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Camera: Viewport and Snapshot (WIP)#172

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123 changes: 112 additions & 11 deletionslibraries/Camera/src/camera.cpp
View file
Open in desktop
Original file line numberDiff line numberDiff line change
Expand Up@@ -31,21 +31,30 @@ uint32_t FrameBuffer::getBufferSize() {
if (this->vbuf) {
return this->vbuf->bytesused;
}
return 0;
}

uint8_t *FrameBuffer::getBuffer() {
if (this->vbuf) {
return this->vbuf->buffer;
}
return nullptr;
}

Camera::Camera() : vdev(NULL), byte_swap(false), yuv_to_gray(false) {
Camera::Camera()
: vdev(NULL), byte_swap(false), yuv_to_gray(false),
snapshot_mode(CONFIG_VIDEO_BUFFER_POOL_NUM_MAX <= 1) {
for (size_t i = 0; i < ARRAY_SIZE(this->vbuf); i++) {
this->vbuf[i] = NULL;
}
}

bool Camera::begin(uint32_t width, uint32_t height, uint32_t pixformat, bool byte_swap) {
return begin(width, height, width, height, pixformat, byte_swap);
}

bool Camera::begin(uint32_t width, uint32_t height, uint32_t crop_width, uint32_t crop_height,
uint32_t pixformat, bool byte_swap) {
#if DT_HAS_CHOSEN(zephyr_camera)
this->vdev = DEVICE_DT_GET(DT_CHOSEN(zephyr_camera));
#endif
Expand DownExpand Up@@ -74,20 +83,21 @@ bool Camera::begin(uint32_t width, uint32_t height, uint32_t pixformat, bool byt
return false;
}

for (size_t i = 0; caps.format_caps[i].pixelformat !=NULL; i++) {
for (size_t i = 0; caps.format_caps[i].pixelformat !=0; i++) {
const struct video_format_cap *fcap = &caps.format_caps[i];
if (fcap->width_min== width && fcap->height_min== height &&
fcap->pixelformat == pixformat) {
if (fcap->width_min<= width && fcap->width_max >= width && fcap->height_min<= height &&
fcap->height_max >= height && fcap->pixelformat == pixformat) {
break;
}
if (caps.format_caps[i + 1].pixelformat ==NULL) {
if (caps.format_caps[i + 1].pixelformat ==0) {
Serial.println("The specified format is not supported");
return false;
}
}

// Set format.
static struct video_format fmt = {
.type = VIDEO_BUF_TYPE_OUTPUT,
.pixelformat = pixformat,
.width = width,
.height = height,
Expand All@@ -99,6 +109,34 @@ bool Camera::begin(uint32_t width, uint32_t height, uint32_t pixformat, bool byt
return false;
}

// optionally set the crop values
if (width != crop_width || height != crop_height) {
struct video_selection vselCrop;
vselCrop.type = VIDEO_BUF_TYPE_OUTPUT;
vselCrop.target = VIDEO_SEL_TGT_CROP;
vselCrop.rect.left = (width - crop_width) / 2;
vselCrop.rect.top = (height - crop_height) / 2;
vselCrop.rect.width = crop_width;
vselCrop.rect.height = crop_height;
;

int ret;
if ((ret = setSelection(&vselCrop)) != 0) {
printk("ERROR: %d\n", ret);
}
}
// this should compute the sizes needed.
video_get_format(this->vdev, &fmt);

// If we are in snapshot mode, try starting the video stream with no buffers
// to tell it that we want snapshot...
if (snapshot_mode) {
if (video_stream_start(this->vdev, VIDEO_BUF_TYPE_OUTPUT)) {
Serial.println("Snapshot mode Failed to start capture");
// return false;
}
}

// Allocate video buffers.
for (size_t i = 0; i < ARRAY_SIZE(this->vbuf); i++) {
this->vbuf[i] = video_buffer_aligned_alloc(fmt.pitch * fmt.height,
Expand All@@ -111,23 +149,24 @@ bool Camera::begin(uint32_t width, uint32_t height, uint32_t pixformat, bool byt
}

// Start video capture
if (video_stream_start(this->vdev, VIDEO_BUF_TYPE_OUTPUT)) {
Serial.println("Failed to start capture");
return false;
if (!snapshot_mode) {
if (video_stream_start(this->vdev, VIDEO_BUF_TYPE_OUTPUT)) {
Serial.println("Failed to start capture");
return false;
}
}

return true;
}

bool Camera::grabFrame(FrameBuffer &fb, uint32_t timeout) {
if (this->vdev == NULL) {
return false;
}

// printk("Camera::grabFrame called\n");
if (video_dequeue(this->vdev, &fb.vbuf, K_MSEC(timeout))) {
return false;
}

// printk("video_dequeue returned :%p\n", fb.vbuf->buffer);
if (this->byte_swap) {
uint16_t *pixels = (uint16_t *)fb.vbuf->buffer;
for (size_t i = 0; i < fb.vbuf->bytesused / 2; i++) {
Expand All@@ -151,6 +190,13 @@ bool Camera::releaseFrame(FrameBuffer &fb) {
return false;
}

int ret;
// printk("Camera::ReleaseFrame called\n");
if ((ret = video_enqueue(this->vdev, fb.vbuf)) != 0) {
printk("Failed to enqueue buffer %d\n", ret);
return false;
}

if (video_enqueue(this->vdev, fb.vbuf)) {
return false;
}
Expand All@@ -167,3 +213,58 @@ bool Camera::setHorizontalMirror(bool mirror_enable) {
struct video_control ctrl = {.id = VIDEO_CID_HFLIP, .val = mirror_enable};
return video_set_ctrl(this->vdev, &ctrl) == 0;
}

int Camera::setSelection(struct video_selection *sel) {
return video_set_selection(vdev, sel);
}

/**
* @brief Get video selection (crop/compose).
*
* Retrieve the current settings related to the crop and compose of the video device.
* This can also be used to read the native size of the input stream of the video
* device.
* This function can be used to read crop / compose capabilities of the device prior
* to performing configuration via the @ref video_set_selection api.
*
* @param sel Pointer to a video selection structure, @c type and @c target set by the caller
*
* @retval 0 Is successful.
* @retval -EINVAL If parameters are invalid.
* @retval -ENOTSUP If format is not supported.
* @retval -EIO General input / output error.
*/
int Camera::getSelection(struct video_selection *sel) {
return video_get_selection(vdev, sel);
}

/**
* @brief returns if snapshot mode is turned on or off.
*
* @param snapshot_mode pointer to Turn Snaphsot mode on or off..
*/
bool Camera::getSnapshotMode() {
return snapshot_mode;
}

/**
* @brief returns if snapshot mode is turned on or off.
*
* Must be called before begin to take effect.
*
* @param snap_shot mode if true.
*
* @retval 0 is successful.
*/
int Camera::setSnapshotMode(bool snap_shot) {
if (snap_shot) {
snapshot_mode = snap_shot;
return 0;
} else {
#if CONFIG_VIDEO_BUFFER_POOL_NUM_MAX <= 1
return -EINVAL;
#endif
snapshot_mode = snap_shot;
return 0;
}
}
73 changes: 73 additions & 0 deletionslibraries/Camera/src/camera.h
View file
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Original file line numberDiff line numberDiff line change
Expand Up@@ -63,6 +63,9 @@ class FrameBuffer {
friend class Camera;
};

// bugbug temporary
#include <zephyr/drivers/video.h>

/**
* @class Camera
* @brief The main class for controlling a camera.
Expand DownExpand Up@@ -92,6 +95,20 @@ class Camera {
bool begin(uint32_t width, uint32_t height, uint32_t pixformat = CAMERA_RGB565,
bool byte_swap = false);

/**
* @brief Initialize the camera.
*
* @param width Frame width in pixels.
* @param height Frame height in pixels.
* @param crop_width crop width in pixels.
* @param crop_height crop height in pixels.
* @param pixformat Initial pixel format (default: CAMERA_RGB565).
* @param byte_swap Enable byte swapping (default: false).
* @return true if the camera is successfully initialized, otherwise false.
*/
bool begin(uint32_t width, uint32_t height, uint32_t crop_width, uint32_t crop_height,
uint32_t pixformat = CAMERA_RGB565, bool byte_swap = false);

/**
* @brief Capture a frame.
*
Expand DownExpand Up@@ -124,6 +141,62 @@ class Camera {
* @return true on success, false on failure.
*/
bool setHorizontalMirror(bool mirror_enable);

/* Experiments to be able to set crop and the like */
/**
* @brief Set video selection (crop/compose).
*
* Configure the optional crop and compose feature of a video device.
* Crop is first applied on the input frame, and the result of that crop is applied
* to the compose. The result of the compose (width/height) is equal to the format
* width/height given to the @ref video_set_format function.
*
* Some targets are inter-dependents. For instance, setting a @ref VIDEO_SEL_TGT_CROP will
* reset @ref VIDEO_SEL_TGT_COMPOSE to the same size.
*
* @param sel Pointer to a video selection structure
*
* @retval 0 Is successful.
* @retval -EINVAL If parameters are invalid.
* @retval -ENOTSUP If format is not supported.
* @retval -EIO General input / output error.
*/
int setSelection(struct video_selection *sel);
/**
* @brief Get video selection (crop/compose).
*
* Retrieve the current settings related to the crop and compose of the video device.
* This can also be used to read the native size of the input stream of the video
* device.
* This function can be used to read crop / compose capabilities of the device prior
* to performing configuration via the @ref video_set_selection api.
*
* @param sel Pointer to a video selection structure, @c type and @c target set by the caller
*
* @retval 0 Is successful.
* @retval -EINVAL If parameters are invalid.
* @retval -ENOTSUP If format is not supported.
* @retval -EIO General input / output error.
*/
int getSelection(struct video_selection *sel);

/**
* @brief returns if snapshot mode is turned on or off.
*
* @retval true if in snapshot mode false otherwise.
*/
bool getSnapshotMode();

/**
* @brief returns if snapshot mode is turned on or off.
*
* Must be called before begin to take effect.
*
* @param snap_shot mode if true.
*
* @retval 0 is successful.
*/
int setSnapshotMode(bool snap_shot);
};

#endif // __CAMERA_H__
View file
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Original file line numberDiff line numberDiff line change
Expand Up@@ -36,9 +36,9 @@ CONFIG_ENTROPY_GENERATOR=y
CONFIG_TEST_RANDOM_GENERATOR=y

CONFIG_VIDEO=y
CONFIG_VIDEO_LOG_LEVEL_DBG=y
CONFIG_VIDEO_LOG_LEVEL_DBG=n
CONFIG_VIDEO_STM32_DCMI=y
CONFIG_VIDEO_BUFFER_POOL_NUM_MAX=3
CONFIG_VIDEO_BUFFER_POOL_NUM_MAX=1
CONFIG_VIDEO_BUFFER_POOL_SZ_MAX=614400
CONFIG_VIDEO_BUFFER_POOL_ALIGN=32
CONFIG_VIDEO_BUFFER_USE_SHARED_MULTI_HEAP=y
Expand All@@ -63,6 +63,7 @@ CONFIG_BT_CTLR_ADV_EXT=y
CONFIG_BT_CTLR_ADV_PERIODIC=y
CONFIG_BT_CTLR_DTM_HCI=y
CONFIG_CYW4343W_MURATA_1DX=y
CONFIG_BT_HCI_DRIVER_LOG_LEVEL_DBG=n
CONFIG_SYSTEM_WORKQUEUE_STACK_SIZE=2048
CONFIG_BT_RX_STACK_SIZE=4096
CONFIG_BT_HCI_TX_STACK_SIZE=4096
Expand Down
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