JeVois  1.21
JeVois Smart Embedded Machine Vision Toolkit
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CameraSensor.C
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1// ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
2//
3// JeVois Smart Embedded Machine Vision Toolkit - Copyright (C) 2018 by Laurent Itti, the University of Southern
4// California (USC), and iLab at USC. See http://iLab.usc.edu and http://jevois.org for information about this project.
5//
6// This file is part of the JeVois Smart Embedded Machine Vision Toolkit. This program is free software; you can
7// redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software
8// Foundation, version 2. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
9// without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public
10// License for more details. You should have received a copy of the GNU General Public License along with this program;
11// if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
12//
13// Contact information: Laurent Itti - 3641 Watt Way, HNB-07A - Los Angeles, CA 90089-2520 - USA.
14// Tel: +1 213 740 3527 - itti@pollux.usc.edu - http://iLab.usc.edu - http://jevois.org
15// ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
16/*! \file */
17
18#include <jevois/Core/CameraSensor.H>
19#include <jevois/Core/Camera.H>
20#include <jevois/Core/VideoMapping.H>
21#include <jevois/Util/Utils.H>
22
23// ####################################################################################################
24bool jevois::sensorSupportsFormat(jevois::CameraSensor s, jevois::VideoMapping const & m)
25{
26 switch (s)
27 {
28 // ----------------------------------------------------------------------------------------------------
29 case jevois::CameraSensor::any:
30 return true;
31
32#ifdef JEVOIS_PRO
33 // ----------------------------------------------------------------------------------------------------
34 case jevois::CameraSensor::imx290:
35 // This sensor supports: BAYER, GREY, YUYV, RGB24, ARGB32, and more. Native size is 1920x1080 at up to
36 // 120fps. Sensor also supports 1280x720 and cropping from 1920x1080, but the A311D ISP has issues with these (frame
37 // collision as soon as capture height is not 1080). So we always capture at 1920x1080 and use the ISP to
38 // crop/rescale to any other resolution. Any size (multiple of 4) is supported through cropping & rescaling.
39
40 /* Supported formats as reported by the Amlogic camera ISP kernel driver:
41
42 Supported format 0 is [32-bit A/XRGB 8-8-8-8] fcc 0x34424752 [RGB4]
43 Supported format 1 is [24-bit RGB 8-8-8] fcc 0x33424752 [RGB3]
44 Supported format 2 is [Y/CbCr 4:2:0] fcc 0x3231564e [NV12]
45 Supported format 3 is [16-bit A/XYUV 4-4-4-4] fcc 0x34343459 [Y444]
46 Supported format 4 is [YUYV 4:2:2] fcc 0x56595559 [YUYV]
47 Supported format 5 is [UYVY 4:2:2] fcc 0x59565955 [UYVY]
48 Supported format 6 is [8-bit Greyscale] fcc 0x59455247 [GREY]
49 Supported format 7 is [16-bit Bayer BGBG/GRGR (Exp.)] fcc 0x32525942 [BYR2] */
50 switch (m.cfmt)
51 {
52 // Here is what we support:
53 case V4L2_PIX_FMT_SBGGR16:
54 case V4L2_PIX_FMT_RGB32:
55 case V4L2_PIX_FMT_RGB24:
56 case V4L2_PIX_FMT_YUYV:
57 case V4L2_PIX_FMT_GREY:
58 //case V4L2_PIX_FMT_NV12: not supported yet, uses 3 planes: 12-bit (8 for Y, 8 for UV half size) Y/CbCr 4:2:0
59 //case V4L2_PIX_FMT_YUV444: not supported: 16-bit xxxxyyyy uuuuvvvv
60 //case V4L2_PIX_FMT_UYVY: not supported to avoid confusions with YUYV
61 break;
62 // Everything else is unsupported:
63 default: return false;
64 }
65
66 // Any size up to 1080P is supported. Beware that some image processing algorithms may require image width to be a
67 // multiple of 8 or 16. Here, we do not impose this constraint as some neural nets do not have it (some even use odd
68 // input image sizes). The sensor supports up to 120fps:
69 if (m.cw <= 1920 && m.ch <= 1080 && m.cfps <= 120.0) return true;
70
71 return false;
72
73 // ----------------------------------------------------------------------------------------------------
74 case jevois::CameraSensor::os08a10:
75 // This sensor supports: BAYER, GREY, YUYV, RGB24, ARGB32, and more. Native size is 3840x2160 at up to 60fps. Sensor
76 // also supports 1920x1080, 1280x720 and cropping, but the A311D ISP may have issues with these (frame collision
77 // problem as with the imx290 when not at native resolution). Any size (multiple of 4) is supported through cropping
78 // & rescaling.
79
80 /* Supported formats as reported by the Amlogic camera ISP kernel driver:
81
82 Supported format 0 is [32-bit A/XRGB 8-8-8-8] fcc 0x34424752 [RGB4]
83 Supported format 1 is [24-bit RGB 8-8-8] fcc 0x33424752 [RGB3]
84 Supported format 2 is [Y/CbCr 4:2:0] fcc 0x3231564e [NV12]
85 Supported format 3 is [16-bit A/XYUV 4-4-4-4] fcc 0x34343459 [Y444]
86 Supported format 4 is [YUYV 4:2:2] fcc 0x56595559 [YUYV]
87 Supported format 5 is [UYVY 4:2:2] fcc 0x59565955 [UYVY]
88 Supported format 6 is [8-bit Greyscale] fcc 0x59455247 [GREY]
89 Supported format 7 is [16-bit Bayer BGBG/GRGR (Exp.)] fcc 0x32525942 [BYR2] */
90 switch (m.cfmt)
91 {
92 // Here is what we support:
93 case V4L2_PIX_FMT_SBGGR16:
94 case V4L2_PIX_FMT_RGB32:
95 case V4L2_PIX_FMT_RGB24:
96 case V4L2_PIX_FMT_YUYV:
97 case V4L2_PIX_FMT_GREY:
98 //case V4L2_PIX_FMT_NV12: not supported yet, uses 3 planes: 12-bit (8 for Y, 8 for UV half size) Y/CbCr 4:2:0
99 //case V4L2_PIX_FMT_YUV444: not supported: 16-bit xxxxyyyy uuuuvvvv
100 //case V4L2_PIX_FMT_UYVY: not supported to avoid confusions with YUYV
101 break;
102 // Everything else is unsupported:
103 default: return false;
104 }
105
106 // Any size up to 4k is supported. Beware that some image processing algorithms may require image width to be a
107 // multiple of 8 or 16. Here, we do not impose this constraint as some neural nets do not have it (some even use odd
108 // input image sizes). The sensor supports up to 60fps:
109 if (m.cw <= 3840 && m.ch <= 2160 && m.cfps <= 60.0) return true;
110
111 return false;
112
113 // ----------------------------------------------------------------------------------------------------
114 case jevois::CameraSensor::ar0234:
115 // This sensor supports: BAYER, GREY, YUYV, RGB24, ARGB32, and more. Native size is 1920x1200 at up to
116 // 120fps. Sensor also supports 1920x1080, 1280x720 and cropping, but the A311D ISP may have issues with these
117 // (frame collision problem as with the imx290 when not at native resolution). Any size (multiple of 4) is supported
118 // through cropping & rescaling.
119
120 /* Supported formats as reported by the Amlogic camera ISP kernel driver:
121
122 Supported format 0 is [32-bit A/XRGB 8-8-8-8] fcc 0x34424752 [RGB4]
123 Supported format 1 is [24-bit RGB 8-8-8] fcc 0x33424752 [RGB3]
124 Supported format 2 is [Y/CbCr 4:2:0] fcc 0x3231564e [NV12]
125 Supported format 3 is [16-bit A/XYUV 4-4-4-4] fcc 0x34343459 [Y444]
126 Supported format 4 is [YUYV 4:2:2] fcc 0x56595559 [YUYV]
127 Supported format 5 is [UYVY 4:2:2] fcc 0x59565955 [UYVY]
128 Supported format 6 is [8-bit Greyscale] fcc 0x59455247 [GREY]
129 Supported format 7 is [16-bit Bayer BGBG/GRGR (Exp.)] fcc 0x32525942 [BYR2] */ // FIXME this sensor is GRBG
130 switch (m.cfmt)
131 {
132 // Here is what we support:
133 case V4L2_PIX_FMT_SGRBG16:
134 case V4L2_PIX_FMT_RGB32:
135 case V4L2_PIX_FMT_RGB24:
136 case V4L2_PIX_FMT_YUYV:
137 case V4L2_PIX_FMT_GREY:
138 //case V4L2_PIX_FMT_NV12: not supported yet, uses 3 planes: 12-bit (8 for Y, 8 for UV half size) Y/CbCr 4:2:0
139 //case V4L2_PIX_FMT_YUV444: not supported: 16-bit xxxxyyyy uuuuvvvv
140 //case V4L2_PIX_FMT_UYVY: not supported to avoid confusions with YUYV
141 break;
142 // Everything else is unsupported:
143 default: return false;
144 }
145
146 // Any size up to 1920x1200 is supported. Beware that some image processing algorithms may require image width to be
147 // a multiple of 8 or 16. Here, we do not impose this constraint as some neural nets do not have it (some even use
148 // odd input image sizes). The sensor supports up to 120fps:
149 if (m.cw <= 1920 && m.ch <= 1200 && m.cfps <= 120.0) return true;
150
151 return false;
152
153#else // JEVOIS_PRO
154 // ----------------------------------------------------------------------------------------------------
155 case jevois::CameraSensor::ov9650:
156
157 if (m.wdr != jevois::WDRtype::Linear) return false; // Wide dynamic range not supported by this sensor
158 if (m.crop == jevois::CropType::CropScale) return false; // Dual-stream capture not supported by this sensor
159
160 // This sensor supports: YUYV, BAYER, RGB565
161 // SXGA (1280 x 1024): up to 15 fps
162 // VGA ( 640 x 480): up to 30 fps
163 // CIF ( 352 x 288): up to 60 fps
164 // QVGA ( 320 x 240): up to 60 fps
165 // QCIF ( 176 x 144): up to 120 fps
166 // QQVGA ( 160 x 120): up to 60 fps
167 // QQCIF ( 88 x 72): up to 120 fps
168
169 if (m.cfmt != V4L2_PIX_FMT_YUYV && m.cfmt != V4L2_PIX_FMT_SRGGB8 && m.cfmt != V4L2_PIX_FMT_RGB565) return false;
170
171 if (m.cw == 1280 && m.ch == 1024) { if (m.cfps <= 15.0F) return true; else return false; }
172 if (m.cw == 640 && m.ch == 480) { if (m.cfps <= 30.0F) return true; else return false; }
173 if (m.cw == 352 && m.ch == 288) { if (m.cfps <= 60.0F) return true; else return false; }
174 if (m.cw == 320 && m.ch == 240) { if (m.cfps <= 60.0F) return true; else return false; }
175 if (m.cw == 176 && m.ch == 144) { if (m.cfps <= 120.0F) return true; else return false; }
176 if (m.cw == 160 && m.ch == 120) { if (m.cfps <= 60.0F) return true; else return false; }
177 if (m.cw == 88 && m.ch == 72) { if (m.cfps <= 120.0F) return true; else return false; }
178
179 return false;
180
181 // ----------------------------------------------------------------------------------------------------
182 case jevois::CameraSensor::ov2640:
183
184 if (m.wdr != jevois::WDRtype::Linear) return false; // Wide dynamic range not supported by this sensor
185 if (m.crop == jevois::CropType::CropScale) return false; // Dual-stream capture not supported by this sensor
186
187 // This sensor supports: YUYV, BAYER, RGB565
188 // UXGA (1600 x 1200): up to 15 fps
189 // SXGA (1280 x 1024): up to 15 fps
190 // 720p (1280 x 720): up to 15 fps
191 // XGA (1024 x 768): up to 15 fps
192 // SVGA ( 800 x 600): up to 40 fps
193 // VGA ( 640 x 480): up to 40 fps
194 // CIF ( 352 x 288): up to 60 fps
195 // QVGA ( 320 x 240): up to 60 fps
196 // QCIF ( 176 x 144): up to 60 fps
197 // QQVGA ( 160 x 120): up to 60 fps
198 // QQCIF ( 88 x 72): up to 60 fps
199
200 if (m.cfmt != V4L2_PIX_FMT_YUYV && m.cfmt != V4L2_PIX_FMT_SRGGB8 && m.cfmt != V4L2_PIX_FMT_RGB565) return false;
201
202 if (m.cw == 1600 && m.ch == 1200) { if (m.cfps <= 15.0F) return true; else return false; }
203 if (m.cw == 1280 && m.ch == 1024) { if (m.cfps <= 15.0F) return true; else return false; }
204 if (m.cw == 1280 && m.ch == 720) { if (m.cfps <= 15.0F) return true; else return false; }
205 if (m.cw == 1024 && m.ch == 768) { if (m.cfps <= 15.0F) return true; else return false; }
206 if (m.cw == 800 && m.ch == 600) { if (m.cfps <= 40.0F) return true; else return false; }
207 if (m.cw == 640 && m.ch == 480) { if (m.cfps <= 40.0F) return true; else return false; }
208 if (m.cw == 352 && m.ch == 288) { if (m.cfps <= 60.0F) return true; else return false; }
209 if (m.cw == 320 && m.ch == 240) { if (m.cfps <= 60.0F) return true; else return false; }
210 if (m.cw == 176 && m.ch == 144) { if (m.cfps <= 60.0F) return true; else return false; }
211 if (m.cw == 160 && m.ch == 120) { if (m.cfps <= 60.0F) return true; else return false; }
212 if (m.cw == 88 && m.ch == 72) { if (m.cfps <= 60.0F) return true; else return false; }
213
214 return false;
215
216 // ----------------------------------------------------------------------------------------------------
217 case jevois::CameraSensor::ov7725:
218
219 if (m.wdr != jevois::WDRtype::Linear) return false; // Wide dynamic range not supported by this sensor
220 if (m.crop == jevois::CropType::CropScale) return false; // Dual-stream capture not supported by this sensor
221
222 // This sensor supports: YUYV, BAYER, RGB565
223 // VGA ( 640 x 480): up to 60 fps
224 // CIF ( 352 x 288): up to 60 fps
225 // QVGA ( 320 x 240): up to 60 fps
226 // QCIF ( 176 x 144): up to 60 fps
227 // QQVGA ( 160 x 120): up to 60 fps
228 // QQCIF ( 88 x 72): up to 60 fps
229
230 if (m.cfmt != V4L2_PIX_FMT_YUYV && m.cfmt != V4L2_PIX_FMT_SRGGB8 && m.cfmt != V4L2_PIX_FMT_RGB565) return false;
231
232 if (m.cw == 640 && m.ch == 480) { if (m.cfps <= 60.0F) return true; else return false; }
233 if (m.cw == 352 && m.ch == 288) { if (m.cfps <= 60.0F) return true; else return false; }
234 if (m.cw == 320 && m.ch == 240) { if (m.cfps <= 60.0F) return true; else return false; }
235 if (m.cw == 176 && m.ch == 144) { if (m.cfps <= 60.0F) return true; else return false; }
236 if (m.cw == 160 && m.ch == 120) { if (m.cfps <= 60.0F) return true; else return false; }
237 if (m.cw == 88 && m.ch == 72) { if (m.cfps <= 60.0F) return true; else return false; }
238
239 return false;
240
241 // ----------------------------------------------------------------------------------------------------
242 case jevois::CameraSensor::ar0135:
243
244 if (m.wdr != jevois::WDRtype::Linear) return false; // Wide dynamic range not supported by this sensor
245 if (m.crop == jevois::CropType::CropScale) return false; // Dual-stream capture not supported by this sensor
246
247 // This sensor supports: BAYER or MONO
248 // SXGA (1280 x 960): up to 54 fps
249 // 720p (1280 x 720): up to 60 fps
250 // VGA ( 640 x 480): up to 54 fps (binned version of SXGA)
251 // 360p ( 640 x 360): up to 60 fps
252 // QVGA ( 320 x 240): up to 54 fps (central crop of binned version of SXGA)
253 // 180p ( 320 x 180): up to 60 fps
254 // QQVGA ( 160 x 120): up to 54 fps (central crop of binned version of SXGA)
255 // 90p ( 160 x 90): up to 60 fps
256
257 // We support native Bayer or Mono, and YUYV through Bayer/mono to YUYV conversion in the Camera class:
258 if (m.cfmt != V4L2_PIX_FMT_SRGGB8 && m.cfmt != V4L2_PIX_FMT_GREY && m.cfmt != V4L2_PIX_FMT_YUYV) return false;
259
260 if (m.cw == 1280 && m.ch == 960) { if (m.cfps <= 54.0F) return true; else return false; }
261 if (m.cw == 1280 && m.ch == 720) { if (m.cfps <= 60.0F) return true; else return false; }
262
263 if (m.cw == 640 && m.ch == 480) { if (m.cfps <= 54.0F) return true; else return false; }
264 if (m.cw == 640 && m.ch == 360) { if (m.cfps <= 60.0F) return true; else return false; }
265
266 if (m.cw == 320 && m.ch == 240) { if (m.cfps <= 60.0F) return true; else return false; }
267 if (m.cw == 320 && m.ch == 180) { if (m.cfps <= 60.0F) return true; else return false; }
268
269 if (m.cw == 160 && m.ch == 120) { if (m.cfps <= 60.0F) return true; else return false; }
270 if (m.cw == 160 && m.ch == 90) { if (m.cfps <= 60.0F) return true; else return false; }
271
272 return false;
273#endif // JEVOIS_PRO
274 }
275 return false;
276}
277
278// ####################################################################################################
279bool jevois::sensorHasIMU(CameraSensor s)
280{
281 switch (s)
282 {
283 // These sensors have an ICM20948 IMU:
284#ifdef JEVOIS_PRO
285 case jevois::CameraSensor::imx290:
286 case jevois::CameraSensor::os08a10:
287 case jevois::CameraSensor::ar0234:
288#else
289 case jevois::CameraSensor::ar0135:
290#endif
291 return true;
292
293 // All other sensors do not have an IMU:
294 default:
295 return false;
296 }
297}
298
299// ####################################################################################################
300void jevois::sensorPrepareSetFormat(jevois::CameraSensor s, jevois::VideoMapping const & m,
301 unsigned int & capw, unsigned int & caph, int & preset)
302{
303 if (jevois::sensorSupportsFormat(s, m) == false) throw std::runtime_error("Requested format not supported by sensor");
304
305 // Keep this code in sync with the kernel drivers:
306 switch(s)
307 {
308#ifdef JEVOIS_PRO
309 case jevois::CameraSensor::imx290:
310 // Capture always 1080p. Presets:
311 // 0: 1080p30
312 // 1: 1080p60
313 // 2: 1080p120
314 capw = 1920; caph = 1080;
315 if (m.cfps > 60.0F) preset = 2;
316 else if (m.cfps > 30.0F) preset = 1;
317 else preset = 0;
318
319 break;
320
321 case jevois::CameraSensor::os08a10:
322 // Capture 2160p or 1080p. Presets:
323 // 0: 2160p30
324 // 1: 2160p60
325 // 2: 1080p30
326 // 3: 1080p60
327 // 4: 1080p30 WDR (DOL_VC)
328 if (m.cw > 1920 || m.ch > 1080)
329 {
330 capw = 3840; caph = 2160;
331 if (m.cfps > 30.0F) preset = 1;
332 else preset = 0;
333 }
334 else
335 {
336 capw = 1920; caph = 1080;
337 if (m.cfps > 30.0F) preset = 3;
338 else if (m.wdr != jevois::WDRtype::Linear) preset = 4;
339 else preset = 2;
340 }
341 break;
342
343 case jevois::CameraSensor::ar0234:
344 // Capture 2160p or 1080p. Presets:
345 // 0: 1080p30
346 // 1: 1080p60
347 // 2: 1080p120
348 // 3: 1920x1200p30
349 // 4: 1920x1200p60
350 // 5: 1920x1200p120
351 if (m.ch > 1080)
352 {
353 capw = 1920; caph = 1200;
354 if (m.cfps > 60.0F) preset = 5;
355 else if (m.cfps > 30.0F) preset = 4;
356 else preset = 3;
357 }
358 else
359 {
360 capw = 1920; caph = 1080;
361 if (m.cfps > 60.0F) preset = 2;
362 else if (m.cfps > 30.0F) preset = 1;
363 else preset = 0;
364 }
365 break;
366
367#endif // JEVOIS_PRO
368
369 default:
370 // Just capture as specified, sensorSupportsFormat() already removed invalid modes:
371 capw = m.cw; caph = m.ch; preset = -1;
372 }
373}
jevois::sensorPrepareSetFormat
void sensorPrepareSetFormat(CameraSensor s, VideoMapping const &m, unsigned int &capw, unsigned int &caph, int &preset)
Load a sensor preset (JeVois-Pro only) and return native sensor grab dims (when cropping and/or scali...
jevois::sensorHasIMU
bool sensorHasIMU(CameraSensor s)
Check whether sensor has an IMU (inertial measurement unit)
Definition CameraSensor.C:279
jevois::sensorSupportsFormat
bool sensorSupportsFormat(CameraSensor s, VideoMapping const &m)
Check whether a given resolution and frame rate is supported by a sensor.
jevois::VideoMapping
Simple struct to hold video mapping definitions for the processing Engine.
Definition VideoMapping.H:62
jevois::VideoMapping::wdr
WDRtype wdr
Type of wide-dynamic-range (WDR) to use, if sensor supports it.
Definition VideoMapping.H:80
jevois::VideoMapping::cfmt
unsigned int cfmt
camera pixel format
Definition VideoMapping.H:68
jevois::VideoMapping::crop
CropType crop
Type of crop/scale to apply if camera size does not match sensor native.
Definition VideoMapping.H:81
jevois::VideoMapping::cfps
float cfps
camera frame rate in frames/sec
Definition VideoMapping.H:71
jevois::VideoMapping::cw
unsigned int cw
camera width
Definition VideoMapping.H:69
jevois::VideoMapping::ch
unsigned int ch
camera height
Definition VideoMapping.H:70