#include <jevois/Core/VideoMapping.H>

Simple struct to hold video mapping definitions for the processing Engine.

This struct specifies an output video format, resolution, and frame rate (to be send to the end user over USB), the corresponding camera capture video format, resolution and frame rate, and the Module to use to process the camera frames and generate the corresponding output frames. This class also provides conversion functions between frame rate and frame interval periods for both USB and V4L2, which use different units.

Operation of JeVois is based on a list of available VideoMapping definitions, which is configured in a file called JEVOIS:config/videomappings.cfg on the microSD card. The video mappings indicate which output formats are exposed to the host computer connected over USB, and which corresponding camera format and vision processing module should be used when a given output format is selected by video capture software running on the host computer.

See User guide to video modes and mappings for explanations about how to organize videomappings.cfg

Definition at line 61 of file VideoMapping.H.

Collaboration diagram for jevois::VideoMapping:

[legend]

Public Member Functions
std::string	path () const
	Return the full absolute path the module's directory.

std::string	sopath (bool delete_old_versions=false) const
	Return the full absolute path and file name of the module's .so or .py file.

std::string	srcpath () const
	Return the full absolute path and file name of the module's .C or .py file.

std::string	cmakepath () const
	Return the full absolute path and file name of the module's CMakeLists.txt file.

std::string	modinfopath () const
	Return the full absolute path and file name of the module's modinfo.html file.

unsigned int	osize () const
	Return the size in bytes of an output image.

unsigned int	csize () const
	Return the size in bytes of a camera image.

unsigned int	c2size () const
	Return the size in bytes of a scaled camera image, if stream==RawAndScaled, otherwise 0.

bool	match (unsigned int oformat, unsigned int owidth, unsigned int oheight, float oframespersec) const
	Return true if this VideoMapping's output format is a match to the given output parameters.

std::string	ostr () const
	Convenience function to print out FCC WxH @ fps, for the output (UVC) format.

std::string	cstr () const
	Convenience function to print out FCC WxH @ fps, for the input (camera) format.

std::string	c2str () const
	Convenience function to print out FCC WxH @ fps, for the scaled camera input format, if stream==RawAndScaled.

std::string	cstrall () const
	Convenience function to print out FCC WxH @ fps plus possibly second stream, for the input (camera) format.

std::string	str () const
	Convenience function to print out the whole mapping in a human-friendly way.

std::string	menustr () const
	Convenience function to print out the whole mapping in a human-friendly way to be used in a menu.

std::string	menustr2 () const
	Convenience function to print out the whole mapping in a human-friendly way to be used in a menu.

bool	hasSameSpecsAs (VideoMapping const &other) const
	Equality operator for specs but not vendor or module name.

bool	isSameAs (VideoMapping const &other) const
	Equality operator for specs and also vendor or module name.

void	setModuleType ()
	Determine whether module is C++ or python and set ispython flag accordingly.

Static Public Member Functions
static float	uvcToFps (unsigned int interval)
	Convert from USB/UVC interval to fps.

static unsigned int	fpsToUvc (float fps)
	Convert from fps to USB/UVC interval.

static float	v4l2ToFps (struct v4l2_fract const &interval)
	Convert from V4L2 interval to fps.

static struct v4l2_fract	fpsToV4l2 (float fps)
	Convert from fps to V4L2 interval.

Public Attributes
unsigned int	ofmt = 0
	output pixel format, or 0 for no output over USB

unsigned int	ow = 0
	output width

unsigned int	oh = 0
	output height

float	ofps = 0.0F
	output frame rate in frames/sec

unsigned int	cfmt = 0
	camera pixel format

unsigned int	cw = 0
	camera width

unsigned int	ch = 0
	camera height

float	cfps = 0.0F
	camera frame rate in frames/sec

unsigned int	uvcformat
	USB-UVC format number (1-based)

unsigned int	uvcframe
	USB UVC frame number (1-based)

std::string	vendor
	Module creator name, used as a directory to organize the modules.

std::string	modulename
	Name of the Module that will process this mapping.

WDRtype	wdr = WDRtype::Linear
	Type of wide-dynamic-range (WDR) to use, if sensor supports it.

CropType	crop = CropType::Scale
	Type of crop/scale to apply if camera size does not match sensor native.

bool	ispython = false
	True if the module is written in Python; affects behavior of sopath() only.

unsigned int	c2fmt = 0
	When crop is CropScale, pixel format of the scaled images, otherwise 0.

unsigned int	c2w = 0
	When crop is CropScale, width of the scaled images, otherwise 0.

unsigned int	c2h = 0
	When crop is CropScale, height of the scaled images, otherwise 0.

Related Symbols
(Note that these are not member symbols.)
	JEVOIS_DEFINE_ENUM_CLASS (WDRtype,(Linear)(DOL))
	Enum for VideoMapping wide-dynamic-range (WDR) type.

	JEVOIS_DEFINE_ENUM_CLASS (CropType,(Scale)(Crop)(CropScale))
	Enum for VideoMapping crop or rescale.

std::ostream &	operator<< (std::ostream &out, VideoMapping const &m)
	Stream a VideoMapping out, intended for machines.

std::istream &	operator>> (std::istream &in, VideoMapping &m)
	Stream a VideoMapping in, intended for machines.

std::vector< VideoMapping >	loadVideoMappings (CameraSensor s, size_t &defidx, bool checkso=true, bool hasgui=false)
	Load all the video mappings from the default config file.

std::vector< VideoMapping >	videoMappingsFromStream (CameraSensor s, std::istream &is, size_t &defidx, bool checkso, bool hasgui)
	Parse all the mappings in a config file and also indicate which one is the default.

Member Function Documentation

◆ c2size()

unsigned int jevois::VideoMapping::c2size ( ) const

Return the size in bytes of a scaled camera image, if stream==RawAndScaled, otherwise 0.

Definition at line 93 of file VideoMapping.C.

References jevois::v4l2ImageSize().

◆ c2str()

std::string jevois::VideoMapping::c2str ( ) const

Convenience function to print out FCC WxH @ fps, for the scaled camera input format, if stream==RawAndScaled.

Definition at line 139 of file VideoMapping.C.

References jevois::fccstr().

◆ cmakepath()

std::string jevois::VideoMapping::cmakepath ( ) const

Return the full absolute path and file name of the module's CMakeLists.txt file.

Definition at line 73 of file VideoMapping.C.

References JEVOIS_MODULE_PATH.

Referenced by jevois::GUIhelper::drawNewModuleForm(), jevois::GUIeditor::refresh(), and jevois::GUIhelper::resetstate().

◆ csize()

unsigned int jevois::VideoMapping::csize ( ) const

Return the size in bytes of a camera image.

Definition at line 89 of file VideoMapping.C.

References jevois::v4l2ImageSize().

◆ cstr()

std::string jevois::VideoMapping::cstr ( ) const

Convenience function to print out FCC WxH @ fps, for the input (camera) format.

Definition at line 131 of file VideoMapping.C.

References jevois::fccstr().

◆ cstrall()

std::string jevois::VideoMapping::cstrall ( ) const

Convenience function to print out FCC WxH @ fps plus possibly second stream, for the input (camera) format.

Definition at line 147 of file VideoMapping.C.

◆ fpsToUvc()

unsigned int jevois::VideoMapping::fpsToUvc ( float fps )

static

Convert from fps to USB/UVC interval.

Definition at line 104 of file VideoMapping.C.

Referenced by main().

◆ fpsToV4l2()

struct v4l2_fract jevois::VideoMapping::fpsToV4l2 ( float fps )

static

Convert from fps to V4L2 interval.

Definition at line 117 of file VideoMapping.C.

Referenced by jevois::Gadget::setFormat(), and jevois::CameraDevice::setFormat().

◆ hasSameSpecsAs()

bool jevois::VideoMapping::hasSameSpecsAs ( VideoMapping const & other ) const

Equality operator for specs but not vendor or module name.

Note that two mappings will be declared to match if their fps values are within 0.01fps, to avoid mismatches due to floating point representation and rounding.

Definition at line 199 of file VideoMapping.C.

References c2fmt, c2h, c2w, cfmt, cfps, ch, crop, cw, ofmt, ofps, oh, and ow.

Referenced by main().

◆ isSameAs()

bool jevois::VideoMapping::isSameAs ( VideoMapping const & other ) const

Equality operator for specs and also vendor or module name.

Note that two mappings will be declared to match if their fps values are within 0.01fps, to avoid mismatches due to floating point representation and rounding.

Definition at line 209 of file VideoMapping.C.

References ispython, modulename, vendor, and wdr.

◆ match()

bool jevois::VideoMapping::match	(	unsigned int	oformat,
		unsigned int	owidth,
		unsigned int	oheight,
		float	oframespersec
	)		const

Return true if this VideoMapping's output format is a match to the given output parameters.

Definition at line 511 of file VideoMapping.C.

Referenced by jevois::Engine::findVideoMapping().

◆ menustr()

std::string jevois::VideoMapping::menustr ( ) const

Convenience function to print out the whole mapping in a human-friendly way to be used in a menu.

Definition at line 168 of file VideoMapping.C.

References JEVOISPRO_FMT_GUI.

Referenced by jevois::GUIhelper::drawModuleSelect().

◆ menustr2()

std::string jevois::VideoMapping::menustr2 ( ) const

Convenience function to print out the whole mapping in a human-friendly way to be used in a menu.

Definition at line 180 of file VideoMapping.C.

References JEVOISPRO_FMT_GUI.

Referenced by jevois::GUIhelper::drawNewModuleForm().

◆ modinfopath()

std::string jevois::VideoMapping::modinfopath ( ) const

Return the full absolute path and file name of the module's modinfo.html file.

Definition at line 79 of file VideoMapping.C.

References JEVOIS_MODULE_PATH.

Referenced by jevois::GUIhelper::drawInfo().

◆ osize()

unsigned int jevois::VideoMapping::osize ( ) const

Return the size in bytes of an output image.

Definition at line 85 of file VideoMapping.C.

References jevois::v4l2ImageSize().

Referenced by jevois::Gadget::setFormat(), jevois::VideoDisplayGL::setFormat(), jevois::VideoDisplayGUI::setFormat(), and jevois::VideoOutputNone::setFormat().

◆ ostr()

std::string jevois::VideoMapping::ostr ( ) const

Convenience function to print out FCC WxH @ fps, for the output (UVC) format.

Definition at line 123 of file VideoMapping.C.

References jevois::fccstr().

◆ path()

std::string jevois::VideoMapping::path ( ) const

Return the full absolute path the module's directory.

Definition at line 30 of file VideoMapping.C.

References JEVOIS_MODULE_PATH, modulename, and vendor.

Referenced by jevois::GUIhelper::drawNewModuleForm(), and jevois::GUIeditor::refresh().

◆ setModuleType()

void jevois::VideoMapping::setModuleType ( )

Determine whether module is C++ or python and set ispython flag accordingly.

The other fields should have been initialized already. operator>> and loadVideoMappings use this function insternally, so no need to call it after making a VideoMapping from sream. This function throws if neither a .so nor .py file is found in the appropriate place given module vendor and name.

Definition at line 519 of file VideoMapping.C.

◆ sopath()

std::string jevois::VideoMapping::sopath ( bool delete_old_versions = false ) const

Return the full absolute path and file name of the module's .so or .py file.

Definition at line 36 of file VideoMapping.C.

References JEVOIS_MODULE_PATH.

◆ srcpath()

std::string jevois::VideoMapping::srcpath ( ) const

Return the full absolute path and file name of the module's .C or .py file.

Definition at line 66 of file VideoMapping.C.

References JEVOIS_MODULE_PATH.

Referenced by jevois::GUIhelper::drawNewModuleForm().

◆ str()

std::string jevois::VideoMapping::str ( ) const

Convenience function to print out the whole mapping in a human-friendly way.

Definition at line 155 of file VideoMapping.C.

Referenced by jevois::GUIhelper::drawNewModuleForm(), and main().

◆ uvcToFps()

float jevois::VideoMapping::uvcToFps ( unsigned int interval )

static

Convert from USB/UVC interval to fps.

This function rounds to the nearest 1/100 fps.

Definition at line 97 of file VideoMapping.C.

Referenced by jevois::Engine::getVideoMappingIdx().

◆ v4l2ToFps()

float jevois::VideoMapping::v4l2ToFps ( struct v4l2_fract const & interval )

static

Convert from V4L2 interval to fps.

This function rounds to the nearest 1/100 fps.

Definition at line 110 of file VideoMapping.C.

Friends And Related Symbol Documentation

◆ JEVOIS_DEFINE_ENUM_CLASS() [1/2]

JEVOIS_DEFINE_ENUM_CLASS	(	CropType	,
		(Scale)(Crop)(CropScale)
	)

On JeVois-Pro Platform (only), the camera ISP can stream up to two images: 1) the raw frame from the sensor (possibly cropped), 2) a scaled frame generated by the ISP (scaling is always applied to the native sensor resolution, irrespective of crop settings), or both. The images can have different pixel types but same frames/s. Getting both cropped and scaled images is useful to use a full-frame raw YUYV capture for GUI display, plus a scaled down RGB24 capture as input to a neural network. When a camera frame size is specified which does not match the sensor's size, either do a centered crop, or a uniform rescaling. Note that rescaling can affect the image aspect ratio, and thus it is recommended that camera frame sizes with same aspect ratio at the native sensor size be used. If nothing is specified in a VideoMapping, use Scale as default.

◆ JEVOIS_DEFINE_ENUM_CLASS() [2/2]

JEVOIS_DEFINE_ENUM_CLASS	(	WDRtype	,
		(Linear)(DOL)
	)

If nothing is specified in a VideoMapping, use Linear by default.

◆ loadVideoMappings()

std::vector< VideoMapping > loadVideoMappings	(	CameraSensor	s,
		size_t &	defidx,
		bool	checkso = `true`,
		bool	hasgui = `false`
	)

◆ operator<<()

std::ostream & operator<<	(	std::ostream &	out,
		VideoMapping const &	m
	)

Note that no std::endl is issued at the end.

◆ operator>>()

std::istream & operator>>	(	std::istream &	in,
		VideoMapping &	m
	)

Note that the assumption is that the mapping is clean (no extra garbage).

◆ videoMappingsFromStream()

std::vector< VideoMapping > videoMappingsFromStream	(	CameraSensor	s,
		std::istream &	is,
		size_t &	defidx,
		bool	checkso,
		bool	hasgui
	)

The contents of the file are sorted so that the resulting vector is ordered by increasing 1) format fcc, then 2) resolution (from large to small, looking at x first), and 3) framerate (from high to low).

The camera format field can have colon-separated prefixes for qualifiers that specify WDR (wide-dynamic-range) camera capture mode and/or crop vs. rescale behavior when camera input dims do not match sensor native dims (only effective on JeVois-Pro).

The output width and height can be wither absolute, or relative to camera width and height if prefixed with a + or

symbol.

In case of duplicate output formats, frame rates will be decreased by 1fps for each additional duplicate. This is because we need to present the host computer with distinct video formats so that users can select the one they want. For example:

YUYV 320 240 60.0 YUYV 320 240 60.0 JeVois SaveVideo
YUYV 320 240 60.0 YUYV 320 240 60.0 VendorX MyModule
YUYV 320 240 60.0 YUYV 320 240 60.0 VendorY MyModule
YUYV 320 240 60.0 YUYV 320 240 60.0 VendorZ MyModule

will be disambiguated into:

YUYV 320 240 60.0 YUYV 320 240 60.0 JeVois SaveVideo
YUYV 320 240 59.0 YUYV 320 240 60.0 VendorX MyModule
YUYV 320 240 58.0 YUYV 320 240 60.0 VendorY MyModule
YUYV 320 240 57.0 YUYV 320 240 60.0 VendorZ MyModule

and in guvcview or similar program running on a host computer, these 4 mappings will be available since they correspond to 4 different framerates. It is recommended that you issue a listmapping command in the JeVois command-line interface to confirm the final mappings that are used at runtime after any adjustments; see Command-line interface user guide for details.

defidx is the index of the default format in the resulting vector of mappings. If several default formats are specified, the first one prevails.

See User guide to video modes and mappings for explanations about how to organize videomappings.cfg

Member Data Documentation

◆ c2fmt

unsigned int jevois::VideoMapping::c2fmt = 0

When crop is CropScale, pixel format of the scaled images, otherwise 0.

Definition at line 84 of file VideoMapping.H.

Referenced by jevois::GUIhelper::drawNewModuleForm(), hasSameSpecsAs(), and jevois::Camera::setFormat().

◆ c2h

unsigned int jevois::VideoMapping::c2h = 0

When crop is CropScale, height of the scaled images, otherwise 0.

Definition at line 86 of file VideoMapping.H.

Referenced by jevois::GUIhelper::drawNewModuleForm(), hasSameSpecsAs(), and jevois::Camera::setFormat().

◆ c2w

unsigned int jevois::VideoMapping::c2w = 0

When crop is CropScale, width of the scaled images, otherwise 0.

Definition at line 85 of file VideoMapping.H.

Referenced by jevois::GUIhelper::drawNewModuleForm(), hasSameSpecsAs(), and jevois::Camera::setFormat().

◆ cfmt

unsigned int jevois::VideoMapping::cfmt = 0

camera pixel format

Definition at line 68 of file VideoMapping.H.

Referenced by jevois::GUIhelper::drawNewModuleForm(), hasSameSpecsAs(), main(), and jevois::Camera::setFormat().

◆ cfps

float jevois::VideoMapping::cfps = 0.0F

camera frame rate in frames/sec

Definition at line 71 of file VideoMapping.H.

Referenced by jevois::GUIhelper::drawNewModuleForm(), hasSameSpecsAs(), main(), and jevois::Camera::setFormat().

◆ ch

unsigned int jevois::VideoMapping::ch = 0

camera height

Definition at line 70 of file VideoMapping.H.

Referenced by jevois::GUIhelper::drawNewModuleForm(), hasSameSpecsAs(), main(), and jevois::Camera::setFormat().

◆ crop

CropType jevois::VideoMapping::crop = CropType::Scale

Type of crop/scale to apply if camera size does not match sensor native.

Definition at line 81 of file VideoMapping.H.

Referenced by jevois::GUIhelper::drawNewModuleForm(), hasSameSpecsAs(), and jevois::Camera::setFormat().

◆ cw

unsigned int jevois::VideoMapping::cw = 0

camera width

Definition at line 69 of file VideoMapping.H.

Referenced by jevois::GUIhelper::drawNewModuleForm(), hasSameSpecsAs(), main(), and jevois::Camera::setFormat().

◆ ispython

bool jevois::VideoMapping::ispython = false

True if the module is written in Python; affects behavior of sopath() only.

Definition at line 82 of file VideoMapping.H.

Referenced by jevois::GUIhelper::drawNewModuleForm(), isSameAs(), and jevois::PythonModule::PythonModule().

◆ modulename

std::string jevois::VideoMapping::modulename

Name of the Module that will process this mapping.

Definition at line 78 of file VideoMapping.H.

Referenced by jevois::GUIhelper::drawInfo(), jevois::GUIhelper::drawNewModuleForm(), isSameAs(), main(), and path().

◆ ofmt

unsigned int jevois::VideoMapping::ofmt = 0

output pixel format, or 0 for no output over USB

Definition at line 63 of file VideoMapping.H.

Referenced by jevois::GUIhelper::drawModuleSelect(), jevois::GUIhelper::drawNewModuleForm(), hasSameSpecsAs(), jevois::Gadget::setFormat(), jevois::VideoDisplayGL::setFormat(), jevois::VideoDisplayGUI::setFormat(), and jevois::VideoOutputNone::setFormat().

◆ ofps

float jevois::VideoMapping::ofps = 0.0F

output frame rate in frames/sec

Definition at line 66 of file VideoMapping.H.

Referenced by jevois::GUIhelper::drawNewModuleForm(), jevois::Engine::getVideoMappingIdx(), hasSameSpecsAs(), jevois::Gadget::setFormat(), jevois::VideoDisplayGL::setFormat(), jevois::VideoDisplayGUI::setFormat(), and jevois::VideoOutputNone::setFormat().

◆ oh

unsigned int jevois::VideoMapping::oh = 0

output height

Definition at line 65 of file VideoMapping.H.

Referenced by jevois::GUIhelper::drawNewModuleForm(), hasSameSpecsAs(), jevois::Gadget::setFormat(), jevois::VideoDisplayGL::setFormat(), jevois::VideoDisplayGUI::setFormat(), and jevois::VideoOutputNone::setFormat().

◆ ow

unsigned int jevois::VideoMapping::ow = 0

output width

Definition at line 64 of file VideoMapping.H.

Referenced by jevois::GUIhelper::drawNewModuleForm(), hasSameSpecsAs(), jevois::Gadget::setFormat(), jevois::VideoDisplayGL::setFormat(), jevois::VideoDisplayGUI::setFormat(), and jevois::VideoOutputNone::setFormat().

◆ uvcformat

unsigned int jevois::VideoMapping::uvcformat

USB-UVC format number (1-based)

Definition at line 73 of file VideoMapping.H.

Referenced by jevois::Engine::getVideoMappingIdx().

◆ uvcframe

unsigned int jevois::VideoMapping::uvcframe

USB UVC frame number (1-based)

Definition at line 74 of file VideoMapping.H.

Referenced by jevois::Engine::getVideoMappingIdx().

◆ vendor

std::string jevois::VideoMapping::vendor

Module creator name, used as a directory to organize the modules.

Definition at line 76 of file VideoMapping.H.

Referenced by jevois::GUIhelper::drawNewModuleForm(), isSameAs(), main(), and path().

◆ wdr

WDRtype jevois::VideoMapping::wdr = WDRtype::Linear

Type of wide-dynamic-range (WDR) to use, if sensor supports it.

Definition at line 80 of file VideoMapping.H.

Referenced by jevois::GUIhelper::drawNewModuleForm(), isSameAs(), and main().

The documentation for this struct was generated from the following files:

include/jevois/Core/VideoMapping.H
src/jevois/Core/VideoMapping.C

Public Member Functions

Static Public Member Functions

Public Attributes

Related Symbols

Member Function Documentation

◆ c2size()

◆ c2str()

◆ cmakepath()

◆ csize()

◆ cstr()

◆ cstrall()

◆ fpsToUvc()

◆ fpsToV4l2()

◆ hasSameSpecsAs()

◆ isSameAs()

◆ match()

◆ menustr()

◆ menustr2()

◆ modinfopath()

◆ osize()

◆ ostr()

◆ path()

◆ setModuleType()

◆ sopath()

◆ srcpath()

◆ str()

◆ uvcToFps()

◆ v4l2ToFps()

Friends And Related Symbol Documentation

◆ JEVOIS_DEFINE_ENUM_CLASS() [1/2]

◆ JEVOIS_DEFINE_ENUM_CLASS() [2/2]

◆ loadVideoMappings()

◆ operator<<()

◆ operator>>()

◆ videoMappingsFromStream()

Member Data Documentation

◆ c2fmt

◆ c2h

◆ c2w

◆ cfmt

◆ cfps

◆ ch

◆ crop

◆ cw

◆ ispython

◆ modulename

◆ ofmt

◆ ofps

◆ oh

◆ ow

◆ uvcformat

◆ uvcframe

◆ vendor

◆ wdr