#!/bin/bash # SPDX-License-Identifier: GPL-2.0-or-later # Copyright (C) 2018, Google Inc. # # Author: Laurent Pinchart <laurent.pinchart@ideasonboard.com> # # ipu3-capture.sh - Capture raw frames from cameras based on the Intel IPU3 # # The scripts makes use of the following tools, which are expected to be # executable from the system-wide path or from the local directory: # # - media-ctl (from v4l-utils git://linuxtv.org/v4l-utils.git) # - raw2pnm (from nvt https://github.com/intel/nvt.git) # - yavta (from git://git.ideasonboard.org/yavta.git) # Locate the sensor entity find_sensor() { local bus local sensor_name=$1 bus=$(grep "$sensor_name" /sys/class/video4linux/v4l-subdev*/name | cut -d ' ' -f 2) if [[ -z $bus ]]; then echo "Sensor '$sensor_name' not found." >&2 exit 1 fi echo "$sensor_name $bus" } # Locate the media device find_media_device() { local mdev for mdev in /dev/media* ; do media-ctl -d $mdev -p | grep -q "^driver[ \t]*ipu3-cio2$" && break mdev= done if [[ -z $mdev ]] ; then echo "IPU3 media device not found." >&2 exit 1 fi echo $mdev } # Locate the CSI2 and CIO2 and get the sensor format parse_pipeline() { local cio2_queue local resolution local sensor=$1 read cio2_queue bus_format sensor_size <<< $($mediactl -p | awk " /^- entity [0-9]*:/ { sensor=0; } /^- entity [0-9]*: $sensor/ { sensor=1; } /^[ \t]*(stream:0)?\[fmt:/ { if (sensor) { gsub(\".*fmt:\", \"\"); gsub(\"[] ].*\", \"\"); gsub(\"/\", \" \"); format=\$0; } } /^[ \t]*->/ { if (sensor) cio2=substr(\$3, 0, 1); } END { print cio2 \" \" format; } ") ipu3_csi2="ipu3-csi2 $cio2_queue" ipu3_capture="ipu3-cio2 $cio2_queue" sensor_width=$(echo $sensor_size | cut -d 'x' -f 1) sensor_height=$(echo $sensor_size | cut -d 'x' -f 2) echo "Using device $mdev with IPU3 CIO2 queue $cio2_queue" } # Configure the pipeline configure_pipeline() { local format="fmt:$bus_format/$sensor_size" echo "Configuring pipeline for $sensor in $format" $mediactl -r $mediactl -l "\"$sensor\":0 -> \"$ipu3_csi2\":0[1]" $mediactl -l "\"$ipu3_csi2\":1 -> \"$ipu3_capture\":0[1]" $mediactl -V "\"$sensor\":0 [$format]" $mediactl -V "\"$ipu3_csi2\":1 [$format]" } # Capture frames capture_frames() { local file_op local frame_count=$1 local ipu3_format=IPU3_${bus_format/_1X10/} local save_file=$2 if [[ $save_file -eq 1 ]]; then file_op="--file=/tmp/frame-#.bin" fi yavta -c$frame_count -n5 -I -f $ipu3_format -s $sensor_size $file_op \ $($mediactl -e "$ipu3_capture") } # Convert captured files to ppm convert_files() { local frame_count=$1 local format=${bus_format/_1X10/} local padded_width=$(expr \( $sensor_width + 49 \) / 50 \* 50) echo "Converting ${sensor_width}x${sensor_height} (${padded_width}x${sensor_height})" for i in `seq -f '%06.0f' 0 $(($frame_count - 1))`; do ipu3-unpack /tmp/frame-$i.bin /tmp/frame-$i.raw raw2pnm -x$padded_width -y$sensor_height -f$format /tmp/frame-$i.raw /tmp/frame-$i.ppm done } # Print usage message usage() { echo "Usage: $1 [options] sensor-name" echo "Supported options:" echo "-c,--count n Number of frame to capture" echo "--no-save Do not save captured frames to disk" } # Parse command line arguments frame_count=10 save_file=1 while (( "$#" )) ; do case $1 in -c|--count) frame_count=$2 shift 2 ;; --no-save) save_file=0 shift ;; -*) echo "Unsupported option $1" >&2 usage $0 exit 1 ;; *) break ;; esac done if [[ $# -ne 1 ]] ; then usage $0 exit 1 fi sensor_name=$1 sensor=$(find_sensor $sensor_name) || exit mdev=$(find_media_device) || exit mediactl="media-ctl -d $mdev" parse_pipeline $sensor configure_pipeline capture_frames $frame_count $save_file [[ $save_file -eq 1 ]] && convert_files $frame_count 6'>6</a> <a id='n7' href='#n7'>7</a> <a id='n8' href='#n8'>8</a> <a id='n9' href='#n9'>9</a> <a id='n10' href='#n10'>10</a> <a id='n11' href='#n11'>11</a> <a id='n12' href='#n12'>12</a> <a id='n13' href='#n13'>13</a> <a id='n14' href='#n14'>14</a> <a id='n15' href='#n15'>15</a> <a id='n16' href='#n16'>16</a> <a id='n17' href='#n17'>17</a> <a id='n18' 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href='#n751'>751</a> <a id='n752' href='#n752'>752</a> </pre></td> <td class='lines'><pre><code><span class="hl com">/* SPDX-License-Identifier: LGPL-2.1-or-later */</span> <span class="hl com">/*</span> <span class="hl com"> * Copyright (C) 2021, Google Inc.</span> <span class="hl com"> *</span> <span class="hl com"> * Helper class that performs sensor-specific</span> <span class="hl com"> * parameter computations</span> <span class="hl com"> */</span> <span class="hl ppc">#include</span> <span class="hl pps">"camera_sensor_helper.h"</span><span class="hl ppc"></span> <span class="hl ppc">#include <cmath></span> <span class="hl ppc">#include <limits></span> <span class="hl ppc">#include <libcamera/base/log.h></span> <span class="hl com">/**</span> <span class="hl com"> * \file camera_sensor_helper.h</span> <span class="hl com"> * \brief Helper class that performs sensor-specific parameter computations</span> <span class="hl com"> *</span> <span class="hl com"> * Computation of sensor configuration parameters is a sensor specific</span> <span class="hl com"> * operation. Each CameraHelper derived class computes the value of</span> <span class="hl com"> * configuration parameters, for example the analogue gain value, using</span> <span class="hl com"> * sensor-specific functions and constants.</span> <span class="hl com"> *</span> <span class="hl com"> * Every subclass of CameraSensorHelper shall be registered with libipa using</span> <span class="hl com"> * the REGISTER_CAMERA_SENSOR_HELPER() macro.</span> <span class="hl com"> */</span> <span class="hl kwa">namespace</span> libcamera <span class="hl opt">{</span> <span class="hl kwd">LOG_DEFINE_CATEGORY</span><span class="hl opt">(</span>CameraSensorHelper<span class="hl opt">)</span> <span class="hl kwa">namespace</span> ipa <span class="hl opt">{</span> <span class="hl com">/**</span> <span class="hl com"> * \class CameraSensorHelper</span> <span class="hl com"> * \brief Base class for computing sensor tuning parameters using</span> <span class="hl com"> * sensor-specific constants</span> <span class="hl com"> *</span> <span class="hl com"> * Instances derived from CameraSensorHelper class are sensor-specific.</span> <span class="hl com"> * Each supported sensor will have an associated base class defined.</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn CameraSensorHelper::CameraSensorHelper()</span> <span class="hl com"> * \brief Construct a CameraSensorHelper instance</span> <span class="hl com"> *</span> <span class="hl com"> * CameraSensorHelper derived class instances shall never be constructed</span> <span class="hl com"> * manually but always through the CameraSensorHelperFactoryBase::create()</span> <span class="hl com"> * function.</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn CameraSensorHelper::blackLevel()</span> <span class="hl com"> * \brief Fetch the black level of the sensor</span> <span class="hl com"> *</span> <span class="hl com"> * This function returns the black level of the sensor scaled to a 16bit pixel</span> <span class="hl com"> * width. If it is unknown an empty optional is returned.</span> <span class="hl com"> *</span> <span class="hl com"> * \todo Fill the blanks and add pedestal values for all supported sensors. Once</span> <span class="hl com"> * done, drop the std::optional<>.</span> <span class="hl com"> *</span> <span class="hl com"> * Black levels are typically the result of the following phenomena:</span> <span class="hl com"> * - Pedestal added by the sensor to pixel values. They are typically fixed,</span> <span class="hl com"> * sometimes programmable and should be reported in datasheets (but</span> <span class="hl com"> * documentation is not always available).</span> <span class="hl com"> * - Dark currents and other physical effects that add charge to pixels in the</span> <span class="hl com"> * absence of light. Those can depend on the integration time and the sensor</span> <span class="hl com"> * die temperature, and their contribution to pixel values depend on the</span> <span class="hl com"> * sensor gains.</span> <span class="hl com"> *</span> <span class="hl com"> * The pedestal is usually the value with the biggest contribution to the</span> <span class="hl com"> * overall black level. In most cases it is either known before or in rare cases</span> <span class="hl com"> * (there is not a single driver with such a control in the linux kernel) can be</span> <span class="hl com"> * queried from the sensor. This function provides that fixed, known value.</span> <span class="hl com"> *</span> <span class="hl com"> * \return The black level of the sensor, or std::nullopt if not known</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Compute gain code from the analogue gain absolute value</span> <span class="hl com"> * \param[in] gain The real gain to pass</span> <span class="hl com"> *</span> <span class="hl com"> * This function aims to abstract the calculation of the gain letting the IPA</span> <span class="hl com"> * use the real gain for its estimations.</span> <span class="hl com"> *</span> <span class="hl com"> * \return The gain code to pass to V4L2</span> <span class="hl com"> */</span> <span class="hl kwb">uint32_t</span> <span class="hl kwc">CameraSensorHelper</span><span class="hl opt">::</span><span class="hl kwd">gainCode</span><span class="hl opt">(</span><span class="hl kwb">double</span> gain<span class="hl opt">)</span> <span class="hl kwb">const</span> <span class="hl opt">{</span> <span class="hl kwa">if</span> <span class="hl opt">(</span><span class="hl kwc">auto</span> <span class="hl opt">*</span>l <span class="hl opt">=</span> <span class="hl kwc">std</span><span class="hl opt">::</span>get_if<span class="hl opt"><</span>AnalogueGainLinear<span class="hl opt">>(&</span>gain_<span class="hl opt">)) {</span> <span class="hl kwd">ASSERT</span><span class="hl opt">(</span>l<span class="hl opt">-></span>m0 <span class="hl opt">==</span> <span class="hl num">0</span> <span class="hl opt">||</span> l<span class="hl opt">-></span>m1 <span class="hl opt">==</span> <span class="hl num">0</span><span class="hl opt">);</span> <span class="hl kwa">return</span> <span class="hl opt">(</span>l<span class="hl opt">-></span>c0 <span class="hl opt">-</span> l<span class="hl opt">-></span>c1 <span class="hl opt">*</span> gain<span class="hl opt">) /</span> <span class="hl opt">(</span>l<span class="hl opt">-></span>m1 <span class="hl opt">*</span> gain <span class="hl opt">-</span> l<span class="hl opt">-></span>m0<span class="hl opt">);</span> <span class="hl opt">}</span> <span class="hl kwa">else if</span> <span class="hl opt">(</span><span class="hl kwc">auto</span> <span class="hl opt">*</span>e <span class="hl opt">=</span> <span class="hl kwc">std</span><span class="hl opt">::</span>get_if<span class="hl opt"><</span>AnalogueGainExp<span class="hl opt">>(&</span>gain_<span class="hl opt">)) {</span> <span class="hl kwd">ASSERT</span><span class="hl opt">(</span>e<span class="hl opt">-></span>a <span class="hl opt">!=</span> <span class="hl num">0</span> <span class="hl opt">&&</span> e<span class="hl opt">-></span>m <span class="hl opt">!=</span> <span class="hl num">0</span><span class="hl opt">);</span> <span class="hl kwa">return</span> <span class="hl kwc">std</span><span class="hl opt">::</span><span class="hl kwd">log2</span><span class="hl opt">(</span>gain <span class="hl opt">/</span> e<span class="hl opt">-></span>a<span class="hl opt">) /</span> e<span class="hl opt">-></span>m<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwa">else</span> <span class="hl opt">{</span> <span class="hl kwd">ASSERT</span><span class="hl opt">(</span><span class="hl kwa">false</span><span class="hl opt">);</span> <span class="hl kwa">return</span> <span class="hl num">0</span><span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Compute the real gain from the V4L2 subdev control gain code</span> <span class="hl com"> * \param[in] gainCode The V4L2 subdev control gain</span> <span class="hl com"> *</span> <span class="hl com"> * This function aims to abstract the calculation of the gain letting the IPA</span> <span class="hl com"> * use the real gain for its estimations. It is the counterpart of the function</span> <span class="hl com"> * CameraSensorHelper::gainCode.</span> <span class="hl com"> *</span> <span class="hl com"> * \return The real gain</span> <span class="hl com"> */</span> <span class="hl kwb">double</span> <span class="hl kwc">CameraSensorHelper</span><span class="hl opt">::</span><span class="hl kwd">gain</span><span class="hl opt">(</span><span class="hl kwb">uint32_t</span> gainCode<span class="hl opt">)</span> <span class="hl kwb">const</span> <span class="hl opt">{</span> <span class="hl kwb">double</span> gain <span class="hl opt">=</span> <span class="hl kwa">static_cast</span><span class="hl opt"><</span><span class="hl kwb">double</span><span class="hl opt">>(</span>gainCode<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span><span class="hl kwc">auto</span> <span class="hl opt">*</span>l <span class="hl opt">=</span> <span class="hl kwc">std</span><span class="hl opt">::</span>get_if<span class="hl opt"><</span>AnalogueGainLinear<span class="hl opt">>(&</span>gain_<span class="hl opt">)) {</span> <span class="hl kwd">ASSERT</span><span class="hl opt">(</span>l<span class="hl opt">-></span>m0 <span class="hl opt">==</span> <span class="hl num">0</span> <span class="hl opt">||</span> l<span class="hl opt">-></span>m1 <span class="hl opt">==</span> <span class="hl num">0</span><span class="hl opt">);</span> <span class="hl kwa">return</span> <span class="hl opt">(</span>l<span class="hl opt">-></span>m0 <span class="hl opt">*</span> gain <span class="hl opt">+</span> l<span class="hl opt">-></span>c0<span class="hl opt">) /</span> <span class="hl opt">(</span>l<span class="hl opt">-></span>m1 <span class="hl opt">*</span> gain <span class="hl opt">+</span> l<span class="hl opt">-></span>c1<span class="hl opt">);</span> <span class="hl opt">}</span> <span class="hl kwa">else if</span> <span class="hl opt">(</span><span class="hl kwc">auto</span> <span class="hl opt">*</span>e <span class="hl opt">=</span> <span class="hl kwc">std</span><span class="hl opt">::</span>get_if<span class="hl opt"><</span>AnalogueGainExp<span class="hl opt">>(&</span>gain_<span class="hl opt">)) {</span> <span class="hl kwd">ASSERT</span><span class="hl opt">(</span>e<span class="hl opt">-></span>a <span class="hl opt">!=</span> <span class="hl num">0</span> <span class="hl opt">&&</span> e<span class="hl opt">-></span>m <span class="hl opt">!=</span> <span class="hl num">0</span><span class="hl opt">);</span> <span class="hl kwa">return</span> e<span class="hl opt">-></span>a <span class="hl opt">*</span> <span class="hl kwc">std</span><span class="hl opt">::</span><span class="hl kwd">exp2</span><span class="hl opt">(</span>e<span class="hl opt">-></span>m <span class="hl opt">*</span> gain<span class="hl opt">);</span> <span class="hl opt">}</span> <span class="hl kwa">else</span> <span class="hl opt">{</span> <span class="hl kwd">ASSERT</span><span class="hl opt">(</span><span class="hl kwa">false</span><span class="hl opt">);</span> <span class="hl kwa">return</span> <span class="hl num">0.0</span><span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \struct CameraSensorHelper::AnalogueGainLinear</span> <span class="hl com"> * \brief Analogue gain constants for the linear gain model</span> <span class="hl com"> *</span> <span class="hl com"> * The relationship between the integer gain parameter and the resulting gain</span> <span class="hl com"> * multiplier is given by the following equation:</span> <span class="hl com"> *</span> <span class="hl com"> * \f$gain=\frac{m0x+c0}{m1x+c1}\f$</span> <span class="hl com"> *</span> <span class="hl com"> * Where 'x' is the gain control parameter, and m0, m1, c0 and c1 are</span> <span class="hl com"> * image-sensor-specific constants of the sensor.</span> <span class="hl com"> * These constants are static parameters, and for any given image sensor either</span> <span class="hl com"> * m0 or m1 shall be zero.</span> <span class="hl com"> *</span> <span class="hl com"> * The full Gain equation therefore reduces to either:</span> <span class="hl com"> *</span> <span class="hl com"> * \f$gain=\frac{c0}{m1x+c1}\f$ or \f$\frac{m0x+c0}{c1}\f$</span> <span class="hl com"> *</span> <span class="hl com"> * \var CameraSensorHelper::AnalogueGainLinear::m0</span> <span class="hl com"> * \brief Constant used in the linear gain coding/decoding</span> <span class="hl com"> *</span> <span class="hl com"> * \note Either m0 or m1 shall be zero.</span> <span class="hl com"> *</span> <span class="hl com"> * \var CameraSensorHelper::AnalogueGainLinear::c0</span> <span class="hl com"> * \brief Constant used in the linear gain coding/decoding</span> <span class="hl com"> *</span> <span class="hl com"> * \var CameraSensorHelper::AnalogueGainLinear::m1</span> <span class="hl com"> * \brief Constant used in the linear gain coding/decoding</span> <span class="hl com"> *</span> <span class="hl com"> * \note Either m0 or m1 shall be zero.</span> <span class="hl com"> *</span> <span class="hl com"> * \var CameraSensorHelper::AnalogueGainLinear::c1</span> <span class="hl com"> * \brief Constant used in the linear gain coding/decoding</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \struct CameraSensorHelper::AnalogueGainExp</span> <span class="hl com"> * \brief Analogue gain constants for the exponential gain model</span> <span class="hl com"> *</span> <span class="hl com"> * The relationship between the integer gain parameter and the resulting gain</span> <span class="hl com"> * multiplier is given by the following equation:</span> <span class="hl com"> *</span> <span class="hl com"> * \f$gain = a \cdot 2^{m \cdot x}\f$</span> <span class="hl com"> *</span> <span class="hl com"> * Where 'x' is the gain control parameter, and 'a' and 'm' are image</span> <span class="hl com"> * sensor-specific constants.</span> <span class="hl com"> *</span> <span class="hl com"> * This is a subset of the MIPI CCS exponential gain model with the linear</span> <span class="hl com"> * factor 'a' being a constant, but with the exponent being configurable</span> <span class="hl com"> * through the 'm' coefficient.</span> <span class="hl com"> *</span> <span class="hl com"> * When the gain is expressed in dB, 'a' is equal to 1 and 'm' to</span> <span class="hl com"> * \f$log_{2}{10^{\frac{1}{20}}}\f$.</span> <span class="hl com"> *</span> <span class="hl com"> * \var CameraSensorHelper::AnalogueGainExp::a</span> <span class="hl com"> * \brief Constant used in the exponential gain coding/decoding</span> <span class="hl com"> *</span> <span class="hl com"> * \var CameraSensorHelper::AnalogueGainExp::m</span> <span class="hl com"> * \brief Constant used in the exponential gain coding/decoding</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \var CameraSensorHelper::blackLevel_</span> <span class="hl com"> * \brief The black level of the sensor</span> <span class="hl com"> * \sa CameraSensorHelper::blackLevel()</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \var CameraSensorHelper::gain_</span> <span class="hl com"> * \brief The analogue gain parameters used for calculation</span> <span class="hl com"> *</span> <span class="hl com"> * The analogue gain is calculated through a formula, and its parameters are</span> <span class="hl com"> * sensor specific. Use this variable to store the values at init time.</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \class CameraSensorHelperFactoryBase</span> <span class="hl com"> * \brief Base class for camera sensor helper factories</span> <span class="hl com"> *</span> <span class="hl com"> * The CameraSensorHelperFactoryBase class is the base of all specializations of</span> <span class="hl com"> * the CameraSensorHelperFactory class template. It implements the factory</span> <span class="hl com"> * registration, maintains a registry of factories, and provides access to the</span> <span class="hl com"> * registered factories.</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Construct a camera sensor helper factory base</span> <span class="hl com"> * \param[in] name Name of the camera sensor helper class</span> <span class="hl com"> *</span> <span class="hl com"> * Creating an instance of the factory base registers it with the global list of</span> <span class="hl com"> * factories, accessible through the factories() function.</span> <span class="hl com"> *</span> <span class="hl com"> * The factory \a name is used to look up factories and shall be unique.</span> <span class="hl com"> */</span> <span class="hl kwc">CameraSensorHelperFactoryBase</span><span class="hl opt">::</span><span class="hl kwd">CameraSensorHelperFactoryBase</span><span class="hl opt">(</span><span class="hl kwb">const</span> <span class="hl kwc">std</span><span class="hl opt">::</span>string name<span class="hl opt">)</span> <span class="hl opt">:</span> <span class="hl kwd">name_</span><span class="hl opt">(</span>name<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwd">registerType</span><span class="hl opt">(</span><span class="hl kwa">this</span><span class="hl opt">);</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Create an instance of the CameraSensorHelper corresponding to</span> <span class="hl com"> * a named factory</span> <span class="hl com"> * \param[in] name Name of the factory</span> <span class="hl com"> *</span> <span class="hl com"> * \return A unique pointer to a new instance of the CameraSensorHelper subclass</span> <span class="hl com"> * corresponding to the named factory or a null pointer if no such factory</span> <span class="hl com"> * exists</span> <span class="hl com"> */</span> <span class="hl kwc">std</span><span class="hl opt">::</span>unique_ptr<span class="hl opt"><</span>CameraSensorHelper<span class="hl opt">></span> <span class="hl kwc">CameraSensorHelperFactoryBase</span><span class="hl opt">::</span><span class="hl kwd">create</span><span class="hl opt">(</span><span class="hl kwb">const</span> <span class="hl kwc">std</span><span class="hl opt">::</span>string <span class="hl opt">&</span>name<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwb">const</span> <span class="hl kwc">std</span><span class="hl opt">::</span>vector<span class="hl opt"><</span>CameraSensorHelperFactoryBase <span class="hl opt">*> &</span>factories <span class="hl opt">=</span> <span class="hl kwc">CameraSensorHelperFactoryBase</span><span class="hl opt">::</span><span class="hl kwd">factories</span><span class="hl opt">();</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwb">const</span> CameraSensorHelperFactoryBase <span class="hl opt">*</span>factory <span class="hl opt">:</span> factories<span class="hl opt">) {</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>name <span class="hl opt">!=</span> factory<span class="hl opt">-></span>name_<span class="hl opt">)</span> <span class="hl kwa">continue</span><span class="hl opt">;</span> <span class="hl kwa">return</span> factory<span class="hl opt">-></span><span class="hl kwd">createInstance</span><span class="hl opt">();</span> <span class="hl opt">}</span> <span class="hl kwa">return</span> <span class="hl kwc">nullptr</span><span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Add a camera sensor helper class to the registry</span> <span class="hl com"> * \param[in] factory Factory to use to construct the camera sensor helper</span> <span class="hl com"> *</span> <span class="hl com"> * The caller is responsible to guarantee the uniqueness of the camera sensor</span> <span class="hl com"> * helper name.</span> <span class="hl com"> */</span> <span class="hl kwb">void</span> <span class="hl kwc">CameraSensorHelperFactoryBase</span><span class="hl opt">::</span><span class="hl kwd">registerType</span><span class="hl opt">(</span>CameraSensorHelperFactoryBase <span class="hl opt">*</span>factory<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwc">std</span><span class="hl opt">::</span>vector<span class="hl opt"><</span>CameraSensorHelperFactoryBase <span class="hl opt">*> &</span>factories <span class="hl opt">=</span> <span class="hl kwc">CameraSensorHelperFactoryBase</span><span class="hl opt">::</span><span class="hl kwd">factories</span><span class="hl opt">();</span> factories<span class="hl opt">.</span><span class="hl kwd">push_back</span><span class="hl opt">(</span>factory<span class="hl opt">);</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Retrieve the list of all camera sensor helper factories</span> <span class="hl com"> * \return The list of camera sensor helper factories</span> <span class="hl com"> */</span> <span class="hl kwc">std</span><span class="hl opt">::</span>vector<span class="hl opt"><</span>CameraSensorHelperFactoryBase <span class="hl opt">*> &</span><span class="hl kwc">CameraSensorHelperFactoryBase</span><span class="hl opt">::</span><span class="hl kwd">factories</span><span class="hl opt">()</span> <span class="hl opt">{</span> <span class="hl com">/*</span> <span class="hl com"> * The static factories map is defined inside the function to ensure</span> <span class="hl com"> * it gets initialized on first use, without any dependency on link</span> <span class="hl com"> * order.</span> <span class="hl com"> */</span> <span class="hl kwb">static</span> <span class="hl kwc">std</span><span class="hl opt">::</span>vector<span class="hl opt"><</span>CameraSensorHelperFactoryBase <span class="hl opt">*></span> factories<span class="hl opt">;</span> <span class="hl kwa">return</span> factories<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \class CameraSensorHelperFactory</span> <span class="hl com"> * \brief Registration of CameraSensorHelperFactory classes and creation of instances</span> <span class="hl com"> * \tparam _Helper The camera sensor helper class type for this factory</span> <span class="hl com"> *</span> <span class="hl com"> * To facilitate discovery and instantiation of CameraSensorHelper classes, the</span> <span class="hl com"> * CameraSensorHelperFactory class implements auto-registration of camera sensor</span> <span class="hl com"> * helpers. Each CameraSensorHelper subclass shall register itself using the</span> <span class="hl com"> * REGISTER_CAMERA_SENSOR_HELPER() macro, which will create a corresponding</span> <span class="hl com"> * instance of a CameraSensorHelperFactory subclass and register it with the</span> <span class="hl com"> * static list of factories.</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn CameraSensorHelperFactory::CameraSensorHelperFactory(const char *name)</span> <span class="hl com"> * \brief Construct a camera sensor helper factory</span> <span class="hl com"> * \param[in] name Name of the camera sensor helper class</span> <span class="hl com"> *</span> <span class="hl com"> * Creating an instance of the factory registers it with the global list of</span> <span class="hl com"> * factories, accessible through the CameraSensorHelperFactoryBase::factories()</span> <span class="hl com"> * function.</span> <span class="hl com"> *</span> <span class="hl com"> * The factory \a name is used to look up factories and shall be unique.</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn CameraSensorHelperFactory::createInstance() const</span> <span class="hl com"> * \brief Create an instance of the CameraSensorHelper corresponding to the</span> <span class="hl com"> * factory</span> <span class="hl com"> *</span> <span class="hl com"> * \return A unique pointer to a newly constructed instance of the</span> <span class="hl com"> * CameraSensorHelper subclass corresponding to the factory</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \def REGISTER_CAMERA_SENSOR_HELPER</span> <span class="hl com"> * \brief Register a camera sensor helper with the camera sensor helper factory