1 /* 2 * Copyright (C) 2018 The Android Open Source Project 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 17 #ifndef ANDROID_SERVERS_CAMERA_CAMERA3_DEPTH_COMPOSITE_STREAM_H 18 #define ANDROID_SERVERS_CAMERA_CAMERA3_DEPTH_COMPOSITE_STREAM_H 19 20 #include "common/DepthPhotoProcessor.h" 21 #include <dynamic_depth/imaging_model.h> 22 #include <dynamic_depth/depth_map.h> 23 24 #include <gui/CpuConsumer.h> 25 26 #include "CompositeStream.h" 27 28 using dynamic_depth::DepthMap; 29 using dynamic_depth::Item; 30 using dynamic_depth::ImagingModel; 31 32 namespace android { 33 34 class CameraDeviceClient; 35 class CameraMetadata; 36 class Surface; 37 38 namespace camera3 { 39 40 class DepthCompositeStream : public CompositeStream, public Thread, 41 public CpuConsumer::FrameAvailableListener { 42 43 public: 44 DepthCompositeStream(sp<CameraDeviceBase> device, 45 wp<hardware::camera2::ICameraDeviceCallbacks> cb); 46 ~DepthCompositeStream() override; 47 48 static bool isDepthCompositeStream(const sp<Surface> &surface); 49 50 // CompositeStream overrides 51 status_t createInternalStreams(const std::vector<sp<Surface>>& consumers, 52 bool hasDeferredConsumer, uint32_t width, uint32_t height, int format, 53 camera_stream_rotation_t rotation, int *id, const String8& physicalCameraId, 54 const std::unordered_set<int32_t> &sensorPixelModesUsed, 55 std::vector<int> *surfaceIds, 56 int streamSetId, bool isShared) override; 57 status_t deleteInternalStreams() override; 58 status_t configureStream() override; 59 status_t insertGbp(SurfaceMap* /*out*/outSurfaceMap, Vector<int32_t>* /*out*/outputStreamIds, 60 int32_t* /*out*/currentStreamId) override; 61 status_t insertCompositeStreamIds(std::vector<int32_t>* compositeStreamIds /*out*/) override; getStreamId()62 int getStreamId() override { return mBlobStreamId; } 63 64 // CpuConsumer listener implementation 65 void onFrameAvailable(const BufferItem& item) override; 66 67 // Return stream information about the internal camera streams 68 static status_t getCompositeStreamInfo(const OutputStreamInfo &streamInfo, 69 const CameraMetadata& ch, std::vector<OutputStreamInfo>* compositeOutput /*out*/); 70 71 protected: 72 73 bool threadLoop() override; 74 bool onStreamBufferError(const CaptureResultExtras& resultExtras) override; 75 void onResultError(const CaptureResultExtras& resultExtras) override; 76 77 private: 78 struct InputFrame { 79 CpuConsumer::LockedBuffer depthBuffer; 80 CpuConsumer::LockedBuffer jpegBuffer; 81 CameraMetadata result; 82 bool error; 83 bool errorNotified; 84 int64_t frameNumber; 85 int32_t requestId; 86 InputFrameInputFrame87 InputFrame() : error(false), errorNotified(false), frameNumber(-1), requestId(-1) { } 88 }; 89 90 // Helper methods 91 static void getSupportedDepthSizes(const CameraMetadata& ch, bool maxResolution, 92 std::vector<std::tuple<size_t, size_t>>* depthSizes /*out*/); 93 static status_t getMatchingDepthSize(size_t width, size_t height, 94 const std::vector<std::tuple<size_t, size_t>>& supporedDepthSizes, 95 size_t *depthWidth /*out*/, size_t *depthHeight /*out*/); 96 static status_t checkAndGetMatchingDepthSize(size_t width, size_t height, 97 const std::vector<std::tuple<size_t, size_t>> &depthSizes, 98 const std::vector<std::tuple<size_t, size_t>> &depthSizesMaximumResolution, 99 const std::unordered_set<int32_t> &sensorPixelModesUsed, 100 size_t *depthWidth /*out*/, size_t *depthHeight /*out*/); 101 102 103 // Dynamic depth processing 104 status_t encodeGrayscaleJpeg(size_t width, size_t height, uint8_t *in, void *out, 105 const size_t maxOutSize, uint8_t jpegQuality, size_t &actualSize); 106 std::unique_ptr<DepthMap> processDepthMapFrame(const CpuConsumer::LockedBuffer &depthMapBuffer, 107 size_t maxJpegSize, uint8_t jpegQuality, 108 std::vector<std::unique_ptr<Item>>* items /*out*/); 109 std::unique_ptr<ImagingModel> getImagingModel(); 110 status_t processInputFrame(nsecs_t ts, const InputFrame &inputFrame); 111 112 // Buffer/Results handling 113 void compilePendingInputLocked(); 114 void releaseInputFrameLocked(InputFrame *inputFrame /*out*/); 115 void releaseInputFramesLocked(int64_t currentTs); 116 117 // Find first complete and valid frame with smallest timestamp 118 bool getNextReadyInputLocked(int64_t *currentTs /*inout*/); 119 120 // Find next failing frame number with smallest timestamp and return respective frame number 121 int64_t getNextFailingInputLocked(int64_t *currentTs /*inout*/); 122 123 static const nsecs_t kWaitDuration = 10000000; // 10 ms 124 static const auto kDepthMapPixelFormat = HAL_PIXEL_FORMAT_Y16; 125 static const auto kDepthMapDataSpace = HAL_DATASPACE_DEPTH; 126 static const auto kJpegDataSpace = HAL_DATASPACE_V0_JFIF; 127 128 int mBlobStreamId, mBlobSurfaceId, mDepthStreamId, mDepthSurfaceId; 129 size_t mBlobWidth, mBlobHeight; 130 sp<CpuConsumer> mBlobConsumer, mDepthConsumer; 131 bool mDepthBufferAcquired, mBlobBufferAcquired; 132 sp<Surface> mDepthSurface, mBlobSurface, mOutputSurface; 133 sp<ProducerListener> mProducerListener; 134 135 ssize_t mMaxJpegBufferSize; 136 ssize_t mUHRMaxJpegBufferSize; 137 138 camera3::Size mDefaultMaxJpegSize; 139 camera3::Size mUHRMaxJpegSize; 140 141 std::vector<std::tuple<size_t, size_t>> mSupportedDepthSizes; 142 std::vector<std::tuple<size_t, size_t>> mSupportedDepthSizesMaximumResolution; 143 std::vector<float> mIntrinsicCalibration, mLensDistortion; 144 bool mIsLogicalCamera; 145 146 // Keep all incoming Depth buffer timestamps pending further processing. 147 std::vector<int64_t> mInputDepthBuffers; 148 149 // Keep all incoming Jpeg/Blob buffer timestamps pending further processing. 150 std::vector<int64_t> mInputJpegBuffers; 151 152 // Map of all input frames pending further processing. 153 std::unordered_map<int64_t, InputFrame> mPendingInputFrames; 154 }; 155 156 }; //namespace camera3 157 }; //namespace android 158 159 #endif 160