libcamera::Dw100VertexMap Class Reference

Helper class to compute dw100 vertex maps. More...

Public Types
enum	ScaleMode { Fill = 0 , Crop = 1 }
	The scale modes available for a vertex map. More...

Public Member Functions
void	applyLimits ()
	Apply limits on scale and offset.
void	setInputSize (const Size &size)
	Set the size of the input data.
void	setSensorCrop (const Rectangle &rect)
	Set the crop rectangle that represents the input data.
void	setScalerCrop (const Rectangle &rect)
	Set the requested scaler crop.
const Rectangle &	effectiveScalerCrop () const
	Get the effective scaler crop.
void	setOutputSize (const Size &size)
	Set the output size.
const Size &	outputSize () const
	Get the output size.
void	setTransform (const Transform &transform)
	Sets the transform to apply.
const Transform &	transform () const
	Get the transform.
void	setScale (const float scale)
	Sets the scale to apply.
float	effectiveScale () const
	Get the effective scale.
void	setRotation (const float rotation)
	Sets the rotation to apply.
float	rotation () const
	Get the rotation.
void	setOffset (const Point &offset)
	Sets the offset to apply.
const Point &	effectiveOffset () const
	Get the effective offset.
void	setMode (const ScaleMode mode)
	Sets the scaling mode to apply.
ScaleMode	mode () const
	Get the scaling mode.
int	setDewarpParams (const Matrix< double, 3, 3 > &cm, const Span< const double > &coeffs)
	Set the dewarp parameters.
bool	dewarpParamsValid ()
	Returns if the dewarp parameters are valid.
void	setLensDewarpEnable (bool enable)
	Enables or disables lens dewarping.
bool	lensDewarpEnable ()
	Returns if lens dewarping is enabled.
std::vector< uint32_t >	getVertexMap ()
	Get the dw100 vertex map.

Detailed Description

Helper class to compute dw100 vertex maps.

The vertex map class represents a helper for handling dewarper vertex maps. There are 3 important sizes in the system:

• The sensor size. The number of pixels of the whole sensor.
• The input rectangle to the dewarper. Describes the pixel data flowing into the dewarper in sensor coordinates.
• ScalerCrop rectangle. The rectangle that shall be used for all further stages. It is applied after lens dewarping but is in sensor coordinate space.
• The output size. This defines the size, the dewarper should output.

+---------------------—+ |Sensor size | | +-------------—+ | | | Input rect | | | | +----------—+ | | | | ScalerCrop | | | | | | | | +–+----------—+ | +---------------------—+

This class implements a vertex map that forms the following pipeline:

+----------—+ +----------—+ +---------—+ +--------------—+ | | | | | Transform | | Pan/Zoom | | Lens Dewarp | -> | Scaler Crop | -> | (H/V Flip, | -> | (Offset, Scale, | | | | | | Transpose) | | Rotate) | +----------—+ +----------—+ +---------—+ +--------------—+

All parameters are clamped to valid values before creating the vertex map.

The constraints process works as follows:

• The ScalerCrop rectangle is clamped to the input rectangle
• The ScalerCrop rectangle is transformed by the specified transform forming ScalerCropT
• A rectangle of output size is placed in the center of ScalerCropT (OutputRect).
• Rotate gets applied to OutputRect,
• Scale is applied, but clamped so that the OutputRect fits completely into ScalerCropT (Only regarding dimensions, not position)
• Offset is clamped so that the OutputRect lies inside ScalerCropT

After applying the limits, the actual values used for processing are stored effectiveXXX members and can be queried using the corresponding functions.

The lens dewarp map is usually calibrated during tuning and is a map that maps from incoming pixels to dewarped pixels.

Member Enumeration Documentation

ScaleMode

enum libcamera::Dw100VertexMap::ScaleMode

The scale modes available for a vertex map.

Enumerator
Fill	Scale the input to fill the output. This scale mode does not preserve aspect ratio. Offset and rotation are taken into account.
Crop	Crop the input. This scale mode preserves the aspect ratio. Offset, scale, rotation are taken into account within the possible limits.

Member Function Documentation

applyLimits()

void libcamera::Dw100VertexMap::applyLimits

(

)

Apply limits on scale and offset.

This function calculates effectiveScalerCrop_, effectiveScale_ and effectiveOffset_ based on the requested scaler crop, scale, rotation, offset and the selected scale mode, so that the whole output area is filled with valid input data.

dewarpParamsValid()

libcamera::Dw100VertexMap::dewarpParamsValid ( )

inline

Returns if the dewarp parameters are valid.

Returns

True if the dewarp parameters are valid, false otherwise

effectiveOffset()

libcamera::Dw100VertexMap::effectiveOffset ( ) const

inline

Get the effective offset.

Returns the actual offset applied to the input pixels in ScalerCrop coordinates.

Returns

The effective offset

effectiveScale()

libcamera::Dw100VertexMap::effectiveScale ( ) const

inline

Get the effective scale.

Returns the actual scale applied to the input pixels in x and y direction. So a value of [2.0, 1.5] means that every input pixel is scaled to cover 2 output pixels in x-direction and 1.5 in y-direction.

Returns

The effective scale

effectiveScalerCrop()

libcamera::Dw100VertexMap::effectiveScalerCrop ( ) const

inline

Get the effective scaler crop.

Returns

The effective scaler crop

getVertexMap()

std::vector< uint32_t > libcamera::Dw100VertexMap::getVertexMap

(

)

Get the dw100 vertex map.

Calculates the vertex map as a vector of hardware specific entries.

Returns

The vertex map

mode()

libcamera::Dw100VertexMap::mode ( ) const

inline

Get the scaling mode.

Returns

The scaling mode

outputSize()

libcamera::Dw100VertexMap::outputSize ( ) const

inline

Get the output size.

Returns

The output size

rotation()

libcamera::Dw100VertexMap::rotation ( ) const

inline

Get the rotation.

Returns

The rotation in degrees

setDewarpParams()

int libcamera::Dw100VertexMap::setDewarpParams	(	const Matrix< double, 3, 3 > &	cm,
		const Span< const double > &	coeffs
	)

Set the dewarp parameters.

Parameters

cm	The camera matrix
coeffs	The dewarp coefficients

Sets the dewarp parameters according to the commonly used dewarp model. See https://docs.opencv.org/4.12.0/d9/d0c/group__calib3d.html for further details on the model. The parameter coeffs must either hold 4,5,8 or 12 values. They represent the parameters k1,k2,p1,p2[,k3[,k4,k5,k6[,s1,s2,s3,s4]]] in the model.

Returns

A negative number on error, 0 otherwise

setInputSize()

libcamera::Dw100VertexMap::setInputSize ( const Size &  size )

inline

Set the size of the input data.

Parameters

[in]

size

The input size

To calculate a proper vertex map, the size of the input images must be set.

setLensDewarpEnable()

libcamera::Dw100VertexMap::setLensDewarpEnable ( bool  enable )

inline

Enables or disables lens dewarping.

Parameters

[in]

enable

Enable or disable lens dewarping

setMode()

libcamera::Dw100VertexMap::setMode ( const ScaleMode  mode )

inline

Sets the scaling mode to apply.

Parameters

[in]

mode

The mode

setOffset()

libcamera::Dw100VertexMap::setOffset ( const Point &  offset )

inline

Sets the offset to apply.

Parameters

[in]

offset

The offset

Set the requested offset. The actually applied offset can be queried using Dw100VertexMap::effectiveOffset() after calling Dw100VertexMap::applyLimits().

setOutputSize()

libcamera::Dw100VertexMap::setOutputSize ( const Size &  size )

inline

Set the output size.

Parameters

[in]

size

The size of the output images

setRotation()

libcamera::Dw100VertexMap::setRotation ( const float  rotation )

inline

Sets the rotation to apply.

Parameters

[in]

rotation

The rotation in degrees

The rotation is in clockwise direction to allow the same transform as CameraConfiguration::orientation

setScale()

libcamera::Dw100VertexMap::setScale ( const float  scale )

inline

Sets the scale to apply.

Parameters

[in]

scale

The scale

Set the requested scale. The actually applied scale can be queried using Dw100VertexMap::effectiveScale() after calling Dw100VertexMap::applyLimits().

setScalerCrop()

libcamera::Dw100VertexMap::setScalerCrop ( const Rectangle &  rect )

inline

Set the requested scaler crop.

Parameters

[in]

rect

Set the requested scaler crop. The actually applied scaler crop can be queried using Dw100VertexMap::effectiveScalerCrop() after calling Dw100VertexMap::applyLimits().

setSensorCrop()

libcamera::Dw100VertexMap::setSensorCrop ( const Rectangle &  rect )

inline

Set the crop rectangle that represents the input data.

Parameters

[in]

rect

Set the rectangle that represents the input data in sensor coordinates. This must be specified to properly calculate the vertex map.

setTransform()

libcamera::Dw100VertexMap::setTransform ( const Transform &  transform )

inline

Sets the transform to apply.

Parameters

[in]

transform

The transform

transform()

libcamera::Dw100VertexMap::transform ( ) const

inline

Get the transform.

Returns

The transform

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The documentation for this class was generated from the following files:

• include/libcamera/internal/converter/converter_dw100_vertexmap.h
• src/libcamera/converter/converter_dw100_vertexmap.cpp