* support set_windowing

components/maixcam_lib/include/sophgo_middleware.hpp

@@ -80,10 +80,14 @@ int mmf_get_vi_unused_channel(void);
 int mmf_vi_init(void);
 int mmf_vi_init2(mmf_vi_cfg_t *vi_info);
 int mmf_vi_deinit(void);
+int mmf_vi_get_max_size(int *width, int *height);
+int mmf_vi_chn_caculate_ldc(int ch, int x_ratio, int y_ratio, int center_x_oft, int center_y_oft, int distortion_ratio);
+int mmf_vi_chn_ldc_enable(int ch, bool en);
 int mmf_add_vi_channel_with_enc(int ch, int width, int height, int format);
 int mmf_add_vi_channel(int ch, int width, int height, int format);
 int mmf_del_vi_channel(int ch);
 int mmf_del_vi_channel_all(void);
+int mmf_vi_channel_set_windowing(int ch, int x, int y, int w, int h);
 int mmf_reset_vi_channel(int ch, int width, int height, int format);
 bool mmf_vi_chn_is_open(int ch);
 int mmf_vi_aligned_width(int ch);

components/vision/include/base/maix_camera_base.hpp

@@ -149,6 +149,14 @@ namespace maix::camera
          * @return returns exposure mode
         */
         virtual int exp_mode(int value = -1) = 0;
+
+        /**
+         * Set window size of camera
+         * @param roi Support two input formats, [x,y,w,h] set the coordinates and size of the window;
+         * [w,h] set the size of the window, when the window is centred.
+         * @return error code
+        */
+        virtual int set_windowing(std::vector<int> roi) = 0;
     };
 
 }

components/vision/include/maix_camera.hpp

@@ -365,6 +365,15 @@ namespace maix::camera
          * @maixpy maix.camera.Camera.exp_mode
         */
         int exp_mode(int value = -1);
+
+        /**
+         * Set window size of camera
+         * @param roi Support two input formats, [x,y,w,h] set the coordinates and size of the window;
+         * [w,h] set the size of the window, when the window is centred.
+         * @return error code
+         * @maixpy maix.camera.Camera.set_windowing
+        */
+        err::Err set_windowing(std::vector<int> roi);
     private:
         std::string _device;
         int _ch;

components/vision/port/linux/maix_camera_v4l2.hpp

@@ -1040,6 +1040,11 @@ namespace maix::camera
         {
             return -1;
         }
+
+        int set_windowing(std::vector<int> roi)
+        {
+            return -1;
+        }
     private:
         std::string device;
         image::Format format;

components/vision/port/maixcam/maix_camera_mmf.hpp

@@ -434,6 +434,42 @@ namespace maix::camera
             err::check_bool_raise(out >= 0, "set exposure failed");
             return out;
         }
+
+        int set_windowing(std::vector<int> roi)
+        {
+            int max_height, max_width;
+            char log_msg[100];
+            int x = 0, y = 0, w = 0, h = 0;
+
+            err::check_bool_raise(!mmf_vi_get_max_size(&max_width, &max_height), "get max size of camera failed");
+
+            if (roi.size() == 4) {
+                x = roi[0], y = roi[1], w = roi[2], h = roi[3];
+            } else if (roi.size() == 2) {
+                w = roi[0], h = roi[1];
+                x = (max_width - w) / 2;
+                y = (max_height - h) / 2;
+            } else {
+                err::check_raise(err::ERR_RUNTIME, "roi size must be 4 or 2");
+            }
+
+            snprintf(log_msg, sizeof(log_msg), "Width must be a multiple of 64.");
+            err::check_bool_raise(w % 64 == 0, std::string(log_msg));
+            snprintf(log_msg, sizeof(log_msg), "the coordinate x range needs to be [0,%d].", max_width - 1);
+            err::check_bool_raise(x >= 0 || x < max_width, std::string(log_msg));
+            snprintf(log_msg, sizeof(log_msg), "the coordinate y range needs to be [0,%d].", max_height - 1);
+            err::check_bool_raise(y >= 0 || y < max_height, std::string(log_msg));
+            snprintf(log_msg, sizeof(log_msg), "the row of the window is larger than the maximum, try x=%d, w=%d.", x, max_width - x);
+            err::check_bool_raise(x + w <= max_width, std::string(log_msg));
+            snprintf(log_msg, sizeof(log_msg), "the column of the window is larger than the maximum, try y=%d, h=%d.", y, max_height - y);
+            err::check_bool_raise(y + h <= max_height, std::string(log_msg));
+
+            this->width = w;
+            this->height = h;
+            err::check_bool_raise(!mmf_vi_channel_set_windowing(ch,  x, y, w, h), "set windowing failed.");
+
+            return 0;
+        }
     private:
         std::string device;
         image::Format format;

components/vision/port/maixcam/maix_display_mmf.hpp

@@ -12,20 +12,63 @@
 #include "maix_thread.hpp"
 #include "maix_image.hpp"
 #include "maix_time.hpp"
+#include <unistd.h>
 #include "sophgo_middleware.hpp"
 #include "maix_pwm.hpp"
 
 using namespace maix::peripheral;
 
 namespace maix::display
 {
+    __attribute__((unused)) static int _get_vo_max_size(int *width, int *height, int rotate)
+    {
+        int w = 0, h = 0;
+        const char *fb_path = "/dev/fb0";
+        uint8_t need_rmmod = 0;
+        if (access(fb_path, F_OK) == -1) {
+            system("insmod /mnt/system/ko/soph_fb.ko");
+            need_rmmod = 1;
+        }
+
+        FILE *fp;
+        char buffer[4096];
+        fp = popen("fbset", "r");
+        if (fp == NULL) {
+            perror("popen failed");
+            return 1;
+        }
+        while (fgets(buffer, sizeof(buffer), fp) != NULL) {
+            char *mode_line = strstr(buffer, "mode");
+            if (mode_line) {
+                sscanf(mode_line, "mode \"%dx%d", &w, &h);
+                break;
+            }
+        }
+        pclose(fp);
+
+        if (need_rmmod) {
+            system("rmmod soph_fb");
+        }
+
+        if (rotate) {
+            *width = h;
+            *height = w;
+        } else {
+            *width = w;
+            *height = h;
+        }
+        return 0;
+    }
     class DisplayCviMmf final : public DisplayBase
     {
     public:
         DisplayCviMmf(const char *device, int width, int height, image::Format format)
         {
-            this->_width = width > 552 ? 552 : width;
-            this->_height = height > 368 ? 368 : height;
+            err::check_bool_raise(!_get_vo_max_size(&_max_width, &_max_height, 1), "get vo max size failed");
+            width = width <= 0 ? _max_width : width;
+            height = height <= 0 ? _max_height : height;
+            this->_width = width > _max_width ? _max_width : width;
+            this->_height = height > _max_height ? _max_height : height;
             this->_format = format;
             this->_opened = false;
             this->_format = format;
@@ -43,8 +86,11 @@ namespace maix::display
 
         DisplayCviMmf(int layer, int width, int height, image::Format format)
         {
-            this->_width = width > 552 ? 552 : width;
-            this->_height = height > 368 ? 368 : height;
+            err::check_bool_raise(!_get_vo_max_size(&_max_width, &_max_height, 1), "get vo max size failed");
+            width = width <= 0 ? _max_width : width;
+            height = height <= 0 ? _max_height : height;
+            this->_width = width > _max_width ? _max_width : width;
+            this->_height = height > _max_height ? _max_height : height;
             this->_format = format;
             this->_opened = false;
             this->_format = format;
@@ -91,9 +137,8 @@ namespace maix::display
 
         err::Err open(int width, int height, image::Format format)
         {
-            width = width > 552 ? 552 : width;
-            height = height > 368 ? 368 : height;
-
+            width = width > _max_width ? _max_width : width;
+            height = height > _max_height ? _max_height : height;
             if(this->_opened)
             {
                 return err::ERR_NONE;
@@ -322,6 +367,8 @@ namespace maix::display
     private:
         int _width;
         int _height;
+        int _max_width;
+        int _max_height;
         image::Format _format;
         int _layer;
         int _ch;

components/vision/src/maix_camera.cpp

@@ -483,5 +483,26 @@ namespace maix::camera
 
         return _impl->exp_mode(value);
     }
+
+    err::Err Camera::set_windowing(std::vector<int> roi) {
+        if (_impl == NULL)
+            return err::ERR_NOT_INIT;
+
+        if (!this->is_opened()) {
+            return err::ERR_NOT_OPEN;
+        }
+
+        err::check_bool_raise(!_impl->set_windowing(roi), "set_windowing failed");
+        if (roi.size() == 4) {
+            this->_width = roi[2];
+            this->_height = roi[3];
+        } else if (roi.size() == 2) {
+            this->_width = roi[0];
+            this->_height = roi[1];
+        } else {
+            err::check_raise(err::ERR_RUNTIME, "roi size must be 2 or 4");
+        }
+        return err::ERR_NONE;
+    }
 }
 

components/vision/src/maix_display.cpp

@@ -29,9 +29,6 @@ namespace maix::display
 
     Display::Display(int width, int height, image::Format format, const char *device, bool open)
     {
-        // TODO: Get actual device max size
-        width = (width == -1) ? 640 : width;
-        height = (height == -1) ? 480 : height;
         _impl = NULL;
 
         // Select implementation by platform