/**
* Assign a default set of parameters to the state passed in
*
* @param state Pointer to state structure to assign defaults to
*/
static void default_status(RASPIVID_STATE *state)
{
if (!state)
{
vcos_assert(0);
return;
}
// Default everything to zero
memset(state, 0, sizeof(RASPIVID_STATE));
// Now set anything non-zero
state->timeout = 5000; // 5s delay before take image
state->width = 1920; // Default to 1080p
state->height = 1080;
state->bitrate = 17000000; // This is a decent default bitrate for 1080p
state->framerate = VIDEO_FRAME_RATE_NUM;
state->intraperiod = 0; // Not set
state->demoMode = 0;
state->demoInterval = 250; // ms
state->immutableInput = 1;
// Setup preview window defaults
raspipreview_set_defaults(&state->preview_parameters);
// Set up the camera_parameters to default
raspicamcontrol_set_defaults(&state->camera_parameters);
}
/**
* Assign a default set of parameters to the state passed in
*
* @param state Pointer to state structure to assign defaults to
*/
static void default_status(RASPISTILLYUV_STATE *state)
{
if (!state)
{
vcos_assert(0);
return;
}
// Default everything to zero
memset(state, 0, sizeof(RASPISTILLYUV_STATE));
// Now set anything non-zero
state->timeout = 5000; // 5s delay before take image
state->width = 2592;
state->height = 1944;
state->timelapse = 0;
state->filename = NULL;
state->linkname = NULL;
state->verbose = 0;
state->fullResPreview = 0;
state->frameNextMethod = FRAME_NEXT_SINGLE;
state->settings = 0;
state->burstCaptureMode=0;
// Setup preview window defaults
raspipreview_set_defaults(&state->preview_parameters);
// Set up the camera_parameters to default
raspicamcontrol_set_defaults(&state->camera_parameters);
// Set default camera
state->cameraNum = 0;
}
// default status
static void default_status(RASPIVID_STATE *state)
{
if (!state)
{
vcos_assert(0);
return;
}
// Default everything to zero
memset(state, 0, sizeof(RASPIVID_STATE));
// Now set anything non-zero
state->timeout = 10000; // 5s delay before take image
state->width = 640; // use a multiple of 320 (640, 1280)
state->height = 480; // use a multiple of 240 (480, 960)
state->bitrate = 17000000; // This is a decent default bitrate for 1080p
state->framerate = VIDEO_FRAME_RATE_NUM;
state->immutableInput = 1;
state->graymode = 1; //gray by default, much faster than color (0)
// Setup preview window defaults
raspipreview_set_defaults(&state->preview_parameters);
// Set up the camera_parameters to default
raspicamcontrol_set_defaults(&state->camera_parameters);
}
/**
* Assign a default set of parameters to the state passed in
*
* @param state Pointer to state structure to assign defaults to
*/
static void default_status(RASPISTILL_STATE *state)
{
if (!state) {
vcos_assert(0);
return;
}
state->width = 2592;
state->height = 1944;
state->quality = 85;
state->bytesStored = 0l;
/*Video*/
//state->bitrate = 17000000;
state->bitrate = 5000000;
state->framerate = VIDEO_FRAME_RATE_NUM;
state->immutableInput = 0;
state->intraperiod = 0; // Not set
state->camera_component = NULL;
state->encoder_component = NULL;
state->encoder_connection = NULL;
state->encoder_pool = NULL;
state->encoding = MMAL_ENCODING_JPEG; //MMAL_ENCODING_BMP
raspicamcontrol_set_defaults(&state->camera_parameters);
//state->camera_parameters.exposureMode = MMAL_PARAM_EXPOSUREMODE_NIGHT;
//state->camera_parameters.exposureMeterMode = MMAL_PARAM_EXPOSUREMETERINGMODE_AVERAGE;
}
/**
* Assign a default set of parameters to the state passed in
*
* @param state Pointer to state structure to assign defaults to
*/
static void default_status(RASPISTILL_STATE *state)
{
if (!state)
{
vcos_assert(0);
return;
}
// *** PR : modif for demo purpose : smaller image
state->timeout = 0;
state->width = 320;
state->height = 200;
state->quality = 85;
state->wantRAW = 0;
state->filename = NULL;
state->verbose = 0;
state->thumbnailConfig.enable = 0;
state->thumbnailConfig.width = 64;
state->thumbnailConfig.height = 48;
state->thumbnailConfig.quality = 35;
state->demoMode = 0;
state->demoInterval = 250; // ms
state->camera_component = NULL;
state->encoder_component = NULL;
state->preview_connection = NULL;
state->encoder_connection = NULL;
state->encoder_pool = NULL;
state->encoding = MMAL_ENCODING_JPEG;
state->numExifTags = 0;
state->timelapse = 0;
// Setup preview window defaults
raspipreview_set_defaults(&state->preview_parameters);
// Set up the camera_parameters to default
raspicamcontrol_set_defaults(&state->camera_parameters);
//pr
//state->camera_parameters.awbMode=MMAL_PARAM_AWBMODE_AUTO;
}
/**
* Assign a default set of parameters to the state passed in
*
* @param state Pointer to state structure to assign defaults to
*/
static void default_status(RASPISTILLYUV_STATE *state)
{
if (!state)
{
vcos_assert(0);
return;
}
// Default everything to zero
memset(state, 0, sizeof(RASPISTILLYUV_STATE));
// Now set anything non-zero
state->timeout = 5000; // 5s delay before take image
state->width = 2592;
state->height = 1944;
// Setup preview window defaults
raspipreview_set_defaults(&state->preview_parameters);
// Set up the camera_parameters to default
raspicamcontrol_set_defaults(&state->camera_parameters);
}
/**
* Assign a default set of parameters to the state passed in
*
* @param state Pointer to state structure to assign defaults to
*/
static void default_status(RASPISTILL_STATE *state)
{
if (!state)
{
vcos_assert(0);
return;
}
state->timeout = 5000; // 5s delay before take image
state->width = 2592;
state->height = 1944;
state->quality = 85;
state->wantRAW = 0;
state->filename = NULL;
state->linkname = NULL;
state->verbose = 0;
state->thumbnailConfig.enable = 1;
state->thumbnailConfig.width = 64;
state->thumbnailConfig.height = 48;
state->thumbnailConfig.quality = 35;
state->demoMode = 0;
state->demoInterval = 250; // ms
state->camera_component = NULL;
state->encoder_component = NULL;
state->preview_connection = NULL;
state->encoder_connection = NULL;
state->encoder_pool = NULL;
state->encoding = MMAL_ENCODING_JPEG;
state->numExifTags = 0;
state->timelapse = 0;
state->fullResPreview = 0;
// Setup preview window defaults
raspipreview_set_defaults(&state->preview_parameters);
// Set up the camera_parameters to default
raspicamcontrol_set_defaults(&state->camera_parameters);
}
// default status
static void default_status(RASPIVID_STATE *state)
{
if (!state)
{
vcos_assert(0);
return;
}
// Default everything to zero
memset(state, 0, sizeof(RASPIVID_STATE));
// Now set anything non-zero
state->finished = 0;
state->width = 320; // use a multiple of 320 (640, 1280)
state->height = 240; // use a multiple of 240 (480, 960)
// state->width = 1280; // use a multiple of 320 (640, 1280)
// state->height = 960; // use a multiple of 240 (480, 960)
state->bitrate = 2000000; // This is a decent default bitrate for 1080p
state->framerate = VIDEO_FRAME_RATE_NUM;
state->intraperiod = 0; // Not set
state->quantisationParameter = 0;
state->immutableInput = 1;
state->graymode = 1; // Gray (1) much faster than color (0)
state->profile = MMAL_VIDEO_PROFILE_H264_HIGH;
state->bInlineHeaders = 0;
state->inlineMotionVectors = 0;
state->segmentSize = 0; // 0 = not segmenting the file.
state->segmentNumber = 1;
state->segmentWrap = 0; // Point at which to wrap segment number back to 1. 0 = no wrap
state->splitNow = 0;
state->splitWait = 0;
state->filename = "test.h264";
// Set up the camera_parameters to default
raspicamcontrol_set_defaults(&state->camera_parameters);
}
/**
* Assign a default set of parameters to the state passed in
*
* @param state Pointer to state structure to assign defaults to
*/
static void default_status(RASPISTILL_STATE *state)
{
if (!state)
{
vcos_assert(0);
return;
}
state->timeout = 1000;// 1s delay before take image
// MODIFICATION: modified for demo purpose -> smaller image
state->width = 324;
state->height = 243;
state->quality = 25;
state->wantRAW = 0;
// *** USER: change the name of the file.
state->filename = "cam_image.jpg";
state->verbose = 0;
state->thumbnailConfig.enable = 1;
state->thumbnailConfig.width = 64;
state->thumbnailConfig.height = 48;
state->thumbnailConfig.quality = 35;
state->demoMode = 0;
state->demoInterval = 250; // ms
state->camera_component = NULL;
state->encoder_component = NULL;
state->preview_connection = NULL;
state->encoder_connection = NULL;
state->encoder_pool = NULL;
state->encoding = MMAL_ENCODING_JPEG;
state->numExifTags = 0;
state->timelapse = 0;
// Setup preview window defaults
raspipreview_set_defaults(&state->preview_parameters);
// Set up the camera_parameters to default
raspicamcontrol_set_defaults(&state->camera_parameters);
}
// default status
static void default_status(RASPIVID_STATE *state)
{
if (!state)
{
vcos_assert(0);
return;
}
// Default everything to zero
memset(state, 0, sizeof(RASPIVID_STATE));
// Now set anything non-zero
state->finished = 0;
state->width = 320; // use a multiple of 320 (640, 1280)
state->height = 240; // use a multiple of 240 (480, 960)
state->bitrate = 17000000; // This is a decent default bitrate for 1080p
state->framerate = VIDEO_FRAME_RATE_NUM;
state->immutableInput = 1;
state->graymode = 0; // Gray (1) much faster than color (0)
// Set up the camera_parameters to default
raspicamcontrol_set_defaults(&state->camera_parameters);
}
bool CCamera::Init(int width, int height, int framerate, int num_levels, bool do_argb_conversion)
{
//init broadcom host - QUESTION: can this be called more than once??
bcm_host_init();
//store basic parameters
Width = width;
Height = height;
FrameRate = framerate;
// Set up the camera_parameters to default
raspicamcontrol_set_defaults(&CameraParameters);
// Change default parameter, i.e .rotate image
int rotation = 90;
int my_rotation = ((rotation % 360 ) / 90) * 90;
CameraParameters.rotation = my_rotation;
//ret = mmal_port_parameter_set_int32(camera->output[0], MMAL_PARAMETER_ROTATION, my_rotation);
//mmal_port_parameter_set_int32(camera->output[1], MMAL_PARAMETER_ROTATION, my_rotation);
//mmal_port_parameter_set_int32(camera->output[2], MMAL_PARAMETER_ROTATION, my_rotation);
#ifdef WITH_ENCODER
MMAL_COMPONENT_T *encoder = 0;
#endif
MMAL_COMPONENT_T *camera = 0;
MMAL_COMPONENT_T *splitter = 0;
MMAL_CONNECTION_T* vid_to_split_connection = 0;
MMAL_PORT_T *video_port = NULL;
MMAL_STATUS_T status;
CCameraOutput* outputs[4]; memset(outputs,0,sizeof(outputs));
//create the camera component
camera = CreateCameraComponentAndSetupPorts();
if (!camera)
goto error;
//get the video port
video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
video_port->buffer_num = 3;
//create the splitter component
splitter = CreateSplitterComponentAndSetupPorts(video_port);
if(!splitter)
goto error;
//create and enable a connection between the video output and the resizer input
status = mmal_connection_create(&vid_to_split_connection, video_port, splitter->input[0], MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);
if (status != MMAL_SUCCESS)
{
printf("Failed to create connection\n");
goto error;
}
status = mmal_connection_enable(vid_to_split_connection);
if (status != MMAL_SUCCESS)
{
printf("Failed to enable connection\n");
goto error;
}
//setup all the outputs
for(int i = 0; i < num_levels; i++)
{
outputs[i] = new CCameraOutput();
if(!outputs[i]->Init(Width >> i,Height >> i,splitter,i,do_argb_conversion))
{
printf("Failed to initialize output %d\n",i);
goto error;
}
}
#ifdef WITH_ENCODER
encoder = CreateEncoderComponentAndSetupPorts();
if (!encoder)
goto error;
#endif
//begin capture
if (mmal_port_parameter_set_boolean(video_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS)
{
printf("Failed to start capture\n");
goto error;
}
//store created info
CameraComponent = camera;
SplitterComponent = splitter;
VidToSplitConn = vid_to_split_connection;
memcpy(Outputs,outputs,sizeof(outputs));
//return success
printf("Camera successfully created\n");
return true;
error:
if(vid_to_split_connection)
mmal_connection_destroy(vid_to_split_connection);
if(camera)
mmal_component_destroy(camera);
if(splitter)
mmal_component_destroy(splitter);
for(int i = 0; i < 4; i++)
{
if(outputs[i])
{
outputs[i]->Release();
delete outputs[i];
}
}
#ifdef WITH_ENCODER
if(encoder){}
#endif
return false;
}
/**
* Assign a default set of parameters to the state passed in
*
* @param state Pointer to state structure to assign defaults to
*/
static void get_status(RASPIVID_STATE *state) {
int temp;
std::string str;
if (!state) {
vcos_assert(0);
return;
}
// Default everything to zero
memset(state, 0, sizeof(RASPIVID_STATE));
if (ros::param::get("~width", temp )) {
if (temp > 0 && temp <= 1920)
state->width = temp;
else
state->width = 640;
} else {
state->width = 640;
ros::param::set("~width", 640);
}
if (ros::param::get("~height", temp )) {
if (temp > 0 && temp <= 1080)
state->height = temp;
else
state->height = 480;
} else {
state->height = 480;
ros::param::set("~height", 480);
}
if (ros::param::get("~quality", temp )) {
if (temp > 0 && temp <= 100)
state->quality = temp;
else
state->quality = 80;
} else {
state->quality = 80;
ros::param::set("~quality", 80);
}
if (ros::param::get("~framerate", temp )) {
if (temp > 0 && temp <= 90)
state->framerate = temp;
else
state->framerate = 30;
} else {
state->framerate = 30;
ros::param::set("~framerate", 30);
}
if (ros::param::get("~tf_prefix", str)) {
tf_prefix = str;
} else {
tf_prefix = "";
ros::param::set("~tf_prefix", "");
}
ros::param::get("~hflip", temp);
ROS_INFO("hflip_raw: %d\n", temp);
if (temp >= 0 && temp <= 1) {
//state->camera_parameters.hflip = temp;
//ROS_INFO("set hflip to: %d\n", state->camera_parameters.hflip);
hflip = temp;
} else {
//state->camera_parameters.hflip = 0;
ros::param::set("~hflip", 0);
}
ros::param::get("~vflip", temp);
ROS_INFO("vflip_raw: %d\n", temp);
if (temp >= 0 && temp <= 1) {
//state->camera_parameters.vflip = temp;
//ROS_INFO("set vflip to: %d\n", state->camera_parameters.vflip);
vflip = temp;
} else {
//state->camera_parameters.vflip = 0;
ros::param::set("~vflip", 0);
}
ros::param::get("~start", temp);
ROS_INFO("auto_start_raw: %d\n", temp);
if (temp >= 0 && temp <= 1) {
auto_start = temp;
} else {
ros::param::set("~start", 0);
}
state->isInit = 0;
// Setup preview window defaults
//raspipreview_set_defaults(&state->preview_parameters);
// Set up the camera_parameters to default
raspicamcontrol_set_defaults(&state->camera_parameters);
}
/**
* Assign a default set of parameters to the state passed in
*
* @param state Pointer to state structure to assign defaults to
*/
void default_status(RASPIVID_STATE *state)
{
if (!state)
{
vcos_assert(0);
return;
}
// Default everything to zero
memset(state, 0, sizeof(RASPIVID_STATE));
#ifdef __WEBRTC_DEFAULT__
state->width = RASPI_CAM_FIXED_WIDTH; // default width for FOV
state->height = RASPI_CAM_FIXED_HEIGHT; // default width for FOV
state->encoding = MMAL_ENCODING_H264;
// state->bitrate = 17000000; // This is a decent default bitrate for 1080p
state->bitrate = 0; // For variable bitrate setttings
state->framerate = VIDEO_FRAME_RATE_NUM;
state->intra_refresh_type = MMAL_VIDEO_INTRA_REFRESH_BOTH; // cyclic intra rehash type
state->intraperiod = VIDEO_FRAME_RATE_NUM * 3; // every 3 second
state->bInlineHeaders = MMAL_TRUE; // enabling Inline Header
state->profile = MMAL_VIDEO_PROFILE_H264_CONSTRAINED_BASELINE;
// state->profile = MMAL_VIDEO_PROFILE_H264_MAIN;
state->verbose = MMAL_TRUE;
#define __RATECONTROL_DISABLE__
#ifdef __RATECONTROL_DISABLE__
state->videoRateControl = MMAL_FALSE;
state->quantisationParameter = MMAL_TRUE;
state->quantisationInitialParameter = 26; // Initial quantization parameter
state->quantisationMaxParameter = 35; /// Maximum quantization parameter
state->quantisationMinParameter = 24; /// Minimum quantization parameter
#else
state->videoRateControl = MMAL_TRUE;
state->quantisationParameter = MMAL_FALSE; // disable quatization, Not working
state->quantisationInitialParameter = 26; // Initial quantization parameter
state->quantisationMaxParameter = 35; /// Maximum quantization parameter
state->quantisationMinParameter = 22; /// Minimum quantization parameter
#endif // __RATECONTROL_DISABLE__
// state->settings = MMAL_TRUE; // camera setting
state->settings = MMAL_FALSE;
#else /* RaspiVid defaults */
state->width = 1920; // Default to 1080p
state->height = 1080;
state->encoding = MMAL_ENCODING_H264;
state->bitrate = 17000000; // This is a decent default bitrate for 1080p
state->framerate = VIDEO_FRAME_RATE_NUM;
state->intraperiod = -1; // Not set
state->intra_refresh_type = -1;
state->bInlineHeaders = 0;
state->quantisationParameter = MMAL_FALSE;
state->profile = MMAL_VIDEO_PROFILE_H264_HIGH;
state->verbose = MMAL_TRUE;
state->videoRateControl = 0;
state->settings = 0;
#endif
state->immutableInput = 1;
state->bCapturing = 0;
state->cameraNum = 0;
state->sensor_mode = 0;
// Setup preview window defaults
raspipreview_set_defaults(&state->preview_parameters);
// Set up the camera_parameters to default
raspicamcontrol_set_defaults(&state->camera_parameters);
}
bool CCamera::Init(int width, int height, int framerate, int num_levels, bool do_argb_conversion)
{
//init broadcom host - QUESTION: can this be called more than once??
bcm_host_init();
//store basic parameters
Width = width;
Height = height;
FrameRate = framerate;
// Set up the camera_parameters to default
raspicamcontrol_set_defaults(&CameraParameters);
MMAL_COMPONENT_T *camera = 0;
MMAL_COMPONENT_T *splitter = 0;
MMAL_CONNECTION_T* vid_to_split_connection = 0;
MMAL_PORT_T *video_port = NULL;
MMAL_STATUS_T status;
CCameraOutput* outputs[4]; memset(outputs,0,sizeof(outputs));
//create the camera component
camera = CreateCameraComponentAndSetupPorts();
if (!camera)
goto error;
//get the video port
video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
video_port->buffer_num = 3;
//create the splitter component
splitter = CreateSplitterComponentAndSetupPorts(video_port);
if(!splitter)
goto error;
//create and enable a connection between the video output and the resizer input
status = mmal_connection_create(&vid_to_split_connection, video_port, splitter->input[0], MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);
if (status != MMAL_SUCCESS)
{
printf("Failed to create connection\n");
goto error;
}
status = mmal_connection_enable(vid_to_split_connection);
if (status != MMAL_SUCCESS)
{
printf("Failed to enable connection\n");
goto error;
}
//setup all the outputs
for(int i = 0; i < num_levels; i++)
{
outputs[i] = new CCameraOutput();
if(!outputs[i]->Init(Width >> i,Height >> i,splitter,i,do_argb_conversion))
{
printf("Failed to initialize output %d\n",i);
goto error;
}
}
//begin capture
if (mmal_port_parameter_set_boolean(video_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS)
{
printf("Failed to start capture\n");
goto error;
}
//store created info
CameraComponent = camera;
SplitterComponent = splitter;
VidToSplitConn = vid_to_split_connection;
memcpy(Outputs,outputs,sizeof(outputs));
//custom parameters
raspicamcontrol_set_saturation(camera, 0);
raspicamcontrol_set_contrast(camera, 100);
raspicamcontrol_set_brightness(camera, 50);
//raspicamcontrol_set_exposure_mode(camera, MMAL_PARAM_EXPOSUREMODE_OFF);
//raspicamcontrol_set_awb_mode(camera, MMAL_PARAM_AWBMODE_OFF);
raspicamcontrol_set_shutter_speed(camera, 2400);
//return success
printf("Camera successfully created\n");
return true;
error:
if(vid_to_split_connection)
mmal_connection_destroy(vid_to_split_connection);
if(camera)
mmal_component_destroy(camera);
if(splitter)
mmal_component_destroy(splitter);
for(int i = 0; i < 4; i++)
{
if(outputs[i])
{
outputs[i]->Release();
delete outputs[i];
}
}
return false;
}
void create_camera_component(int Width, int Height, int FrameRate){
MMAL_COMPONENT_T *camera = 0;
MMAL_ES_FORMAT_T *format;
MMAL_STATUS_T status;
/* Create the component */
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &camera);
if (status != MMAL_SUCCESS) {
printf("Failed to create camera component : error %d\n", status);
exit(1);
}
if (!camera->output_num) {
status = MMAL_ENOSYS;
printf("Camera doesn't have output ports\n");
exit(1);
}
preview_port = camera->output[MMAL_CAMERA_PREVIEW_PORT];
video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT];
// Enable the camera, and tell it its control callback function
status = mmal_port_enable(camera->control, camera_control_callback);
if (status != MMAL_SUCCESS) {
printf("Unable to enable control port : error %d\n", status);
mmal_component_destroy(camera);
exit(1);
}
//set camera parameters.
MMAL_PARAMETER_CAMERA_CONFIG_T cam_config;
cam_config.hdr = MMAL_PARAMETER_CAMERA_CONFIG;
cam_config.hdr.size = sizeof(cam_config);
cam_config.max_stills_w = Width;
cam_config.max_stills_h = Height;
cam_config.stills_yuv422 = 0;
cam_config.one_shot_stills = 0;
cam_config.max_preview_video_w = Width;
cam_config.max_preview_video_h = Height;
cam_config.num_preview_video_frames = 3;
cam_config.stills_capture_circular_buffer_height = 0;
cam_config.fast_preview_resume = 0;
cam_config.use_stc_timestamp = MMAL_PARAM_TIMESTAMP_MODE_RESET_STC;
status = mmal_port_parameter_set(camera->control, &cam_config.hdr);
if (status != MMAL_SUCCESS) {
printf("Unable to set camera parameters : error %d\n", status);
mmal_component_destroy(camera);
exit(1);
}
// setup preview port format - QUESTION: Needed if we aren't using preview?
format = preview_port->format;
format->encoding = MMAL_ENCODING_OPAQUE;
format->encoding_variant = MMAL_ENCODING_I420;
format->es->video.width = Width;
format->es->video.height = Height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = Width;
format->es->video.crop.height = Height;
format->es->video.frame_rate.num = FrameRate;
format->es->video.frame_rate.den = 1;
status = mmal_port_format_commit(preview_port);
if (status != MMAL_SUCCESS)
{
printf("Couldn't set preview port format : error %d\n", status);
mmal_component_destroy(camera);
exit(1);
}
//setup video port format
format = video_port->format;
format->encoding = MMAL_ENCODING_I420;
format->encoding_variant = MMAL_ENCODING_I420;
format->es->video.width = Width;
format->es->video.height = Height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = Width;
format->es->video.crop.height = Height;
format->es->video.frame_rate.num = FrameRate;
format->es->video.frame_rate.den = 1;
status = mmal_port_format_commit(video_port);
if (status != MMAL_SUCCESS)
{
printf("Couldn't set video port format : error %d\n", status);
mmal_component_destroy(camera);
exit(1);
}
//setup still port format
format = still_port->format;
format->encoding = MMAL_ENCODING_OPAQUE;
format->encoding_variant = MMAL_ENCODING_I420;
format->es->video.width = Width;
format->es->video.height = Height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = Width;
format->es->video.crop.height = Height;
format->es->video.frame_rate.num = 1;
format->es->video.frame_rate.den = 1;
status = mmal_port_format_commit(still_port);
if (status != MMAL_SUCCESS)
{
printf("Couldn't set still port format : error %d\n", status);
mmal_component_destroy(camera);
exit(1);
}
status = mmal_port_parameter_set_boolean(preview_port,
MMAL_PARAMETER_ZERO_COPY, MMAL_TRUE);
if (status != MMAL_SUCCESS)
{
printf("Failed to enable zero copy on camera video port\n");
exit(1);
}
status = mmal_port_format_commit(preview_port);
if (status != MMAL_SUCCESS)
{
printf("camera format couldn't be set\n");
exit(1);
}
/* For GL a pool of opaque buffer handles must be allocated in the client.
* These buffers are used to create the EGL images.
*/
preview_port->buffer_num = 3;
preview_port->buffer_size = preview_port->buffer_size_recommended;
/* Pool + queue to hold preview frames */
video_pool = mmal_port_pool_create(preview_port,preview_port->buffer_num,preview_port->buffer_size);
if (!video_pool)
{
printf("Error allocating camera video pool. Buffer num: %d Buffer size: %d\n", preview_port->buffer_num, preview_port->buffer_size);
status = MMAL_ENOMEM;
exit(1);
}
printf("Allocated %d MMAL buffers of size %d.\n", preview_port->buffer_num, preview_port->buffer_size);
/* Place filled buffers from the preview port in a queue to render */
video_queue = mmal_queue_create();
if (!video_queue)
{
printf("Error allocating video buffer queue\n");
status = MMAL_ENOMEM;
exit(1);
}
/* Enable video port callback */
//port->userdata = (struct MMAL_PORT_USERDATA_T *)this;
status = mmal_port_enable(preview_port, video_output_callback);
if (status != MMAL_SUCCESS)
{
printf("Failed to enable video port\n");
exit(1);
}
// Set up the camera_parameters to default
raspicamcontrol_set_defaults(&cameraParameters);
//apply all camera parameters
raspicamcontrol_set_all_parameters(camera, &cameraParameters);
//enable the camera
status = mmal_component_enable(camera);
if (status != MMAL_SUCCESS)
{
printf("Couldn't enable camera\n\n");
mmal_component_destroy(camera);
exit(1);
}
//send all the buffers in our pool to the video port ready for use
{
int num = mmal_queue_length(video_pool->queue);
int q;
for (q=0;q<num;q++)
{
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(video_pool->queue);
if (!buffer)
{
printf("Unable to get a required buffer %d from pool queue\n\n", q);
exit(1);
}
else if (mmal_port_send_buffer(preview_port, buffer)!= MMAL_SUCCESS)
{
printf("Unable to send a buffer to port (%d)\n\n", q);
exit(1);
}
}
}
/*
//begin capture
if (mmal_port_parameter_set_boolean(preview_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS)
{
printf("Failed to start capture\n\n");
exit(1);
}
*/
printf("Camera initialized.\n");
//Setup the camera's textures and EGL images.
glGenTextures(1, &cam_ytex);
glGenTextures(1, &cam_utex);
glGenTextures(1, &cam_vtex);
return;
}
