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0001-New_features_camera_tunning_and_fixes.patch
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File 0001-New_features_camera_tunning_and_fixes.patch of Package libxcam
From 6a20559b402493ff29eac7368b5d7b4569a64884 Mon Sep 17 00:00:00 2001 From: zihengchang <zihengx.chang@intel.com> Date: Thu, 9 Sep 2021 15:47:43 +0800 Subject: [PATCH] New features, camera tunning and fixes Support 6 camera input and output 8k video Support opecv4.x Add json file calibration data of new insta camera Fix code indentation --- configure.ac | 5 +- m4/xcam-utils.m4 | 4 +- modules/gles/gl_stitcher.cpp | 4 + modules/ocv/cv_capi_feature_match.cpp | 2 + modules/ocv/cv_capi_feature_match.h | 2 + modules/soft/Makefile.am | 2 +- modules/soft/soft_stitcher.cpp | 2 + modules/vulkan/vk_stitcher.cpp | 4 + tests/camera_calibration_insta.json | 115 +++++++++++++++++++++++ tests/test-surround-view.cpp | 8 +- tests/test_sv_params.h | 129 ++++++++++++++++++++++++++ xcore/interface/stitcher.cpp | 2 +- 12 files changed, 271 insertions(+), 8 deletions(-) create mode 100644 tests/camera_calibration_insta.json diff --git a/configure.ac b/configure.ac index 0319a700a..0161e947d 100644 --- a/configure.ac +++ b/configure.ac @@ -29,7 +29,7 @@ AC_SUBST(XCAM_LT_LDFLAGS) # xcam required OpenCV version [XCAM_REQUIRE_CV_MIN, XCAM_REQUIRE_CV_MAX) XCAM_REQUIRE_CV_MIN=3.0.0 -XCAM_REQUIRE_CV_MAX=4.0.0 +XCAM_REQUIRE_CV_MAX=5.0.0 # xcam required OpenSceneGraph version XCAM_REQUIRE_OSG_MIN=3.3.2 @@ -81,7 +81,7 @@ XCAM_CHECK_DOXYGEN($enable_docs, [], enable_docs="no") XCAM_CHECK_AVX512($enable_avx512, ENABLE_AVX512=1, ENABLE_AVX512=0) XCAM_CHECK_OSG($enable_render, $XCAM_REQUIRE_OSG_MIN, ENABLE_RENDER=1, ENABLE_RENDER=0) XCAM_CHECK_DNN($enable_dnn, $OPENVINO_IE_INC_PATH, $OPENVINO_IE_LIBS_PATH, ENABLE_DNN=1, ENABLE_DNN=0) -XCAM_CHECK_OPENCV($enable_opencv, $XCAM_REQUIRE_CV_MIN, $XCAM_REQUIRE_CV_MAX, HAVE_OPENCV=1, HAVE_OPENCV=0) +XCAM_CHECK_OPENCV($enable_opencv, $XCAM_REQUIRE_CV_MIN, $XCAM_REQUIRE_CV_MAX, HAVE_OPENCV=1, HAVE_OPENCV=0, OPENCV_VERSION3=1, OPENCV_VERSION3=0) XCAM_CHECK_OCV_VIDEOSTAB($HAVE_OPENCV, ENABLE_DVS=1, ENABLE_DVS=0) XCAM_CHECK_DVS_OCL($HAVE_OPENCV, ENABLE_DVS_CL_PATH=1, ENABLE_DVS_CL_PATH=0) XCAM_CHECK_GST($enable_gst, $GST_API_VERSION, $GST_VERSION_MIN, ENABLE_GST=1, ENABLE_GST=0) @@ -116,6 +116,7 @@ XCAM_DEFINE_MACOR(ENABLE_AVX512, $ENABLE_AVX512, have avx instruction) XCAM_DEFINE_MACOR(ENABLE_RENDER, $ENABLE_RENDER, enable texture render) XCAM_DEFINE_MACOR(ENABLE_DNN, $ENABLE_DNN, have dnn) XCAM_DEFINE_MACOR(HAVE_OPENCV, $HAVE_OPENCV, have opencv) +XCAM_DEFINE_MACOR(OPENCV_VERSION3, $OPENCV_VERSION3, opencv version3) XCAM_DEFINE_MACOR(ENABLE_DVS, $ENABLE_DVS, have dvs) XCAM_DEFINE_MACOR(ENABLE_DVS_CL_PATH, $ENABLE_DVS_CL_PATH, enable dvs cl path) XCAM_DEFINE_MACOR(ENABLE_CAPI, $ENABLE_CAPI, enable capi) diff --git a/m4/xcam-utils.m4 b/m4/xcam-utils.m4 index aefaf9077..a93c45c6b 100644 --- a/m4/xcam-utils.m4 +++ b/m4/xcam-utils.m4 @@ -55,7 +55,7 @@ AC_DEFUN([XCAM_CHECK_DOXYGEN], [$3]) ]) -# XCAM_CHECK_OPENCV([$1:value], [$2:ocv-min], [$3:ocv-max], [$4:if-found], [$5:if-not-found]) +# XCAM_CHECK_OPENCV([$1:value], [$2:ocv-min], [$3:ocv-max], [$4:if-found], [$5:if-not-found]， [$6:if-opencv3.x], [$7:if-not-opencv3.x]) AC_DEFUN([XCAM_CHECK_OPENCV], [ AS_IF([test "x$1" = "xyes"], @@ -72,6 +72,8 @@ AC_DEFUN([XCAM_CHECK_OPENCV], [AC_MSG_ERROR(OpenCV required version: >= $2 && < $3)]) ], [$5]) + AS_IF([test $ocv_major_version == 3], [$6], [$7]) + AC_MSG_NOTICE(OPENCV_major_version: $ocv_major_version) ]) # XCAM_CHECK_OCV_VIDEOSTAB([$1:value], [$2:if-found], [$3:if-not-found]) diff --git a/modules/gles/gl_stitcher.cpp b/modules/gles/gl_stitcher.cpp index 1cdf46ad7..22ac110ae 100644 --- a/modules/gles/gl_stitcher.cpp +++ b/modules/gles/gl_stitcher.cpp @@ -746,15 +746,19 @@ StitcherImpl::create_feature_match (SmartPtr<FeatureMatch> &matcher) case FMCluster: matcher = FeatureMatch::create_cluster_feature_match (); break; +#if OPENCV_VERSION3 case FMCapi: matcher = FeatureMatch::create_capi_feature_match (); break; +#endif default: XCAM_LOG_ERROR ("gl-stitcher unsupported feature match mode: %d", fm_mode); return XCAM_RETURN_ERROR_PARAM; } #else +#if OPENCV_VERSION3 matcher = FeatureMatch::create_capi_feature_match (); +#endif #endif XCAM_ASSERT (matcher.ptr ()); diff --git a/modules/ocv/cv_capi_feature_match.cpp b/modules/ocv/cv_capi_feature_match.cpp index d478f3c0f..e24416b7a 100644 --- a/modules/ocv/cv_capi_feature_match.cpp +++ b/modules/ocv/cv_capi_feature_match.cpp @@ -22,6 +22,7 @@ #include "cv_capi_feature_match.h" +#if OPENCV_VERSION3 #define XCAM_CV_CAPI_FM_DEBUG 0 namespace XCam { @@ -249,3 +250,4 @@ FeatureMatch::create_capi_feature_match () } } +#endif diff --git a/modules/ocv/cv_capi_feature_match.h b/modules/ocv/cv_capi_feature_match.h index f1f87948f..26c60629f 100644 --- a/modules/ocv/cv_capi_feature_match.h +++ b/modules/ocv/cv_capi_feature_match.h @@ -31,6 +31,7 @@ #include <cv.h> #else #include <opencv2/imgproc/imgproc_c.h> +#if OPENCV_VERSION3 #include <opencv2/video/tracking_c.h> #endif @@ -72,3 +73,4 @@ class CVCapiFeatureMatch } #endif // CV_CAPI_FEATURE_MATCH_H +#endif diff --git a/modules/soft/Makefile.am b/modules/soft/Makefile.am index 9c4fbdb9e..fa3982210 100644 --- a/modules/soft/Makefile.am +++ b/modules/soft/Makefile.am @@ -31,7 +31,7 @@ xcam_soft_sources = \ soft_geo_tasks_priv.cpp \ soft_copy_task.cpp \ soft_stitcher.cpp \ - $(NULL) + $(NULL) libxcam_soft_la_SOURCES = \ $(xcam_soft_sources) \ diff --git a/modules/soft/soft_stitcher.cpp b/modules/soft/soft_stitcher.cpp index 350812163..dde33d199 100644 --- a/modules/soft/soft_stitcher.cpp +++ b/modules/soft/soft_stitcher.cpp @@ -470,8 +470,10 @@ StitcherImpl::init_feature_match (uint32_t idx) _overlaps[idx].matcher = FeatureMatch::create_default_feature_match (); else if (fm_mode == FMCluster) _overlaps[idx].matcher = FeatureMatch::create_cluster_feature_match (); +#if OPENCV_VERSION3 else if (fm_mode == FMCapi) _overlaps[idx].matcher = FeatureMatch::create_capi_feature_match (); +#endif else { XCAM_LOG_ERROR ("unsupported FeatureMatchMode: %d", fm_mode); XCAM_ASSERT (false); diff --git a/modules/vulkan/vk_stitcher.cpp b/modules/vulkan/vk_stitcher.cpp index 06ec8a772..9e12fd7c1 100644 --- a/modules/vulkan/vk_stitcher.cpp +++ b/modules/vulkan/vk_stitcher.cpp @@ -423,15 +423,19 @@ StitcherImpl::init_feature_matchers () matcher = FeatureMatch::create_default_feature_match (); else if (fm_mode == FMCluster) matcher = FeatureMatch::create_cluster_feature_match (); +#if OPENCV_VERSION3 else if (fm_mode == FMCapi) matcher = FeatureMatch::create_capi_feature_match (); +#endif else { XCAM_LOG_ERROR ( "vk-stitcher(%s) unsupported FeatureMatchMode: %d", XCAM_STR (_stitcher->get_name ()), fm_mode); } #else +#if OPENCV_VERSION3 matcher = FeatureMatch::create_capi_feature_match (); +#endif #endif XCAM_ASSERT (matcher.ptr ()); diff --git a/tests/camera_calibration_insta.json b/tests/camera_calibration_insta.json new file mode 100644 index 000000000..9d7fae848 --- /dev/null +++ b/tests/camera_calibration_insta.json @@ -0,0 +1,115 @@ +{ + "info": "", + "sn": "", + "model": 2, + "rig": [ + 0.0, + 0.0, + 0.0 + ], + "cameras": { + "camera":[ + { + "type": 25, + "radius": 2040.0, + "cx": 1900.0, + "cy": 1410.0, + "yaw": 0.0, + "pitch": 0.0, + "roll": 92.3, + "w": 3840, + "h": 2880, + "fov": 200.0, + "t": [ 0.0, + 0.0, + 0.0 + ] + }, + { + "type": 25, + "radius": 1984.0, + "cx": 1920.0, + "cy": 1440.0, + "yaw": 0.0, + "pitch": 0.0, + "roll": 90.2, + "w": 3840, + "h": 2880, + "fov": 200.0, + "t": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "type": 25, + "radius": 1984.0, + "cx": 1860.0, + "cy": 1480.0, + "yaw": 0.0, + "pitch": 0.0, + "roll": 89.3, + "w": 3840, + "h": 2880, + "fov": 200.0, + "t": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "type": 25, + "radius": 1984.0, + "cx": 1944.0, + "cy": 1460.0, + "yaw": 0.0, + "pitch": 0.0, + "roll": 90.8, + "w": 3840, + "h": 2880, + "fov": 200.0, + "t": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "type": 25, + "radius": 1984.0, + "cx": 1910.0, + "cy": 1420.0, + "yaw": 0.0, + "pitch": 0.0, + "roll": 90.5, + "w": 3840, + "h": 2880, + "fov": 200.0, + "t": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "type": 25, + "radius": 1984.0, + "cx": 1928.0, + "cy": 1440.0, + "yaw": 0.0, + "pitch": 0.0, + "roll": 89.7, + "w": 3840, + "h": 2880, + "fov": 200.0, + "t": [ + 0.0, + 0.0, + 0.0 + ] + } + ] + } +} diff --git a/tests/test-surround-view.cpp b/tests/test-surround-view.cpp index 1e7297df0..2fff0a3e4 100644 --- a/tests/test-surround-view.cpp +++ b/tests/test-surround-view.cpp @@ -528,7 +528,7 @@ static void usage(const char* arg0) "\t--in-format optional, pixel format, select from [nv12/yuv], default: nv12\n" "\t--fisheye-num optional, the number of fisheye lens, default: 4\n" "\t--cam-model optional, camera model\n" - "\t select from [cama2c1080p/camb4c1080p/camc3c8k/camd3c8k], default: camb4c1080p\n" + "\t select from [cama2c1080p/camb4c1080p/camc3c8k/camc6c8k/camd3c8k], default: camb4c1080p\n" "\t--blend-pyr-levels optional, the pyramid levels of blender, default: 2\n" "\t--dewarp-mode optional, fisheye dewarp mode, select from [sphere/bowl], default: bowl\n" "\t--scopic-mode optional, scopic mode, select from [mono/stereoleft/stereoright], default: mono\n" @@ -705,6 +705,8 @@ int main (int argc, char *argv[]) cam_model = CamB4C1080P; else if (!strcasecmp (optarg, "camc3c8k")) cam_model = CamC3C8K; + else if (!strcasecmp (optarg, "camc6c8k")) + cam_model = CamC6C8K; else if (!strcasecmp (optarg, "camd3c8k")) cam_model = CamD3C8K; else { @@ -852,7 +854,7 @@ int main (int argc, char *argv[]) printf ("input%d file:\t\t%s\n", i, ins[i]->get_file_name ()); } printf ("camera model:\t\t%s\n", cam_model == CamA2C1080P ? "cama2c1080p" : - (cam_model == CamB4C1080P ? "camb4c1080p" : (cam_model == CamC3C8K ? "camc3c8k" : "camd3c8k"))); + (cam_model == CamB4C1080P ? "camb4c1080p" : (cam_model == CamC3C8K ? "camc3c8k" : (cam_model == CamC6C8K ? "camc6c8k" : "camd3c8k")))); printf ("fisheye number:\t\t%d\n", fisheye_num); printf ("stitch module:\t\t%s\n", module == SVModuleGLES ? "GLES" : (module == SVModuleVulkan ? "Vulkan" : (module == SVModuleSoft ? "Soft" : "Unknown"))); @@ -931,7 +933,7 @@ int main (int argc, char *argv[]) } #if ENABLE_FISHEYE_IMG_ROI - if (module == SVModuleGLES && (cam_model == CamC3C8K || cam_model == CamD3C8K)) { + if (module == SVModuleGLES && (cam_model == CamC3C8K || cam_model == CamC6C8K || cam_model == CamD3C8K)) { StitchInfo info = (module == SVModuleSoft) ? soft_stitch_info (cam_model, scopic_mode) : gl_stitch_info (cam_model, scopic_mode); diff --git a/tests/test_sv_params.h b/tests/test_sv_params.h index 7610aa1bf..25e70534b 100644 --- a/tests/test_sv_params.h +++ b/tests/test_sv_params.h @@ -30,6 +30,7 @@ enum CamModel { CamA2C1080P = 0, CamB4C1080P, CamC3C8K, + CamC6C8K, CamD3C8K }; @@ -57,6 +58,7 @@ static const char *extrinsic_names[] = { static const char *camera_calibration_json_names[] = { "", "", + "camera_calibration_insta.json", "", "k_camera_calibration.json" }; @@ -94,6 +96,15 @@ get_fisheye_img_roi_radius ( } break; } + case CamC6C8K: { + roi_radius[0] = 1787; + roi_radius[1] = 1787; + roi_radius[2] = 1787; + roi_radius[3] = 1787; + roi_radius[4] = 1787; + roi_radius[5] = 1787; + break; + } case CamD3C8K: { switch (scopic_mode) { case ScopicStereoLeft: { @@ -169,6 +180,15 @@ viewpoints_range (CamModel model, float *range) range[2] = 144.0f; break; } + case CamC6C8K: { + range[0] = 72.0f; + range[1] = 72.0f; + range[2] = 72.0f; + range[3] = 72.0f; + range[4] = 72.0f; + range[5] = 72.0f; + break; + } case CamD3C8K: { range[0] = 132.0f; range[1] = 132.0f; @@ -203,6 +223,13 @@ fm_region_ratio (CamModel model) ratio.height = 1.0f / 3.0f; break; } + case CamC6C8K: { + ratio.pos_x = 0.0f; + ratio.width = 1.0f; + ratio.pos_y = 1.0f / 3.0f; + ratio.height = 1.0f / 3.0f; + break; + } case CamD3C8K: { ratio.pos_x = 0.0f; ratio.width = 1.0f; @@ -260,6 +287,17 @@ soft_fm_config (CamModel model) cfg.max_track_error = 6.0f; break; } + case CamC6C8K: { + cfg.stitch_min_width = 136; + cfg.min_corners = 4; + cfg.offset_factor = 0.95f; + cfg.delta_mean_offset = 256.0f; + cfg.recur_offset_error = 4.0f; + cfg.max_adjusted_offset = 24.0f; + cfg.max_valid_offset_y = 20.0f; + cfg.max_track_error = 6.0f; + break; + } case CamD3C8K: { cfg.stitch_min_width = 256; cfg.min_corners = 4; @@ -394,6 +432,46 @@ soft_stitch_info (CamModel model, StitchScopicMode scopic_mode) } break; } + case CamC6C8K: { + info.merge_width[0] = 256; + info.merge_width[1] = 256; + info.merge_width[2] = 256; + info.merge_width[3] = 256; + info.merge_width[4] = 256; + info.merge_width[5] = 256; + + info.fisheye_info[0].intrinsic.cx = 1907.0f; + info.fisheye_info[0].intrinsic.cy = 1440.0f; + info.fisheye_info[0].intrinsic.fov = 200.0f; + info.fisheye_info[0].radius = 1984.0f; + info.fisheye_info[0].extrinsic.roll = 90.3f; + info.fisheye_info[1].intrinsic.cx = 1920.0f; + info.fisheye_info[1].intrinsic.cy = 1440.0f; + info.fisheye_info[1].intrinsic.fov = 200.0f; + info.fisheye_info[1].radius = 1984.0f; + info.fisheye_info[1].extrinsic.roll = 90.0f; + info.fisheye_info[2].intrinsic.cx = 1920.0f; + info.fisheye_info[2].intrinsic.cy = 1440.0f; + info.fisheye_info[2].intrinsic.fov = 200.0f; + info.fisheye_info[2].radius = 1984.0f; + info.fisheye_info[2].extrinsic.roll = 90.2f; + info.fisheye_info[3].intrinsic.cx = 1920.0f; + info.fisheye_info[3].intrinsic.cy = 1440.0f; + info.fisheye_info[3].intrinsic.fov = 200.0f; + info.fisheye_info[3].radius = 1984.0f; + info.fisheye_info[3].extrinsic.roll = 90.0f; + info.fisheye_info[4].intrinsic.cx = 1920.0f; + info.fisheye_info[4].intrinsic.cy = 1440.0f; + info.fisheye_info[4].intrinsic.fov = 200.0f; + info.fisheye_info[4].radius = 1984.0f; + info.fisheye_info[4].extrinsic.roll = 91.2f; + info.fisheye_info[5].intrinsic.cx = 1914.0f; + info.fisheye_info[5].intrinsic.cy = 1440.0f; + info.fisheye_info[5].intrinsic.fov = 200.0f; + info.fisheye_info[5].radius = 1984.0f; + info.fisheye_info[5].extrinsic.roll = 90.1f; + break; + } case CamD3C8K: { switch (scopic_mode) { case ScopicStereoLeft: { @@ -494,6 +572,17 @@ gl_fm_config (CamModel model) cfg.max_track_error = 6.0f; break; } + case CamC6C8K: { + cfg.stitch_min_width = 136; + cfg.min_corners = 4; + cfg.offset_factor = 0.95f; + cfg.delta_mean_offset = 256.0f; + cfg.recur_offset_error = 4.0f; + cfg.max_adjusted_offset = 24.0f; + cfg.max_valid_offset_y = 20.0f; + cfg.max_track_error = 6.0f; + break; + } case CamD3C8K: { cfg.stitch_min_width = 256; cfg.min_corners = 4; @@ -584,6 +673,46 @@ gl_stitch_info (CamModel model, StitchScopicMode scopic_mode) } break; } + case CamC6C8K: { + info.merge_width[0] = 256; + info.merge_width[1] = 256; + info.merge_width[2] = 256; + info.merge_width[3] = 256; + info.merge_width[4] = 256; + info.merge_width[5] = 256; + + info.fisheye_info[0].intrinsic.cx = 1907.0f; + info.fisheye_info[0].intrinsic.cy = 1440.0f; + info.fisheye_info[0].intrinsic.fov = 200.0f; + info.fisheye_info[0].radius = 1984.0f; + info.fisheye_info[0].extrinsic.roll = 90.3f; + info.fisheye_info[1].intrinsic.cx = 1920.0f; + info.fisheye_info[1].intrinsic.cy = 1440.0f; + info.fisheye_info[1].intrinsic.fov = 200.0f; + info.fisheye_info[1].radius = 1984.0f; + info.fisheye_info[1].extrinsic.roll = 90.0f; + info.fisheye_info[2].intrinsic.cx = 1920.0f; + info.fisheye_info[2].intrinsic.cy = 1440.0f; + info.fisheye_info[2].intrinsic.fov = 200.0f; + info.fisheye_info[2].radius = 1984.0f; + info.fisheye_info[2].extrinsic.roll = 90.2f; + info.fisheye_info[3].intrinsic.cx = 1920.0f; + info.fisheye_info[3].intrinsic.cy = 1440.0f; + info.fisheye_info[3].intrinsic.fov = 200.0f; + info.fisheye_info[3].radius = 1984.0f; + info.fisheye_info[3].extrinsic.roll = 90.0f; + info.fisheye_info[4].intrinsic.cx = 1920.0f; + info.fisheye_info[4].intrinsic.cy = 1440.0f; + info.fisheye_info[4].intrinsic.fov = 200.0f; + info.fisheye_info[4].radius = 1984.0f; + info.fisheye_info[4].extrinsic.roll = 91.2f; + info.fisheye_info[5].intrinsic.cx = 1914.0f; + info.fisheye_info[5].intrinsic.cy = 1440.0f; + info.fisheye_info[5].intrinsic.fov = 200.0f; + info.fisheye_info[5].radius = 1984.0f; + info.fisheye_info[5].extrinsic.roll = 90.1f; + break; + } case CamD3C8K: { switch (scopic_mode) { case ScopicStereoLeft: { diff --git a/xcore/interface/stitcher.cpp b/xcore/interface/stitcher.cpp index 0f79a9ccd..40f1cc28c 100644 --- a/xcore/interface/stitcher.cpp +++ b/xcore/interface/stitcher.cpp @@ -336,7 +336,7 @@ Stitcher::estimate_round_slices () return XCAM_RETURN_NO_ERROR; XCAM_FAIL_RETURN ( - ERROR, _camera_num && _camera_num < XCAM_STITCH_MAX_CAMERAS, XCAM_RETURN_ERROR_PARAM, + ERROR, _camera_num && _camera_num <= XCAM_STITCH_MAX_CAMERAS, XCAM_RETURN_ERROR_PARAM, "stitcher: camera num was not set, or camera num(%d) exceed max camera value(%d)", _camera_num, XCAM_STITCH_MAX_CAMERAS);
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