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Add cabability to retrieve raw frame hardware STC timestamp #6

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Add cabability to retrieve raw frame hardware STC timestamp #6

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43 changes: 37 additions & 6 deletions src/private/private_impl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,9 +68,9 @@ namespace raspicam {

// Default everything to zero
memset ( &State, 0, sizeof ( RASPIVID_STATE ) );
State.framerate = 30;
State.width = 1280; // use a multiple of 320 (640, 1280)
State.height = 960; // use a multiple of 240 (480, 960)
State.framerate = 30;
State.width = 1280; // use a multiple of 320 (640, 1280)
State.height = 960; // use a multiple of 240 (480, 960)
State.sharpness = 0;
State.contrast = 0;
State.brightness = 50;
Expand All @@ -93,6 +93,7 @@ namespace raspicam {
State.shutterSpeed=0;//auto
State.awbg_red=1.0;
State.awbg_blue=1.0;
State.ptc_tsMode = RASPICAM_TIMESTAMP_MODE_RAW_STC;

}
bool Private_Impl::open ( bool StartCapture ) {
Expand Down Expand Up @@ -173,7 +174,12 @@ namespace raspicam {
/**
*
*/
void Private_Impl::retrieve ( unsigned char *data,RASPICAM_FORMAT type ) {
void Private_Impl::retrieve ( unsigned char *data, RASPICAM_FORMAT type ) {
int64_t ts;
retrieve(&ts, data, type);
}
void Private_Impl::retrieve ( int64_t *timestamp, unsigned char *data, RASPICAM_FORMAT type ) {
(*timestamp) = 0;
if ( callback_data._buffData.size==0 ) return;
if ( type!=RASPICAM_FORMAT_IGNORE ) {
cerr<<__FILE__<<":"<<__LINE__<<" :Private_Impl::retrieve type is not RASPICAM_FORMAT_IGNORE as it should be"<<endl;
Expand Down Expand Up @@ -202,13 +208,19 @@ namespace raspicam {
imagePtr+=format->es->video.width*3;//line stride
}
}

(*timestamp) = callback_data.timestamp;
}


unsigned char *Private_Impl::getImageBufferData() const{
return callback_data._buffData.data;
}
/**
* Returns the timestamp of the image that is in the current internal buffer
*/
int64_t Private_Impl::getTimeStamp() const {
return callback_data.timestamp;
}

size_t Private_Impl::getImageBufferSize() const{
return getImageTypeSize ( getFormat() );
Expand Down Expand Up @@ -288,7 +300,7 @@ namespace raspicam {
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;
cam_config.use_stc_timestamp = convertTimestampMode(state->ptc_tsMode);
mmal_port_parameter_set ( camera->control, &cam_config.hdr );

// Set the encode format on the video port
Expand Down Expand Up @@ -500,6 +512,7 @@ namespace raspicam {
memcpy ( pData->_buffData.data,buffer->data,buffer->length );
pData->wantToGrab =false;
hasGrabbed=true;
pData->timestamp = buffer->pts;
mmal_buffer_header_mem_unlock ( buffer );
}
}
Expand Down Expand Up @@ -720,6 +733,19 @@ namespace raspicam {
return MMAL_PARAM_AWBMODE_AUTO;
}
}
MMAL_PARAMETER_CAMERA_CONFIG_TIMESTAMP_MODE_T Private_Impl::convertTimestampMode ( RASPICAM_TIMESTAMP_MODE tsMode )
{
switch(tsMode) {
case RASPICAM_TIMESTAMP_MODE_ZERO:
return MMAL_PARAM_TIMESTAMP_MODE_ZERO;
case RASPICAM_TIMESTAMP_MODE_RAW_STC:
return MMAL_PARAM_TIMESTAMP_MODE_RAW_STC;
case RASPICAM_TIMESTAMP_MODE_RESET_STC:
return MMAL_PARAM_TIMESTAMP_MODE_RESET_STC;
default:
return MMAL_PARAM_TIMESTAMP_MODE_RAW_STC;
}
}

MMAL_PARAM_IMAGEFX_T Private_Impl::convertImageEffect ( RASPICAM_IMAGE_EFFECT imageEffect ) {
switch ( imageEffect ) {
Expand Down Expand Up @@ -771,6 +797,11 @@ namespace raspicam {
void Private_Impl::setFrameRate ( unsigned int frame_rate ) {
State.framerate = frame_rate;
}

void Private_Impl::setTimestampMode(RASPICAM_TIMESTAMP_MODE tsMode)
{
State.ptc_tsMode = tsMode;
}

int Private_Impl::convertFormat ( RASPICAM_FORMAT fmt ) {
switch ( fmt ) {
Expand Down
19 changes: 15 additions & 4 deletions src/private/private_impl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -77,7 +77,7 @@ namespace raspicam {
ThreadCondition Thcond;
bool wantToGrab;
membuf<unsigned char> _buffData;

int64_t timestamp;
};

public:
Expand Down Expand Up @@ -112,6 +112,7 @@ namespace raspicam {
* You can use getFormat to know the current format
*/
void retrieve ( unsigned char *data,RASPICAM_FORMAT type=RASPICAM_FORMAT_IGNORE );
void retrieve ( int64_t *timestamp, unsigned char *data,RASPICAM_FORMAT type=RASPICAM_FORMAT_IGNORE );
/**Alternative to retrieve. Returns a pointer to the original image data buffer.
* Be careful, if you call grab(), this will be rewritten with the new data
*/
Expand All @@ -120,7 +121,11 @@ namespace raspicam {
* Returns the size of the buffer returned in getImagePtr. If is like calling getImageTypeSize(getFormat()). Just for dummies :P
*/
size_t getImageBufferSize() const;

/**
* Returns the timestamp of the image that is in the current internal buffer
*/
int64_t getTimeStamp() const;

/** Stops camera and free resources
*/
void release();
Expand All @@ -141,7 +146,8 @@ namespace raspicam {
void setExposureCompensation ( int val ); //-10,10
void setAWB ( RASPICAM_AWB awb );
void setAWB_RB ( float red,float blue );//ranges [0,1]
void setFrameRate ( unsigned int frame_rate ) ;
void setFrameRate ( unsigned int frame_rate );
void setTimestampMode(RASPICAM_TIMESTAMP_MODE tsMode);

void setImageEffect ( RASPICAM_IMAGE_EFFECT imageEffect );
void setMetering ( RASPICAM_METERING metering );
Expand Down Expand Up @@ -203,6 +209,10 @@ namespace raspicam {
{
return State.rpc_awbMode;
}
RASPICAM_TIMESTAMP_MODE getTimestampMode() const
{
return State.ptc_tsMode;
}

float getAWBG_red(){return State.awbg_red;}

Expand Down Expand Up @@ -263,11 +273,12 @@ namespace raspicam {
MMAL_PARAM_AWBMODE_T convertAWB ( RASPICAM_AWB awb ) ;
MMAL_PARAM_IMAGEFX_T convertImageEffect ( RASPICAM_IMAGE_EFFECT imageEffect ) ;
MMAL_PARAM_EXPOSUREMETERINGMODE_T convertMetering ( RASPICAM_METERING metering ) ;
MMAL_PARAMETER_CAMERA_CONFIG_TIMESTAMP_MODE_T convertTimestampMode ( RASPICAM_TIMESTAMP_MODE tsMode );
int convertFormat ( RASPICAM_FORMAT fmt ) ;


//Color conversion
void convertBGR2RGB(unsigned char * in_bgr,unsigned char * out_rgb,int size);
void convertBGR2RGB(unsigned char * in_bgr,unsigned char * out_rgb,int size);
float VIDEO_FRAME_RATE_NUM;
RASPIVID_STATE State;
MMAL_STATUS_T status;
Expand Down
3 changes: 2 additions & 1 deletion src/private/private_types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -72,11 +72,12 @@ namespace raspicam {
bool videoStabilisation; /// 0 or 1 (false or true)
int exposureCompensation; /// -10 to +10 ?
int shutterSpeed;
RASPICAM_FORMAT captureFtm;
RASPICAM_FORMAT captureFtm;
RASPICAM_EXPOSURE rpc_exposureMode;
RASPICAM_METERING rpc_exposureMeterMode;
RASPICAM_AWB rpc_awbMode;
RASPICAM_IMAGE_EFFECT rpc_imageEffect;
RASPICAM_TIMESTAMP_MODE ptc_tsMode;
MMAL_PARAMETER_IMAGEFX_PARAMETERS_T imageEffectsParameters;
MMAL_PARAM_COLOURFX_T colourEffects;
int rotation; /// 0-359
Expand Down
15 changes: 14 additions & 1 deletion src/raspicam.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,8 +63,12 @@ namespace raspicam {
void RaspiCam::retrieve ( unsigned char *data,RASPICAM_FORMAT type ) {
_impl->retrieve ( data,type );
}
void RaspiCam::retrieve ( int64_t *timestamp, unsigned char *data,RASPICAM_FORMAT type ) {
_impl->retrieve ( timestamp,data,type );
}
unsigned char *RaspiCam::getImageBufferData() const{return _impl->getImageBufferData();}
size_t RaspiCam::getImageBufferSize() const{return _impl->getImageBufferSize();}
int64_t RaspiCam::getTimeStamp() const { return _impl->getTimeStamp();}

size_t RaspiCam::getImageTypeSize ( RASPICAM_FORMAT type ) const{return _impl->getImageTypeSize ( type );}

Expand Down Expand Up @@ -134,7 +138,12 @@ namespace raspicam {
void RaspiCam::setVerticalFlip ( bool vFlip ) {
_impl->setVerticalFlip ( vFlip );
}
void RaspiCam::setFrameRate( unsigned int fr) { _impl->setFrameRate(fr);}
void RaspiCam::setFrameRate( unsigned int fr) {
_impl->setFrameRate(fr);
}
void RaspiCam::setTimestampMode(RASPICAM_TIMESTAMP_MODE tsMode) {
_impl->setTimestampMode(tsMode);
};


RASPICAM_FORMAT RaspiCam::getFormat()const{return _impl->getFormat( ); }
Expand All @@ -145,6 +154,10 @@ namespace raspicam {
int RaspiCam::getISO() const{return _impl->getISO() ;}
unsigned int RaspiCam::getShutterSpeed() const{return _impl->getShutterSpeed();}//return _impl->getShutterSpeed();}
unsigned int RaspiCam::getFrameRate()const{return _impl->getFrameRate();}
RASPICAM_TIMESTAMP_MODE RaspiCam::getTimestampMode() const {
return _impl->getTimestampMode();
}


int RaspiCam::getSharpness() const{return _impl->getSharpness() ;}
int RaspiCam::getContrast() const{return _impl->getContrast() ;}
Expand Down
10 changes: 9 additions & 1 deletion src/raspicam.h
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Original file line number Diff line number Diff line change
Expand Up @@ -77,6 +77,7 @@ namespace raspicam {
* You can use getFormat() to know the current format
*/
void retrieve ( unsigned char *data,RASPICAM_FORMAT type=RASPICAM_FORMAT_IGNORE );
void retrieve ( int64_t *timestamp, unsigned char *data,RASPICAM_FORMAT type=RASPICAM_FORMAT_IGNORE );
/**Alternative to retrieve. Returns a pointer to the original image data buffer (which is in getFormat() format).
*
* Be careful, if you call grab(), this will be rewritten with the new data
Expand All @@ -86,6 +87,10 @@ namespace raspicam {
* Returns the size of the images captured.
*/
size_t getImageBufferSize() const;
/**
* Returns the timestamp of the image that is in the current internal buffer
*/
int64_t getTimeStamp() const;


/** Stops camera and free resources
Expand Down Expand Up @@ -139,6 +144,8 @@ namespace raspicam {
void setHorizontalFlip ( bool hFlip );
void setVerticalFlip ( bool vFlip );
void setFrameRate(unsigned int fr);
void setTimestampMode(RASPICAM_TIMESTAMP_MODE tsMode);

//Accessors
RASPICAM_FORMAT getFormat() const;
unsigned int getWidth() const;
Expand All @@ -158,7 +165,8 @@ namespace raspicam {
RASPICAM_METERING getMetering() const;
bool isHorizontallyFlipped() const ;
bool isVerticallyFlipped() const ;
unsigned int getFrameRate()const;
unsigned int getFrameRate() const;
RASPICAM_TIMESTAMP_MODE getTimestampMode() const;

/** Returns an id of the camera. We assume the camera id is the one of the raspberry
*the id is obtained using raspberry serial number obtained in /proc/cpuinfo
Expand Down
7 changes: 7 additions & 0 deletions src/raspicamtypes.h
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Expand Up @@ -127,6 +127,13 @@ namespace raspicam {
RASPICAM_ENCODING_RGB
} RASPICAM_ENCODING;

typedef enum RASPICAM_TIMESTAMP_MODE {
RASPICAM_TIMESTAMP_MODE_ZERO, /* Always timestamp frames as 0 */
RASPICAM_TIMESTAMP_MODE_RAW_STC, /* Use the raw STC value for the frame timestamp */
RASPICAM_TIMESTAMP_MODE_RESET_STC, /* Use the STC timestamp but subtract the timestamp
* of the first frame sent to give a zero based timestamp. */
} RASPICAM_TIMESTAMP_MODE;

};
#endif

8 changes: 6 additions & 2 deletions utils/raspicam_test.cpp
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Expand Up @@ -201,6 +201,7 @@ int main ( int argc,char **argv ) {
}
cout<<"Connected to camera ="<<Camera.getId() <<" bufs="<<Camera.getImageBufferSize( )<<endl;
unsigned char *data=new unsigned char[ Camera.getImageBufferSize( )];
int64_t timestamp=0;
Timer timer;


Expand All @@ -209,9 +210,12 @@ int main ( int argc,char **argv ) {
timer.start();
do{
Camera.grab();
Camera.retrieve ( data );
Camera.retrieve ( &timestamp, data );
if ( !doTestSpeedOnly ) {
if ( i%5==0 ) cout<<"\r capturing ..."<<i<<"/"<<nFramesCaptured<<std::flush;
if ( i%5==0 ) {
cout<<"\r capturing ..."<<i<<"/"<<nFramesCaptured
<< " at pts(us): " << timestamp << " " << std::flush;
}
if ( i%30==0 && i!=0 && nFramesCaptured>0 ) { //save image if not in inifite loop
std::stringstream fn;
fn<<"image";
Expand Down