lib: pixel: distort: add distortion aka defisheye aka dewarp

MAINTAINERS.yml

@@ -3203,6 +3203,21 @@ PHYTEC Platforms:
   labels:
     - "platform: PHYTEC"
 
+Pixel library:
+  status: maintained
+  maintainers:
+    - josuah
+  files:
+    - include/zephyr/pixel/
+    - lib/pixel/
+    - tests/lib/pixel/
+    - samples/lib/pixel/
+  labels:
+    - "area: Pixel Library"
+  tests:
+    - libraries.pixel
+  description: Library for pixel manipulation and image processing
+
 PMCI:
   status: maintained
   maintainers:

cmake/linker_script/common/common-ram.cmake

@@ -138,6 +138,12 @@ if(CONFIG_PCIE)
   zephyr_iterable_section(NAME pcie_dev GROUP DATA_REGION ${XIP_ALIGN_WITH_INPUT} SUBALIGN ${CONFIG_LINKER_ITERABLE_SUBALIGN})
 endif()
 
+if(CONFIG_PIXEL)
+  zephyr_iterable_section(NAME pixel_convert GROUP DATA_REGION ${XIP_ALIGN_WITH_INPUT} SUBALIGN ${CONFIG_LINKER_ITERABLE_SUBALIGN})
+  zephyr_iterable_section(NAME pixel_resize GROUP DATA_REGION ${XIP_ALIGN_WITH_INPUT} SUBALIGN ${CONFIG_LINKER_ITERABLE_SUBALIGN})
+  zephyr_iterable_section(NAME pixel_kernel GROUP DATA_REGION ${XIP_ALIGN_WITH_INPUT} SUBALIGN ${CONFIG_LINKER_ITERABLE_SUBALIGN})
+endif()
+
 if(CONFIG_USB_DEVICE_STACK OR CONFIG_USB_DEVICE_STACK_NEXT)
   zephyr_iterable_section(NAME usbd_context GROUP DATA_REGION ${XIP_ALIGN_WITH_INPUT} SUBALIGN ${CONFIG_LINKER_ITERABLE_SUBALIGN})
   zephyr_iterable_section(NAME usbd_class_fs GROUP DATA_REGION ${XIP_ALIGN_WITH_INPUT} SUBALIGN ${CONFIG_LINKER_ITERABLE_SUBALIGN})

include/zephyr/drivers/video.h

@@ -1211,6 +1211,13 @@ void video_closest_frmival(const struct device *dev, enum video_endpoint_id ep,
  * @{
  */
 
+/**
+ * @code{.unparsed}
+ * | RrrGggBb | ...
+ * @endcode
+ */
+#define VIDEO_PIX_FMT_RGB332 VIDEO_FOURCC('R', 'G', 'B', '1')
+
 /**
  * 5 red bits [15:11], 6 green bits [10:5], 5 blue bits [4:0].
  * This 16-bit integer is then packed in big endian format over two bytes:
@@ -1333,6 +1340,13 @@ void video_closest_frmival(const struct device *dev, enum video_endpoint_id ep,
  */
 #define VIDEO_PIX_FMT_UYVY VIDEO_FOURCC('U', 'Y', 'V', 'Y')
 
+/**
+ * @code{.unparsed}
+ * | Yyyyyyyy Uuuuuuuu Vvvvvvvv | ...
+ * @endcode
+ */
+#define VIDEO_PIX_FMT_YUV24 VIDEO_FOURCC('Y', 'U', 'V', '3')
+
 /**
  * The first byte is empty (X) for each pixel.
  *
@@ -1376,6 +1390,7 @@ static inline unsigned int video_bits_per_pixel(uint32_t pixfmt)
 	case VIDEO_PIX_FMT_GRBG8:
 	case VIDEO_PIX_FMT_RGGB8:
 	case VIDEO_PIX_FMT_GREY:
+	case VIDEO_PIX_FMT_RGB332:
 		return 8;
 	case VIDEO_PIX_FMT_SBGGR10P:
 	case VIDEO_PIX_FMT_SGBRG10P:
@@ -1396,6 +1411,7 @@ static inline unsigned int video_bits_per_pixel(uint32_t pixfmt)
 	case VIDEO_PIX_FMT_Y14P:
 		return 14;
 	case VIDEO_PIX_FMT_RGB565:
+	case VIDEO_PIX_FMT_RGB565X:
 	case VIDEO_PIX_FMT_YUYV:
 	case VIDEO_PIX_FMT_YVYU:
 	case VIDEO_PIX_FMT_UYVY:
@@ -1419,6 +1435,7 @@ static inline unsigned int video_bits_per_pixel(uint32_t pixfmt)
 		return 16;
 	case VIDEO_PIX_FMT_BGR24:
 	case VIDEO_PIX_FMT_RGB24:
+	case VIDEO_PIX_FMT_YUV24:
 		return 24;
 	case VIDEO_PIX_FMT_XRGB32:
 	case VIDEO_PIX_FMT_XYUV32:

include/zephyr/pixel/bayer.h

@@ -0,0 +1,91 @@
+/*
+ * Copyright (c) 2025 tinyVision.ai Inc.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_INCLUDE_PIXEL_BAYER_H_
+#define ZEPHYR_INCLUDE_PIXEL_BAYER_H_
+
+#include <stdint.h>
+#include <stdlib.h>
+
+#include <zephyr/pixel/operation.h>
+
+/**
+ * @brief Define a new bayer format conversion operation.
+ *
+ * @param _fn Function performing the operation.
+ * @param _fourcc_in The input format for that operation.
+ * @param _window_size The number of line of context needed for that debayer operation.
+ */
+#define PIXEL_DEFINE_BAYER_OPERATION(_fn, _fourcc_in, _window_size)                                \
+	static const STRUCT_SECTION_ITERABLE_ALTERNATE(pixel_convert, pixel_operation,             \
+						       _fn##_op) = {                               \
+		.name = #_fn,                                                                      \
+		.fourcc_in = _fourcc_in,                                                           \
+		.fourcc_out = VIDEO_PIX_FMT_RGB24,                                                 \
+		.window_size = _window_size,                                                       \
+		.run = _fn,                                                                        \
+	}
+
+/**
+ * @brief Convert a line from RGGB8 to RGB24 with 3x3 method
+ *
+ * @param i0 Buffer of the input row number 0 in bayer format (1 byte per pixel).
+ * @param i1 Buffer of the input row number 1 in bayer format (1 byte per pixel).
+ * @param i2 Buffer of the input row number 2 in bayer format (1 byte per pixel).
+ * @param rgb24 Buffer of the output row in RGB24 format (3 bytes per pixel).
+ * @param width Width of the lines in number of pixels.
+ */
+void pixel_line_rggb8_to_rgb24_3x3(const uint8_t *i0, const uint8_t *i1, const uint8_t *i2,
+				      uint8_t *rgb24, uint16_t width);
+/**
+ * @brief Convert a line from GRBG8 to RGB24 with 3x3 method
+ * @copydetails pixel_line_rggb8_to_rgb24_3x3()
+ */
+void pixel_line_grbg8_to_rgb24_3x3(const uint8_t *i0, const uint8_t *i1, const uint8_t *i2,
+				      uint8_t *rgb24, uint16_t width);
+/**
+ * @brief Convert a line from BGGR8 to RGB24 with 3x3 method
+ * @copydetails pixel_line_rggb8_to_rgb24_3x3()
+ */
+void pixel_line_bggr8_to_rgb24_3x3(const uint8_t *i0, const uint8_t *i1, const uint8_t *i2,
+				      uint8_t *rgb24, uint16_t width);
+/**
+ * @brief Convert a line from GBRG8 to RGB24 with 3x3 method
+ * @copydetails pixel_line_rggb8_to_rgb24_3x3()
+ */
+void pixel_line_gbrg8_to_rgb24_3x3(const uint8_t *i0, const uint8_t *i1, const uint8_t *i2,
+				      uint8_t *rgb24, uint16_t width);
+
+/**
+ * @brief Convert a line from RGGB8 to RGB24 with 2x2 method
+ *
+ * @param i0 Buffer of the input row number 0 in bayer format (1 byte per pixel).
+ * @param i1 Buffer of the input row number 1 in bayer format (1 byte per pixel).
+ * @param rgb24 Buffer of the output row in RGB24 format (3 bytes per pixel).
+ * @param width Width of the lines in number of pixels.
+ */
+void pixel_line_rggb8_to_rgb24_2x2(const uint8_t *i0, const uint8_t *i1, uint8_t *rgb24,
+				      uint16_t width);
+/**
+ * @brief Convert a line from GBRG8 to RGB24 with 2x2 method
+ * @copydetails pixel_line_rggb8_to_rgb24_2x2()
+ */
+void pixel_line_gbrg8_to_rgb24_2x2(const uint8_t *i0, const uint8_t *i1, uint8_t *rgb24,
+				      uint16_t width);
+/**
+ * @brief Convert a line from BGGR8 to RGB24 with 2x2 method
+ * @copydetails pixel_line_rggb8_to_rgb24_2x2()
+ */
+void pixel_line_bggr8_to_rgb24_2x2(const uint8_t *i0, const uint8_t *i1, uint8_t *rgb24,
+				      uint16_t width);
+/**
+ * @brief Convert a line from GRBG8 to RGB24 with 2x2 method
+ * @copydetails pixel_line_rggb8_to_rgb24_2x2()
+ */
+void pixel_line_grbg8_to_rgb24_2x2(const uint8_t *i0, const uint8_t *i1, uint8_t *rgb24,
+				      uint16_t width);
+
+#endif /* ZEPHYR_INCLUDE_PIXEL_BAYER_H_ */

include/zephyr/pixel/convert.h

@@ -0,0 +1,137 @@
+/*
+ * Copyright (c) 2025 tinyVision.ai Inc.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_INCLUDE_PIXEL_CONVERT_H_
+#define ZEPHYR_INCLUDE_PIXEL_CONVERT_H_
+
+#include <stdlib.h>
+#include <stdint.h>
+
+#include <zephyr/sys/util.h>
+#include <zephyr/sys/byteorder.h>
+#include <zephyr/pixel/image.h>
+
+/**
+ * @brief Define a new format conversion operation.
+ *
+ * @param _fn Function converting one input line.
+ * @param _fourcc_in The input format for that operation.
+ * @param _fourcc_out The Output format for that operation.
+ */
+#define PIXEL_DEFINE_CONVERT_OPERATION(_fn, _fourcc_in, _fourcc_out)                               \
+	static const STRUCT_SECTION_ITERABLE_ALTERNATE(pixel_convert, pixel_operation,             \
+						       _fn##_op) = {                               \
+		.name = #_fn,                                                                      \
+		.fourcc_in = _fourcc_in,                                                           \
+		.fourcc_out = _fourcc_out,                                                         \
+		.window_size = 1,                                                                  \
+		.run = pixel_convert_op,                                                           \
+		.arg = _fn,                                                                        \
+	}
+/**
+ * @brief Helper to turn a format conversion function into an operation.
+ *
+ * The line conversion function is free to perform any processing on the input line.
+ * The @c w argument is the width of both the source and destination buffers.
+ *
+ * The line conversion function is to be provided in @c op->arg
+ *
+ * @param op Current operation in progress.
+ */
+void pixel_convert_op(struct pixel_operation *op);
+
+/**
+ * @brief Get the luminance (luma channel) of an RGB24 pixel.
+ *
+ * @param rgb24 Pointer to an RGB24 pixel: red, green, blue channels.
+ */
+uint8_t pixel_rgb24_get_luma_bt709(const uint8_t rgb24[3]);
+
+/**
+ * @brief Convert a line of pixel data from RGB24 to RGB24 (null conversion).
+ *
+ * See @ref video_pixel_formats for the definition of the input and output formats.
+ *
+ * You only need to call this function to work directly on raw buffers.
+ * See @ref pixel_image_convert for converting between formats.
+ *
+ * @param src Buffer of the input line in the format, @c XXX in @c pixel_line_XXX_to_YYY().
+ * @param dst Buffer of the output line in the format, @c YYY in @c pixel_line_XXX_to_YYY().
+ * @param width Width of the lines in number of pixels.
+ */
+void pixel_line_rgb24_to_rgb24(const uint8_t *src, uint8_t *dst, uint16_t width);
+/**
+ * @brief Convert a line of pixel data from RGB332 to RGB24.
+ * @copydetails pixel_line_rgb24_to_rgb24()
+ */
+void pixel_line_rgb332_to_rgb24(const uint8_t *src, uint8_t *dst, uint16_t width);
+/**
+ * @brief Convert a line of pixel data from RGB24 to RGB332 little-endian.
+ * @copydetails pixel_line_rgb24_to_rgb24()
+ */
+void pixel_line_rgb24_to_rgb332(const uint8_t *src, uint8_t *dst, uint16_t width);
+/**
+ * @brief Convert a line of pixel data from RGB565 little-endian to RGB24.
+ * @copydetails pixel_line_rgb24_to_rgb24()
+ */
+void pixel_line_rgb565le_to_rgb24(const uint8_t *src, uint8_t *dst, uint16_t width);
+/**
+ * @brief Convert a line of pixel data from RGB565 big-endian to RGB24.
+ * @copydetails pixel_line_rgb24_to_rgb24()
+ */
+void pixel_line_rgb565be_to_rgb24(const uint8_t *src, uint8_t *dst, uint16_t width);
+/**
+ * @brief Convert a line of pixel data from RGB24 to RGB565 little-endian.
+ * @copydetails pixel_line_rgb24_to_rgb24()
+ */
+void pixel_line_rgb24_to_rgb565le(const uint8_t *src, uint8_t *dst, uint16_t width);
+/**
+ * @brief Convert a line of pixel data from RGB24 to RGB565 big-endian.
+ * @copydetails pixel_line_rgb24_to_rgb24()
+ */
+void pixel_line_rgb24_to_rgb565be(const uint8_t *src, uint8_t *dst, uint16_t width);
+/**
+ * @brief Convert a line of pixel data from YUYV to RGB24 (BT.709 coefficients).
+ * @copydetails pixel_line_rgb24_to_rgb24()
+ */
+void pixel_line_yuyv_to_rgb24_bt709(const uint8_t *src, uint8_t *dst, uint16_t width);
+/**
+ * @brief Convert a line of pixel data from RGB24 to YUYV (BT.709 coefficients).
+ * @copydetails pixel_line_rgb24_to_rgb24()
+ */
+void pixel_line_rgb24_to_yuyv_bt709(const uint8_t *src, uint8_t *dst, uint16_t width);
+/**
+ * @brief Convert a line of pixel data from RGB24 to YUV24 (BT.709 coefficients).
+ * @copydetails pixel_line_rgb24_to_rgb24()
+ */
+void pixel_line_rgb24_to_yuv24_bt709(const uint8_t *src, uint8_t *dst, uint16_t width);
+/**
+ * @brief Convert a line of pixel data from YUV24 to RGB24 (BT.709 coefficients).
+ * @copydetails pixel_line_rgb24_to_rgb24()
+ */
+void pixel_line_yuv24_to_rgb24_bt709(const uint8_t *src, uint8_t *dst, uint16_t width);
+/**
+ * @brief Convert a line of pixel data from YUYV to YUV24
+ * @copydetails pixel_line_rgb24_to_rgb24()
+ */
+void pixel_line_yuyv_to_yuv24(const uint8_t *src, uint8_t *dst, uint16_t width);
+/**
+ * @brief Convert a line of pixel data from YUV24 to YUYV
+ * @copydetails pixel_line_rgb24_to_rgb24()
+ */
+void pixel_line_yuv24_to_yuyv(const uint8_t *src, uint8_t *dst, uint16_t width);
+/**
+ * @brief Convert a line of pixel data from Y8 to RGB24
+ * @copydetails pixel_line_rgb24_to_rgb24()
+ */
+void pixel_line_y8_to_rgb24_bt709(const uint8_t *src, uint8_t *dst, uint16_t width);
+/**
+ * @brief Convert a line of pixel data from RGB24 to Y8
+ * @copydetails pixel_line_rgb24_to_rgb24()
+ */
+void pixel_line_rgb24_to_y8_bt709(const uint8_t *src, uint8_t *dst, uint16_t width);
+
+#endif /* ZEPHYR_INCLUDE_PIXEL_CONVERT_H_ */

include/zephyr/pixel/distort.h

@@ -0,0 +1,41 @@
+/*
+ * Copyright (c) 2025 tinyVision.ai Inc.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_INCLUDE_PIXEL_DISTORT_H_
+#define ZEPHYR_INCLUDE_PIXEL_DISTORT_H_
+
+/** Coordinates of a pixel in row and column */
+struct pixel_pt {
+	/** Position through the vertical axis, incrementing from top to bottom */
+	int16_t row;
+	/** Position through the horizontal axis incrementing from left to right */
+	int16_t col;
+};
+
+/** Buffer of contiguous pixel data. */
+struct pixel_buf {
+	/** Pointer to the buffer pixel data in a format known by the user. */
+	uint8_t *data;
+	/** Width of the image in pixels (not bytes) */
+	uint16_t width;
+	/** Height of the imager in pixels */
+	uint16_t height;
+};
+
+/** Grid of pixel coordinates. */
+struct pixel_grid {
+	/* Point coordinates */
+	const struct pixel_pt *points;
+	/* Number of columns in the grid */
+	uint16_t width;
+	/* Number of rows in the grid */
+	uint16_t height;
+};
+
+void pixel_distort_raw8frame_to_raw8frame(struct pixel_buf *sbuf, struct pixel_buf *dbuf,
+					  const struct pixel_grid *grid);
+
+#endif /* ZEPHYR_INCLUDE_PIXEL_DISTORT_H_ */