public static void TakePictureManualMode()
{
MMALCamera cam = MMALCamera.Instance;
AsyncContext.Run(async() =>
{
using (var imgCaptureHandler = new ImageStreamCaptureHandler("/home/pi/images/", "jpg"))
using (var imgEncoder = new MMALImageEncoder(imgCaptureHandler))
using (var nullSink = new MMALNullSinkComponent())
{
cam.ConfigureCameraSettings();
// Create our component pipeline.
imgEncoder.ConfigureOutputPort(0, MMALEncoding.JPEG, MMALEncoding.I420, 90);
cam.Camera.StillPort.ConnectTo(imgEncoder);
cam.Camera.PreviewPort.ConnectTo(nullSink);
// Camera warm up time
await Task.Delay(2000);
await cam.ProcessAsync(cam.Camera.StillPort);
}
});
cam.Cleanup();
}
public async Task TakePicturesAsync(string filename, TimeSpan duration, int msWaitBetweenPictures)
{
try
{
// Singleton initialized lazily. Reference once in your application.
MMALCamera cam = this.MMALSharpCameraInstance;
MMALCameraConfig.StillResolution = new Resolution(1080, 920);
cam.ConfigureCameraSettings();
using (var imgCaptureHandler = new IndexedImageStreamCaptureHandler(filename))
{
Console.WriteLine($"Current filename in handler: {imgCaptureHandler.CurrentFilename}");
var cts = new CancellationTokenSource(duration);
var timelapse = new Timelapse
{
Mode = TimelapseMode.Millisecond,
Value = msWaitBetweenPictures,
CancellationToken = cts.Token
};
await cam.TakePictureTimelapse(imgCaptureHandler, MMALEncoding.JPEG, MMALEncoding.I420, timelapse);
}
// Cleanup disposes all unmanaged resources and unloads Broadcom library. To be called when no more processing is to be done
// on the camera.
Console.WriteLine($"Wrote picture to: {filename} with running index");
}
catch (Exception ex)
{
Console.WriteLine($"{nameof(MMALSharpCamera)} {nameof(TakePictureAsync)} Failed");
Console.WriteLine($"{nameof(MMALSharpCamera)} {nameof(TakePictureAsync)} {ex.ToString()}");
Console.WriteLine($"{nameof(MMALSharpCamera)} {nameof(TakePictureAsync)} Failed");
}
}
public static void TakeVideoManualMode()
{
MMALCamera cam = MMALCamera.Instance;
AsyncContext.Run(async() =>
{
//using (var vidCaptureHandler = new VideoStreamCaptureHandler("/home/pi/videos/", "mjpeg"))
using (var vidCaptureHandler = new VideoStreamCaptureHandler("/home/pi/videos/", "avi"))
using (var vidEncoder = new MMALVideoEncoder(vidCaptureHandler))
//using (var ffCaptureHandler = FFmpegCaptureHandler.RawVideoToAvi("/home/pi/videos/", "testing1234"))
//using (var vidEncoder = new MMALVideoEncoder(ffCaptureHandler))
using (var renderer = new MMALVideoRenderer())
{
cam.ConfigureCameraSettings();
// Create our component pipeline. Here we are using the H.264 standard with a YUV420 pixel format. The video will be taken at 25Mb/s.
vidEncoder.ConfigureOutputPort(0, MMALEncoding.MJPEG, MMALEncoding.I420, 90, 25000000);
cam.Camera.VideoPort.ConnectTo(vidEncoder);
cam.Camera.PreviewPort.ConnectTo(renderer);
// Camera warm up time
await Task.Delay(2000);
var cts = new CancellationTokenSource(TimeSpan.FromSeconds(10));
// Take video for 3 minutes.
await cam.ProcessAsync(cam.Camera.VideoPort, cts.Token);
}
});
cam.Cleanup();
}
public Camera(NetworkStream outputStream, Vector2 resolution, int bitrate = 1300000, int frameRate = 25, int quality = 0, EventHandler <byte[]> frameCaptured = null)
{
OnFrameCaptured = frameCaptured;
MMALCameraConfig.VideoResolution = new Resolution((int)resolution.X, (int)resolution.Y);
MMALCameraConfig.VideoFramerate = new MMAL_RATIONAL_T(frameRate, 1);
OutputHandler = new NetworkStreamCaptureHandler(outputStream);
VideoEncoder = new MMALVideoEncoder();
// Create our component pipeline. Here we are using the H.264 standard with a YUV420 pixel format. The video will be taken at 25Mb/s.
Instance = MMALCamera.Instance;
Instance.ConfigureCameraSettings();
MMALPortConfig portConfig = new MMALPortConfig(MMALEncoding.H264, MMALEncoding.I420, quality, bitrate, null);
VideoEncoder.ConfigureOutputPort(portConfig, OutputHandler);
nullSink = new MMALNullSinkComponent();
Instance.Camera.PreviewPort.ConnectTo(nullSink);
Instance.Camera.VideoPort.ConnectTo(VideoEncoder);
}
private async Task BuildCameraPipelineAsync(CancellationToken cancellationToken)
{
camera.ConfigureCameraSettings();
this.imageEncoder = new MMALImageEncoder();
this.memoryStreamHandler = new MemoryStreamCaptureHandler();
this.resizer = new MMALResizerComponent();
this.nullSink = new MMALNullSinkComponent();
this.portConfig = new MMALPortConfig(MMALEncoding.JPEG, MMALEncoding.I420, 90);
this.resizerPortConfig = new MMALPortConfig(MMALEncoding.I420, MMALEncoding.I420, 1024, 768, 0, 0, 0, false, null);
this.imageEncoder.ConfigureOutputPort(this.portConfig, memoryStreamHandler);
this.resizer.ConfigureInputPort(new MMALPortConfig(MMALEncoding.OPAQUE, MMALEncoding.I420), camera.Camera.StillPort, null)
.ConfigureOutputPort(this.resizerPortConfig, null);
camera.Camera.StillPort.ConnectTo(resizer);
this.resizer.Outputs[0].ConnectTo(imageEncoder);
camera.Camera.PreviewPort.ConnectTo(nullSink);
await Task.Delay(TimeSpan.FromSeconds(2), cancellationToken);
}
private static void TakePictureAndSave()
{
using (var imgCaptureHandler = new ImageStreamCaptureHandler(pathToSavePicture + "/", "jpg"))
using (var imgEncoder = new MMALImageEncoder())
using (var nullSink = new MMALNullSinkComponent())
{
cam.ConfigureCameraSettings();
var portConfig = new MMALPortConfig(MMALEncoding.JPEG, MMALEncoding.I420, 90);
// Create our component pipeline.
imgEncoder.ConfigureOutputPort(portConfig, imgCaptureHandler);
cam.Camera.StillPort.ConnectTo(imgEncoder);
cam.Camera.PreviewPort.ConnectTo(nullSink);
// Camera warm up time
Thread.Sleep(2000);
cam.ProcessAsync(cam.Camera.StillPort);
Thread.Sleep(2000);
}
}
/// <summary>
/// Camera settings (applies both config and hard-coded defaults).
/// </summary>
protected virtual void ConfigureCamera()
{
Console.WriteLine("Configuring camera.");
MMALCameraConfig.Resolution = new Resolution(AppConfig.Get.Camera.Width, AppConfig.Get.Camera.Height);
MMALCameraConfig.SensorMode = AppConfig.Get.Camera.Mode;
MMALCameraConfig.Framerate = AppConfig.Get.Camera.FPS;
var overlay = new AnnotateImage(AppConfig.Get.Name, 30, Color.White)
{
ShowDateText = true,
ShowTimeText = true,
DateFormat = "yyyy-MM-dd",
TimeFormat = "HH:mm:ss",
RefreshRate = DateTimeTextRefreshRate.Seconds
};
MMALCameraConfig.Annotate = overlay;
// image quality tweaks to play with later
MMALCameraConfig.Sharpness = 0; // 0 = auto, default; -100 to 100
MMALCameraConfig.Contrast = 0; // 0 = auto, default; -100 to 100
MMALCameraConfig.Brightness = 50; // 50 = default; 0 = black, 100 = white
MMALCameraConfig.Saturation = 0; // 0 = default; -100 to 100
MMALCameraConfig.ExposureCompensation = 0; // 0 = none, default; -10 to 10, lightens/darkens the image
// low-light tweaks which don't seem to degrade full-light recording
MMALCameraConfig.ExposureMode = MMAL_PARAM_EXPOSUREMODE_T.MMAL_PARAM_EXPOSUREMODE_NIGHT;
MMALCameraConfig.ExposureMeterMode = MMAL_PARAM_EXPOSUREMETERINGMODE_T.MMAL_PARAM_EXPOSUREMETERINGMODE_MATRIX;
MMALCameraConfig.DrcLevel = MMAL_PARAMETER_DRC_STRENGTH_T.MMAL_PARAMETER_DRC_STRENGTH_HIGH;
// h.264 requires key frames for the circular buffer capture handler
MMALCameraConfig.InlineHeaders = true;
Cam.ConfigureCameraSettings();
Cam.EnableAnnotation();
}
public async Task Start(CancellationToken ct)
{
LogUtil.Write("Starting Camera...");
MMALCameraConfig.VideoStabilisation = false;
var sensorMode = MMALSensorMode.Mode0;
switch (camMode)
{
case 1:
sensorMode = MMALSensorMode.Mode1;
break;
case 2:
sensorMode = MMALSensorMode.Mode2;
break;
case 3:
sensorMode = MMALSensorMode.Mode3;
break;
case 4:
sensorMode = MMALSensorMode.Mode4;
break;
case 5:
sensorMode = MMALSensorMode.Mode5;
break;
case 6:
sensorMode = MMALSensorMode.Mode6;
break;
case 7:
sensorMode = MMALSensorMode.Mode7;
break;
}
MMALCameraConfig.SensorMode = sensorMode;
MMALCameraConfig.ExposureMode = MMAL_PARAM_EXPOSUREMODE_T.MMAL_PARAM_EXPOSUREMODE_BACKLIGHT;
MMALCameraConfig.VideoResolution = new Resolution(capWidth, capHeight);
MMALCameraConfig.VideoFramerate = new MMAL_RATIONAL_T(60, 1);
using var vidCaptureHandler = new EmguInMemoryCaptureHandler();
using var splitter = new MMALSplitterComponent();
using var renderer = new MMALNullSinkComponent();
cam.ConfigureCameraSettings();
LogUtil.Write("Cam mode is " + MMALCameraConfig.SensorMode);
// Register to the event.
vidCaptureHandler.MyEmguEvent += OnEmguEventCallback;
// We are instructing the splitter to do a format conversion to BGR24.
var splitterPortConfig = new MMALPortConfig(MMALEncoding.BGR24, MMALEncoding.BGR24, capWidth, capHeight, null);
// By default in MMALSharp, the Video port outputs using proprietary communication (Opaque) with a YUV420 pixel format.
// Changes to this are done via MMALCameraConfig.VideoEncoding and MMALCameraConfig.VideoSub format.
splitter.ConfigureInputPort(new MMALPortConfig(MMALEncoding.OPAQUE, MMALEncoding.I420, capWidth, capHeight, null), cam.Camera.VideoPort, null);
// We then use the splitter config object we constructed earlier. We then tell this output port to use our capture handler to record data.
splitter.ConfigureOutputPort <SplitterVideoPort>(0, splitterPortConfig, vidCaptureHandler);
cam.Camera.PreviewPort.ConnectTo(renderer);
cam.Camera.VideoPort.ConnectTo(splitter);
// Camera warm up time
LogUtil.Write("Camera is warming up...");
await Task.Delay(2000).ConfigureAwait(false);
LogUtil.WriteInc("Camera initialized.");
await cam.ProcessAsync(cam.Camera.VideoPort, ct).ConfigureAwait(false);
LogUtil.WriteDec("Camera closed.");
}
