/**
* Set the specified camera to all the specified settings
* @param camera Pointer to camera component
* @param params Pointer to parameter block containing parameters
* @return 0 if successful, none-zero if unsuccessful.
*/
int raspicamcontrol_set_all_parameters(MMAL_COMPONENT_T *camera, const RASPICAM_CAMERA_PARAMETERS *params)
{
int result;
result = raspicamcontrol_set_saturation(camera, params->saturation);
result += raspicamcontrol_set_sharpness(camera, params->sharpness);
result += raspicamcontrol_set_contrast(camera, params->contrast);
result += raspicamcontrol_set_brightness(camera, params->brightness);
result += raspicamcontrol_set_ISO(camera, params->ISO);
result += raspicamcontrol_set_video_stabilisation(camera, params->videoStabilisation);
result += raspicamcontrol_set_exposure_compensation(camera, params->exposureCompensation);
result += raspicamcontrol_set_exposure_mode(camera, params->exposureMode);
result += raspicamcontrol_set_metering_mode(camera, params->exposureMeterMode);
result += raspicamcontrol_set_awb_mode(camera, params->awbMode);
result += raspicamcontrol_set_awb_gains(camera, params->awb_gains_r, params->awb_gains_b);
result += raspicamcontrol_set_imageFX(camera, params->imageEffect);
result += raspicamcontrol_set_colourFX(camera, ¶ms->colourEffects);
//result += raspicamcontrol_set_thumbnail_parameters(camera, ¶ms->thumbnailConfig); TODO Not working for some reason
result += raspicamcontrol_set_rotation(camera, params->rotation);
result += raspicamcontrol_set_flips(camera, params->hflip, params->vflip);
result += raspicamcontrol_set_ROI(camera, params->roi);
result += raspicamcontrol_set_shutter_speed(camera, params->shutter_speed);
result += raspicamcontrol_set_DRC(camera, params->drc_level);
result += raspicamcontrol_set_stats_pass(camera, params->stats_pass);
result += raspicamcontrol_set_annotate(camera, params->enable_annotate, params->annotate_string,
params->annotate_text_size,
params->annotate_text_colour,
params->annotate_bg_colour);
return result;
}
int start_capture(RASPIVID_STATE *state) {
if (!(state->isInit)) init_cam(state);
//raspicamcontrol_set_flips(state->camera_component, state->camera_parameters.hflip, state->camera_parameters.vflip);
raspicamcontrol_set_flips(state->camera_component, hflip, vflip);
MMAL_PORT_T *camera_video_port = state->camera_component->output[MMAL_CAMERA_VIDEO_PORT];
//MMAL_PORT_T *encoder_output_port = state->encoder_component->output[0];
ROS_INFO("Starting video capture (%d, %d, %d, %d)\n", state->width, state->height, state->quality, state->framerate);
if (mmal_port_parameter_set_boolean(camera_video_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS) {
return 1;
}
// Send all the buffers to the video port
{
int num = mmal_queue_length(state->camera_pool->queue);
int q;
for (q=0; q < num; q++) {
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(state->camera_pool->queue);
if (!buffer)
vcos_log_error("Unable to get a required buffer %d from pool queue", q);
//if (mmal_port_send_buffer(encoder_output_port, buffer)!= MMAL_SUCCESS)
if (mmal_port_send_buffer(camera_video_port, buffer)!= MMAL_SUCCESS)
vcos_log_error("Unable to send a buffer to encoder output port (%d)", q);
}
}
ROS_INFO("Video capture started\n");
return 0;
}
/**
* Set the specified camera to all the specified settings
* @param camera Pointer to camera component
* @param params Pointer to parameter block containing parameters
* @return 0 if successful, none-zero if unsuccessful.
*/
int raspicamcontrol_set_all_parameters(MMAL_COMPONENT_T *camera, const RASPICAM_CAMERA_PARAMETERS *params)
{
int result;
result = raspicamcontrol_set_saturation(camera, params->saturation);
result += raspicamcontrol_set_sharpness(camera, params->sharpness);
result += raspicamcontrol_set_contrast(camera, params->contrast);
result += raspicamcontrol_set_brightness(camera, params->brightness);
//result += raspicamcontrol_set_ISO(camera, params->ISO); TODO Not working for some reason
result += raspicamcontrol_set_video_stabilisation(camera, params->videoStabilisation);
result += raspicamcontrol_set_exposure_compensation(camera, params->exposureCompensation);
result += raspicamcontrol_set_exposure_mode(camera, params->exposureMode);
result += raspicamcontrol_set_metering_mode(camera, params->exposureMeterMode);
result += raspicamcontrol_set_awb_mode(camera, params->awbMode);
result += raspicamcontrol_set_imageFX(camera, params->imageEffect);
result += raspicamcontrol_set_colourFX(camera, ¶ms->colourEffects);
//result += raspicamcontrol_set_thumbnail_parameters(camera, ¶ms->thumbnailConfig); TODO Not working for some reason
result += raspicamcontrol_set_rotation(camera, params->rotation);
result += raspicamcontrol_set_flips(camera, params->hflip, params->vflip);
return result;
}
int raspicamcontrol_cycle_test(MMAL_COMPONENT_T *camera)
{
static int parameter = 0;
static int parameter_option = parameter_reset; // which value the parameter currently has
vcos_assert(camera);
// We are going to cycle through all the relevant entries in the parameter block
// and send options to the camera.
if (parameter == 0)
{
// sharpness
if (update_cycle_parameter(¶meter_option, -100, 100, 10))
raspicamcontrol_set_sharpness(camera, parameter_option);
else
{
raspicamcontrol_set_sharpness(camera, 0);
parameter++;
}
}
else
if (parameter == 1)
{
// contrast
if (update_cycle_parameter(¶meter_option, -100, 100, 10))
raspicamcontrol_set_contrast(camera, parameter_option);
else
{
raspicamcontrol_set_contrast(camera, 0);
parameter++;
}
}
else
if (parameter == 2)
{
// brightness
if (update_cycle_parameter(¶meter_option, 0, 100, 10))
raspicamcontrol_set_brightness(camera, parameter_option);
else
{
raspicamcontrol_set_brightness(camera, 50);
parameter++;
}
}
else
if (parameter == 3)
{
// contrast
if (update_cycle_parameter(¶meter_option, -100, 100, 10))
raspicamcontrol_set_saturation(camera, parameter_option);
else
{
parameter++;
raspicamcontrol_set_saturation(camera, 0);
}
}
else
if (parameter == 4)
{
// EV
if (update_cycle_parameter(¶meter_option, -10, 10, 4))
raspicamcontrol_set_exposure_compensation(camera, parameter_option);
else
{
raspicamcontrol_set_exposure_compensation(camera, 0);
parameter++;
}
}
else
if (parameter == 5)
{
// MMAL_PARAM_EXPOSUREMODE_T
if (update_cycle_parameter(¶meter_option, 0, exposure_map_size, 1))
raspicamcontrol_set_exposure_mode(camera, exposure_map[parameter_option].mmal_mode);
else
{
raspicamcontrol_set_exposure_mode(camera, MMAL_PARAM_EXPOSUREMODE_AUTO);
parameter++;
}
}
else
if (parameter == 6)
{
// MMAL_PARAM_AWB_T
if (update_cycle_parameter(¶meter_option, 0, awb_map_size, 1))
raspicamcontrol_set_awb_mode(camera, awb_map[parameter_option].mmal_mode);
else
{
raspicamcontrol_set_awb_mode(camera, MMAL_PARAM_AWBMODE_AUTO);
parameter++;
}
}
if (parameter == 7)
{
// MMAL_PARAM_IMAGEFX_T
if (update_cycle_parameter(¶meter_option, 0, imagefx_map_size, 1))
raspicamcontrol_set_imageFX(camera, imagefx_map[parameter_option].mmal_mode);
else
{
raspicamcontrol_set_imageFX(camera, MMAL_PARAM_IMAGEFX_NONE);
parameter++;
}
}
if (parameter == 8)
{
MMAL_PARAM_COLOURFX_T colfx = {0,0,0};
switch (parameter_option)
{
case parameter_reset :
parameter_option = 1;
colfx.u = 128;
colfx.v = 128;
break;
case 1 :
parameter_option = 2;
colfx.u = 100;
colfx.v = 200;
break;
case 2 :
parameter_option = parameter_reset;
colfx.enable = 0;
parameter++;
break;
}
raspicamcontrol_set_colourFX(camera, &colfx);
}
// Orientation
if (parameter == 9)
{
switch (parameter_option)
{
case parameter_reset:
raspicamcontrol_set_rotation(camera, 90);
parameter_option = 1;
break;
case 1 :
raspicamcontrol_set_rotation(camera, 180);
parameter_option = 2;
break;
case 2 :
raspicamcontrol_set_rotation(camera, 270);
parameter_option = 3;
break;
case 3 :
{
raspicamcontrol_set_rotation(camera, 0);
raspicamcontrol_set_flips(camera, 1,0);
parameter_option = 4;
break;
}
case 4 :
{
raspicamcontrol_set_flips(camera, 0,1);
parameter_option = 5;
break;
}
case 5 :
{
raspicamcontrol_set_flips(camera, 1, 1);
parameter_option = 6;
break;
}
case 6 :
{
raspicamcontrol_set_flips(camera, 0, 0);
parameter_option = parameter_reset;
parameter++;
break;
}
}
}
if (parameter == 10)
{
parameter = 1;
return 0;
}
return 1;
}