modules/soft/soft_stitcher.cpp

/*
 * soft_stitcher.cpp - soft stitcher implementation
 *
 *  Copyright (c) 2017 Intel Corporation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 * Author: Wind Yuan <feng.yuan@intel.com>
 */

#include "soft_stitcher.h"
#include "soft_blender.h"
#include "soft_geo_mapper.h"
#include "soft_video_buf_allocator.h"
#include "interface/feature_match.h"
#include "surview_fisheye_dewarp.h"
#include <map>

#define SOFT_STITCHER_ALIGNMENT_X 8
#define SOFT_STITCHER_ALIGNMENT_Y 4

#define MAP_FACTOR_X  16
#define MAP_FACTOR_Y  16

#define ENABLE_FEATURE_MATCH 0

#define DUMP_STITCHER 1

namespace XCam {

#if DUMP_STITCHER
static void
stitcher_dump_buf (const SmartPtr<VideoBuffer> buf, uint32_t idx, const char *prefix)
{
    XCAM_ASSERT (prefix);
    char name[256];
    snprintf (name, 256, "%s-%d", prefix, idx);
    dump_buf_perfix_path (buf, name);
}
#else
static void stitcher_dump_buf (...) {}
#endif


namespace SoftSitcherPriv {

DECLARE_HANDLER_CALLBACK (CbGeoMap, SoftStitcher, dewarp_done);
DECLARE_HANDLER_CALLBACK (CbBlender, SoftStitcher, blender_done);

struct BlenderParam
    : SoftBlender::BlenderParam
{
    SmartPtr<SoftStitcher::StitcherParam>  stitch_param;
    uint32_t idx;

    BlenderParam (
        uint32_t i,
        const SmartPtr<VideoBuffer> &in0,
        const SmartPtr<VideoBuffer> &in1,
        const SmartPtr<VideoBuffer> &out)
        : SoftBlender::BlenderParam (in0, in1, out)
        , idx (i)
    {}
};

typedef std::map<void*, SmartPtr<BlenderParam>> BlenderParams;
typedef std::map<void*, int32_t> BlendCopyTaskNums;

struct HandlerParam
    : ImageHandler::Parameters
{
    SmartPtr<SoftStitcher::StitcherParam>  stitch_param;
    uint32_t idx;

    HandlerParam (uint32_t i)
        : idx (i)
    {}
};

struct Factor {
    float x, y;

    Factor () : x (1.0f), y (1.0f) {}
    void reset () {
        x = 1.0f;
        y = 1.0f;
    }
};

struct Overlap {
    SmartPtr<FeatureMatch>       matcher;
    SmartPtr<SoftBlender>        blender;
    BlenderParams                param_map;

    SmartPtr<BlenderParam> find_blender_param_in_map (
        const SmartPtr<SoftStitcher::StitcherParam> &key,
        const uint32_t idx);
};

struct FisheyeDewarp {
    SmartPtr<SoftGeoMapper>      dewarp;
    SmartPtr<BufferPool>         buf_pool;
    Factor                       left_factor, right_factor;

    bool set_dewarp_factor ();
    XCamReturn set_dewarp_geo_table (
        SmartPtr<SoftGeoMapper> mapper,
        const CameraInfo &cam_info, const BowlDataConfig &bowl);
};

class StitcherImpl {
    friend class XCam::SoftStitcher;

public:
    StitcherImpl (SoftStitcher *handler)
        : _stitcher (handler)
    {}

    XCamReturn init_config (uint32_t count);

    bool remove_task_count (const SmartPtr<SoftStitcher::StitcherParam> &param);
    int32_t dec_task_count (const SmartPtr<SoftStitcher::StitcherParam> &param);

    XCamReturn start_dewarp_works (const SmartPtr<SoftStitcher::StitcherParam> &param);
    XCamReturn start_task_count (const SmartPtr<SoftStitcher::StitcherParam> &param);
    XCamReturn start_overlap_tasks (
        const SmartPtr<SoftStitcher::StitcherParam> &param,
        const uint32_t idx, const SmartPtr<VideoBuffer> &buf);
    XCamReturn start_copy_tasks (
        const SmartPtr<SoftStitcher::StitcherParam> &param,
        const uint32_t idx, const SmartPtr<VideoBuffer> &buf);

    XCamReturn start_single_blender (const uint32_t idx, const SmartPtr<BlenderParam> &param);

    XCamReturn fisheye_dewarp_to_table ();
    XCamReturn feature_match (
        const SmartPtr<VideoBuffer> &left_buf,
        const SmartPtr<VideoBuffer> &right_buf,
        const uint32_t idx);

private:
    XCamReturn init_fisheye (uint32_t idx);

private:
    FisheyeDewarp           _fisheye [XCAM_STITCH_MAX_CAMERAS];
    Overlap                 _overlaps [XCAM_STITCH_MAX_CAMERAS];
    SmartPtr<BufferPool>    _dewarp_pool;

    Mutex                   _map_mutex;
    BlendCopyTaskNums       _task_counts;

    SoftStitcher           *_stitcher;
};

bool
FisheyeDewarp::set_dewarp_factor ()
{
    XCAM_FAIL_RETURN (
        ERROR, dewarp.ptr (), false,
        "FisheyeDewarp dewarp handler empty");

    Factor cur_left_factor, cur_right_factor;
    Factor unify_factor;
    dewarp->get_factors (unify_factor.x, unify_factor.y);
    cur_left_factor = cur_right_factor = unify_factor;
    if (XCAM_DOUBLE_EQUAL_AROUND(cur_left_factor.x, 0.0f) ||
            XCAM_DOUBLE_EQUAL_AROUND(cur_right_factor.x, 0.0f)) { // not started.
        return true;
    }

    cur_left_factor.x *= left_factor.x;
    cur_left_factor.y *= left_factor.y;
    cur_right_factor.x *= right_factor.x;
    cur_right_factor.y *= right_factor.y;
    unify_factor.x = (cur_left_factor.x + cur_right_factor.x) / 2.0f;
    unify_factor.y = (cur_left_factor.y + cur_right_factor.y) / 2.0f;
    dewarp->set_factors (unify_factor.x, unify_factor.y);

    left_factor.reset ();
    right_factor.reset ();
    return true;
}

XCamReturn
FisheyeDewarp::set_dewarp_geo_table (SmartPtr<SoftGeoMapper> mapper, const CameraInfo &cam_info, const BowlDataConfig &bowl)
{
    PolyFisheyeDewarp fd;
    fd.set_intrinsic_param (cam_info.calibration.intrinsic);
    fd.set_extrinsic_param (cam_info.calibration.extrinsic);

    uint32_t table_width, table_height;
    table_width = cam_info.slice_view.width / MAP_FACTOR_X;
    table_width = XCAM_ALIGN_UP (table_width, 4);
    table_height = cam_info.slice_view.height / MAP_FACTOR_Y;
    table_height = XCAM_ALIGN_UP (table_height, 2);
    SurViewFisheyeDewarp::MapTable map_table(table_width * table_height * 2);
    fd.fisheye_dewarp (
        map_table, table_width, table_height,
        cam_info.slice_view.width, cam_info.slice_view.height, bowl);

    std::vector<GeoData> geo_data (table_width * table_height);

    for (uint32_t row = 0; row < table_height; row++) {
        for(uint32_t col = 0; col < table_width; col++) {
            GeoData &data = geo_data[row * table_width + col];
            data.x = map_table[row * table_width * 2 + col * 2];
            data.y = map_table[row * table_width * 2 + col * 2 + 1];
            data.z = 0.0f;
            data.w = 0.0f;
        }
    }

    XCAM_FAIL_RETURN (
        ERROR, mapper->set_lookup_table (geo_data.data (), table_width, table_height),
        XCAM_RETURN_ERROR_UNKNOWN, "set fisheye dewarp lookup table failed");
    return XCAM_RETURN_NO_ERROR;
}

XCamReturn
StitcherImpl::init_fisheye (uint32_t idx)
{
    FisheyeDewarp &fisheye = _fisheye[idx];
    SmartPtr<ImageHandler::Callback> dewarp_cb = new CbGeoMap (_stitcher);
    fisheye.dewarp = new SoftGeoMapper ("sitcher_remapper");
    XCAM_ASSERT (fisheye.dewarp.ptr ());
    fisheye.dewarp->set_callback (dewarp_cb);

    CameraInfo cam_info;
    _stitcher->get_camera_info (idx, cam_info);

    VideoBufferInfo buf_info;
    buf_info.init (
        V4L2_PIX_FMT_NV12, cam_info.slice_view.width, cam_info.slice_view.height,
        XCAM_ALIGN_UP (cam_info.slice_view.width, SOFT_STITCHER_ALIGNMENT_X),
        XCAM_ALIGN_UP (cam_info.slice_view.height, SOFT_STITCHER_ALIGNMENT_Y));

    fisheye.buf_pool = new SoftVideoBufAllocator (buf_info);
    XCAM_ASSERT (fisheye.buf_pool.ptr ());
    XCAM_FAIL_RETURN (
        ERROR, fisheye.buf_pool->reserve (2), XCAM_RETURN_ERROR_MEM,
        "stitcher:%s reserve dewarp buffer pool(w:%d,h:%d) failed",
        XCAM_STR (_stitcher->get_name ()), buf_info.width, buf_info.height);
    return XCAM_RETURN_NO_ERROR;
}

XCamReturn
StitcherImpl::init_config (uint32_t count)
{
    SmartPtr<ImageHandler::Callback> blender_cb = new CbBlender (_stitcher);
    for (uint32_t i = 0; i < count; ++i) {
        XCamReturn ret = init_fisheye (i);
        XCAM_FAIL_RETURN (
            ERROR, xcam_ret_is_ok (ret), ret,
            "stitcher:%s init fisheye failed, idx:%d.", XCAM_STR (_stitcher->get_name ()), i);

#if ENABLE_FEATURE_MATCH
        _overlaps[i].matcher = new CVCapiFeatureMatch;
        //_overlaps[i].matcher->set_config ();
        _overlaps[i].matcher->set_fm_index (i);
#endif

        _overlaps[i].blender = create_soft_blender ().dynamic_cast_ptr<SoftBlender>();
        XCAM_ASSERT (_overlaps[i].blender.ptr ());
        _overlaps[i].blender->set_callback (blender_cb);
        _overlaps[i].param_map.clear ();
    }

    return XCAM_RETURN_NO_ERROR;
}

bool
StitcherImpl::remove_task_count (const SmartPtr<SoftStitcher::StitcherParam> &param)
{
    XCAM_ASSERT (param.ptr ());
    SmartLock locker (_map_mutex);
    BlendCopyTaskNums::iterator i = _task_counts.find (param.ptr ());
    if (i == _task_counts.end ())
        return false;

    _task_counts.erase (i);
    return true;
}

int32_t
StitcherImpl::dec_task_count (const SmartPtr<SoftStitcher::StitcherParam> &param)
{
    XCAM_ASSERT (param.ptr ());
    SmartLock locker (_map_mutex);
    BlendCopyTaskNums::iterator i = _task_counts.find (param.ptr ());
    if (i == _task_counts.end ())
        return -1;

    int32_t &count = i->second;
    --count;
    if (count > 0)
        return count;

    XCAM_ASSERT (count == 0);
    _task_counts.erase (i);
    return 0;
}

XCamReturn
StitcherImpl::fisheye_dewarp_to_table ()
{
    std::vector<GeoData> table;
    uint32_t camera_num = _stitcher->get_camera_num ();
    for (uint32_t i = 0; i < camera_num; ++i) {
        CameraInfo cam_info;
        _stitcher->get_camera_info (i, cam_info);

        BowlDataConfig bowl = _stitcher->get_bowl_config ();
        bowl.angle_start = cam_info.slice_view.hori_angle_start;
        bowl.angle_end = format_angle (
                             cam_info.slice_view.hori_angle_start + cam_info.slice_view.hori_angle_range);

        uint32_t out_width, out_height;
        _stitcher->get_output_size (out_width, out_height);

        _fisheye[i].dewarp->set_output_size (cam_info.slice_view.width, cam_info.slice_view.height);
        if (bowl.angle_end < bowl.angle_start)
            bowl.angle_start -= 360.0f;
        XCAM_LOG_INFO (
            "soft-stitcher:%s camera(idx:%d) info (angle start:%.2f, range:%.2f), bowl info (angle start%.2f, end:%.2f)",
            XCAM_STR (_stitcher->get_name ()), i,
            cam_info.slice_view.hori_angle_start, cam_info.slice_view.hori_angle_range,
            bowl.angle_start, bowl.angle_end);
        XCamReturn ret = _fisheye[i].set_dewarp_geo_table (_fisheye[i].dewarp, cam_info, bowl);
        XCAM_FAIL_RETURN (
            ERROR, xcam_ret_is_ok (ret), ret,
            "stitcher:%s set dewarp geo table failed, idx:%d.", XCAM_STR (_stitcher->get_name ()), i);

    }

    return XCAM_RETURN_NO_ERROR;
}

XCamReturn
StitcherImpl::start_dewarp_works (const SmartPtr<SoftStitcher::StitcherParam> &param)
{
    uint32_t camera_num = _stitcher->get_camera_num ();
    for (uint32_t i = 0; i < camera_num; ++i) {
        SmartPtr<VideoBuffer> out_buf = _fisheye[i].buf_pool->get_buffer ();
        SmartPtr<HandlerParam> dewarp_params = new HandlerParam (i);
        dewarp_params->in_buf = param->in_bufs[i];
        dewarp_params->out_buf = out_buf;
        dewarp_params->stitch_param = param;
        _fisheye[i].set_dewarp_factor ();
        XCamReturn ret = _fisheye[i].dewarp->execute_buffer (dewarp_params, false);
        XCAM_FAIL_RETURN (
            ERROR, xcam_ret_is_ok (ret), ret,
            "soft-stitcher:%s fisheye dewarp buffer failed", XCAM_STR (_stitcher->get_name ()));
    }
    return XCAM_RETURN_NO_ERROR;
}

SmartPtr<BlenderParam>
Overlap::find_blender_param_in_map (
    const SmartPtr<SoftStitcher::StitcherParam> &key,
    const uint32_t idx)
{
    SmartPtr<BlenderParam> param;
    BlenderParams::iterator i = param_map.find (key.ptr ());
    if (i == param_map.end ()) {
        param = new BlenderParam (idx, NULL, NULL, NULL);
        XCAM_ASSERT (param.ptr ());
        param->stitch_param = key;
        param_map.insert (std::make_pair ((void*)key.ptr (), param));
    } else {
        param = (*i).second;
    }

    return param;
}

XCamReturn
StitcherImpl::feature_match (
    const SmartPtr<VideoBuffer> &left_buf,
    const SmartPtr<VideoBuffer> &right_buf,
    const uint32_t idx)
{
    const ImageOverlapInfo overlap_info = _stitcher->get_overlap (idx);
    Rect left_ovlap = overlap_info.left;
    Rect right_ovlap = overlap_info.right;
    const VideoBufferInfo left_buf_info = left_buf->get_video_info ();

    _overlaps[idx].matcher->reset_offsets ();
    _overlaps[idx].matcher->optical_flow_feature_match (
        left_buf, right_buf, left_ovlap, right_ovlap, left_buf_info.width);
    float left_offsetx = _overlaps[idx].matcher->get_current_left_offset_x ();

    uint32_t left_idx = idx;
    float center_x = (float) _stitcher->get_center (left_idx).slice_center_x;
    float feature_center_x = (float)left_ovlap.pos_x + (left_ovlap.width / 2.0f);
    float range = feature_center_x - center_x;
    XCAM_ASSERT (range > 1.0f);
    _fisheye[left_idx].right_factor.x = (range + left_offsetx / 2.0f) / range;
    _fisheye[left_idx].right_factor.y = 1.0;
    XCAM_ASSERT (_fisheye[left_idx].right_factor.x > 0.0f && _fisheye[left_idx].right_factor.x < 2.0f);

    uint32_t right_idx = (idx + 1) % _stitcher->get_camera_num ();
    center_x = (float) _stitcher->get_center (right_idx).slice_center_x;
    feature_center_x = (float)right_ovlap.pos_x + (right_ovlap.width / 2.0f);
    range = center_x - feature_center_x;
    XCAM_ASSERT (range > 1.0f);
    _fisheye[right_idx].left_factor.x = (range + left_offsetx / 2.0f) / range;
    _fisheye[right_idx].left_factor.y = 1.0;
    XCAM_ASSERT (_fisheye[right_idx].left_factor.x > 0.0f && _fisheye[right_idx].left_factor.x < 2.0f);

    return XCAM_RETURN_NO_ERROR;
}

XCamReturn
StitcherImpl::start_single_blender (
    const uint32_t idx,
    const SmartPtr<BlenderParam> &param)
{
    SmartPtr<SoftBlender> blender = _overlaps[idx].blender;
    const ImageOverlapInfo &overlap_info = _stitcher->get_overlap (idx);
    uint32_t out_width, out_height;
    _stitcher->get_output_size (out_width, out_height);

    blender->set_output_size (out_width, out_height);
    blender->set_merge_window (overlap_info.out_area);
    blender->set_input_valid_area (overlap_info.left, 0);
    blender->set_input_valid_area (overlap_info.right, 1);
    blender->set_input_merge_area (overlap_info.left, 0);
    blender->set_input_merge_area (overlap_info.right, 1);
    return blender->execute_buffer (param, false);
}

XCamReturn
StitcherImpl::start_overlap_tasks (
    const SmartPtr<SoftStitcher::StitcherParam> &param,
    const uint32_t idx, const SmartPtr<VideoBuffer> &buf)
{
    SmartPtr<BlenderParam> cur_param, prev_param;
    const uint32_t camera_num = _stitcher->get_camera_num ();
    uint32_t pre_idx = (idx + camera_num - 1) % camera_num;
    XCamReturn ret = XCAM_RETURN_NO_ERROR;
    {
        SmartPtr<BlenderParam> param_b;

        SmartLock locker (_map_mutex);
        param_b = _overlaps[idx].find_blender_param_in_map (param, idx);
        param_b->in_buf = buf;
        if (param_b->in_buf.ptr () && param_b->in1_buf.ptr ()) {
            cur_param = param_b;
            _overlaps[idx].param_map.erase (param.ptr ());
        }

        param_b = _overlaps[pre_idx].find_blender_param_in_map (param, idx);
        param_b->in1_buf = buf;
        if (param_b->in_buf.ptr () && param_b->in1_buf.ptr ()) {
            prev_param = param_b;
            _overlaps[pre_idx].param_map.erase (param.ptr ());
        }
    }

    if (cur_param.ptr ()) {
        cur_param->out_buf = param->out_buf;
        ret = start_single_blender (idx, cur_param);
        XCAM_FAIL_RETURN (
            ERROR, xcam_ret_is_ok (ret), ret,
            "soft-stitcher:%s blend overlap idx:%d failed", XCAM_STR (_stitcher->get_name ()), idx);
    }

    if (prev_param.ptr ()) {
        prev_param->out_buf = param->out_buf;
        ret = start_single_blender (pre_idx, prev_param);
        XCAM_FAIL_RETURN (
            ERROR, xcam_ret_is_ok (ret), ret,
            "soft-stitcher:%s blend overlap idx:%d failed", XCAM_STR (_stitcher->get_name ()), pre_idx);
    }

#if ENABLE_FEATURE_MATCH
    //start feature match
    if (cur_param.ptr ()) {
        ret = feature_match (cur_param->in_buf, cur_param->in1_buf, idx);
        XCAM_FAIL_RETURN (
            ERROR, xcam_ret_is_ok (ret), ret,
            "soft-stitcher:%s feature-match overlap idx:%d failed", XCAM_STR (_stitcher->get_name ()), idx);
    }

    if (prev_param.ptr ()) {
        ret = feature_match (prev_param->in_buf, prev_param->in1_buf, pre_idx);
        XCAM_FAIL_RETURN (
            ERROR, xcam_ret_is_ok (ret), ret,
            "soft-stitcher:%s feature-match overlap idx:%d failed", XCAM_STR (_stitcher->get_name ()), pre_idx);
    }
#endif
    return XCAM_RETURN_NO_ERROR;
}

XCamReturn
StitcherImpl::start_copy_tasks (
    const SmartPtr<SoftStitcher::StitcherParam> &param,
    const uint32_t idx, const SmartPtr<VideoBuffer> &buf)
{
    //TODO add copy tasks
    return XCAM_RETURN_NO_ERROR;
}

};

SoftStitcher::SoftStitcher (const char *name)
    : SoftHandler (name)
    , Stitcher (SOFT_STITCHER_ALIGNMENT_X, SOFT_STITCHER_ALIGNMENT_Y)
{
    _impl = new SoftSitcherPriv::StitcherImpl (this);
    XCAM_ASSERT (_impl.ptr ());
}

SoftStitcher::~SoftStitcher ()
{
}

XCamReturn
SoftStitcher::stitch_buffers (const VideoBufferList &in_bufs, SmartPtr<VideoBuffer> &out_buf)
{
    XCAM_FAIL_RETURN (
        ERROR, !in_bufs.empty (), XCAM_RETURN_ERROR_PARAM,
        "soft-stitcher:%s stitch buffer failed, in_bufs is empty", XCAM_STR (get_name ()));

    SmartPtr<StitcherParam> param = new StitcherParam;
    param->out_buf = out_buf;
    uint32_t count = 0;
    for (VideoBufferList::const_iterator i = in_bufs.begin(); i != in_bufs.end (); ++i) {
        SmartPtr<VideoBuffer> buf = *i;
        XCAM_ASSERT (buf.ptr ());
        param->in_bufs[count++] = buf;
    }
    param->in_buf_num = count;
    XCamReturn ret = execute_buffer (param, true);
    if (!out_buf.ptr () && xcam_ret_is_ok (ret)) {
        out_buf = param->out_buf;
    }
    return ret;
}

XCamReturn
SoftStitcher::start_task_count (const SmartPtr<SoftStitcher::StitcherParam> &param)
{
    XCAM_ASSERT (param.ptr ());
    XCAM_ASSERT (_impl.ptr ());

    SmartLock locker (_impl->_map_mutex);

    XCAM_FAIL_RETURN (
        ERROR, check_work_continue (param, XCAM_RETURN_NO_ERROR), XCAM_RETURN_ERROR_PARAM,
        "soft-stitcher:%s start task count failed in work check", XCAM_STR (get_name ()));

    if (_impl->_task_counts.find (param.ptr ()) != _impl->_task_counts.end ()) {
        XCAM_LOG_ERROR ("tasks already started, this should never happen.");
        return XCAM_RETURN_ERROR_UNKNOWN;
    }

    int32_t count = get_camera_num ();
    //count += get_copy_area ().size ();

    XCAM_LOG_DEBUG ("stitcher :%s start task count :%d", XCAM_STR(get_name ()), count);
    _impl->_task_counts.insert (std::make_pair((void*)param.ptr(), count));
    return XCAM_RETURN_NO_ERROR;
}

void
SoftStitcher::dewarp_done (
    const SmartPtr<ImageHandler> &handler,
    const SmartPtr<ImageHandler::Parameters> &base,
    const XCamReturn error)
{
    SmartPtr<SoftSitcherPriv::HandlerParam> dewarp_param = base.dynamic_cast_ptr<SoftSitcherPriv::HandlerParam> ();
    XCAM_ASSERT (dewarp_param.ptr ());
    SmartPtr<SoftStitcher::StitcherParam> param = dewarp_param->stitch_param;
    XCAM_ASSERT (param.ptr ());
    XCAM_UNUSED (handler);

    if (!check_work_continue (param, error))
        return;

    XCAM_LOG_INFO ("soft-stitcher:%s camera(idx:%d) dewarp done", XCAM_STR (get_name ()), dewarp_param->idx);
    stitcher_dump_buf (dewarp_param->out_buf, dewarp_param->idx, "stitcher-dewarp");

    //start both blender and feature match
    XCamReturn ret = _impl->start_overlap_tasks (param, dewarp_param->idx, dewarp_param->out_buf);
    if (!xcam_ret_is_ok (ret)) {
        work_broken (param, ret);
    }

    ret = _impl->start_copy_tasks (param, dewarp_param->idx, dewarp_param->out_buf);
    if (!xcam_ret_is_ok (ret)) {
        work_broken (param, ret);
    }
}

void
SoftStitcher::blender_done (
    const SmartPtr<ImageHandler> &handler,
    const SmartPtr<ImageHandler::Parameters> &base,
    const XCamReturn error)
{
    SmartPtr<SoftSitcherPriv::BlenderParam> blender_param = base.dynamic_cast_ptr<SoftSitcherPriv::BlenderParam> ();
    XCAM_ASSERT (blender_param.ptr ());
    SmartPtr<SoftStitcher::StitcherParam> param = blender_param->stitch_param;
    XCAM_ASSERT (param.ptr ());
    XCAM_UNUSED (handler);

    if (!check_work_continue (param, error)) {
        _impl->remove_task_count (param);
        return;
    }

    stitcher_dump_buf (blender_param->out_buf, blender_param->idx, "stitcher-blend");
    XCAM_LOG_INFO ("blender:(%s) overlap:%d done", XCAM_STR (handler->get_name ()), blender_param->idx);

    if (_impl->dec_task_count (param) == 0) {
        work_well_done (param, error);
    }
}

XCamReturn
SoftStitcher::configure_resource (const SmartPtr<Parameters> &param)
{
    XCAM_UNUSED (param);
    XCAM_ASSERT (_impl.ptr ());

    uint32_t camera_count = get_camera_num ();
    XCamReturn ret = _impl->init_config (camera_count);
    XCAM_FAIL_RETURN (
        ERROR, xcam_ret_is_ok (ret), ret,
        "soft-stitcher:%s initialize private config failed", XCAM_STR (get_name ()));

    ret = estimate_coarse_crops ();
    XCAM_FAIL_RETURN (
        ERROR, xcam_ret_is_ok (ret), ret,
        "soft-stitcher:%s estimate coarse crops failed", XCAM_STR (get_name ()));

    ret = mark_centers ();
    XCAM_FAIL_RETURN (
        ERROR, xcam_ret_is_ok (ret), ret,
        "soft-stitcher:%s mark centers failed", XCAM_STR (get_name ()));

    ret = estimate_overlap ();
    XCAM_FAIL_RETURN (
        ERROR, xcam_ret_is_ok (ret), ret,
        "soft-stitcher:%s estimake coarse overlap failed", XCAM_STR (get_name ()));

    ret = _impl->fisheye_dewarp_to_table ();
    XCAM_FAIL_RETURN (
        ERROR, xcam_ret_is_ok (ret), ret,
        "soft-stitcher:%s fisheye_dewarp_to_table failed", XCAM_STR (get_name ()));

    VideoBufferInfo out_info;
    uint32_t out_width, out_height;
    get_output_size (out_width, out_height);
    XCAM_FAIL_RETURN (
        ERROR, out_width && out_height, XCAM_RETURN_ERROR_PARAM,
        "soft-stitcher:%s output size was not set", XCAM_STR(get_name ()));

    out_info.init (
        V4L2_PIX_FMT_NV12, out_width, out_height,
        XCAM_ALIGN_UP (out_width, SOFT_STITCHER_ALIGNMENT_X),
        XCAM_ALIGN_UP (out_height, SOFT_STITCHER_ALIGNMENT_Y));
    set_out_video_info (out_info);

    return ret;
}

XCamReturn
SoftStitcher::start_work (const SmartPtr<Parameters> &base)
{
    SmartPtr<StitcherParam> param = base.dynamic_cast_ptr<StitcherParam> ();

    XCAM_FAIL_RETURN (
        ERROR, param.ptr () && param->in_buf_num > 0 && param->in_bufs[0].ptr (), XCAM_RETURN_ERROR_PARAM,
        "soft_stitcher:%s start_work failed, params(in_buf_num) in_bufs are set",
        XCAM_STR (get_name ()));

    XCamReturn ret = start_task_count (param);
    XCAM_FAIL_RETURN (
        ERROR, xcam_ret_is_ok (ret), XCAM_RETURN_ERROR_PARAM,
        "soft_stitcher:%s start blender count failed", XCAM_STR (get_name ()));

    ret = _impl->start_dewarp_works (param);
    XCAM_FAIL_RETURN (
        ERROR, xcam_ret_is_ok (ret), XCAM_RETURN_ERROR_PARAM,
        "soft_stitcher:%s start dewarp works failed", XCAM_STR (get_name ()));

    for (uint32_t i = 0; i < param->in_buf_num; ++i) {
        param->in_bufs[i].release ();
    }

    return ret;
}

SmartPtr<Stitcher>
Stitcher::create_soft_stitcher ()
{
    return new SoftStitcher;
}

}