File 0001-New_features_camera_tunning_and_fixes.patch of Package libxcam
From 6a20559b402493ff29eac7368b5d7b4569a64884 Mon Sep 17 00:00:00 2001
From: zihengchang <zihengx.chang@intel.com>
Date: Thu, 9 Sep 2021 15:47:43 +0800
Subject: [PATCH] New features, camera tunning and fixes
Support 6 camera input and output 8k video
Support opecv4.x
Add json file calibration data of new insta camera
Fix code indentation
---
configure.ac | 5 +-
m4/xcam-utils.m4 | 4 +-
modules/gles/gl_stitcher.cpp | 4 +
modules/ocv/cv_capi_feature_match.cpp | 2 +
modules/ocv/cv_capi_feature_match.h | 2 +
modules/soft/Makefile.am | 2 +-
modules/soft/soft_stitcher.cpp | 2 +
modules/vulkan/vk_stitcher.cpp | 4 +
tests/camera_calibration_insta.json | 115 +++++++++++++++++++++++
tests/test-surround-view.cpp | 8 +-
tests/test_sv_params.h | 129 ++++++++++++++++++++++++++
xcore/interface/stitcher.cpp | 2 +-
12 files changed, 271 insertions(+), 8 deletions(-)
create mode 100644 tests/camera_calibration_insta.json
diff --git a/configure.ac b/configure.ac
index 0319a700a..0161e947d 100644
--- a/configure.ac
+++ b/configure.ac
@@ -29,7 +29,7 @@ AC_SUBST(XCAM_LT_LDFLAGS)
# xcam required OpenCV version [XCAM_REQUIRE_CV_MIN, XCAM_REQUIRE_CV_MAX)
XCAM_REQUIRE_CV_MIN=3.0.0
-XCAM_REQUIRE_CV_MAX=4.0.0
+XCAM_REQUIRE_CV_MAX=5.0.0
# xcam required OpenSceneGraph version
XCAM_REQUIRE_OSG_MIN=3.3.2
@@ -81,7 +81,7 @@ XCAM_CHECK_DOXYGEN($enable_docs, [], enable_docs="no")
XCAM_CHECK_AVX512($enable_avx512, ENABLE_AVX512=1, ENABLE_AVX512=0)
XCAM_CHECK_OSG($enable_render, $XCAM_REQUIRE_OSG_MIN, ENABLE_RENDER=1, ENABLE_RENDER=0)
XCAM_CHECK_DNN($enable_dnn, $OPENVINO_IE_INC_PATH, $OPENVINO_IE_LIBS_PATH, ENABLE_DNN=1, ENABLE_DNN=0)
-XCAM_CHECK_OPENCV($enable_opencv, $XCAM_REQUIRE_CV_MIN, $XCAM_REQUIRE_CV_MAX, HAVE_OPENCV=1, HAVE_OPENCV=0)
+XCAM_CHECK_OPENCV($enable_opencv, $XCAM_REQUIRE_CV_MIN, $XCAM_REQUIRE_CV_MAX, HAVE_OPENCV=1, HAVE_OPENCV=0, OPENCV_VERSION3=1, OPENCV_VERSION3=0)
XCAM_CHECK_OCV_VIDEOSTAB($HAVE_OPENCV, ENABLE_DVS=1, ENABLE_DVS=0)
XCAM_CHECK_DVS_OCL($HAVE_OPENCV, ENABLE_DVS_CL_PATH=1, ENABLE_DVS_CL_PATH=0)
XCAM_CHECK_GST($enable_gst, $GST_API_VERSION, $GST_VERSION_MIN, ENABLE_GST=1, ENABLE_GST=0)
@@ -116,6 +116,7 @@ XCAM_DEFINE_MACOR(ENABLE_AVX512, $ENABLE_AVX512, have avx instruction)
XCAM_DEFINE_MACOR(ENABLE_RENDER, $ENABLE_RENDER, enable texture render)
XCAM_DEFINE_MACOR(ENABLE_DNN, $ENABLE_DNN, have dnn)
XCAM_DEFINE_MACOR(HAVE_OPENCV, $HAVE_OPENCV, have opencv)
+XCAM_DEFINE_MACOR(OPENCV_VERSION3, $OPENCV_VERSION3, opencv version3)
XCAM_DEFINE_MACOR(ENABLE_DVS, $ENABLE_DVS, have dvs)
XCAM_DEFINE_MACOR(ENABLE_DVS_CL_PATH, $ENABLE_DVS_CL_PATH, enable dvs cl path)
XCAM_DEFINE_MACOR(ENABLE_CAPI, $ENABLE_CAPI, enable capi)
diff --git a/m4/xcam-utils.m4 b/m4/xcam-utils.m4
index aefaf9077..a93c45c6b 100644
--- a/m4/xcam-utils.m4
+++ b/m4/xcam-utils.m4
@@ -55,7 +55,7 @@ AC_DEFUN([XCAM_CHECK_DOXYGEN],
[$3])
])
-# XCAM_CHECK_OPENCV([$1:value], [$2:ocv-min], [$3:ocv-max], [$4:if-found], [$5:if-not-found])
+# XCAM_CHECK_OPENCV([$1:value], [$2:ocv-min], [$3:ocv-max], [$4:if-found], [$5:if-not-found]， [$6:if-opencv3.x], [$7:if-not-opencv3.x])
AC_DEFUN([XCAM_CHECK_OPENCV],
[
AS_IF([test "x$1" = "xyes"],
@@ -72,6 +72,8 @@ AC_DEFUN([XCAM_CHECK_OPENCV],
[AC_MSG_ERROR(OpenCV required version: >= $2 && < $3)])
],
[$5])
+ AS_IF([test $ocv_major_version == 3], [$6], [$7])
+ AC_MSG_NOTICE(OPENCV_major_version: $ocv_major_version)
])
# XCAM_CHECK_OCV_VIDEOSTAB([$1:value], [$2:if-found], [$3:if-not-found])
diff --git a/modules/gles/gl_stitcher.cpp b/modules/gles/gl_stitcher.cpp
index 1cdf46ad7..22ac110ae 100644
--- a/modules/gles/gl_stitcher.cpp
+++ b/modules/gles/gl_stitcher.cpp
@@ -746,15 +746,19 @@ StitcherImpl::create_feature_match (SmartPtr<FeatureMatch> &matcher)
case FMCluster:
matcher = FeatureMatch::create_cluster_feature_match ();
break;
+#if OPENCV_VERSION3
case FMCapi:
matcher = FeatureMatch::create_capi_feature_match ();
break;
+#endif
default:
XCAM_LOG_ERROR ("gl-stitcher unsupported feature match mode: %d", fm_mode);
return XCAM_RETURN_ERROR_PARAM;
}
#else
+#if OPENCV_VERSION3
matcher = FeatureMatch::create_capi_feature_match ();
+#endif
#endif
XCAM_ASSERT (matcher.ptr ());
diff --git a/modules/ocv/cv_capi_feature_match.cpp b/modules/ocv/cv_capi_feature_match.cpp
index d478f3c0f..e24416b7a 100644
--- a/modules/ocv/cv_capi_feature_match.cpp
+++ b/modules/ocv/cv_capi_feature_match.cpp
@@ -22,6 +22,7 @@
#include "cv_capi_feature_match.h"
+#if OPENCV_VERSION3
#define XCAM_CV_CAPI_FM_DEBUG 0
namespace XCam {
@@ -249,3 +250,4 @@ FeatureMatch::create_capi_feature_match ()
}
}
+#endif
diff --git a/modules/ocv/cv_capi_feature_match.h b/modules/ocv/cv_capi_feature_match.h
index f1f87948f..26c60629f 100644
--- a/modules/ocv/cv_capi_feature_match.h
+++ b/modules/ocv/cv_capi_feature_match.h
@@ -31,6 +31,7 @@
#include <cv.h>
#else
#include <opencv2/imgproc/imgproc_c.h>
+#if OPENCV_VERSION3
#include <opencv2/video/tracking_c.h>
#endif
@@ -72,3 +73,4 @@ class CVCapiFeatureMatch
}
#endif // CV_CAPI_FEATURE_MATCH_H
+#endif
diff --git a/modules/soft/Makefile.am b/modules/soft/Makefile.am
index 9c4fbdb9e..fa3982210 100644
--- a/modules/soft/Makefile.am
+++ b/modules/soft/Makefile.am
@@ -31,7 +31,7 @@ xcam_soft_sources = \
soft_geo_tasks_priv.cpp \
soft_copy_task.cpp \
soft_stitcher.cpp \
- $(NULL)
+ $(NULL)
libxcam_soft_la_SOURCES = \
$(xcam_soft_sources) \
diff --git a/modules/soft/soft_stitcher.cpp b/modules/soft/soft_stitcher.cpp
index 350812163..dde33d199 100644
--- a/modules/soft/soft_stitcher.cpp
+++ b/modules/soft/soft_stitcher.cpp
@@ -470,8 +470,10 @@ StitcherImpl::init_feature_match (uint32_t idx)
_overlaps[idx].matcher = FeatureMatch::create_default_feature_match ();
else if (fm_mode == FMCluster)
_overlaps[idx].matcher = FeatureMatch::create_cluster_feature_match ();
+#if OPENCV_VERSION3
else if (fm_mode == FMCapi)
_overlaps[idx].matcher = FeatureMatch::create_capi_feature_match ();
+#endif
else {
XCAM_LOG_ERROR ("unsupported FeatureMatchMode: %d", fm_mode);
XCAM_ASSERT (false);
diff --git a/modules/vulkan/vk_stitcher.cpp b/modules/vulkan/vk_stitcher.cpp
index 06ec8a772..9e12fd7c1 100644
--- a/modules/vulkan/vk_stitcher.cpp
+++ b/modules/vulkan/vk_stitcher.cpp
@@ -423,15 +423,19 @@ StitcherImpl::init_feature_matchers ()
matcher = FeatureMatch::create_default_feature_match ();
else if (fm_mode == FMCluster)
matcher = FeatureMatch::create_cluster_feature_match ();
+#if OPENCV_VERSION3
else if (fm_mode == FMCapi)
matcher = FeatureMatch::create_capi_feature_match ();
+#endif
else {
XCAM_LOG_ERROR (
"vk-stitcher(%s) unsupported FeatureMatchMode: %d",
XCAM_STR (_stitcher->get_name ()), fm_mode);
}
#else
+#if OPENCV_VERSION3
matcher = FeatureMatch::create_capi_feature_match ();
+#endif
#endif
XCAM_ASSERT (matcher.ptr ());
diff --git a/tests/camera_calibration_insta.json b/tests/camera_calibration_insta.json
new file mode 100644
index 000000000..9d7fae848
--- /dev/null
+++ b/tests/camera_calibration_insta.json
@@ -0,0 +1,115 @@
+{
+ "info": "",
+ "sn": "",
+ "model": 2,
+ "rig": [
+ 0.0,
+ 0.0,
+ 0.0
+ ],
+ "cameras": {
+ "camera":[
+ {
+ "type": 25,
+ "radius": 2040.0,
+ "cx": 1900.0,
+ "cy": 1410.0,
+ "yaw": 0.0,
+ "pitch": 0.0,
+ "roll": 92.3,
+ "w": 3840,
+ "h": 2880,
+ "fov": 200.0,
+ "t": [ 0.0,
+ 0.0,
+ 0.0
+ ]
+ },
+ {
+ "type": 25,
+ "radius": 1984.0,
+ "cx": 1920.0,
+ "cy": 1440.0,
+ "yaw": 0.0,
+ "pitch": 0.0,
+ "roll": 90.2,
+ "w": 3840,
+ "h": 2880,
+ "fov": 200.0,
+ "t": [
+ 0.0,
+ 0.0,
+ 0.0
+ ]
+ },
+ {
+ "type": 25,
+ "radius": 1984.0,
+ "cx": 1860.0,
+ "cy": 1480.0,
+ "yaw": 0.0,
+ "pitch": 0.0,
+ "roll": 89.3,
+ "w": 3840,
+ "h": 2880,
+ "fov": 200.0,
+ "t": [
+ 0.0,
+ 0.0,
+ 0.0
+ ]
+ },
+ {
+ "type": 25,
+ "radius": 1984.0,
+ "cx": 1944.0,
+ "cy": 1460.0,
+ "yaw": 0.0,
+ "pitch": 0.0,
+ "roll": 90.8,
+ "w": 3840,
+ "h": 2880,
+ "fov": 200.0,
+ "t": [
+ 0.0,
+ 0.0,
+ 0.0
+ ]
+ },
+ {
+ "type": 25,
+ "radius": 1984.0,
+ "cx": 1910.0,
+ "cy": 1420.0,
+ "yaw": 0.0,
+ "pitch": 0.0,
+ "roll": 90.5,
+ "w": 3840,
+ "h": 2880,
+ "fov": 200.0,
+ "t": [
+ 0.0,
+ 0.0,
+ 0.0
+ ]
+ },
+ {
+ "type": 25,
+ "radius": 1984.0,
+ "cx": 1928.0,
+ "cy": 1440.0,
+ "yaw": 0.0,
+ "pitch": 0.0,
+ "roll": 89.7,
+ "w": 3840,
+ "h": 2880,
+ "fov": 200.0,
+ "t": [
+ 0.0,
+ 0.0,
+ 0.0
+ ]
+ }
+ ]
+ }
+}
diff --git a/tests/test-surround-view.cpp b/tests/test-surround-view.cpp
index 1e7297df0..2fff0a3e4 100644
--- a/tests/test-surround-view.cpp
+++ b/tests/test-surround-view.cpp
@@ -528,7 +528,7 @@ static void usage(const char* arg0)
"\t--in-format optional, pixel format, select from [nv12/yuv], default: nv12\n"
"\t--fisheye-num optional, the number of fisheye lens, default: 4\n"
"\t--cam-model optional, camera model\n"
- "\t select from [cama2c1080p/camb4c1080p/camc3c8k/camd3c8k], default: camb4c1080p\n"
+ "\t select from [cama2c1080p/camb4c1080p/camc3c8k/camc6c8k/camd3c8k], default: camb4c1080p\n"
"\t--blend-pyr-levels optional, the pyramid levels of blender, default: 2\n"
"\t--dewarp-mode optional, fisheye dewarp mode, select from [sphere/bowl], default: bowl\n"
"\t--scopic-mode optional, scopic mode, select from [mono/stereoleft/stereoright], default: mono\n"
@@ -705,6 +705,8 @@ int main (int argc, char *argv[])
cam_model = CamB4C1080P;
else if (!strcasecmp (optarg, "camc3c8k"))
cam_model = CamC3C8K;
+ else if (!strcasecmp (optarg, "camc6c8k"))
+ cam_model = CamC6C8K;
else if (!strcasecmp (optarg, "camd3c8k"))
cam_model = CamD3C8K;
else {
@@ -852,7 +854,7 @@ int main (int argc, char *argv[])
printf ("input%d file:\t\t%s\n", i, ins[i]->get_file_name ());
}
printf ("camera model:\t\t%s\n", cam_model == CamA2C1080P ? "cama2c1080p" :
- (cam_model == CamB4C1080P ? "camb4c1080p" : (cam_model == CamC3C8K ? "camc3c8k" : "camd3c8k")));
+ (cam_model == CamB4C1080P ? "camb4c1080p" : (cam_model == CamC3C8K ? "camc3c8k" : (cam_model == CamC6C8K ? "camc6c8k" : "camd3c8k"))));
printf ("fisheye number:\t\t%d\n", fisheye_num);
printf ("stitch module:\t\t%s\n", module == SVModuleGLES ? "GLES" :
(module == SVModuleVulkan ? "Vulkan" : (module == SVModuleSoft ? "Soft" : "Unknown")));
@@ -931,7 +933,7 @@ int main (int argc, char *argv[])
}
#if ENABLE_FISHEYE_IMG_ROI
- if (module == SVModuleGLES && (cam_model == CamC3C8K || cam_model == CamD3C8K)) {
+ if (module == SVModuleGLES && (cam_model == CamC3C8K || cam_model == CamC6C8K || cam_model == CamD3C8K)) {
StitchInfo info = (module == SVModuleSoft) ?
soft_stitch_info (cam_model, scopic_mode) : gl_stitch_info (cam_model, scopic_mode);
diff --git a/tests/test_sv_params.h b/tests/test_sv_params.h
index 7610aa1bf..25e70534b 100644
--- a/tests/test_sv_params.h
+++ b/tests/test_sv_params.h
@@ -30,6 +30,7 @@ enum CamModel {
CamA2C1080P = 0,
CamB4C1080P,
CamC3C8K,
+ CamC6C8K,
CamD3C8K
};
@@ -57,6 +58,7 @@ static const char *extrinsic_names[] = {
static const char *camera_calibration_json_names[] = {
"",
"",
+ "camera_calibration_insta.json",
"",
"k_camera_calibration.json"
};
@@ -94,6 +96,15 @@ get_fisheye_img_roi_radius (
}
break;
}
+ case CamC6C8K: {
+ roi_radius[0] = 1787;
+ roi_radius[1] = 1787;
+ roi_radius[2] = 1787;
+ roi_radius[3] = 1787;
+ roi_radius[4] = 1787;
+ roi_radius[5] = 1787;
+ break;
+ }
case CamD3C8K: {
switch (scopic_mode) {
case ScopicStereoLeft: {
@@ -169,6 +180,15 @@ viewpoints_range (CamModel model, float *range)
range[2] = 144.0f;
break;
}
+ case CamC6C8K: {
+ range[0] = 72.0f;
+ range[1] = 72.0f;
+ range[2] = 72.0f;
+ range[3] = 72.0f;
+ range[4] = 72.0f;
+ range[5] = 72.0f;
+ break;
+ }
case CamD3C8K: {
range[0] = 132.0f;
range[1] = 132.0f;
@@ -203,6 +223,13 @@ fm_region_ratio (CamModel model)
ratio.height = 1.0f / 3.0f;
break;
}
+ case CamC6C8K: {
+ ratio.pos_x = 0.0f;
+ ratio.width = 1.0f;
+ ratio.pos_y = 1.0f / 3.0f;
+ ratio.height = 1.0f / 3.0f;
+ break;
+ }
case CamD3C8K: {
ratio.pos_x = 0.0f;
ratio.width = 1.0f;
@@ -260,6 +287,17 @@ soft_fm_config (CamModel model)
cfg.max_track_error = 6.0f;
break;
}
+ case CamC6C8K: {
+ cfg.stitch_min_width = 136;
+ cfg.min_corners = 4;
+ cfg.offset_factor = 0.95f;
+ cfg.delta_mean_offset = 256.0f;
+ cfg.recur_offset_error = 4.0f;
+ cfg.max_adjusted_offset = 24.0f;
+ cfg.max_valid_offset_y = 20.0f;
+ cfg.max_track_error = 6.0f;
+ break;
+ }
case CamD3C8K: {
cfg.stitch_min_width = 256;
cfg.min_corners = 4;
@@ -394,6 +432,46 @@ soft_stitch_info (CamModel model, StitchScopicMode scopic_mode)
}
break;
}
+ case CamC6C8K: {
+ info.merge_width[0] = 256;
+ info.merge_width[1] = 256;
+ info.merge_width[2] = 256;
+ info.merge_width[3] = 256;
+ info.merge_width[4] = 256;
+ info.merge_width[5] = 256;
+
+ info.fisheye_info[0].intrinsic.cx = 1907.0f;
+ info.fisheye_info[0].intrinsic.cy = 1440.0f;
+ info.fisheye_info[0].intrinsic.fov = 200.0f;
+ info.fisheye_info[0].radius = 1984.0f;
+ info.fisheye_info[0].extrinsic.roll = 90.3f;
+ info.fisheye_info[1].intrinsic.cx = 1920.0f;
+ info.fisheye_info[1].intrinsic.cy = 1440.0f;
+ info.fisheye_info[1].intrinsic.fov = 200.0f;
+ info.fisheye_info[1].radius = 1984.0f;
+ info.fisheye_info[1].extrinsic.roll = 90.0f;
+ info.fisheye_info[2].intrinsic.cx = 1920.0f;
+ info.fisheye_info[2].intrinsic.cy = 1440.0f;
+ info.fisheye_info[2].intrinsic.fov = 200.0f;
+ info.fisheye_info[2].radius = 1984.0f;
+ info.fisheye_info[2].extrinsic.roll = 90.2f;
+ info.fisheye_info[3].intrinsic.cx = 1920.0f;
+ info.fisheye_info[3].intrinsic.cy = 1440.0f;
+ info.fisheye_info[3].intrinsic.fov = 200.0f;
+ info.fisheye_info[3].radius = 1984.0f;
+ info.fisheye_info[3].extrinsic.roll = 90.0f;
+ info.fisheye_info[4].intrinsic.cx = 1920.0f;
+ info.fisheye_info[4].intrinsic.cy = 1440.0f;
+ info.fisheye_info[4].intrinsic.fov = 200.0f;
+ info.fisheye_info[4].radius = 1984.0f;
+ info.fisheye_info[4].extrinsic.roll = 91.2f;
+ info.fisheye_info[5].intrinsic.cx = 1914.0f;
+ info.fisheye_info[5].intrinsic.cy = 1440.0f;
+ info.fisheye_info[5].intrinsic.fov = 200.0f;
+ info.fisheye_info[5].radius = 1984.0f;
+ info.fisheye_info[5].extrinsic.roll = 90.1f;
+ break;
+ }
case CamD3C8K: {
switch (scopic_mode) {
case ScopicStereoLeft: {
@@ -494,6 +572,17 @@ gl_fm_config (CamModel model)
cfg.max_track_error = 6.0f;
break;
}
+ case CamC6C8K: {
+ cfg.stitch_min_width = 136;
+ cfg.min_corners = 4;
+ cfg.offset_factor = 0.95f;
+ cfg.delta_mean_offset = 256.0f;
+ cfg.recur_offset_error = 4.0f;
+ cfg.max_adjusted_offset = 24.0f;
+ cfg.max_valid_offset_y = 20.0f;
+ cfg.max_track_error = 6.0f;
+ break;
+ }
case CamD3C8K: {
cfg.stitch_min_width = 256;
cfg.min_corners = 4;
@@ -584,6 +673,46 @@ gl_stitch_info (CamModel model, StitchScopicMode scopic_mode)
}
break;
}
+ case CamC6C8K: {
+ info.merge_width[0] = 256;
+ info.merge_width[1] = 256;
+ info.merge_width[2] = 256;
+ info.merge_width[3] = 256;
+ info.merge_width[4] = 256;
+ info.merge_width[5] = 256;
+
+ info.fisheye_info[0].intrinsic.cx = 1907.0f;
+ info.fisheye_info[0].intrinsic.cy = 1440.0f;
+ info.fisheye_info[0].intrinsic.fov = 200.0f;
+ info.fisheye_info[0].radius = 1984.0f;
+ info.fisheye_info[0].extrinsic.roll = 90.3f;
+ info.fisheye_info[1].intrinsic.cx = 1920.0f;
+ info.fisheye_info[1].intrinsic.cy = 1440.0f;
+ info.fisheye_info[1].intrinsic.fov = 200.0f;
+ info.fisheye_info[1].radius = 1984.0f;
+ info.fisheye_info[1].extrinsic.roll = 90.0f;
+ info.fisheye_info[2].intrinsic.cx = 1920.0f;
+ info.fisheye_info[2].intrinsic.cy = 1440.0f;
+ info.fisheye_info[2].intrinsic.fov = 200.0f;
+ info.fisheye_info[2].radius = 1984.0f;
+ info.fisheye_info[2].extrinsic.roll = 90.2f;
+ info.fisheye_info[3].intrinsic.cx = 1920.0f;
+ info.fisheye_info[3].intrinsic.cy = 1440.0f;
+ info.fisheye_info[3].intrinsic.fov = 200.0f;
+ info.fisheye_info[3].radius = 1984.0f;
+ info.fisheye_info[3].extrinsic.roll = 90.0f;
+ info.fisheye_info[4].intrinsic.cx = 1920.0f;
+ info.fisheye_info[4].intrinsic.cy = 1440.0f;
+ info.fisheye_info[4].intrinsic.fov = 200.0f;
+ info.fisheye_info[4].radius = 1984.0f;
+ info.fisheye_info[4].extrinsic.roll = 91.2f;
+ info.fisheye_info[5].intrinsic.cx = 1914.0f;
+ info.fisheye_info[5].intrinsic.cy = 1440.0f;
+ info.fisheye_info[5].intrinsic.fov = 200.0f;
+ info.fisheye_info[5].radius = 1984.0f;
+ info.fisheye_info[5].extrinsic.roll = 90.1f;
+ break;
+ }
case CamD3C8K: {
switch (scopic_mode) {
case ScopicStereoLeft: {
diff --git a/xcore/interface/stitcher.cpp b/xcore/interface/stitcher.cpp
index 0f79a9ccd..40f1cc28c 100644
--- a/xcore/interface/stitcher.cpp
+++ b/xcore/interface/stitcher.cpp
@@ -336,7 +336,7 @@ Stitcher::estimate_round_slices ()
return XCAM_RETURN_NO_ERROR;
XCAM_FAIL_RETURN (
- ERROR, _camera_num && _camera_num < XCAM_STITCH_MAX_CAMERAS, XCAM_RETURN_ERROR_PARAM,
+ ERROR, _camera_num && _camera_num <= XCAM_STITCH_MAX_CAMERAS, XCAM_RETURN_ERROR_PARAM,
"stitcher: camera num was not set, or camera num(%d) exceed max camera value(%d)",
_camera_num, XCAM_STITCH_MAX_CAMERAS);
