top_view_resolution_h; row++) {
383 for(int col = 0; col < top_view_resolution_w; col++) {
384 PointFloat2 image_coord = map_table[row * top_view_resolution_w + col];
385
386 map_to_specific_view (top_view_mem, stitch_mem, row, col, image_coord.x, image_coord.y, top_view_info, stitch_info);
387 }
388 }
389
390 top_view_buf->unmap();
391 stitch_buf->unmap();
392
393 return XCAM_RETURN_NO_ERROR;
394 }
395
396 XCamReturn
sample_generate_rectified_view(SmartPtr<VideoBuffer> & stitch_buf,SmartPtr<VideoBuffer> rectified_view_buf,const BowlDataConfig & config,float angle_start,float angle_end,std::vector<PointFloat2> & map_table)397 sample_generate_rectified_view (
398 SmartPtr<VideoBuffer> &stitch_buf,
399 SmartPtr<VideoBuffer> rectified_view_buf,
400 const BowlDataConfig &config,
401 float angle_start, float angle_end,
402 std::vector<PointFloat2> &map_table)
403 {
404 const VideoBufferInfo rectified_view_info = rectified_view_buf->get_video_info ();
405 const VideoBufferInfo stitch_info = stitch_buf->get_video_info ();
406
407 int rectified_view_resolution_w = rectified_view_buf->get_video_info ().width;
408 int rectified_view_resolution_h = rectified_view_buf->get_video_info ().height;
409
410 if((int)map_table.size () != rectified_view_resolution_w * rectified_view_resolution_h) {
411 map_table.clear ();
412 generate_rectifiedview_map_table (stitch_info, config, map_table, angle_start, angle_end, rectified_view_resolution_w, rectified_view_resolution_h);
413 }
414
415 uint8_t *rectified_view_mem = NULL;
416 uint8_t *stitch_mem = NULL;
417 rectified_view_mem = rectified_view_buf->map ();
418 stitch_mem = stitch_buf->map ();
419
420 for(int row = 0; row < rectified_view_resolution_h; row++) {
421 for(int col = 0; col < rectified_view_resolution_w; col++) {
422 PointFloat2 image_coord = map_table[row * rectified_view_resolution_w + col];
423
424 map_to_specific_view (rectified_view_mem, stitch_mem, row, col, image_coord.x, image_coord.y, rectified_view_info, stitch_info);
425 }
426 }
427
428 rectified_view_buf->unmap();
429 stitch_buf->unmap();
430
431 return XCAM_RETURN_NO_ERROR;
432 }
433
434 }
435