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 camera3_stream_rotation_t rotation, int *id, const String8& physicalCameraId, 54 std::vector<int> *surfaceIds, int streamSetId, bool isShared) override; 55 status_t deleteInternalStreams() override; 56 status_t configureStream() override; 57 status_t insertGbp(SurfaceMap* /*out*/outSurfaceMap, Vector<int32_t>* /*out*/outputStreamIds, 58 int32_t* /*out*/currentStreamId) override; 59 status_t insertCompositeStreamIds(std::vector<int32_t>* compositeStreamIds /*out*/) override; getStreamId()60 int getStreamId() override { return mBlobStreamId; } 61 62 // CpuConsumer listener implementation 63 void onFrameAvailable(const BufferItem& item) override; 64 65 // Return stream information about the internal camera streams 66 static status_t getCompositeStreamInfo(const OutputStreamInfo &streamInfo, 67 const CameraMetadata& ch, std::vector<OutputStreamInfo>* compositeOutput /*out*/); 68 69 protected: 70 71 bool threadLoop() override; 72 bool onStreamBufferError(const CaptureResultExtras& resultExtras) override; 73 void onResultError(const CaptureResultExtras& resultExtras) override; 74 75 private: 76 struct InputFrame { 77 CpuConsumer::LockedBuffer depthBuffer; 78 CpuConsumer::LockedBuffer jpegBuffer; 79 CameraMetadata result; 80 bool error; 81 bool errorNotified; 82 int64_t frameNumber; 83 int32_t requestId; 84 InputFrameInputFrame85 InputFrame() : error(false), errorNotified(false), frameNumber(-1), requestId(-1) { } 86 }; 87 88 // Helper methods 89 static void getSupportedDepthSizes(const CameraMetadata& ch, 90 std::vector<std::tuple<size_t, size_t>>* depthSizes /*out*/); 91 static status_t getMatchingDepthSize(size_t width, size_t height, 92 const std::vector<std::tuple<size_t, size_t>>& supporedDepthSizes, 93 size_t *depthWidth /*out*/, size_t *depthHeight /*out*/); 94 95 // Dynamic depth processing 96 status_t encodeGrayscaleJpeg(size_t width, size_t height, uint8_t *in, void *out, 97 const size_t maxOutSize, uint8_t jpegQuality, size_t &actualSize); 98 std::unique_ptr<DepthMap> processDepthMapFrame(const CpuConsumer::LockedBuffer &depthMapBuffer, 99 size_t maxJpegSize, uint8_t jpegQuality, 100 std::vector<std::unique_ptr<Item>>* items /*out*/); 101 std::unique_ptr<ImagingModel> getImagingModel(); 102 status_t processInputFrame(nsecs_t ts, const InputFrame &inputFrame); 103 104 // Buffer/Results handling 105 void compilePendingInputLocked(); 106 void releaseInputFrameLocked(InputFrame *inputFrame /*out*/); 107 void releaseInputFramesLocked(int64_t currentTs); 108 109 // Find first complete and valid frame with smallest timestamp 110 bool getNextReadyInputLocked(int64_t *currentTs /*inout*/); 111 112 // Find next failing frame number with smallest timestamp and return respective frame number 113 int64_t getNextFailingInputLocked(int64_t *currentTs /*inout*/); 114 115 static const nsecs_t kWaitDuration = 10000000; // 10 ms 116 static const auto kDepthMapPixelFormat = HAL_PIXEL_FORMAT_Y16; 117 static const auto kDepthMapDataSpace = HAL_DATASPACE_DEPTH; 118 static const auto kJpegDataSpace = HAL_DATASPACE_V0_JFIF; 119 120 int mBlobStreamId, mBlobSurfaceId, mDepthStreamId, mDepthSurfaceId; 121 size_t mBlobWidth, mBlobHeight; 122 sp<CpuConsumer> mBlobConsumer, mDepthConsumer; 123 bool mDepthBufferAcquired, mBlobBufferAcquired; 124 sp<Surface> mDepthSurface, mBlobSurface, mOutputSurface; 125 sp<ProducerListener> mProducerListener; 126 127 ssize_t mMaxJpegSize; 128 std::vector<std::tuple<size_t, size_t>> mSupportedDepthSizes; 129 std::vector<float> mIntrinsicCalibration, mLensDistortion; 130 bool mIsLogicalCamera; 131 132 // Keep all incoming Depth buffer timestamps pending further processing. 133 std::vector<int64_t> mInputDepthBuffers; 134 135 // Keep all incoming Jpeg/Blob buffer timestamps pending further processing. 136 std::vector<int64_t> mInputJpegBuffers; 137 138 // Map of all input frames pending further processing. 139 std::unordered_map<int64_t, InputFrame> mPendingInputFrames; 140 }; 141 142 }; //namespace camera3 143 }; //namespace android 144 145 #endif 146