| /* |
| * Copyright 2020 The Android Open Source Project |
| * |
| * Licensed under the Apache License, Version 2.0 (the "License"); |
| * you may not use this file except in compliance with the License. |
| * You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, |
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| #define ATRACE_TAG ATRACE_TAG_CAMERA |
| |
| #include "SurroundView2dSession.h" |
| |
| #include "CameraUtils.h" |
| |
| #include <android-base/logging.h> |
| #include <android/hardware/camera/device/3.2/ICameraDevice.h> |
| #include <android/hardware_buffer.h> |
| #include <system/camera_metadata.h> |
| #include <utils/SystemClock.h> |
| #include <utils/Trace.h> |
| #include <vndk/hardware_buffer.h> |
| |
| #include <thread> |
| |
| using ::std::adopt_lock; |
| using ::std::lock; |
| using ::std::lock_guard; |
| using ::std::map; |
| using ::std::mutex; |
| using ::std::scoped_lock; |
| using ::std::string; |
| using ::std::thread; |
| using ::std::unique_lock; |
| using ::std::unique_ptr; |
| using ::std::vector; |
| |
| using ::android::hardware::automotive::evs::V1_0::EvsResult; |
| using ::android::hardware::camera::device::V3_2::Stream; |
| |
| using GraphicsPixelFormat = ::android::hardware::graphics::common::V1_0::PixelFormat; |
| |
| namespace android { |
| namespace hardware { |
| namespace automotive { |
| namespace sv { |
| namespace V1_0 { |
| namespace implementation { |
| |
| // TODO(b/158479099): There are a lot of redundant code between 2d and 3d. |
| // Decrease the degree of redundancy. |
| typedef struct { |
| int32_t id; |
| int32_t width; |
| int32_t height; |
| int32_t format; |
| int32_t direction; |
| int32_t framerate; |
| } RawStreamConfig; |
| |
| static const size_t kStreamCfgSz = sizeof(RawStreamConfig) / sizeof(int32_t); |
| static const int kInputNumChannels = 4; |
| static const int kOutputNumChannels = 3; |
| static const int kNumFrames = 4; |
| static const int kSv2dViewId = 0; |
| static const float kUndistortionScales[4] = {1.0f, 1.0f, 1.0f, 1.0f}; |
| |
| SurroundView2dSession::FramesHandler::FramesHandler( |
| sp<IEvsCamera> pCamera, sp<SurroundView2dSession> pSession) |
| : mCamera(pCamera), |
| mSession(pSession) {} |
| |
| Return<void> SurroundView2dSession::FramesHandler::deliverFrame( |
| const BufferDesc_1_0& bufDesc_1_0) { |
| LOG(INFO) << "Ignores a frame delivered from v1.0 EVS service."; |
| mCamera->doneWithFrame(bufDesc_1_0); |
| |
| return {}; |
| } |
| |
| Return<void> SurroundView2dSession::FramesHandler::deliverFrame_1_1( |
| const hidl_vec<BufferDesc_1_1>& buffers) { |
| ATRACE_BEGIN(__PRETTY_FUNCTION__); |
| |
| LOG(INFO) << "Received " << buffers.size() << " frames from the camera"; |
| mSession->mSequenceId++; |
| |
| { |
| scoped_lock<mutex> lock(mSession->mAccessLock); |
| if (mSession->mProcessingEvsFrames) { |
| LOG(WARNING) << "EVS frames are being processed. Skip frames:" |
| << mSession->mSequenceId; |
| mCamera->doneWithFrame_1_1(buffers); |
| return {}; |
| } else { |
| // Sets the flag to true immediately so the new coming frames will |
| // be skipped. |
| mSession->mProcessingEvsFrames = true; |
| } |
| } |
| |
| if (buffers.size() != kNumFrames) { |
| scoped_lock<mutex> lock(mSession->mAccessLock); |
| LOG(ERROR) << "The number of incoming frames is " << buffers.size() |
| << ", which is different from the number " << kNumFrames |
| << ", specified in config file"; |
| mSession->mProcessingEvsFrames = false; |
| mCamera->doneWithFrame_1_1(buffers); |
| return {}; |
| } |
| |
| { |
| scoped_lock<mutex> lock(mSession->mAccessLock); |
| vector<int> indices; |
| for (const auto& id |
| : mSession->mIOModuleConfig->cameraConfig.evsCameraIds) { |
| for (int i = 0; i < kNumFrames; i++) { |
| if (buffers[i].deviceId == id) { |
| indices.emplace_back(i); |
| break; |
| } |
| } |
| } |
| |
| if (indices.size() != kNumFrames) { |
| LOG(ERROR) << "The frames are not from the cameras we expected!"; |
| mSession->mProcessingEvsFrames = false; |
| mCamera->doneWithFrame_1_1(buffers); |
| return {}; |
| } |
| |
| if (mSession->mGpuAccelerationEnabled) { |
| for (int i = 0; i < kNumFrames; i++) { |
| LOG(DEBUG) << "Importing graphic buffer from camera [" |
| << buffers[indices[i]].deviceId << "]"; |
| const AHardwareBuffer_Desc* pDesc = reinterpret_cast<const AHardwareBuffer_Desc*>( |
| &buffers[indices[i]].buffer.description); |
| |
| AHardwareBuffer* hardwareBuffer; |
| status_t status = AHardwareBuffer_createFromHandle( |
| pDesc, buffers[indices[i]].buffer.nativeHandle, |
| AHARDWAREBUFFER_CREATE_FROM_HANDLE_METHOD_CLONE, &hardwareBuffer); |
| |
| if (status != NO_ERROR) { |
| LOG(ERROR) << "Can't create AHardwareBuffer from handle. Error: " << status; |
| return {}; |
| } |
| |
| mSession->mInputPointers[i].gpu_data_pointer = static_cast<void*>(hardwareBuffer); |
| |
| // Keep a reference to the EVS graphic buffers, so we can |
| // release them after Surround View stitching is done. |
| mSession->mEvsGraphicBuffers = buffers; |
| } |
| } else { |
| for (int i = 0; i < kNumFrames; i++) { |
| LOG(DEBUG) << "Copying buffer from camera [" << buffers[indices[i]].deviceId |
| << "] to Surround View Service"; |
| mSession->copyFromBufferToPointers(buffers[indices[i]], |
| mSession->mInputPointers[i]); |
| } |
| |
| // On the CPU version, we do not need to hold the Graphic Buffers |
| // any more since they are copied already. |
| mCamera->doneWithFrame_1_1(buffers); |
| } |
| } |
| |
| // Notify the session that a new set of frames is ready |
| mSession->mFramesSignal.notify_all(); |
| |
| ATRACE_END(); |
| |
| return {}; |
| } |
| |
| Return<void> SurroundView2dSession::FramesHandler::notify(const EvsEventDesc& event) { |
| switch(event.aType) { |
| case EvsEventType::STREAM_STOPPED: |
| // The Surround View STREAM_STOPPED event is generated when the |
| // service finished processing the queued frames. So it does not |
| // rely on the Evs STREAM_STOPPED event. |
| LOG(INFO) << "Received a STREAM_STOPPED event from Evs."; |
| break; |
| |
| case EvsEventType::PARAMETER_CHANGED: |
| LOG(INFO) << "Camera parameter " << std::hex << event.payload[0] |
| << " is set to " << event.payload[1]; |
| break; |
| |
| // Below events are ignored in reference implementation. |
| case EvsEventType::STREAM_STARTED: |
| [[fallthrough]]; |
| case EvsEventType::FRAME_DROPPED: |
| [[fallthrough]]; |
| case EvsEventType::TIMEOUT: |
| LOG(INFO) << "Event " << std::hex << static_cast<unsigned>(event.aType) |
| << "is received but ignored."; |
| break; |
| default: |
| LOG(ERROR) << "Unknown event id: " << static_cast<unsigned>(event.aType); |
| break; |
| } |
| |
| return {}; |
| } |
| |
| bool SurroundView2dSession::copyFromBufferToPointers( |
| BufferDesc_1_1 buffer, SurroundViewInputBufferPointers pointers) { |
| ATRACE_BEGIN(__PRETTY_FUNCTION__); |
| |
| AHardwareBuffer_Desc* pDesc = |
| reinterpret_cast<AHardwareBuffer_Desc *>(&buffer.buffer.description); |
| |
| ATRACE_BEGIN("Create Graphic Buffer"); |
| // create a GraphicBuffer from the existing handle |
| sp<GraphicBuffer> inputBuffer = new GraphicBuffer( |
| buffer.buffer.nativeHandle, GraphicBuffer::CLONE_HANDLE, pDesc->width, |
| pDesc->height, pDesc->format, pDesc->layers, |
| GRALLOC_USAGE_HW_TEXTURE, pDesc->stride); |
| |
| if (inputBuffer == nullptr) { |
| LOG(ERROR) << "Failed to allocate GraphicBuffer to wrap image handle"; |
| // Returning "true" in this error condition because we already released the |
| // previous image (if any) and so the texture may change in unpredictable |
| // ways now! |
| return false; |
| } else { |
| LOG(INFO) << "Managed to allocate GraphicBuffer with " |
| << " width: " << pDesc->width |
| << " height: " << pDesc->height |
| << " format: " << pDesc->format |
| << " stride: " << pDesc->stride; |
| } |
| ATRACE_END(); |
| |
| ATRACE_BEGIN("Lock input buffer (gpu to cpu)"); |
| // Lock the input GraphicBuffer and map it to a pointer. If we failed to |
| // lock, return false. |
| void* inputDataPtr; |
| inputBuffer->lock( |
| GRALLOC_USAGE_SW_READ_OFTEN | GRALLOC_USAGE_SW_WRITE_NEVER, |
| &inputDataPtr); |
| if (!inputDataPtr) { |
| LOG(ERROR) << "Failed to gain read access to GraphicBuffer"; |
| inputBuffer->unlock(); |
| return false; |
| } else { |
| LOG(INFO) << "Managed to get read access to GraphicBuffer"; |
| } |
| ATRACE_END(); |
| |
| ATRACE_BEGIN("Copy input data"); |
| // Both source and destination are with 4 channels |
| memcpy(pointers.cpu_data_pointer, inputDataPtr, |
| pDesc->height * pDesc->width * kInputNumChannels); |
| LOG(DEBUG) << "Buffer copying finished"; |
| ATRACE_END(); |
| |
| ATRACE_BEGIN("Unlock input buffer (cpu to gpu)"); |
| inputBuffer->unlock(); |
| ATRACE_END(); |
| |
| // Paired with ATRACE_BEGIN in the beginning of the method. |
| ATRACE_END(); |
| |
| return true; |
| } |
| |
| void SurroundView2dSession::processFrames() { |
| ATRACE_BEGIN(__PRETTY_FUNCTION__); |
| |
| while (true) { |
| { |
| unique_lock<mutex> lock(mAccessLock); |
| |
| if (mStreamState != RUNNING) { |
| break; |
| } |
| |
| mFramesSignal.wait(lock, [this]() { return mProcessingEvsFrames; }); |
| } |
| |
| handleFrames(mSequenceId); |
| |
| { |
| // Set the boolean to false to receive the next set of frames. |
| scoped_lock<mutex> lock(mAccessLock); |
| mProcessingEvsFrames = false; |
| } |
| } |
| |
| // Notify the SV client that no new results will be delivered. |
| LOG(DEBUG) << "Notify SvEvent::STREAM_STOPPED"; |
| mStream->notify(SvEvent::STREAM_STOPPED); |
| |
| { |
| scoped_lock<mutex> lock(mAccessLock); |
| mStreamState = STOPPED; |
| mStream = nullptr; |
| LOG(DEBUG) << "Stream marked STOPPED."; |
| } |
| |
| ATRACE_END(); |
| } |
| |
| SurroundView2dSession::SurroundView2dSession(sp<IEvsEnumerator> pEvs, |
| IOModuleConfig* pConfig) |
| : mEvs(pEvs), |
| mIOModuleConfig(pConfig), |
| mStreamState(STOPPED) {} |
| |
| SurroundView2dSession::~SurroundView2dSession() { |
| // In case the client did not call stopStream properly, we should stop the |
| // stream explicitly. Otherwise the process thread will take forever to |
| // join. |
| stopStream(); |
| |
| // Waiting for the process thread to finish the buffered frames. |
| if (mProcessThread.joinable()) { |
| mProcessThread.join(); |
| } |
| |
| mEvs->closeCamera(mCamera); |
| |
| // TODO(b/175176576): properly release the mInputPointers and mOutputPointer |
| } |
| |
| // Methods from ::android::hardware::automotive::sv::V1_0::ISurroundViewSession |
| Return<SvResult> SurroundView2dSession::startStream( |
| const sp<ISurroundViewStream>& stream) { |
| LOG(DEBUG) << __FUNCTION__; |
| scoped_lock<mutex> lock(mAccessLock); |
| |
| if (!mIsInitialized && !initialize()) { |
| LOG(ERROR) << "There is an error while initializing the use case. " |
| << "Exiting"; |
| return SvResult::INTERNAL_ERROR; |
| } |
| |
| if (mStreamState != STOPPED) { |
| LOG(ERROR) << "Ignoring startVideoStream call" |
| << "when a stream is already running."; |
| return SvResult::INTERNAL_ERROR; |
| } |
| |
| if (stream == nullptr) { |
| LOG(ERROR) << "The input stream is invalid"; |
| return SvResult::INTERNAL_ERROR; |
| } |
| mStream = stream; |
| |
| mSequenceId = 0; |
| startEvs(); |
| |
| // TODO(b/158131080): the STREAM_STARTED event is not implemented in EVS |
| // reference implementation yet. Once implemented, this logic should be |
| // moved to EVS notify callback. |
| LOG(DEBUG) << "Notify SvEvent::STREAM_STARTED"; |
| mStream->notify(SvEvent::STREAM_STARTED); |
| mProcessingEvsFrames = false; |
| |
| // Start the frame generation thread |
| mStreamState = RUNNING; |
| |
| mProcessThread = thread([this]() { |
| processFrames(); |
| }); |
| |
| return SvResult::OK; |
| } |
| |
| Return<void> SurroundView2dSession::stopStream() { |
| LOG(DEBUG) << __FUNCTION__; |
| unique_lock<mutex> lock(mAccessLock); |
| |
| if (mStreamState == RUNNING) { |
| // Tell the processFrames loop to stop processing frames |
| mStreamState = STOPPING; |
| |
| // Stop the EVS stream asynchronizely |
| mCamera->stopVideoStream(); |
| mFramesHandler = nullptr; |
| } |
| |
| return {}; |
| } |
| |
| Return<void> SurroundView2dSession::doneWithFrames( |
| const SvFramesDesc& svFramesDesc){ |
| LOG(DEBUG) << __FUNCTION__; |
| scoped_lock <mutex> lock(mAccessLock); |
| |
| mFramesRecord.inUse = false; |
| |
| (void)svFramesDesc; |
| return {}; |
| } |
| |
| // Methods from ISurroundView2dSession follow. |
| Return<void> SurroundView2dSession::get2dMappingInfo( |
| get2dMappingInfo_cb _hidl_cb) { |
| LOG(DEBUG) << __FUNCTION__; |
| |
| _hidl_cb(mInfo); |
| return {}; |
| } |
| |
| Return<SvResult> SurroundView2dSession::set2dConfig( |
| const Sv2dConfig& sv2dConfig) { |
| LOG(DEBUG) << __FUNCTION__; |
| scoped_lock <mutex> lock(mAccessLock); |
| |
| if (sv2dConfig.width <=0 || sv2dConfig.width > 4096) { |
| LOG(WARNING) << "The width of 2d config is out of the range (0, 4096]" |
| << "Ignored!"; |
| return SvResult::INVALID_ARG; |
| } |
| |
| mConfig.width = sv2dConfig.width; |
| mConfig.blending = sv2dConfig.blending; |
| mHeight = mConfig.width * mInfo.height / mInfo.width; |
| |
| if (mStream != nullptr) { |
| LOG(DEBUG) << "Notify SvEvent::CONFIG_UPDATED"; |
| mStream->notify(SvEvent::CONFIG_UPDATED); |
| } |
| |
| return SvResult::OK; |
| } |
| |
| Return<void> SurroundView2dSession::get2dConfig(get2dConfig_cb _hidl_cb) { |
| LOG(DEBUG) << __FUNCTION__; |
| |
| _hidl_cb(mConfig); |
| return {}; |
| } |
| |
| Return<void> SurroundView2dSession::projectCameraPoints(const hidl_vec<Point2dInt>& points2dCamera, |
| const hidl_string& cameraId, |
| projectCameraPoints_cb _hidl_cb) { |
| LOG(DEBUG) << __FUNCTION__; |
| std::vector<Point2dFloat> outPoints; |
| bool cameraIdFound = false; |
| int cameraIndex = 0; |
| // Note: mEvsCameraIds must be in the order front, right, rear, left. |
| for (auto& evsCameraId : mEvsCameraIds) { |
| if (cameraId == evsCameraId) { |
| cameraIdFound = true; |
| LOG(DEBUG) << "Camera id found for projection: " << cameraId; |
| break; |
| } |
| cameraIndex++; |
| } |
| |
| if (!cameraIdFound) { |
| LOG(ERROR) << "Camera id not found for projection: " << cameraId; |
| _hidl_cb(outPoints); |
| return {}; |
| } |
| |
| int width = mConfig.width; |
| int height = mHeight; |
| for (const auto& cameraPoint : points2dCamera) { |
| Point2dFloat outPoint = {false, 0.0, 0.0}; |
| // Check of the camear point is within the camera resolution bounds. |
| if (cameraPoint.x < 0 || cameraPoint.x > width - 1 || cameraPoint.y < 0 || |
| cameraPoint.y > height - 1) { |
| LOG(WARNING) << "Camera point (" << cameraPoint.x << ", " << cameraPoint.y |
| << ") is out of camera resolution bounds."; |
| outPoint.isValid = false; |
| outPoints.push_back(outPoint); |
| continue; |
| } |
| |
| // Project points using mSurroundView function. |
| const Coordinate2dInteger camPoint(cameraPoint.x, cameraPoint.y); |
| Coordinate2dFloat projPoint2d(0.0, 0.0); |
| |
| outPoint.isValid = |
| mSurroundView->GetProjectionPointFromRawCameraToSurroundView2d(camPoint, |
| cameraIndex, |
| &projPoint2d); |
| outPoint.x = projPoint2d.x; |
| outPoint.y = projPoint2d.y; |
| outPoints.push_back(outPoint); |
| } |
| |
| _hidl_cb(outPoints); |
| return {}; |
| } |
| |
| // TODO(b/175176765): implement a GPU version of this method separately. |
| bool SurroundView2dSession::handleFrames(int sequenceId) { |
| LOG(INFO) << __FUNCTION__ << "Handling sequenceId " << sequenceId << "."; |
| |
| ATRACE_BEGIN(__PRETTY_FUNCTION__); |
| |
| // TODO(b/157498592): Now only one sets of EVS input frames and one SV |
| // output frame is supported. Implement buffer queue for both of them. |
| { |
| scoped_lock<mutex> lock(mAccessLock); |
| |
| if (mFramesRecord.inUse) { |
| LOG(DEBUG) << "Notify SvEvent::FRAME_DROPPED"; |
| mStream->notify(SvEvent::FRAME_DROPPED); |
| |
| // For GPU solution only (the frames were released already for CPU solution). |
| if (mGpuAccelerationEnabled) { |
| mCamera->doneWithFrame_1_1(mEvsGraphicBuffers); |
| } |
| return true; |
| } |
| } |
| |
| // TODO(b/175177030): modifying the width/length on the fly is not supported by the GPU approach |
| // yet. |
| if (!mGpuAccelerationEnabled) { |
| if (mOutputWidth != mConfig.width || mOutputHeight != mHeight) { |
| LOG(DEBUG) << "Config changed. Re-allocate memory." |
| << " Old width: " << mOutputWidth << " Old height: " << mOutputHeight |
| << " New width: " << mConfig.width << " New height: " << mHeight; |
| delete[] static_cast<char*>(mOutputPointer.cpu_data_pointer); |
| mOutputWidth = mConfig.width; |
| mOutputHeight = mHeight; |
| mOutputPointer.height = mOutputHeight; |
| mOutputPointer.width = mOutputWidth; |
| mOutputPointer.format = Format::RGB; |
| mOutputPointer.cpu_data_pointer = |
| static_cast<void*>(new char[mOutputHeight * mOutputWidth * kOutputNumChannels]); |
| |
| if (!mOutputPointer.cpu_data_pointer) { |
| LOG(ERROR) << "Memory allocation failed. Exiting."; |
| return false; |
| } |
| |
| Size2dInteger size = Size2dInteger(mOutputWidth, mOutputHeight); |
| mSurroundView->Update2dOutputResolution(size); |
| |
| mSvTexture = new GraphicBuffer(mOutputWidth, mOutputHeight, HAL_PIXEL_FORMAT_RGB_888, 1, |
| GRALLOC_USAGE_HW_TEXTURE, "SvTexture"); |
| if (mSvTexture->initCheck() == OK) { |
| LOG(INFO) << "Successfully allocated Graphic Buffer"; |
| } else { |
| LOG(ERROR) << "Failed to allocate Graphic Buffer"; |
| return false; |
| } |
| } |
| LOG(INFO) << "Output Pointer data format: " << mOutputPointer.format; |
| } |
| |
| ATRACE_BEGIN("SV core lib method: Get2dSurroundView"); |
| const string gpuEnabledText = mGpuAccelerationEnabled ? " with GPU acceleration flag enabled" |
| : " with GPU acceleration flag disabled"; |
| if (mSurroundView->Get2dSurroundView(mInputPointers, &mOutputPointer)) { |
| LOG(INFO) << "Get2dSurroundView succeeded" << gpuEnabledText; |
| } else { |
| LOG(ERROR) << "Get2dSurroundView failed" << gpuEnabledText; |
| } |
| ATRACE_END(); |
| |
| // For GPU solution only (the frames were released already for CPU solution). |
| if (mGpuAccelerationEnabled) { |
| ATRACE_BEGIN("Release the evs frames"); |
| mCamera->doneWithFrame_1_1(mEvsGraphicBuffers); |
| ATRACE_END(); |
| } |
| |
| ANativeWindowBuffer* buffer; |
| if (mGpuAccelerationEnabled) { |
| buffer = mOutputHolder->getNativeBuffer(); |
| } else { |
| ATRACE_BEGIN("Lock output texture (gpu to cpu)"); |
| void* textureDataPtr = nullptr; |
| mSvTexture->lock(GRALLOC_USAGE_SW_WRITE_OFTEN | GRALLOC_USAGE_SW_READ_NEVER, |
| &textureDataPtr); |
| ATRACE_END(); |
| |
| if (!textureDataPtr) { |
| LOG(ERROR) << "Failed to gain write access to GraphicBuffer!"; |
| return false; |
| } |
| |
| ATRACE_BEGIN("Copy output result"); |
| // Note: there is a chance that the stride of the texture is not the same |
| // as the width. For example, when the input frame is 1920 * 1080, the |
| // width is 1080, but the stride is 2048. So we'd better copy the data line |
| // by line, instead of single memcpy. |
| uint8_t* writePtr = static_cast<uint8_t*>(textureDataPtr); |
| uint8_t* readPtr = static_cast<uint8_t*>(mOutputPointer.cpu_data_pointer); |
| const int readStride = mOutputWidth * kOutputNumChannels; |
| const int writeStride = mSvTexture->getStride() * kOutputNumChannels; |
| if (readStride == writeStride) { |
| memcpy(writePtr, readPtr, readStride * mSvTexture->getHeight()); |
| } else { |
| for (int i = 0; i < mSvTexture->getHeight(); i++) { |
| memcpy(writePtr, readPtr, readStride); |
| writePtr = writePtr + writeStride; |
| readPtr = readPtr + readStride; |
| } |
| } |
| LOG(DEBUG) << "memcpy finished"; |
| ATRACE_END(); |
| |
| ATRACE_BEGIN("Unlock output texture (cpu to gpu)"); |
| mSvTexture->unlock(); |
| ATRACE_END(); |
| |
| buffer = mSvTexture->getNativeBuffer(); |
| LOG(DEBUG) << "ANativeWindowBuffer->handle: " << buffer->handle; |
| } |
| |
| { |
| scoped_lock<mutex> lock(mAccessLock); |
| |
| mFramesRecord.frames.svBuffers.resize(1); |
| SvBuffer& svBuffer = mFramesRecord.frames.svBuffers[0]; |
| svBuffer.viewId = kSv2dViewId; |
| svBuffer.hardwareBuffer.nativeHandle = buffer->handle; |
| AHardwareBuffer_Desc* pDesc = |
| reinterpret_cast<AHardwareBuffer_Desc*>( |
| &svBuffer.hardwareBuffer.description); |
| if (mGpuAccelerationEnabled) { |
| pDesc->width = mOutputPointer.width; |
| pDesc->height = mOutputPointer.height; |
| pDesc->stride = mOutputHolder->getStride(); |
| pDesc->format = HAL_PIXEL_FORMAT_RGBA_8888; |
| } else { |
| pDesc->width = mOutputWidth; |
| pDesc->height = mOutputHeight; |
| pDesc->stride = mSvTexture->getStride(); |
| pDesc->format = HAL_PIXEL_FORMAT_RGB_888; |
| } |
| pDesc->layers = 1; |
| pDesc->usage = GRALLOC_USAGE_HW_TEXTURE; |
| mFramesRecord.frames.timestampNs = elapsedRealtimeNano(); |
| mFramesRecord.frames.sequenceId = sequenceId; |
| |
| mFramesRecord.inUse = true; |
| mStream->receiveFrames(mFramesRecord.frames); |
| } |
| |
| ATRACE_END(); |
| |
| return true; |
| } |
| |
| // TODO(b/175176765): consider to HW-specific initialization procedures into |
| // separate methods. |
| bool SurroundView2dSession::initialize() { |
| lock_guard<mutex> lock(mAccessLock, adopt_lock); |
| |
| ATRACE_BEGIN(__PRETTY_FUNCTION__); |
| |
| if (!setupEvs()) { |
| LOG(ERROR) << "Failed to setup EVS components for 2d session"; |
| return false; |
| } |
| |
| // TODO(b/150412555): ask core-lib team to add API description for "create" |
| // method in the .h file. |
| // The create method will never return a null pointer based the API |
| // description. |
| mSurroundView = unique_ptr<SurroundView>(Create()); |
| |
| SurroundViewStaticDataParams params = |
| SurroundViewStaticDataParams(mCameraParams, |
| mIOModuleConfig->sv2dConfig.sv2dParams, |
| mIOModuleConfig->sv3dConfig.sv3dParams, |
| vector<float>(std::begin(kUndistortionScales), |
| std::end(kUndistortionScales)), |
| mIOModuleConfig->sv2dConfig.carBoundingBox, |
| mIOModuleConfig->carModelConfig.carModel.texturesMap, |
| mIOModuleConfig->carModelConfig.carModel.partsMap); |
| mGpuAccelerationEnabled = mIOModuleConfig->sv2dConfig.sv2dParams.gpu_acceleration_enabled; |
| |
| ATRACE_BEGIN("SV core lib method: SetStaticData"); |
| mSurroundView->SetStaticData(params); |
| ATRACE_END(); |
| |
| ATRACE_BEGIN("SV core lib method: Start2dPipeline"); |
| const string gpuEnabledText = mGpuAccelerationEnabled ? "with GPU acceleration flag enabled" |
| : "with GPU acceleration flag disabled"; |
| if (mSurroundView->Start2dPipeline()) { |
| LOG(INFO) << "Start2dPipeline succeeded " << gpuEnabledText; |
| } else { |
| LOG(ERROR) << "Start2dPipeline failed " << gpuEnabledText; |
| return false; |
| } |
| ATRACE_END(); |
| |
| ATRACE_BEGIN("Allocate cpu buffers"); |
| mInputPointers.resize(kNumFrames); |
| for (int i = 0; i < kNumFrames; i++) { |
| mInputPointers[i].width = mCameraParams[i].size.width; |
| mInputPointers[i].height = mCameraParams[i].size.height; |
| |
| // Only allocate CPU memory for CPU solution |
| // For GPU solutions, the Graphic Buffers from EVS will be converted and |
| // stored in gpu_data_pointer |
| if (!mGpuAccelerationEnabled) { |
| mInputPointers[i].format = Format::RGBA; |
| mInputPointers[i].cpu_data_pointer = |
| static_cast<void*>(new char[mInputPointers[i].width * mInputPointers[i].height * |
| kInputNumChannels]); |
| } |
| } |
| LOG(INFO) << "Allocated " << kNumFrames << " input pointers"; |
| |
| mOutputWidth = mIOModuleConfig->sv2dConfig.sv2dParams.resolution.width; |
| mOutputHeight = mIOModuleConfig->sv2dConfig.sv2dParams.resolution.height; |
| |
| mConfig.width = mOutputWidth; |
| mConfig.blending = SvQuality::HIGH; |
| mHeight = mOutputHeight; |
| |
| mOutputPointer.height = mOutputHeight; |
| mOutputPointer.width = mOutputWidth; |
| |
| // Only allocate CPU memory for CPU solution |
| if (!mGpuAccelerationEnabled) { |
| mOutputPointer.format = Format::RGB; |
| mOutputPointer.cpu_data_pointer = |
| static_cast<void*>(new char[mOutputHeight * mOutputWidth * kOutputNumChannels]); |
| |
| if (!mOutputPointer.cpu_data_pointer) { |
| LOG(ERROR) << "Memory allocation failed. Exiting."; |
| return false; |
| } |
| } |
| ATRACE_END(); |
| |
| ATRACE_BEGIN("Allocate output texture"); |
| if (mGpuAccelerationEnabled) { |
| mOutputHolder = new GraphicBuffer(mOutputWidth, mOutputHeight, HAL_PIXEL_FORMAT_RGBA_8888, |
| 1, GRALLOC_USAGE_HW_TEXTURE, "SvOutputHolder"); |
| if (mOutputHolder->initCheck() == OK) { |
| LOG(INFO) << "Successfully allocated Graphic Buffer for SvOutputHolder"; |
| } else { |
| LOG(ERROR) << "Failed to allocate Graphic Buffer for SvOutputHolder"; |
| return false; |
| } |
| mOutputPointer.gpu_data_pointer = static_cast<void*>(mOutputHolder->toAHardwareBuffer()); |
| } else { |
| mSvTexture = new GraphicBuffer(mOutputWidth, mOutputHeight, HAL_PIXEL_FORMAT_RGB_888, 1, |
| GRALLOC_USAGE_HW_TEXTURE, "SvTexture"); |
| if (mSvTexture->initCheck() == OK) { |
| LOG(INFO) << "Successfully allocated Graphic Buffer"; |
| } else { |
| LOG(ERROR) << "Failed to allocate Graphic Buffer"; |
| return false; |
| } |
| } |
| |
| // Note: sv2dParams is in meters while mInfo must be in milli-meters. |
| mInfo.width = mIOModuleConfig->sv2dConfig.sv2dParams.physical_size.width * 1000.0; |
| mInfo.height = mIOModuleConfig->sv2dConfig.sv2dParams.physical_size.height * 1000.0; |
| mInfo.center.isValid = true; |
| mInfo.center.x = mIOModuleConfig->sv2dConfig.sv2dParams.physical_center.x * 1000.0; |
| mInfo.center.y = mIOModuleConfig->sv2dConfig.sv2dParams.physical_center.y * 1000.0; |
| |
| mIsInitialized = true; |
| |
| ATRACE_END(); |
| |
| return true; |
| } |
| |
| bool SurroundView2dSession::setupEvs() { |
| ATRACE_BEGIN(__PRETTY_FUNCTION__); |
| |
| // Reads the camera related information from the config object |
| const string evsGroupId = mIOModuleConfig->cameraConfig.evsGroupId; |
| |
| // Setup for EVS |
| LOG(INFO) << "Requesting camera list"; |
| mEvs->getCameraList_1_1( |
| [this, evsGroupId] (hidl_vec<CameraDesc> cameraList) { |
| LOG(INFO) << "Camera list callback received " << cameraList.size(); |
| for (auto&& cam : cameraList) { |
| LOG(INFO) << "Found camera " << cam.v1.cameraId; |
| if (cam.v1.cameraId == evsGroupId) { |
| mCameraDesc = cam; |
| } |
| } |
| }); |
| |
| bool foundCfg = false; |
| std::unique_ptr<Stream> targetCfg(new Stream()); |
| |
| // This logic picks the configuration with the largest area that supports |
| // RGBA8888 format |
| int32_t maxArea = 0; |
| camera_metadata_entry_t streamCfgs; |
| if (!find_camera_metadata_entry( |
| reinterpret_cast<camera_metadata_t *>(mCameraDesc.metadata.data()), |
| ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS, |
| &streamCfgs)) { |
| // Stream configurations are found in metadata |
| RawStreamConfig *ptr = reinterpret_cast<RawStreamConfig *>( |
| streamCfgs.data.i32); |
| for (unsigned idx = 0; idx < streamCfgs.count; idx += kStreamCfgSz) { |
| if (ptr->direction == |
| ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS_OUTPUT && |
| ptr->format == HAL_PIXEL_FORMAT_RGBA_8888) { |
| |
| if (ptr->width * ptr->height > maxArea) { |
| targetCfg->id = ptr->id; |
| targetCfg->width = ptr->width; |
| targetCfg->height = ptr->height; |
| |
| // This client always wants below input data format |
| targetCfg->format = |
| static_cast<GraphicsPixelFormat>( |
| HAL_PIXEL_FORMAT_RGBA_8888); |
| |
| maxArea = ptr->width * ptr->height; |
| |
| foundCfg = true; |
| } |
| } |
| ++ptr; |
| } |
| } else { |
| LOG(WARNING) << "No stream configuration data is found; " |
| << "default parameters will be used."; |
| } |
| |
| if (!foundCfg) { |
| LOG(INFO) << "No config was found"; |
| targetCfg = nullptr; |
| return false; |
| } |
| |
| string camId = mCameraDesc.v1.cameraId.c_str(); |
| mCamera = mEvs->openCamera_1_1(camId.c_str(), *targetCfg); |
| if (mCamera == nullptr) { |
| LOG(ERROR) << "Failed to allocate EVS Camera interface for " << camId; |
| return false; |
| } else { |
| LOG(INFO) << "Logical camera " << camId << " is opened successfully"; |
| } |
| |
| mEvsCameraIds = mIOModuleConfig->cameraConfig.evsCameraIds; |
| if (mEvsCameraIds.size() < kNumFrames) { |
| LOG(ERROR) << "Incorrect camera info is stored in the camera config"; |
| return false; |
| } |
| |
| map<string, AndroidCameraParams> cameraIdToAndroidParameters; |
| for (const auto& id : mEvsCameraIds) { |
| AndroidCameraParams params; |
| if (getAndroidCameraParams(mCamera, id, params)) { |
| cameraIdToAndroidParameters.emplace(id, params); |
| LOG(INFO) << "Camera parameters are fetched successfully for " |
| << "physical camera: " << id; |
| } else { |
| LOG(ERROR) << "Failed to get camera parameters for " |
| << "physical camera: " << id; |
| return false; |
| } |
| } |
| |
| mCameraParams = |
| convertToSurroundViewCameraParams(cameraIdToAndroidParameters); |
| |
| for (auto& camera : mCameraParams) { |
| camera.size.width = targetCfg->width; |
| camera.size.height = targetCfg->height; |
| camera.circular_fov = 179; |
| } |
| |
| // Add validity mask filenames. |
| for (int i = 0; i < mCameraParams.size(); i++) { |
| mCameraParams[i].validity_mask_filename = mIOModuleConfig->cameraConfig.maskFilenames[i]; |
| } |
| ATRACE_END(); |
| return true; |
| } |
| |
| bool SurroundView2dSession::startEvs() { |
| ATRACE_BEGIN(__PRETTY_FUNCTION__); |
| |
| mFramesHandler = new FramesHandler(mCamera, this); |
| Return<EvsResult> result = mCamera->startVideoStream(mFramesHandler); |
| if (result != EvsResult::OK) { |
| LOG(ERROR) << "Failed to start video stream"; |
| return false; |
| } else { |
| LOG(INFO) << "Video stream was started successfully"; |
| } |
| |
| ATRACE_END(); |
| |
| return true; |
| } |
| |
| } // namespace implementation |
| } // namespace V1_0 |
| } // namespace sv |
| } // namespace automotive |
| } // namespace hardware |
| } // namespace android |
