1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
|
/* SPDX-License-Identifier: BSD-2-Clause */
/*
* Copyright (C) 2019, Raspberry Pi (Trading) Limited
*
* cam_helper.hpp - helper class providing camera information
*/
#pragma once
#include <memory>
#include <string>
#include <libcamera/base/span.h>
#include <libcamera/base/utils.h>
#include "camera_mode.h"
#include "controller/controller.hpp"
#include "controller/metadata.hpp"
#include "md_parser.hpp"
#include "libcamera/internal/v4l2_videodevice.h"
namespace RPiController {
// The CamHelper class provides a number of facilities that anyone trying
// to drive a camera will need to know, but which are not provided by the
// standard driver framework. Specifically, it provides:
//
// A "CameraMode" structure to describe extra information about the chosen
// mode of the driver. For example, how it is cropped from the full sensor
// area, how it is scaled, whether pixels are averaged compared to the full
// resolution.
//
// The ability to convert between number of lines of exposure and actual
// exposure time, and to convert between the sensor's gain codes and actual
// gains.
//
// A method to return the number of frames of delay between updating exposure,
// analogue gain and vblanking, and for the changes to take effect. For many
// sensors these take the values 2, 1 and 2 respectively, but sensors that are
// different will need to over-ride the default method provided.
//
// A method to query if the sensor outputs embedded data that can be parsed.
//
// A parser to parse the embedded data buffers provided by some sensors (for
// example, the imx219 does; the ov5647 doesn't). This allows us to know for
// sure the exposure and gain of the frame we're looking at. CamHelper
// provides methods for converting analogue gains to and from the sensor's
// native gain codes.
//
// Finally, a set of methods that determine how to handle the vagaries of
// different camera modules on start-up or when switching modes. Some
// modules may produce one or more frames that are not yet correctly exposed,
// or where the metadata may be suspect. We have the following methods:
// HideFramesStartup(): Tell the pipeline handler not to return this many
// frames at start-up. This can also be used to hide initial frames
// while the AGC and other algorithms are sorting themselves out.
// HideFramesModeSwitch(): Tell the pipeline handler not to return this
// many frames after a mode switch (other than start-up). Some sensors
// may produce innvalid frames after a mode switch; others may not.
// MistrustFramesStartup(): At start-up a sensor may return frames for
// which we should not run any control algorithms (for example, metadata
// may be invalid).
// MistrustFramesModeSwitch(): The number of frames, after a mode switch
// (other than start-up), for which control algorithms should not run
// (for example, metadata may be unreliable).
class CamHelper
{
public:
static CamHelper *Create(std::string const &cam_name);
CamHelper(std::unique_ptr<MdParser> parser, unsigned int frameIntegrationDiff);
virtual ~CamHelper();
void SetCameraMode(const CameraMode &mode);
virtual void Prepare(libcamera::Span<const uint8_t> buffer,
Metadata &metadata);
virtual void Process(StatisticsPtr &stats, Metadata &metadata);
uint32_t ExposureLines(libcamera::utils::Duration exposure) const;
libcamera::utils::Duration Exposure(uint32_t exposure_lines) const;
virtual uint32_t GetVBlanking(libcamera::utils::Duration &exposure,
libcamera::utils::Duration minFrameDuration,
libcamera::utils::Duration maxFrameDuration) const;
virtual uint32_t GainCode(double gain) const = 0;
virtual double Gain(uint32_t gain_code) const = 0;
virtual void GetDelays(int &exposure_delay, int &gain_delay,
int &vblank_delay) const;
virtual bool SensorEmbeddedDataPresent() const;
virtual unsigned int HideFramesStartup() const;
virtual unsigned int HideFramesModeSwitch() const;
virtual unsigned int MistrustFramesStartup() const;
virtual unsigned int MistrustFramesModeSwitch() const;
protected:
void parseEmbeddedData(libcamera::Span<const uint8_t> buffer,
Metadata &metadata);
std::unique_ptr<MdParser> parser_;
CameraMode mode_;
private:
bool initialized_;
/*
* Smallest difference between the frame length and integration time,
* in units of lines.
*/
unsigned int frameIntegrationDiff_;
};
// This is for registering camera helpers with the system, so that the
// CamHelper::Create function picks them up automatically.
typedef CamHelper *(*CamHelperCreateFunc)();
struct RegisterCamHelper
{
RegisterCamHelper(char const *cam_name,
CamHelperCreateFunc create_func);
};
} // namespace RPi
|
