135 lines
3.3 KiB
C++
135 lines
3.3 KiB
C++
#include "camera_frame_stream.h"
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#include <unistd.h>
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#include <cassert>
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#include <string.h>
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#include <signal.h>
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#include <libyuv.h>
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#include "messaging.hpp"
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#include "common/util.h"
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#include "common/timing.h"
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#include "common/swaglog.h"
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#include "buffering.h"
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extern "C" {
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#include <libavcodec/avcodec.h>
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}
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extern volatile sig_atomic_t do_exit;
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#define FRAME_WIDTH 1164
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#define FRAME_HEIGHT 874
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namespace {
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void camera_open(CameraState *s, bool rear) {
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}
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void camera_close(CameraState *s) {
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s->buf.stop();
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}
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void camera_init(CameraState *s, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx) {
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assert(camera_id < ARRAYSIZE(cameras_supported));
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s->ci = cameras_supported[camera_id];
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assert(s->ci.frame_width != 0);
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s->fps = fps;
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s->buf.init(device_id, ctx, s, FRAME_BUF_COUNT, "camera");
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}
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void run_frame_stream(MultiCameraState *s) {
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s->sm = new SubMaster({"frame"});
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CameraState *const rear_camera = &s->rear;
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auto *tb = &rear_camera->buf.camera_tb;
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while (!do_exit) {
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if (s->sm->update(1000) == 0) continue;
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auto frame = (*(s->sm))["frame"].getFrame();
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const int buf_idx = tbuffer_select(tb);
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rear_camera->buf.camera_bufs_metadata[buf_idx] = {
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.frame_id = frame.getFrameId(),
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.timestamp_eof = frame.getTimestampEof(),
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.frame_length = static_cast<unsigned>(frame.getFrameLength()),
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.integ_lines = static_cast<unsigned>(frame.getIntegLines()),
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.global_gain = static_cast<unsigned>(frame.getGlobalGain()),
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};
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cl_command_queue q = rear_camera->buf.camera_bufs[buf_idx].copy_q;
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cl_mem yuv_cl = rear_camera->buf.camera_bufs[buf_idx].buf_cl;
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clEnqueueWriteBuffer(q, yuv_cl, CL_TRUE, 0, frame.getImage().size(), frame.getImage().begin(), 0, NULL, NULL);
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tbuffer_dispatch(tb, buf_idx);
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}
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}
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} // namespace
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CameraInfo cameras_supported[CAMERA_ID_MAX] = {
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[CAMERA_ID_IMX298] = {
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.frame_width = FRAME_WIDTH,
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.frame_height = FRAME_HEIGHT,
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.frame_stride = FRAME_WIDTH*3,
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.bayer = false,
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.bayer_flip = false,
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},
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[CAMERA_ID_OV8865] = {
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.frame_width = 1632,
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.frame_height = 1224,
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.frame_stride = 2040, // seems right
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.bayer = true,
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.bayer_flip = 3,
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.hdr = false
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},
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};
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void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
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camera_init(&s->rear, CAMERA_ID_IMX298, 20, device_id, ctx);
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s->rear.transform = (mat3){{
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0,
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}};
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camera_init(&s->front, CAMERA_ID_OV8865, 10, device_id, ctx);
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s->front.transform = (mat3){{
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0,
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}};
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}
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void camera_autoexposure(CameraState *s, float grey_frac) {}
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void cameras_open(MultiCameraState *s) {
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// LOG("*** open front ***");
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camera_open(&s->front, false);
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// LOG("*** open rear ***");
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camera_open(&s->rear, true);
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}
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void cameras_close(MultiCameraState *s) {
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camera_close(&s->rear);
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}
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// called by processing_thread
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void camera_process_rear(MultiCameraState *s, CameraState *c, int cnt) {
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if (cnt % 100 == 3) {
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const CameraBuf *b = &c->buf;
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create_thumbnail(s, c, (uint8_t*)b->cur_rgb_buf->addr);
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}
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}
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void cameras_run(MultiCameraState *s) {
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std::thread t = start_process_thread(s, "processing", &s->rear, camera_process_rear);
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set_thread_name("frame_streaming");
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run_frame_stream(s);
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cameras_close(s);
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t.join();
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}
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