/// <summary>
/// Call to initialise the camera component.
/// </summary>
/// <param name="stillCaptureHandler">A capture handler when capturing raw image frames from the camera's still port (no encoder attached).</param>
/// <param name="videoCaptureHandler">A capture handler when capturing raw video from the camera's video port (no encoder attached).</param>
public void Initialise(IOutputCaptureHandler stillCaptureHandler = null, IOutputCaptureHandler videoCaptureHandler = null)
{
this.DisableComponent();
var camConfig = new MMAL_PARAMETER_CAMERA_CONFIG_T(
new MMAL_PARAMETER_HEADER_T(MMALParametersCamera.MMAL_PARAMETER_CAMERA_CONFIG, Marshal.SizeOf <MMAL_PARAMETER_CAMERA_CONFIG_T>()),
this.CameraInfo.MaxWidth,
this.CameraInfo.MaxHeight,
0,
1,
MMALCameraConfig.VideoResolution.Width,
MMALCameraConfig.VideoResolution.Height,
3 + Math.Max(0, (MMALCameraConfig.VideoFramerate.Num - 30) / 10),
0,
0,
MMALCameraConfig.ClockMode);
this.SetCameraConfig(camConfig);
MMALLog.Logger.LogDebug("Camera config set");
this.Control.Start();
MMALLog.Logger.LogDebug("Configuring camera parameters.");
this.SetCameraParameters();
this.InitialisePreview();
this.InitialiseVideo(videoCaptureHandler);
this.InitialiseStill(stillCaptureHandler);
this.EnableComponent();
MMALLog.Logger.LogDebug("Camera component configured.");
}
/// <inheritdoc />
public override void Configure(IMMALPortConfig config, IInputPort copyFrom, IOutputCaptureHandler handler)
{
base.Configure(config, copyFrom, handler);
if (config != null && config.EncodingType == MMALEncoding.JPEG)
{
this.SetParameter(MMALParametersCamera.MMAL_PARAMETER_JPEG_Q_FACTOR, config.Quality);
}
}
/// <summary>
/// Initialises the camera's video port using the width, height and encoding as specified by the user.
/// </summary>
/// <param name="handler">The capture handler to associate with this port.</param>
private void InitialiseVideo(IOutputCaptureHandler handler)
{
int currentWidth = MMALCameraConfig.Resolution.Width;
int currentHeight = MMALCameraConfig.Resolution.Height;
if (currentWidth == 0 || currentWidth > this.CameraInfo.MaxWidth)
{
currentWidth = this.CameraInfo.MaxWidth;
}
if (currentHeight == 0 || currentHeight > this.CameraInfo.MaxHeight)
{
currentHeight = this.CameraInfo.MaxHeight;
}
var portConfig = new MMALPortConfig(
MMALCameraConfig.Encoding,
MMALCameraConfig.EncodingSubFormat,
width: currentWidth,
height: currentHeight,
framerate: MMALCameraConfig.Framerate,
bufferNum: Math.Max(MMALCameraConfig.UserBufferNum, Math.Max(this.VideoPort.BufferNumRecommended, 3)),
bufferSize: Math.Max(MMALCameraConfig.UserBufferSize, Math.Max(this.VideoPort.BufferSizeRecommended, this.VideoPort.BufferSizeMin)),
crop: new Rectangle(0, 0, currentWidth, currentHeight));
MMALLog.Logger.LogDebug("Commit video");
this.VideoPort.Configure(portConfig, null, handler);
// Use Raspistill values.
if (MMALCameraConfig.ShutterSpeed > 6000000)
{
this.VideoPort.SetFramerateRange(new MMAL_RATIONAL_T(5, 1000), new MMAL_RATIONAL_T(166, 1000));
}
else if (MMALCameraConfig.ShutterSpeed > 1000000)
{
this.VideoPort.SetFramerateRange(new MMAL_RATIONAL_T(167, 1000), new MMAL_RATIONAL_T(999, 1000));
}
}
/// <inheritdoc />
public override IDownstreamComponent ConfigureOutputPort(int outputPort, IMMALPortConfig config, IOutputCaptureHandler handler)
{
this.Quality = config.Quality;
var bufferSize = 0;
var framerate = 0;
if (config.EncodingType == MMALEncoding.H264)
{
bufferSize = Math.Max(this.Outputs[outputPort].Ptr->BufferSizeRecommended, this.Outputs[outputPort].Ptr->BufferSizeMin);
}
else
{
// Follow raspivid logic.
bufferSize = Math.Max(this.Outputs[outputPort].Ptr->BufferSizeRecommended, 256 << 10);
}
var bitrate = this.GetValidBitrate(outputPort, config);
// Force framerate to be 0 in case it was provided by user.
config = new MMALPortConfig(config.EncodingType, config.PixelFormat, config.Width, config.Height, framerate,
config.Quality, bitrate, config.ZeroCopy, config.Timeout, config.Split, config.BufferNum, bufferSize, config.Crop,
config.StoreMotionVectors);
base.ConfigureOutputPort(outputPort, config, handler);
if (this.Outputs[outputPort].EncodingType == MMALEncoding.H264)
{
this.ConfigureIntraPeriod(outputPort);
this.ConfigureVideoProfile(outputPort);
this.ConfigureInlineHeaderFlag(outputPort);
this.ConfigureInlineVectorsFlag(outputPort);
this.ConfigureIntraRefresh(outputPort);
this.ConfigureQuantisationParameter(outputPort);
}
this.ConfigureImmutableInput(outputPort);
return(this);
}
/// <summary>
/// Initialises the camera's still port using the width, height and encoding as specified by the user.
/// </summary>
/// <param name="handler">The capture handler to associate with the still port.</param>
private void InitialiseStill(IOutputCaptureHandler handler)
{
int currentWidth = MMALCameraConfig.StillResolution.Width;
int currentHeight = MMALCameraConfig.StillResolution.Height;
if (currentWidth == 0 || currentWidth > this.CameraInfo.MaxWidth)
{
currentWidth = this.CameraInfo.MaxWidth;
}
if (currentHeight == 0 || currentHeight > this.CameraInfo.MaxHeight)
{
currentHeight = this.CameraInfo.MaxHeight;
}
MMALCameraConfig.StillResolution = new Resolution(currentWidth, currentHeight);
MMALPortConfig portConfig = null;
if (MMALCameraConfig.StillEncoding == MMALEncoding.RGB32 ||
MMALCameraConfig.StillEncoding == MMALEncoding.RGB24 ||
MMALCameraConfig.StillEncoding == MMALEncoding.RGB16)
{
MMALLog.Logger.LogWarning("Encoding set to RGB. Setting width padding to multiple of 16.");
var resolution = MMALCameraConfig.StillResolution.Pad(16, 16);
var encoding = MMALCameraConfig.StillEncoding;
try
{
if (!this.StillPort.RgbOrderFixed())
{
MMALLog.Logger.LogWarning("Using old firmware. Setting encoding to BGR24");
encoding = MMALEncoding.BGR24;
}
}
catch
{
MMALLog.Logger.LogWarning("Using old firmware. Setting encoding to BGR24");
encoding = MMALEncoding.BGR24;
}
portConfig = new MMALPortConfig(encoding, null, resolution.Width, resolution.Height,
MMALCameraConfig.StillFramerate.Num, 0, 0, false, null,
Math.Max(this.StillPort.BufferNumRecommended, 3),
Math.Max(this.StillPort.BufferSizeRecommended, this.StillPort.BufferSizeMin),
new Rectangle(0, 0, currentWidth, currentHeight));
}
else
{
var resolution = MMALCameraConfig.StillResolution.Pad();
portConfig = new MMALPortConfig(MMALCameraConfig.StillEncoding, MMALCameraConfig.StillSubFormat, resolution.Width, resolution.Height,
MMALCameraConfig.StillFramerate.Num, 0, 0, false, null,
Math.Max(this.StillPort.BufferNumRecommended, 3),
Math.Max(this.StillPort.BufferSizeRecommended, this.StillPort.BufferSizeMin),
new Rectangle(0, 0, currentWidth, currentHeight));
}
MMALLog.Logger.LogDebug("Commit still");
this.StillPort.Configure(portConfig, null, handler);
// Use Raspistill values.
if (MMALCameraConfig.ShutterSpeed > 6000000)
{
this.StillPort.SetFramerateRange(new MMAL_RATIONAL_T(50, 1000), new MMAL_RATIONAL_T(166, 1000));
}
else if (MMALCameraConfig.ShutterSpeed > 1000000)
{
this.StillPort.SetFramerateRange(new MMAL_RATIONAL_T(167, 1000), new MMAL_RATIONAL_T(999, 1000));
}
}
/// <summary>
/// Call to configure an output port.
/// </summary>
/// <param name="config">The port configuration object.</param>
/// <param name="copyFrom">The port to copy from.</param>
/// <param name="handler">The capture handler to assign to this port.</param>
public virtual void Configure(IMMALPortConfig config, IInputPort copyFrom, IOutputCaptureHandler handler)
{
if (config != null)
{
this.PortConfig = config;
copyFrom?.ShallowCopy(this);
if (config.EncodingType != null)
{
this.NativeEncodingType = config.EncodingType.EncodingVal;
}
if (config.PixelFormat != null)
{
this.NativeEncodingSubformat = config.PixelFormat.EncodingVal;
}
this.Par = new MMAL_RATIONAL_T(1, 1);
MMAL_VIDEO_FORMAT_T tempVid = this.Ptr->Format->Es->Video;
try
{
this.Commit();
}
catch
{
// If commit fails using new settings, attempt to reset using old temp MMAL_VIDEO_FORMAT_T.
MMALLog.Logger.LogWarning($"{this.Name}: Commit of output port failed. Attempting to reset values.");
this.Ptr->Format->Es->Video = tempVid;
this.Commit();
}
if (config.ZeroCopy)
{
this.ZeroCopy = true;
this.SetParameter(MMALParametersCommon.MMAL_PARAMETER_ZERO_COPY, true);
}
if (MMALCameraConfig.VideoColorSpace != null &&
MMALCameraConfig.VideoColorSpace.EncType == MMALEncoding.EncodingType.ColorSpace)
{
this.VideoColorSpace = MMALCameraConfig.VideoColorSpace;
}
if (config.Framerate > 0)
{
this.FrameRate = config.Framerate;
}
if (config.Bitrate > 0)
{
this.Bitrate = config.Bitrate;
}
this.EncodingType = config.EncodingType;
this.PixelFormat = config.PixelFormat;
if (config.Width > 0 && config.Height > 0)
{
if (config.Crop.HasValue)
{
this.Crop = config.Crop.Value;
}
else
{
this.Crop = new Rectangle(0, 0, config.Width, config.Height);
}
this.Resolution = new Resolution(config.Width, config.Height);
}
else
{
// Use config or don't set depending on port type.
this.Resolution = new Resolution(0, 0);
// Certain resolution overrides set to global config Video/Still resolutions so check here if the width and height are greater than 0.
if (this.Resolution.Width > 0 && this.Resolution.Height > 0)
{
this.Crop = new Rectangle(0, 0, this.Resolution.Width, this.Resolution.Height);
}
}
this.BufferNum = Math.Max(this.BufferNumMin, config.BufferNum > 0 ? config.BufferNum : this.BufferNumRecommended);
this.BufferSize = Math.Max(this.BufferSizeMin, config.BufferSize > 0 ? config.BufferSize : this.BufferSizeRecommended);
// It is important to re-commit changes to width and height.
this.Commit();
}
this.CallbackHandler = new DefaultOutputPortCallbackHandler(this, handler);
}
/// <inheritdoc />
public override void Configure(IMMALPortConfig config, IInputPort copyFrom, IOutputCaptureHandler handler)
{
base.Configure(config, copyFrom, handler);
this.CallbackHandler = new FastImageOutputCallbackHandler(this, handler);
}
/// <inheritdoc />
public override void Configure(MMALPortConfig config, IInputPort copyFrom, IOutputCaptureHandler handler)
{
// The splitter component should not have its resolution set on the output port so override method accordingly.
if (config != null)
{
this.PortConfig = config;
copyFrom?.ShallowCopy(this);
if (config.EncodingType != null)
{
this.NativeEncodingType = config.EncodingType.EncodingVal;
}
if (config.PixelFormat != null)
{
this.NativeEncodingSubformat = config.PixelFormat.EncodingVal;
}
MMAL_VIDEO_FORMAT_T tempVid = this.Ptr->Format->Es->Video;
try
{
this.Commit();
}
catch
{
// If commit fails using new settings, attempt to reset using old temp MMAL_VIDEO_FORMAT_T.
MMALLog.Logger.LogWarning("Commit of output port failed. Attempting to reset values.");
this.Ptr->Format->Es->Video = tempVid;
this.Commit();
}
if (config.ZeroCopy)
{
this.ZeroCopy = true;
this.SetParameter(MMALParametersCommon.MMAL_PARAMETER_ZERO_COPY, true);
}
if (MMALCameraConfig.VideoColorSpace != null &&
MMALCameraConfig.VideoColorSpace.EncType == MMALEncoding.EncodingType.ColorSpace)
{
this.VideoColorSpace = MMALCameraConfig.VideoColorSpace;
}
if (config.Bitrate > 0)
{
this.Bitrate = config.Bitrate;
}
this.EncodingType = config.EncodingType;
this.PixelFormat = config.PixelFormat;
this.Commit();
this.BufferNum = Math.Max(this.BufferNumMin, config.BufferNum > 0 ? config.BufferNum : this.BufferNumRecommended);
this.BufferSize = Math.Max(this.BufferSizeMin, config.BufferSize > 0 ? config.BufferSize : this.BufferSizeRecommended);
}
this.CallbackHandler = new VideoOutputCallbackHandler(this, (IVideoCaptureHandler)handler, null);
}
/// <inheritdoc />
public override IDownstreamComponent ConfigureOutputPort(int outputPort, MMALPortConfig config, IOutputCaptureHandler handler)
{
this.Quality = config.Quality;
if (config.EncodingType == MMALEncoding.H264)
{
config.BufferSize = Math.Max(this.Outputs[outputPort].Ptr->BufferSizeRecommended, this.Outputs[outputPort].Ptr->BufferSizeMin);
}
else
{
// Follow raspivid logic.
config.BufferSize = Math.Max(this.Outputs[outputPort].Ptr->BufferSizeRecommended, 256 << 10);
}
// Force framerate to be 0 in case it was provided by user.
config.Framerate = 0;
this.ConfigureBitrate(outputPort, config);
base.ConfigureOutputPort(outputPort, config, handler);
if (this.Outputs[outputPort].EncodingType == MMALEncoding.H264)
{
this.ConfigureIntraPeriod(outputPort);
this.ConfigureVideoProfile(outputPort);
this.ConfigureInlineHeaderFlag(outputPort);
this.ConfigureInlineVectorsFlag(outputPort);
this.ConfigureIntraRefresh(outputPort);
this.ConfigureQuantisationParameter(outputPort);
}
this.ConfigureImmutableInput(outputPort);
return(this);
}
/// <inheritdoc />
public void EnableAnalysis(IOutputCaptureHandler handler = null)
{
_parameters.AnalysisMode = true;
_outputHandler = handler;
}