MmalVideoCamera::MmalVideoCamera(int imageWidth, int imageHeight, int frameRate) :
m_imageWidth(imageWidth),
m_imageHeight(imageHeight),
m_frameRate(frameRate),
m_imagePreviewWidth(VCOS_ALIGN_UP(imageWidth, 32)),
m_imagePreviewHeight(VCOS_ALIGN_UP(imageHeight, 16)),
m_callbackData(NULL),
m_cs(),
m_camera(NULL),
m_pool(NULL),
m_videoPort(NULL),
m_stillPort(NULL),
m_previewPort(NULL),
m_videoPortEnabled(false)
{
std::cout << "Creating callback data..." << std::endl;
m_callbackData = new MmalVideoCallbackData(m_imageWidth, m_imageHeight, 3);
std::cout << "Creating camera..." << std::endl;
createCameraComponent();
std::cout << "Created camera" << std::endl;
std::cout << "Target Image Width: " << m_imageWidth << std::endl;
std::cout << "Target Image Height: " << m_imageHeight << std::endl;
createBufferPool();
std::cout << "Initialized camera" << std::endl;
}
MmalStillCamera::MmalStillCamera(int imageWidth, int imageHeight, bool enableBurstMode) :
m_imageWidth(imageWidth),
m_imageHeight(imageHeight),
m_callbackData(NULL),
m_cs(),
m_camera(NULL),
m_preview(NULL),
m_encoder(NULL),
m_pool(NULL),
m_previewPort(NULL),
m_videoPort(NULL),
m_stillPort(NULL),
m_targetPort(NULL)
{
m_callbackData = new MmalStillCallbackData(m_imageWidth, m_imageHeight, 3);
createCameraComponent();
std::cout << "Created camera" << std::endl;
createPreview();
std::cout << "Created preview" << std::endl;
std::cout << "Target Image Width: " << VCOS_ALIGN_UP(m_imageWidth, 32) << std::endl;
std::cout << "Target Image Height: " << VCOS_ALIGN_UP(m_imageHeight, 16) << std::endl;
MMAL_STATUS_T status;
m_targetPort = m_stillPort;
// Create pool of buffer headers for the output port to consume
m_pool = mmal_port_pool_create(m_targetPort, m_targetPort->buffer_num, m_targetPort->buffer_size);
if (m_pool == NULL)
{
throw Exception("Failed to create buffer header pool for encoder output port");
}
MMAL_CONNECTION_T *preview_connection = NULL;
status = connect_ports(m_previewPort, m_preview->input[0], &preview_connection);
if (status != MMAL_SUCCESS)
{
throw Exception("Error connecting preview port");
}
m_targetPort->userdata = (struct MMAL_PORT_USERDATA_T *) m_callbackData;
m_callbackData->image = NULL;
m_callbackData->pool = m_pool;
// Enable the encoder output port and tell it its callback function
if (mmal_port_enable(m_targetPort, EncoderBufferCallback) != MMAL_SUCCESS)
{
std::cerr << "Error enabling the encoder buffer callback" << std::endl;
}
// Send all the buffers to the encoder output port
int num = mmal_queue_length(m_pool->queue);
for (int q = 0; q < num; q++)
{
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(m_pool->queue);
if (buffer == NULL)
{
std::cerr << "Unable to get buffer " << q << " from the pool" << std::endl;
}
if (mmal_port_send_buffer(m_targetPort, buffer)!= MMAL_SUCCESS)
{
std::cerr << "Unable to send a buffer " << q << " to encoder output port " << std::endl;
}
}
// Enable burst mode
if (enableBurstMode)
{
if (mmal_port_parameter_set_boolean(m_camera->control, MMAL_PARAMETER_CAMERA_BURST_CAPTURE, 1) != MMAL_SUCCESS)
{
std::cerr << "Error enabling burst mode" << std::endl;
}
std::cout << "Enabled burst mode for still images" << std::endl;
}
std::cout << "Initialized camera" << std::endl;
}
void MmalStillCamera::initialize(CameraMode cameraMode)
{
m_resolution = MmalUtil::get()->getClosestResolution(m_name, cameraMode);
if (m_imageWidth != -1)
{
throw Exception("Camera is already initialized");
}
m_imageWidth = m_resolution.width;
m_imageHeight = m_resolution.height;
m_callbackData = new MmalStillCallbackData(m_imageWidth, m_imageHeight, 3);
// Handle the sensor properties
real sensorWidth, sensorHeight, focalLength;
MmalUtil::get()->getSensorProperties(m_name, sensorWidth, sensorHeight, focalLength);
setSensorProperties(sensorWidth, sensorHeight, focalLength);
createCameraComponent();
InfoLog << "Created camera" << Logger::ENDL;
createPreview();
InfoLog << "Created preview" << Logger::ENDL;
InfoLog << "Target Image Width: " << VCOS_ALIGN_UP(m_imageWidth, 32) << Logger::ENDL;
InfoLog << "Target Image Height: " << VCOS_ALIGN_UP(m_imageHeight, 16) << Logger::ENDL;
MMAL_STATUS_T status;
m_targetPort = m_stillPort;
// Create pool of buffer headers for the output port to consume
m_pool = mmal_port_pool_create(m_targetPort, m_targetPort->buffer_num, m_targetPort->buffer_size);
if (m_pool == NULL)
{
throw Exception("Failed to create buffer header pool for encoder output port");
}
MMAL_CONNECTION_T *preview_connection = NULL;
status = connect_ports(m_previewPort, m_preview->input[0], &preview_connection);
if (status != MMAL_SUCCESS)
{
throw Exception("Error connecting preview port");
}
m_targetPort->userdata = (struct MMAL_PORT_USERDATA_T *) m_callbackData;
m_callbackData->image = NULL;
m_callbackData->pool = m_pool;
// Enable the encoder output port and tell it its callback function
if (mmal_port_enable(m_targetPort, EncoderBufferCallback) != MMAL_SUCCESS)
{
ErrorLog << "Error enabling the encoder buffer callback" << Logger::ENDL;
}
// Send all the buffers to the encoder output port
int num = mmal_queue_length(m_pool->queue);
for (int q = 0; q < num; q++)
{
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(m_pool->queue);
if (buffer == NULL)
{
ErrorLog << "Unable to get buffer " << q << " from the pool" << Logger::ENDL;
}
if (mmal_port_send_buffer(m_targetPort, buffer) != MMAL_SUCCESS)
{
ErrorLog << "Unable to send a buffer " << q << " to encoder output port " << Logger::ENDL;
}
}
// Enable burst mode
if (m_burstModeEnabled)
{
if (mmal_port_parameter_set_boolean(m_camera->control, MMAL_PARAMETER_CAMERA_BURST_CAPTURE, 1) != MMAL_SUCCESS)
{
ErrorLog << "Error enabling burst mode" << Logger::ENDL;
}
InfoLog << "Enabled burst mode for still images" << Logger::ENDL;
}
InfoLog << "Initialized camera" << Logger::ENDL;
}
