Import goldfish HAL sources from devices/generic/goldfish
We import all code here so we can customize and keep in sync with what we do on the host side more easily.
This commit is contained in:
Simon Fels
parent
ddea17253c
commit
23392b9732
196 changed files with 62159 additions and 0 deletions
610
android/camera/fake-pipeline2/Sensor.cpp
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610
android/camera/fake-pipeline2/Sensor.cpp
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/*
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* Copyright (C) 2012 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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//#define LOG_NDEBUG 0
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//#define LOG_NNDEBUG 0
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#define LOG_TAG "EmulatedCamera2_Sensor"
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#ifdef LOG_NNDEBUG
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#define ALOGVV(...) ALOGV(__VA_ARGS__)
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#else
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#define ALOGVV(...) ((void)0)
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#endif
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#include <utils/Log.h>
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#include "../EmulatedFakeCamera2.h"
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#include "Sensor.h"
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#include <cmath>
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#include <cstdlib>
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#include "system/camera_metadata.h"
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namespace android {
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const unsigned int Sensor::kResolution[2] = {640, 480};
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const unsigned int Sensor::kActiveArray[4] = {0, 0, 640, 480};
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//const nsecs_t Sensor::kExposureTimeRange[2] =
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// {1000L, 30000000000L} ; // 1 us - 30 sec
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//const nsecs_t Sensor::kFrameDurationRange[2] =
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// {33331760L, 30000000000L}; // ~1/30 s - 30 sec
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const nsecs_t Sensor::kExposureTimeRange[2] =
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{1000L, 300000000L} ; // 1 us - 0.3 sec
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const nsecs_t Sensor::kFrameDurationRange[2] =
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{33331760L, 300000000L}; // ~1/30 s - 0.3 sec
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const nsecs_t Sensor::kMinVerticalBlank = 10000L;
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const uint8_t Sensor::kColorFilterArrangement =
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ANDROID_SENSOR_INFO_COLOR_FILTER_ARRANGEMENT_RGGB;
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// Output image data characteristics
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const uint32_t Sensor::kMaxRawValue = 4000;
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const uint32_t Sensor::kBlackLevel = 1000;
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// Sensor sensitivity
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const float Sensor::kSaturationVoltage = 0.520f;
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const uint32_t Sensor::kSaturationElectrons = 2000;
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const float Sensor::kVoltsPerLuxSecond = 0.100f;
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const float Sensor::kElectronsPerLuxSecond =
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Sensor::kSaturationElectrons / Sensor::kSaturationVoltage
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* Sensor::kVoltsPerLuxSecond;
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const float Sensor::kBaseGainFactor = (float)Sensor::kMaxRawValue /
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Sensor::kSaturationElectrons;
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const float Sensor::kReadNoiseStddevBeforeGain = 1.177; // in electrons
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const float Sensor::kReadNoiseStddevAfterGain = 2.100; // in digital counts
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const float Sensor::kReadNoiseVarBeforeGain =
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Sensor::kReadNoiseStddevBeforeGain *
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Sensor::kReadNoiseStddevBeforeGain;
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const float Sensor::kReadNoiseVarAfterGain =
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Sensor::kReadNoiseStddevAfterGain *
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Sensor::kReadNoiseStddevAfterGain;
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// While each row has to read out, reset, and then expose, the (reset +
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// expose) sequence can be overlapped by other row readouts, so the final
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// minimum frame duration is purely a function of row readout time, at least
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// if there's a reasonable number of rows.
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const nsecs_t Sensor::kRowReadoutTime =
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Sensor::kFrameDurationRange[0] / Sensor::kResolution[1];
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const int32_t Sensor::kSensitivityRange[2] = {100, 1600};
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const uint32_t Sensor::kDefaultSensitivity = 100;
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/** A few utility functions for math, normal distributions */
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// Take advantage of IEEE floating-point format to calculate an approximate
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// square root. Accurate to within +-3.6%
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float sqrtf_approx(float r) {
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// Modifier is based on IEEE floating-point representation; the
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// manipulations boil down to finding approximate log2, dividing by two, and
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// then inverting the log2. A bias is added to make the relative error
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// symmetric about the real answer.
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const int32_t modifier = 0x1FBB4000;
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int32_t r_i = *(int32_t*)(&r);
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r_i = (r_i >> 1) + modifier;
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return *(float*)(&r_i);
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}
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Sensor::Sensor():
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Thread(false),
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mGotVSync(false),
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mExposureTime(kFrameDurationRange[0]-kMinVerticalBlank),
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mFrameDuration(kFrameDurationRange[0]),
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mGainFactor(kDefaultSensitivity),
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mNextBuffers(NULL),
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mFrameNumber(0),
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mCapturedBuffers(NULL),
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mListener(NULL),
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mScene(kResolution[0], kResolution[1], kElectronsPerLuxSecond)
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{
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}
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Sensor::~Sensor() {
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shutDown();
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}
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status_t Sensor::startUp() {
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ALOGV("%s: E", __FUNCTION__);
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int res;
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mCapturedBuffers = NULL;
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res = run("EmulatedFakeCamera2::Sensor",
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ANDROID_PRIORITY_URGENT_DISPLAY);
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if (res != OK) {
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ALOGE("Unable to start up sensor capture thread: %d", res);
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}
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return res;
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}
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status_t Sensor::shutDown() {
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ALOGV("%s: E", __FUNCTION__);
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int res;
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res = requestExitAndWait();
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if (res != OK) {
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ALOGE("Unable to shut down sensor capture thread: %d", res);
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}
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return res;
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}
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Scene &Sensor::getScene() {
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return mScene;
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}
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void Sensor::setExposureTime(uint64_t ns) {
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Mutex::Autolock lock(mControlMutex);
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ALOGVV("Exposure set to %f", ns/1000000.f);
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mExposureTime = ns;
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}
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void Sensor::setFrameDuration(uint64_t ns) {
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Mutex::Autolock lock(mControlMutex);
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ALOGVV("Frame duration set to %f", ns/1000000.f);
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mFrameDuration = ns;
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}
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void Sensor::setSensitivity(uint32_t gain) {
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Mutex::Autolock lock(mControlMutex);
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ALOGVV("Gain set to %d", gain);
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mGainFactor = gain;
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}
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void Sensor::setDestinationBuffers(Buffers *buffers) {
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Mutex::Autolock lock(mControlMutex);
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mNextBuffers = buffers;
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}
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void Sensor::setFrameNumber(uint32_t frameNumber) {
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Mutex::Autolock lock(mControlMutex);
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mFrameNumber = frameNumber;
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}
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bool Sensor::waitForVSync(nsecs_t reltime) {
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int res;
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Mutex::Autolock lock(mControlMutex);
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mGotVSync = false;
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res = mVSync.waitRelative(mControlMutex, reltime);
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if (res != OK && res != TIMED_OUT) {
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ALOGE("%s: Error waiting for VSync signal: %d", __FUNCTION__, res);
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return false;
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}
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return mGotVSync;
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}
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bool Sensor::waitForNewFrame(nsecs_t reltime,
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nsecs_t *captureTime) {
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Mutex::Autolock lock(mReadoutMutex);
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uint8_t *ret;
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if (mCapturedBuffers == NULL) {
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int res;
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res = mReadoutAvailable.waitRelative(mReadoutMutex, reltime);
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if (res == TIMED_OUT) {
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return false;
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} else if (res != OK || mCapturedBuffers == NULL) {
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ALOGE("Error waiting for sensor readout signal: %d", res);
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return false;
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}
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} else {
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mReadoutComplete.signal();
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}
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*captureTime = mCaptureTime;
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mCapturedBuffers = NULL;
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return true;
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}
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Sensor::SensorListener::~SensorListener() {
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}
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void Sensor::setSensorListener(SensorListener *listener) {
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Mutex::Autolock lock(mControlMutex);
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mListener = listener;
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}
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status_t Sensor::readyToRun() {
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ALOGV("Starting up sensor thread");
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mStartupTime = systemTime();
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mNextCaptureTime = 0;
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mNextCapturedBuffers = NULL;
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return OK;
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}
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bool Sensor::threadLoop() {
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/**
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* Sensor capture operation main loop.
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*
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* Stages are out-of-order relative to a single frame's processing, but
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* in-order in time.
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*/
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/**
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* Stage 1: Read in latest control parameters
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*/
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uint64_t exposureDuration;
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uint64_t frameDuration;
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uint32_t gain;
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Buffers *nextBuffers;
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uint32_t frameNumber;
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SensorListener *listener = NULL;
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{
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Mutex::Autolock lock(mControlMutex);
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exposureDuration = mExposureTime;
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frameDuration = mFrameDuration;
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gain = mGainFactor;
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nextBuffers = mNextBuffers;
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frameNumber = mFrameNumber;
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listener = mListener;
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// Don't reuse a buffer set
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mNextBuffers = NULL;
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// Signal VSync for start of readout
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ALOGVV("Sensor VSync");
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mGotVSync = true;
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mVSync.signal();
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}
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/**
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* Stage 3: Read out latest captured image
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*/
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Buffers *capturedBuffers = NULL;
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nsecs_t captureTime = 0;
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nsecs_t startRealTime = systemTime();
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// Stagefright cares about system time for timestamps, so base simulated
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// time on that.
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nsecs_t simulatedTime = startRealTime;
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nsecs_t frameEndRealTime = startRealTime + frameDuration;
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nsecs_t frameReadoutEndRealTime = startRealTime +
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kRowReadoutTime * kResolution[1];
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if (mNextCapturedBuffers != NULL) {
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ALOGVV("Sensor starting readout");
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// Pretend we're doing readout now; will signal once enough time has elapsed
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capturedBuffers = mNextCapturedBuffers;
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captureTime = mNextCaptureTime;
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}
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simulatedTime += kRowReadoutTime + kMinVerticalBlank;
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// TODO: Move this signal to another thread to simulate readout
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// time properly
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if (capturedBuffers != NULL) {
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ALOGVV("Sensor readout complete");
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Mutex::Autolock lock(mReadoutMutex);
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if (mCapturedBuffers != NULL) {
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ALOGV("Waiting for readout thread to catch up!");
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mReadoutComplete.wait(mReadoutMutex);
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}
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mCapturedBuffers = capturedBuffers;
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mCaptureTime = captureTime;
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mReadoutAvailable.signal();
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capturedBuffers = NULL;
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}
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/**
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* Stage 2: Capture new image
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*/
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mNextCaptureTime = simulatedTime;
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mNextCapturedBuffers = nextBuffers;
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if (mNextCapturedBuffers != NULL) {
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if (listener != NULL) {
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listener->onSensorEvent(frameNumber, SensorListener::EXPOSURE_START,
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mNextCaptureTime);
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}
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ALOGVV("Starting next capture: Exposure: %f ms, gain: %d",
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(float)exposureDuration/1e6, gain);
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mScene.setExposureDuration((float)exposureDuration/1e9);
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mScene.calculateScene(mNextCaptureTime);
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// Might be adding more buffers, so size isn't constant
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for (size_t i = 0; i < mNextCapturedBuffers->size(); i++) {
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const StreamBuffer &b = (*mNextCapturedBuffers)[i];
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ALOGVV("Sensor capturing buffer %d: stream %d,"
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" %d x %d, format %x, stride %d, buf %p, img %p",
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i, b.streamId, b.width, b.height, b.format, b.stride,
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b.buffer, b.img);
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switch(b.format) {
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case HAL_PIXEL_FORMAT_RAW16:
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captureRaw(b.img, gain, b.stride);
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break;
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case HAL_PIXEL_FORMAT_RGB_888:
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captureRGB(b.img, gain, b.stride);
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break;
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case HAL_PIXEL_FORMAT_RGBA_8888:
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captureRGBA(b.img, gain, b.stride);
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break;
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case HAL_PIXEL_FORMAT_BLOB:
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if (b.dataSpace != HAL_DATASPACE_DEPTH) {
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// Add auxillary buffer of the right size
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// Assumes only one BLOB (JPEG) buffer in
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// mNextCapturedBuffers
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StreamBuffer bAux;
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bAux.streamId = 0;
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bAux.width = b.width;
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bAux.height = b.height;
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bAux.format = HAL_PIXEL_FORMAT_RGB_888;
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bAux.stride = b.width;
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bAux.buffer = NULL;
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// TODO: Reuse these
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bAux.img = new uint8_t[b.width * b.height * 3];
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mNextCapturedBuffers->push_back(bAux);
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} else {
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captureDepthCloud(b.img);
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}
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break;
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case HAL_PIXEL_FORMAT_YCrCb_420_SP:
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captureNV21(b.img, gain, b.stride);
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break;
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case HAL_PIXEL_FORMAT_YV12:
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// TODO:
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ALOGE("%s: Format %x is TODO", __FUNCTION__, b.format);
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break;
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case HAL_PIXEL_FORMAT_Y16:
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captureDepth(b.img, gain, b.stride);
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break;
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default:
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ALOGE("%s: Unknown format %x, no output", __FUNCTION__,
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b.format);
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break;
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}
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}
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}
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ALOGVV("Sensor vertical blanking interval");
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nsecs_t workDoneRealTime = systemTime();
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const nsecs_t timeAccuracy = 2e6; // 2 ms of imprecision is ok
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if (workDoneRealTime < frameEndRealTime - timeAccuracy) {
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timespec t;
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t.tv_sec = (frameEndRealTime - workDoneRealTime) / 1000000000L;
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t.tv_nsec = (frameEndRealTime - workDoneRealTime) % 1000000000L;
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int ret;
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do {
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ret = nanosleep(&t, &t);
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} while (ret != 0);
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}
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nsecs_t endRealTime = systemTime();
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ALOGVV("Frame cycle took %d ms, target %d ms",
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(int)((endRealTime - startRealTime)/1000000),
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(int)(frameDuration / 1000000));
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return true;
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};
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void Sensor::captureRaw(uint8_t *img, uint32_t gain, uint32_t stride) {
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float totalGain = gain/100.0 * kBaseGainFactor;
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float noiseVarGain = totalGain * totalGain;
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float readNoiseVar = kReadNoiseVarBeforeGain * noiseVarGain
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+ kReadNoiseVarAfterGain;
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int bayerSelect[4] = {Scene::R, Scene::Gr, Scene::Gb, Scene::B}; // RGGB
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mScene.setReadoutPixel(0,0);
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for (unsigned int y = 0; y < kResolution[1]; y++ ) {
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int *bayerRow = bayerSelect + (y & 0x1) * 2;
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uint16_t *px = (uint16_t*)img + y * stride;
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for (unsigned int x = 0; x < kResolution[0]; x++) {
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uint32_t electronCount;
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electronCount = mScene.getPixelElectrons()[bayerRow[x & 0x1]];
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// TODO: Better pixel saturation curve?
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electronCount = (electronCount < kSaturationElectrons) ?
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electronCount : kSaturationElectrons;
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// TODO: Better A/D saturation curve?
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uint16_t rawCount = electronCount * totalGain;
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rawCount = (rawCount < kMaxRawValue) ? rawCount : kMaxRawValue;
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// Calculate noise value
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// TODO: Use more-correct Gaussian instead of uniform noise
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float photonNoiseVar = electronCount * noiseVarGain;
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float noiseStddev = sqrtf_approx(readNoiseVar + photonNoiseVar);
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// Scaled to roughly match gaussian/uniform noise stddev
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float noiseSample = std::rand() * (2.5 / (1.0 + RAND_MAX)) - 1.25;
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rawCount += kBlackLevel;
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rawCount += noiseStddev * noiseSample;
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*px++ = rawCount;
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}
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// TODO: Handle this better
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//simulatedTime += kRowReadoutTime;
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}
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ALOGVV("Raw sensor image captured");
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}
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void Sensor::captureRGBA(uint8_t *img, uint32_t gain, uint32_t stride) {
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float totalGain = gain/100.0 * kBaseGainFactor;
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// In fixed-point math, calculate total scaling from electrons to 8bpp
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int scale64x = 64 * totalGain * 255 / kMaxRawValue;
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uint32_t inc = kResolution[0] / stride;
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for (unsigned int y = 0, outY = 0; y < kResolution[1]; y+=inc, outY++ ) {
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uint8_t *px = img + outY * stride * 4;
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mScene.setReadoutPixel(0, y);
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for (unsigned int x = 0; x < kResolution[0]; x+=inc) {
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uint32_t rCount, gCount, bCount;
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// TODO: Perfect demosaicing is a cheat
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const uint32_t *pixel = mScene.getPixelElectrons();
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rCount = pixel[Scene::R] * scale64x;
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gCount = pixel[Scene::Gr] * scale64x;
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bCount = pixel[Scene::B] * scale64x;
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*px++ = rCount < 255*64 ? rCount / 64 : 255;
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*px++ = gCount < 255*64 ? gCount / 64 : 255;
|
||||
*px++ = bCount < 255*64 ? bCount / 64 : 255;
|
||||
*px++ = 255;
|
||||
for (unsigned int j = 1; j < inc; j++)
|
||||
mScene.getPixelElectrons();
|
||||
}
|
||||
// TODO: Handle this better
|
||||
//simulatedTime += kRowReadoutTime;
|
||||
}
|
||||
ALOGVV("RGBA sensor image captured");
|
||||
}
|
||||
|
||||
void Sensor::captureRGB(uint8_t *img, uint32_t gain, uint32_t stride) {
|
||||
float totalGain = gain/100.0 * kBaseGainFactor;
|
||||
// In fixed-point math, calculate total scaling from electrons to 8bpp
|
||||
int scale64x = 64 * totalGain * 255 / kMaxRawValue;
|
||||
uint32_t inc = kResolution[0] / stride;
|
||||
|
||||
for (unsigned int y = 0, outY = 0; y < kResolution[1]; y += inc, outY++ ) {
|
||||
mScene.setReadoutPixel(0, y);
|
||||
uint8_t *px = img + outY * stride * 3;
|
||||
for (unsigned int x = 0; x < kResolution[0]; x += inc) {
|
||||
uint32_t rCount, gCount, bCount;
|
||||
// TODO: Perfect demosaicing is a cheat
|
||||
const uint32_t *pixel = mScene.getPixelElectrons();
|
||||
rCount = pixel[Scene::R] * scale64x;
|
||||
gCount = pixel[Scene::Gr] * scale64x;
|
||||
bCount = pixel[Scene::B] * scale64x;
|
||||
|
||||
*px++ = rCount < 255*64 ? rCount / 64 : 255;
|
||||
*px++ = gCount < 255*64 ? gCount / 64 : 255;
|
||||
*px++ = bCount < 255*64 ? bCount / 64 : 255;
|
||||
for (unsigned int j = 1; j < inc; j++)
|
||||
mScene.getPixelElectrons();
|
||||
}
|
||||
// TODO: Handle this better
|
||||
//simulatedTime += kRowReadoutTime;
|
||||
}
|
||||
ALOGVV("RGB sensor image captured");
|
||||
}
|
||||
|
||||
void Sensor::captureNV21(uint8_t *img, uint32_t gain, uint32_t stride) {
|
||||
float totalGain = gain/100.0 * kBaseGainFactor;
|
||||
// Using fixed-point math with 6 bits of fractional precision.
|
||||
// In fixed-point math, calculate total scaling from electrons to 8bpp
|
||||
const int scale64x = 64 * totalGain * 255 / kMaxRawValue;
|
||||
// In fixed-point math, saturation point of sensor after gain
|
||||
const int saturationPoint = 64 * 255;
|
||||
// Fixed-point coefficients for RGB-YUV transform
|
||||
// Based on JFIF RGB->YUV transform.
|
||||
// Cb/Cr offset scaled by 64x twice since they're applied post-multiply
|
||||
const int rgbToY[] = {19, 37, 7};
|
||||
const int rgbToCb[] = {-10,-21, 32, 524288};
|
||||
const int rgbToCr[] = {32,-26, -5, 524288};
|
||||
// Scale back to 8bpp non-fixed-point
|
||||
const int scaleOut = 64;
|
||||
const int scaleOutSq = scaleOut * scaleOut; // after multiplies
|
||||
|
||||
uint32_t inc = kResolution[0] / stride;
|
||||
uint32_t outH = kResolution[1] / inc;
|
||||
for (unsigned int y = 0, outY = 0;
|
||||
y < kResolution[1]; y+=inc, outY++) {
|
||||
uint8_t *pxY = img + outY * stride;
|
||||
uint8_t *pxVU = img + (outH + outY / 2) * stride;
|
||||
mScene.setReadoutPixel(0,y);
|
||||
for (unsigned int outX = 0; outX < stride; outX++) {
|
||||
int32_t rCount, gCount, bCount;
|
||||
// TODO: Perfect demosaicing is a cheat
|
||||
const uint32_t *pixel = mScene.getPixelElectrons();
|
||||
rCount = pixel[Scene::R] * scale64x;
|
||||
rCount = rCount < saturationPoint ? rCount : saturationPoint;
|
||||
gCount = pixel[Scene::Gr] * scale64x;
|
||||
gCount = gCount < saturationPoint ? gCount : saturationPoint;
|
||||
bCount = pixel[Scene::B] * scale64x;
|
||||
bCount = bCount < saturationPoint ? bCount : saturationPoint;
|
||||
|
||||
*pxY++ = (rgbToY[0] * rCount +
|
||||
rgbToY[1] * gCount +
|
||||
rgbToY[2] * bCount) / scaleOutSq;
|
||||
if (outY % 2 == 0 && outX % 2 == 0) {
|
||||
*pxVU++ = (rgbToCr[0] * rCount +
|
||||
rgbToCr[1] * gCount +
|
||||
rgbToCr[2] * bCount +
|
||||
rgbToCr[3]) / scaleOutSq;
|
||||
*pxVU++ = (rgbToCb[0] * rCount +
|
||||
rgbToCb[1] * gCount +
|
||||
rgbToCb[2] * bCount +
|
||||
rgbToCb[3]) / scaleOutSq;
|
||||
}
|
||||
for (unsigned int j = 1; j < inc; j++)
|
||||
mScene.getPixelElectrons();
|
||||
}
|
||||
}
|
||||
ALOGVV("NV21 sensor image captured");
|
||||
}
|
||||
|
||||
void Sensor::captureDepth(uint8_t *img, uint32_t gain, uint32_t stride) {
|
||||
float totalGain = gain/100.0 * kBaseGainFactor;
|
||||
// In fixed-point math, calculate scaling factor to 13bpp millimeters
|
||||
int scale64x = 64 * totalGain * 8191 / kMaxRawValue;
|
||||
uint32_t inc = kResolution[0] / stride;
|
||||
|
||||
for (unsigned int y = 0, outY = 0; y < kResolution[1]; y += inc, outY++ ) {
|
||||
mScene.setReadoutPixel(0, y);
|
||||
uint16_t *px = ((uint16_t*)img) + outY * stride;
|
||||
for (unsigned int x = 0; x < kResolution[0]; x += inc) {
|
||||
uint32_t depthCount;
|
||||
// TODO: Make up real depth scene instead of using green channel
|
||||
// as depth
|
||||
const uint32_t *pixel = mScene.getPixelElectrons();
|
||||
depthCount = pixel[Scene::Gr] * scale64x;
|
||||
|
||||
*px++ = depthCount < 8191*64 ? depthCount / 64 : 0;
|
||||
for (unsigned int j = 1; j < inc; j++)
|
||||
mScene.getPixelElectrons();
|
||||
}
|
||||
// TODO: Handle this better
|
||||
//simulatedTime += kRowReadoutTime;
|
||||
}
|
||||
ALOGVV("Depth sensor image captured");
|
||||
}
|
||||
|
||||
void Sensor::captureDepthCloud(uint8_t *img) {
|
||||
|
||||
android_depth_points *cloud = reinterpret_cast<android_depth_points*>(img);
|
||||
|
||||
cloud->num_points = 16;
|
||||
|
||||
// TODO: Create point cloud values that match RGB scene
|
||||
const int FLOATS_PER_POINT = 4;
|
||||
const float JITTER_STDDEV = 0.1f;
|
||||
for (size_t y = 0, i = 0; y < 4; y++) {
|
||||
for (size_t x = 0; x < 4; x++, i++) {
|
||||
float randSampleX = std::rand() * (2.5f / (1.0f + RAND_MAX)) - 1.25f;
|
||||
randSampleX *= JITTER_STDDEV;
|
||||
|
||||
float randSampleY = std::rand() * (2.5f / (1.0f + RAND_MAX)) - 1.25f;
|
||||
randSampleY *= JITTER_STDDEV;
|
||||
|
||||
float randSampleZ = std::rand() * (2.5f / (1.0f + RAND_MAX)) - 1.25f;
|
||||
randSampleZ *= JITTER_STDDEV;
|
||||
|
||||
cloud->xyzc_points[i * FLOATS_PER_POINT + 0] = x - 1.5f + randSampleX;
|
||||
cloud->xyzc_points[i * FLOATS_PER_POINT + 1] = y - 1.5f + randSampleY;
|
||||
cloud->xyzc_points[i * FLOATS_PER_POINT + 2] = 3.f + randSampleZ;
|
||||
cloud->xyzc_points[i * FLOATS_PER_POINT + 3] = 0.8f;
|
||||
}
|
||||
}
|
||||
|
||||
ALOGVV("Depth point cloud captured");
|
||||
|
||||
}
|
||||
|
||||
} // namespace android
|
||||
Loading…
Add table
Add a link
Reference in a new issue