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camera-rpi: Use YUV420 to save us a copy to gray. _Much_ faster
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(60fps instead of 5fps)
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@osnr
osnr committed Oct 21, 2024
1 parent 8913b39 commit 572f5e5
Showing 1 changed file with 14 additions and 75 deletions.
89 changes: 14 additions & 75 deletions virtual-programs/camera-rpi.folk
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ set makeCamera {
config = camera->generateConfiguration({ StreamRole::Viewfinder });
StreamConfiguration &streamConfig = config->at(0);
streamConfig.size = Size(width, height);
// streamConfig.pixelFormat = PixelFormat.fromString("YUV420");
streamConfig.pixelFormat = PixelFormat::fromString("YUV420");

config->validate();
frameWidth = streamConfig.size.width;
Expand All @@ -69,16 +69,16 @@ set makeCamera {
size_t allocated = allocator->buffers(cfg.stream()).size();
std::cout << "camera-rpi: Allocated " << allocated << " buffers for stream" << std::endl;

// for (PixelFormat &format : cfg.formats().pixelformats()) {
// std::cout << "camera-rpi: Stream supports format " << format << std::endl;
// for (Size &size : cfg.formats().sizes(format)) {
// std::cout << " -> supports size " << size << std::endl;
// }
// }
/* for (PixelFormat &format : cfg.formats().pixelformats()) { */
/* std::cout << "camera-rpi: Stream supports format " << format << std::endl; */
/* for (Size &size : cfg.formats().sizes(format)) { */
/* std::cout << " -> supports size " << size << std::endl; */
/* } */
/* } */
}

Stream *stream = streamConfig.stream();
assert(streamConfig.pixelFormat.toString() == "XRGB8888");
assert(streamConfig.pixelFormat.toString() == "YUV420");

const std::vector<std::unique_ptr<FrameBuffer>> &buffers = allocator->buffers(stream);
for (unsigned int i = 0; i < buffers.size(); ++i) {
Expand Down Expand Up @@ -119,75 +119,17 @@ set makeCamera {
completedRequestsMutex.unlock();
}

// static void imageCopyRgb(image_t to, image_t from) {
// FOLK_ENSURE(from.components == 4);
// FOLK_ENSURE(from.width == to.width);
// FOLK_ENSURE(from.height == to.height);

// for (uint32_t y = 0; y < from.height; y++) {
// for (uint32_t x = 0; x < from.width; x++) {
// uint32_t i = (y * from.bytesPerRow) + x * 4;
// // FIXME: XRGB8888 assumed
// uint8_t b = from.data[i + 0];
// uint8_t g = from.data[i + 1];
// uint8_t r = from.data[i + 2];
// to.data[y * to.bytesPerRow + x*3 + 0] = r;
// to.data[y * to.bytesPerRow + x*3 + 1] = g;
// to.data[y * to.bytesPerRow + x*3 + 2] = b;
// }
// }
// }
static void imageCopyGray(image_t to, image_t from) {
FOLK_ENSURE(from.components == 4);
FOLK_ENSURE(to.components == 1);
FOLK_ENSURE(from.width == to.width);
FOLK_ENSURE(from.height == to.height);

for (uint32_t y = 0; y < from.height; y++) {
for (uint32_t x = 0; x < from.width; x++) {
uint32_t i = (y * from.bytesPerRow) + x * 4;
// FIXME: XRGB8888 assumed
uint32_t b = from.data[i + 0];
uint32_t g = from.data[i + 1];
uint32_t r = from.data[i + 2];
// from https://mina86.com/2021/rgb-to-greyscale/
uint32_t yy = 3567664 * r + 11998547 * g + 1211005 * b;
to.data[y * to.bytesPerRow + x] = ((yy + (1 << 23)) >> 24);
}
}
}

static void processRequestAndCopyFrame(Request *request, image_t im) {
/*
* When a request has completed, it is populated with a metadata control
* list that allows an application to determine various properties of
* the completed request. This can include the timestamp of the Sensor
* capture, or its gain and exposure values, or properties from the IPA
* such as the state of the 3A algorithms.
*
* ControlValue types have a toString, so to examine each request, print
* all the metadata for inspection. A custom application can parse each
* of these items and process them according to its needs.
*/
// const ControlList &requestMetadata = request->metadata();
// for (const auto &ctrl : requestMetadata) {
// const ControlId *id = controls::controls.at(ctrl.first);
// const ControlValue &value = ctrl.second;

// std::cout << "\t" << id->name() << " = " << value.toString()
// << std::endl;
// }

const Request::BufferMap &buffers = request->buffers();
assert(buffers.size() == 1);
for (auto bufferPair : buffers) {
// (Unused) Stream *stream = bufferPair.first;
FrameBuffer *buffer = bufferPair.second;
const FrameMetadata &metadata = buffer->metadata();

assert(metadata.planes().size() == 1);
assert(buffer->planes().size() == 1);
assert(metadata.planes().size() == 3);
assert(buffer->planes().size() == 3);

auto &plane = buffer->planes()[0];
int fd = plane.fd.get();

Expand All @@ -196,12 +138,7 @@ set makeCamera {
FOLK_ERROR("camera-rpi: MAP_FAILED");
}
void *planeData = (uint8_t *)addr + plane.offset;
image_t planeIm = {
.width = frameWidth, .height = frameHeight,
.components = 4, .bytesPerRow = frameBytesPerRow,
.data = (uint8_t *)planeData
};
imageCopyGray(im, planeIm);
memcpy(im.data, planeData, frameHeight * frameBytesPerRow);
munmap(addr, plane.length);
}
}
Expand Down Expand Up @@ -269,6 +206,8 @@ When /someone/ wishes $::thisNode uses camera /cameraPath/ with /...options/ {
set width [dict get $options width]
set height [dict get $options height]
Start process "camera $cameraPath $options" {
puts "Camera pid: [pid]"

Wish $::thisProcess shares statements like \
[list /someone/ claims camera $cameraPath /...anything/]

Expand Down

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