File 0001-New_features_camera_tunning_and_fixes.patch of Package libxcam

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File 0001-New_features_camera_tunning_and_fixes.patch of Package libxcam (Revision 7908a00bd696ffe8ce2ab766fbf6e399)

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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);

Places

File 0001-New_features_camera_tunning_and_fixes.patch of Package libxcam (Revision 7908a00bd696ffe8ce2ab766fbf6e399)

Places