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rpi-camera-dump-yuv.c
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rpi-camera-dump-yuv.c
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/*
* Copyright © 2013 Tuomas Jormola <tj@solitudo.net> <http://solitudo.net>
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* <http://www.apache.org/licenses/LICENSE-2.0>
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
* Short intro about this program:
*
* `rpi-camera-dump-yuv` records video using the RaspiCam module and dumps the raw
* YUV frame data to `stdout`.
*
* $ ./rpi-camera-dump-yuv >test.yuv
*
* `rpi-camera-dump-yuv` uses `camera` and `null_sink` components. Uncompressed
* raw YUV frame data is read from the buffer of `camera` video output port and
* dumped to stdout and `camera` preview output port is tunneled to `null_sink`
* input port.
*
* Please see README.mdwn for more detailed description of this
* OpenMAX IL demos for Raspberry Pi bundle.
*
*/
#include <stdlib.h>
#include <stdio.h>
#include <stdarg.h>
#include <string.h>
#include <unistd.h>
#include <errno.h>
#include <bcm_host.h>
#include <interface/vcos/vcos_semaphore.h>
#include <interface/vmcs_host/vchost.h>
#include <IL/OMX_Core.h>
#include <IL/OMX_Component.h>
#include <IL/OMX_Video.h>
#include <IL/OMX_Broadcom.h>
// Hard coded parameters
#define VIDEO_WIDTH 1920 / 4
#define VIDEO_HEIGHT 1080 / 4
#define VIDEO_FRAMERATE 25
#define CAM_DEVICE_NUMBER 0
#define CAM_SHARPNESS 0 // -100 .. 100
#define CAM_CONTRAST 0 // -100 .. 100
#define CAM_BRIGHTNESS 50 // 0 .. 100
#define CAM_SATURATION 0 // -100 .. 100
#define CAM_EXPOSURE_VALUE_COMPENSTAION 0
#define CAM_EXPOSURE_ISO_SENSITIVITY 100
#define CAM_EXPOSURE_AUTO_SENSITIVITY OMX_FALSE
#define CAM_FRAME_STABILISATION OMX_TRUE
#define CAM_WHITE_BALANCE_CONTROL OMX_WhiteBalControlAuto // OMX_WHITEBALCONTROLTYPE
#define CAM_IMAGE_FILTER OMX_ImageFilterNoise // OMX_IMAGEFILTERTYPE
#define CAM_FLIP_HORIZONTAL OMX_FALSE
#define CAM_FLIP_VERTICAL OMX_FALSE
// Dunno where this is originally stolen from...
#define OMX_INIT_STRUCTURE(a) \
memset(&(a), 0, sizeof(a)); \
(a).nSize = sizeof(a); \
(a).nVersion.nVersion = OMX_VERSION; \
(a).nVersion.s.nVersionMajor = OMX_VERSION_MAJOR; \
(a).nVersion.s.nVersionMinor = OMX_VERSION_MINOR; \
(a).nVersion.s.nRevision = OMX_VERSION_REVISION; \
(a).nVersion.s.nStep = OMX_VERSION_STEP
// Global variable used by the signal handler and capture loop
static int want_quit = 0;
// Our application context passed around
// the main routine and callback handlers
typedef struct {
OMX_HANDLETYPE camera;
OMX_BUFFERHEADERTYPE *camera_ppBuffer_in;
OMX_BUFFERHEADERTYPE *camera_ppBuffer_out;
int camera_ready;
int camera_output_buffer_available;
OMX_HANDLETYPE null_sink;
int flushed;
FILE *fd_out;
VCOS_SEMAPHORE_T handler_lock;
} appctx;
// I420 frame stuff
typedef struct {
int width;
int height;
size_t size;
int buf_stride;
int buf_slice_height;
int buf_extra_padding;
int p_offset[3];
int p_stride[3];
} i420_frame_info;
// Stolen from video-info.c of gstreamer-plugins-base
#define ROUND_UP_2(num) (((num)+1)&~1)
#define ROUND_UP_4(num) (((num)+3)&~3)
static void get_i420_frame_info(int width, int height, int buf_stride, int buf_slice_height, i420_frame_info *info) {
info->p_stride[0] = ROUND_UP_4(width);
info->p_stride[1] = ROUND_UP_4(ROUND_UP_2(width) / 2);
info->p_stride[2] = info->p_stride[1];
info->p_offset[0] = 0;
info->p_offset[1] = info->p_stride[0] * ROUND_UP_2(height);
info->p_offset[2] = info->p_offset[1] + info->p_stride[1] * (ROUND_UP_2(height) / 2);
info->size = info->p_offset[2] + info->p_stride[2] * (ROUND_UP_2(height) / 2);
info->width = width;
info->height = height;
info->buf_stride = buf_stride;
info->buf_slice_height = buf_slice_height;
info->buf_extra_padding =
buf_slice_height >= 0
? ((buf_slice_height && (height % buf_slice_height))
? (buf_slice_height - (height % buf_slice_height))
: 0)
: -1;
}
// Ugly, stupid utility functions
static void say(const char* message, ...) {
va_list args;
char str[1024];
memset(str, 0, sizeof(str));
va_start(args, message);
vsnprintf(str, sizeof(str) - 1, message, args);
va_end(args);
size_t str_len = strnlen(str, sizeof(str));
if(str[str_len - 1] != '\n') {
str[str_len] = '\n';
}
fprintf(stderr, str);
}
static void die(const char* message, ...) {
va_list args;
char str[1024];
memset(str, 0, sizeof(str));
va_start(args, message);
vsnprintf(str, sizeof(str), message, args);
va_end(args);
say(str);
exit(1);
}
static void omx_die(OMX_ERRORTYPE error, const char* message, ...) {
va_list args;
char str[1024];
char *e;
memset(str, 0, sizeof(str));
va_start(args, message);
vsnprintf(str, sizeof(str), message, args);
va_end(args);
switch(error) {
case OMX_ErrorNone: e = "no error"; break;
case OMX_ErrorBadParameter: e = "bad parameter"; break;
case OMX_ErrorIncorrectStateOperation: e = "invalid state while trying to perform command"; break;
case OMX_ErrorIncorrectStateTransition: e = "unallowed state transition"; break;
case OMX_ErrorInsufficientResources: e = "insufficient resource"; break;
case OMX_ErrorBadPortIndex: e = "bad port index, i.e. incorrect port"; break;
case OMX_ErrorHardware: e = "hardware error"; break;
/* That's all I've encountered during hacking so let's not bother with the rest... */
default: e = "(no description)";
}
die("OMX error: %s: 0x%08x %s", str, error, e);
}
static void dump_frame_info(const char *message, const i420_frame_info *info) {
say("%s frame info:\n"
"\tWidth:\t\t\t%d\n"
"\tHeight:\t\t\t%d\n"
"\tSize:\t\t\t%d\n"
"\tBuffer stride:\t\t%d\n"
"\tBuffer slice height:\t%d\n"
"\tBuffer extra padding:\t%d\n"
"\tPlane strides:\t\tY:%d U:%d V:%d\n"
"\tPlane offsets:\t\tY:%d U:%d V:%d\n",
message,
info->width, info->height, info->size, info->buf_stride, info->buf_slice_height, info->buf_extra_padding,
info->p_stride[0], info->p_stride[1], info->p_stride[2],
info->p_offset[0], info->p_offset[1], info->p_offset[2]);
}
static void dump_event(OMX_HANDLETYPE hComponent, OMX_EVENTTYPE eEvent, OMX_U32 nData1, OMX_U32 nData2) {
char *e;
switch(eEvent) {
case OMX_EventCmdComplete: e = "command complete"; break;
case OMX_EventError: e = "error"; break;
case OMX_EventParamOrConfigChanged: e = "parameter or configuration changed"; break;
case OMX_EventPortSettingsChanged: e = "port settings changed"; break;
/* That's all I've encountered during hacking so let's not bother with the rest... */
default:
e = "(no description)";
}
say("Received event 0x%08x %s, hComponent:0x%08x, nData1:0x%08x, nData2:0x%08x",
eEvent, e, hComponent, nData1, nData2);
}
static const char* dump_compression_format(OMX_VIDEO_CODINGTYPE c) {
char *f;
switch(c) {
case OMX_VIDEO_CodingUnused: return "not used";
case OMX_VIDEO_CodingAutoDetect: return "autodetect";
case OMX_VIDEO_CodingMPEG2: return "MPEG2";
case OMX_VIDEO_CodingH263: return "H.263";
case OMX_VIDEO_CodingMPEG4: return "MPEG4";
case OMX_VIDEO_CodingWMV: return "Windows Media Video";
case OMX_VIDEO_CodingRV: return "RealVideo";
case OMX_VIDEO_CodingAVC: return "H.264/AVC";
case OMX_VIDEO_CodingMJPEG: return "Motion JPEG";
case OMX_VIDEO_CodingVP6: return "VP6";
case OMX_VIDEO_CodingVP7: return "VP7";
case OMX_VIDEO_CodingVP8: return "VP8";
case OMX_VIDEO_CodingYUV: return "Raw YUV video";
case OMX_VIDEO_CodingSorenson: return "Sorenson";
case OMX_VIDEO_CodingTheora: return "OGG Theora";
case OMX_VIDEO_CodingMVC: return "H.264/MVC";
default:
f = calloc(23, sizeof(char));
if(f == NULL) {
die("Failed to allocate memory");
}
snprintf(f, 23 * sizeof(char) - 1, "format type 0x%08x", c);
return f;
}
}
static const char* dump_color_format(OMX_COLOR_FORMATTYPE c) {
char *f;
switch(c) {
case OMX_COLOR_FormatUnused: return "OMX_COLOR_FormatUnused: not used";
case OMX_COLOR_FormatMonochrome: return "OMX_COLOR_FormatMonochrome";
case OMX_COLOR_Format8bitRGB332: return "OMX_COLOR_Format8bitRGB332";
case OMX_COLOR_Format12bitRGB444: return "OMX_COLOR_Format12bitRGB444";
case OMX_COLOR_Format16bitARGB4444: return "OMX_COLOR_Format16bitARGB4444";
case OMX_COLOR_Format16bitARGB1555: return "OMX_COLOR_Format16bitARGB1555";
case OMX_COLOR_Format16bitRGB565: return "OMX_COLOR_Format16bitRGB565";
case OMX_COLOR_Format16bitBGR565: return "OMX_COLOR_Format16bitBGR565";
case OMX_COLOR_Format18bitRGB666: return "OMX_COLOR_Format18bitRGB666";
case OMX_COLOR_Format18bitARGB1665: return "OMX_COLOR_Format18bitARGB1665";
case OMX_COLOR_Format19bitARGB1666: return "OMX_COLOR_Format19bitARGB1666";
case OMX_COLOR_Format24bitRGB888: return "OMX_COLOR_Format24bitRGB888";
case OMX_COLOR_Format24bitBGR888: return "OMX_COLOR_Format24bitBGR888";
case OMX_COLOR_Format24bitARGB1887: return "OMX_COLOR_Format24bitARGB1887";
case OMX_COLOR_Format25bitARGB1888: return "OMX_COLOR_Format25bitARGB1888";
case OMX_COLOR_Format32bitBGRA8888: return "OMX_COLOR_Format32bitBGRA8888";
case OMX_COLOR_Format32bitARGB8888: return "OMX_COLOR_Format32bitARGB8888";
case OMX_COLOR_FormatYUV411Planar: return "OMX_COLOR_FormatYUV411Planar";
case OMX_COLOR_FormatYUV411PackedPlanar: return "OMX_COLOR_FormatYUV411PackedPlanar: Planes fragmented when a frame is split in multiple buffers";
case OMX_COLOR_FormatYUV420Planar: return "OMX_COLOR_FormatYUV420Planar: Planar YUV, 4:2:0 (I420)";
case OMX_COLOR_FormatYUV420PackedPlanar: return "OMX_COLOR_FormatYUV420PackedPlanar: Planar YUV, 4:2:0 (I420), planes fragmented when a frame is split in multiple buffers";
case OMX_COLOR_FormatYUV420SemiPlanar: return "OMX_COLOR_FormatYUV420SemiPlanar, Planar YUV, 4:2:0 (NV12), U and V planes interleaved with first U value";
case OMX_COLOR_FormatYUV422Planar: return "OMX_COLOR_FormatYUV422Planar";
case OMX_COLOR_FormatYUV422PackedPlanar: return "OMX_COLOR_FormatYUV422PackedPlanar: Planes fragmented when a frame is split in multiple buffers";
case OMX_COLOR_FormatYUV422SemiPlanar: return "OMX_COLOR_FormatYUV422SemiPlanar";
case OMX_COLOR_FormatYCbYCr: return "OMX_COLOR_FormatYCbYCr";
case OMX_COLOR_FormatYCrYCb: return "OMX_COLOR_FormatYCrYCb";
case OMX_COLOR_FormatCbYCrY: return "OMX_COLOR_FormatCbYCrY";
case OMX_COLOR_FormatCrYCbY: return "OMX_COLOR_FormatCrYCbY";
case OMX_COLOR_FormatYUV444Interleaved: return "OMX_COLOR_FormatYUV444Interleaved";
case OMX_COLOR_FormatRawBayer8bit: return "OMX_COLOR_FormatRawBayer8bit";
case OMX_COLOR_FormatRawBayer10bit: return "OMX_COLOR_FormatRawBayer10bit";
case OMX_COLOR_FormatRawBayer8bitcompressed: return "OMX_COLOR_FormatRawBayer8bitcompressed";
case OMX_COLOR_FormatL2: return "OMX_COLOR_FormatL2";
case OMX_COLOR_FormatL4: return "OMX_COLOR_FormatL4";
case OMX_COLOR_FormatL8: return "OMX_COLOR_FormatL8";
case OMX_COLOR_FormatL16: return "OMX_COLOR_FormatL16";
case OMX_COLOR_FormatL24: return "OMX_COLOR_FormatL24";
case OMX_COLOR_FormatL32: return "OMX_COLOR_FormatL32";
case OMX_COLOR_FormatYUV420PackedSemiPlanar: return "OMX_COLOR_FormatYUV420PackedSemiPlanar: Planar YUV, 4:2:0 (NV12), planes fragmented when a frame is split in multiple buffers, U and V planes interleaved with first U value";
case OMX_COLOR_FormatYUV422PackedSemiPlanar: return "OMX_COLOR_FormatYUV422PackedSemiPlanar: Planes fragmented when a frame is split in multiple buffers";
case OMX_COLOR_Format18BitBGR666: return "OMX_COLOR_Format18BitBGR666";
case OMX_COLOR_Format24BitARGB6666: return "OMX_COLOR_Format24BitARGB6666";
case OMX_COLOR_Format24BitABGR6666: return "OMX_COLOR_Format24BitABGR6666";
case OMX_COLOR_Format32bitABGR8888: return "OMX_COLOR_Format32bitABGR8888";
case OMX_COLOR_Format8bitPalette: return "OMX_COLOR_Format8bitPalette";
case OMX_COLOR_FormatYUVUV128: return "OMX_COLOR_FormatYUVUV128";
case OMX_COLOR_FormatRawBayer12bit: return "OMX_COLOR_FormatRawBayer12bit";
case OMX_COLOR_FormatBRCMEGL: return "OMX_COLOR_FormatBRCMEGL";
case OMX_COLOR_FormatBRCMOpaque: return "OMX_COLOR_FormatBRCMOpaque";
case OMX_COLOR_FormatYVU420PackedPlanar: return "OMX_COLOR_FormatYVU420PackedPlanar";
case OMX_COLOR_FormatYVU420PackedSemiPlanar: return "OMX_COLOR_FormatYVU420PackedSemiPlanar";
default:
f = calloc(23, sizeof(char));
if(f == NULL) {
die("Failed to allocate memory");
}
snprintf(f, 23 * sizeof(char) - 1, "format type 0x%08x", c);
return f;
}
}
static void dump_portdef(OMX_PARAM_PORTDEFINITIONTYPE* portdef) {
say("Port %d is %s, %s, buffers wants:%d needs:%d, size:%d, pop:%d, aligned:%d",
portdef->nPortIndex,
(portdef->eDir == OMX_DirInput ? "input" : "output"),
(portdef->bEnabled == OMX_TRUE ? "enabled" : "disabled"),
portdef->nBufferCountActual,
portdef->nBufferCountMin,
portdef->nBufferSize,
portdef->bPopulated,
portdef->nBufferAlignment);
OMX_VIDEO_PORTDEFINITIONTYPE *viddef = &portdef->format.video;
OMX_IMAGE_PORTDEFINITIONTYPE *imgdef = &portdef->format.image;
switch(portdef->eDomain) {
case OMX_PortDomainVideo:
say("Video type:\n"
"\tWidth:\t\t%d\n"
"\tHeight:\t\t%d\n"
"\tStride:\t\t%d\n"
"\tSliceHeight:\t%d\n"
"\tBitrate:\t%d\n"
"\tFramerate:\t%.02f\n"
"\tError hiding:\t%s\n"
"\tCodec:\t\t%s\n"
"\tColor:\t\t%s\n",
viddef->nFrameWidth,
viddef->nFrameHeight,
viddef->nStride,
viddef->nSliceHeight,
viddef->nBitrate,
((float)viddef->xFramerate / (float)65536),
(viddef->bFlagErrorConcealment == OMX_TRUE ? "yes" : "no"),
dump_compression_format(viddef->eCompressionFormat),
dump_color_format(viddef->eColorFormat));
break;
case OMX_PortDomainImage:
say("Image type:\n"
"\tWidth:\t\t%d\n"
"\tHeight:\t\t%d\n"
"\tStride:\t\t%d\n"
"\tSliceHeight:\t%d\n"
"\tError hiding:\t%s\n"
"\tCodec:\t\t%s\n"
"\tColor:\t\t%s\n",
imgdef->nFrameWidth,
imgdef->nFrameHeight,
imgdef->nStride,
imgdef->nSliceHeight,
(imgdef->bFlagErrorConcealment == OMX_TRUE ? "yes" : "no"),
dump_compression_format(imgdef->eCompressionFormat),
dump_color_format(imgdef->eColorFormat));
break;
default:
break;
}
}
static void dump_port(OMX_HANDLETYPE hComponent, OMX_U32 nPortIndex, OMX_BOOL dumpformats) {
OMX_ERRORTYPE r;
OMX_PARAM_PORTDEFINITIONTYPE portdef;
OMX_INIT_STRUCTURE(portdef);
portdef.nPortIndex = nPortIndex;
if((r = OMX_GetParameter(hComponent, OMX_IndexParamPortDefinition, &portdef)) != OMX_ErrorNone) {
omx_die(r, "Failed to get port definition for port %d", nPortIndex);
}
dump_portdef(&portdef);
if(dumpformats) {
OMX_VIDEO_PARAM_PORTFORMATTYPE portformat;
OMX_INIT_STRUCTURE(portformat);
portformat.nPortIndex = nPortIndex;
portformat.nIndex = 0;
r = OMX_ErrorNone;
say("Port %d supports these video formats:", nPortIndex);
while(r == OMX_ErrorNone) {
if((r = OMX_GetParameter(hComponent, OMX_IndexParamVideoPortFormat, &portformat)) == OMX_ErrorNone) {
say("\t%s, compression: %s", dump_color_format(portformat.eColorFormat), dump_compression_format(portformat.eCompressionFormat));
portformat.nIndex++;
}
}
}
}
// Some busy loops to verify we're running in order
static void block_until_state_changed(OMX_HANDLETYPE hComponent, OMX_STATETYPE wanted_eState) {
OMX_STATETYPE eState;
int i = 0;
while(i++ == 0 || eState != wanted_eState) {
OMX_GetState(hComponent, &eState);
if(eState != wanted_eState) {
usleep(10000);
}
}
}
static void block_until_port_changed(OMX_HANDLETYPE hComponent, OMX_U32 nPortIndex, OMX_BOOL bEnabled) {
OMX_ERRORTYPE r;
OMX_PARAM_PORTDEFINITIONTYPE portdef;
OMX_INIT_STRUCTURE(portdef);
portdef.nPortIndex = nPortIndex;
OMX_U32 i = 0;
while(i++ == 0 || portdef.bEnabled != bEnabled) {
if((r = OMX_GetParameter(hComponent, OMX_IndexParamPortDefinition, &portdef)) != OMX_ErrorNone) {
omx_die(r, "Failed to get port definition");
}
if(portdef.bEnabled != bEnabled) {
usleep(10000);
}
}
}
static void block_until_flushed(appctx *ctx) {
int quit;
while(!quit) {
vcos_semaphore_wait(&ctx->handler_lock);
if(ctx->flushed) {
ctx->flushed = 0;
quit = 1;
}
vcos_semaphore_post(&ctx->handler_lock);
if(!quit) {
usleep(10000);
}
}
}
static void init_component_handle(
const char *name,
OMX_HANDLETYPE* hComponent,
OMX_PTR pAppData,
OMX_CALLBACKTYPE* callbacks) {
OMX_ERRORTYPE r;
char fullname[32];
// Get handle
memset(fullname, 0, sizeof(fullname));
strcat(fullname, "OMX.broadcom.");
strncat(fullname, name, strlen(fullname) - 1);
say("Initializing component %s", fullname);
if((r = OMX_GetHandle(hComponent, fullname, pAppData, callbacks)) != OMX_ErrorNone) {
omx_die(r, "Failed to get handle for component %s", fullname);
}
// Disable ports
OMX_INDEXTYPE types[] = {
OMX_IndexParamAudioInit,
OMX_IndexParamVideoInit,
OMX_IndexParamImageInit,
OMX_IndexParamOtherInit
};
OMX_PORT_PARAM_TYPE ports;
OMX_INIT_STRUCTURE(ports);
OMX_GetParameter(*hComponent, OMX_IndexParamVideoInit, &ports);
int i;
for(i = 0; i < 4; i++) {
if(OMX_GetParameter(*hComponent, types[i], &ports) == OMX_ErrorNone) {
OMX_U32 nPortIndex;
for(nPortIndex = ports.nStartPortNumber; nPortIndex < ports.nStartPortNumber + ports.nPorts; nPortIndex++) {
say("Disabling port %d of component %s", nPortIndex, fullname);
if((r = OMX_SendCommand(*hComponent, OMX_CommandPortDisable, nPortIndex, NULL)) != OMX_ErrorNone) {
omx_die(r, "Failed to disable port %d of component %s", nPortIndex, fullname);
}
block_until_port_changed(*hComponent, nPortIndex, OMX_FALSE);
}
}
}
}
// Global signal handler for trapping SIGINT, SIGTERM, and SIGQUIT
static void signal_handler(int signal) {
want_quit = 1;
}
// OMX calls this handler for all the events it emits
static OMX_ERRORTYPE event_handler(
OMX_HANDLETYPE hComponent,
OMX_PTR pAppData,
OMX_EVENTTYPE eEvent,
OMX_U32 nData1,
OMX_U32 nData2,
OMX_PTR pEventData) {
dump_event(hComponent, eEvent, nData1, nData2);
appctx *ctx = (appctx *)pAppData;
switch(eEvent) {
case OMX_EventCmdComplete:
vcos_semaphore_wait(&ctx->handler_lock);
if(nData1 == OMX_CommandFlush) {
ctx->flushed = 1;
}
vcos_semaphore_post(&ctx->handler_lock);
break;
case OMX_EventParamOrConfigChanged:
vcos_semaphore_wait(&ctx->handler_lock);
if(nData2 == OMX_IndexParamCameraDeviceNumber) {
ctx->camera_ready = 1;
}
vcos_semaphore_post(&ctx->handler_lock);
break;
case OMX_EventError:
omx_die(nData1, "error event received");
break;
default:
break;
}
return OMX_ErrorNone;
}
// Called by OMX when the camera component has filled
// the output buffer with captured video data
static OMX_ERRORTYPE fill_output_buffer_done_handler(
OMX_HANDLETYPE hComponent,
OMX_PTR pAppData,
OMX_BUFFERHEADERTYPE* pBuffer) {
appctx *ctx = ((appctx*)pAppData);
vcos_semaphore_wait(&ctx->handler_lock);
// The main loop can now flush the buffer to output file
ctx->camera_output_buffer_available = 1;
vcos_semaphore_post(&ctx->handler_lock);
return OMX_ErrorNone;
}
int main(int argc, char **argv) {
bcm_host_init();
OMX_ERRORTYPE r;
if((r = OMX_Init()) != OMX_ErrorNone) {
omx_die(r, "OMX initalization failed");
}
// Init context
appctx ctx;
memset(&ctx, 0, sizeof(ctx));
if(vcos_semaphore_create(&ctx.handler_lock, "handler_lock", 1) != VCOS_SUCCESS) {
die("Failed to create handler lock semaphore");
}
// Init component handles
OMX_CALLBACKTYPE callbacks;
memset(&ctx, 0, sizeof(callbacks));
callbacks.EventHandler = event_handler;
callbacks.FillBufferDone = fill_output_buffer_done_handler;
init_component_handle("camera", &ctx.camera , &ctx, &callbacks);
init_component_handle("null_sink", &ctx.null_sink, &ctx, &callbacks);
say("Configuring camera...");
say("Default port definition for camera input port 73");
dump_port(ctx.camera, 73, OMX_TRUE);
say("Default port definition for camera preview output port 70");
dump_port(ctx.camera, 70, OMX_TRUE);
say("Default port definition for camera video output port 71");
dump_port(ctx.camera, 71, OMX_TRUE);
// Request a callback to be made when OMX_IndexParamCameraDeviceNumber is
// changed signaling that the camera device is ready for use.
OMX_CONFIG_REQUESTCALLBACKTYPE cbtype;
OMX_INIT_STRUCTURE(cbtype);
cbtype.nPortIndex = OMX_ALL;
cbtype.nIndex = OMX_IndexParamCameraDeviceNumber;
cbtype.bEnable = OMX_TRUE;
if((r = OMX_SetConfig(ctx.camera, OMX_IndexConfigRequestCallback, &cbtype)) != OMX_ErrorNone) {
omx_die(r, "Failed to request camera device number parameter change callback for camera");
}
// Set device number, this triggers the callback configured just above
OMX_PARAM_U32TYPE device;
OMX_INIT_STRUCTURE(device);
device.nPortIndex = OMX_ALL;
device.nU32 = CAM_DEVICE_NUMBER;
if((r = OMX_SetParameter(ctx.camera, OMX_IndexParamCameraDeviceNumber, &device)) != OMX_ErrorNone) {
omx_die(r, "Failed to set camera parameter device number");
}
// Configure video format emitted by camera preview output port
OMX_PARAM_PORTDEFINITIONTYPE camera_portdef;
OMX_INIT_STRUCTURE(camera_portdef);
camera_portdef.nPortIndex = 70;
if((r = OMX_GetParameter(ctx.camera, OMX_IndexParamPortDefinition, &camera_portdef)) != OMX_ErrorNone) {
omx_die(r, "Failed to get port definition for camera preview output port 70");
}
camera_portdef.format.video.nFrameWidth = VIDEO_WIDTH;
camera_portdef.format.video.nFrameHeight = VIDEO_HEIGHT;
camera_portdef.format.video.xFramerate = VIDEO_FRAMERATE << 16;
// Stolen from gstomxvideodec.c of gst-omx
camera_portdef.format.video.nStride = (camera_portdef.format.video.nFrameWidth + camera_portdef.nBufferAlignment - 1) & (~(camera_portdef.nBufferAlignment - 1));
camera_portdef.format.video.eColorFormat = OMX_COLOR_FormatYUV420PackedPlanar;
if((r = OMX_SetParameter(ctx.camera, OMX_IndexParamPortDefinition, &camera_portdef)) != OMX_ErrorNone) {
omx_die(r, "Failed to set port definition for camera preview output port 70");
}
// Configure video format emitted by camera video output port
// Use configuration from camera preview output as basis for
// camera video output configuration
OMX_INIT_STRUCTURE(camera_portdef);
camera_portdef.nPortIndex = 70;
if((r = OMX_GetParameter(ctx.camera, OMX_IndexParamPortDefinition, &camera_portdef)) != OMX_ErrorNone) {
omx_die(r, "Failed to get port definition for camera preview output port 70");
}
camera_portdef.nPortIndex = 71;
if((r = OMX_SetParameter(ctx.camera, OMX_IndexParamPortDefinition, &camera_portdef)) != OMX_ErrorNone) {
omx_die(r, "Failed to set port definition for camera video output port 71");
}
// Configure frame rate
OMX_CONFIG_FRAMERATETYPE framerate;
OMX_INIT_STRUCTURE(framerate);
framerate.nPortIndex = 70;
framerate.xEncodeFramerate = camera_portdef.format.video.xFramerate;
if((r = OMX_SetConfig(ctx.camera, OMX_IndexConfigVideoFramerate, &framerate)) != OMX_ErrorNone) {
omx_die(r, "Failed to set framerate configuration for camera preview output port 70");
}
framerate.nPortIndex = 71;
if((r = OMX_SetConfig(ctx.camera, OMX_IndexConfigVideoFramerate, &framerate)) != OMX_ErrorNone) {
omx_die(r, "Failed to set framerate configuration for camera video output port 71");
}
// Configure sharpness
OMX_CONFIG_SHARPNESSTYPE sharpness;
OMX_INIT_STRUCTURE(sharpness);
sharpness.nPortIndex = OMX_ALL;
sharpness.nSharpness = CAM_SHARPNESS;
if((r = OMX_SetConfig(ctx.camera, OMX_IndexConfigCommonSharpness, &sharpness)) != OMX_ErrorNone) {
omx_die(r, "Failed to set camera sharpness configuration");
}
// Configure contrast
OMX_CONFIG_CONTRASTTYPE contrast;
OMX_INIT_STRUCTURE(contrast);
contrast.nPortIndex = OMX_ALL;
contrast.nContrast = CAM_CONTRAST;
if((r = OMX_SetConfig(ctx.camera, OMX_IndexConfigCommonContrast, &contrast)) != OMX_ErrorNone) {
omx_die(r, "Failed to set camera contrast configuration");
}
// Configure saturation
OMX_CONFIG_SATURATIONTYPE saturation;
OMX_INIT_STRUCTURE(saturation);
saturation.nPortIndex = OMX_ALL;
saturation.nSaturation = CAM_SATURATION;
if((r = OMX_SetConfig(ctx.camera, OMX_IndexConfigCommonSaturation, &saturation)) != OMX_ErrorNone) {
omx_die(r, "Failed to set camera saturation configuration");
}
// Configure brightness
OMX_CONFIG_BRIGHTNESSTYPE brightness;
OMX_INIT_STRUCTURE(brightness);
brightness.nPortIndex = OMX_ALL;
brightness.nBrightness = CAM_BRIGHTNESS;
if((r = OMX_SetConfig(ctx.camera, OMX_IndexConfigCommonBrightness, &brightness)) != OMX_ErrorNone) {
omx_die(r, "Failed to set camera brightness configuration");
}
// Configure exposure value
OMX_CONFIG_EXPOSUREVALUETYPE exposure_value;
OMX_INIT_STRUCTURE(exposure_value);
exposure_value.nPortIndex = OMX_ALL;
exposure_value.xEVCompensation = CAM_EXPOSURE_VALUE_COMPENSTAION;
exposure_value.bAutoSensitivity = CAM_EXPOSURE_AUTO_SENSITIVITY;
exposure_value.nSensitivity = CAM_EXPOSURE_ISO_SENSITIVITY;
if((r = OMX_SetConfig(ctx.camera, OMX_IndexConfigCommonExposureValue, &exposure_value)) != OMX_ErrorNone) {
omx_die(r, "Failed to set camera exposure value configuration");
}
// Configure frame frame stabilisation
OMX_CONFIG_FRAMESTABTYPE frame_stabilisation_control;
OMX_INIT_STRUCTURE(frame_stabilisation_control);
frame_stabilisation_control.nPortIndex = OMX_ALL;
frame_stabilisation_control.bStab = CAM_FRAME_STABILISATION;
if((r = OMX_SetConfig(ctx.camera, OMX_IndexConfigCommonFrameStabilisation, &frame_stabilisation_control)) != OMX_ErrorNone) {
omx_die(r, "Failed to set camera frame frame stabilisation control configuration");
}
// Configure frame white balance control
OMX_CONFIG_WHITEBALCONTROLTYPE white_balance_control;
OMX_INIT_STRUCTURE(white_balance_control);
white_balance_control.nPortIndex = OMX_ALL;
white_balance_control.eWhiteBalControl = CAM_WHITE_BALANCE_CONTROL;
if((r = OMX_SetConfig(ctx.camera, OMX_IndexConfigCommonWhiteBalance, &white_balance_control)) != OMX_ErrorNone) {
omx_die(r, "Failed to set camera frame white balance control configuration");
}
// Configure image filter
OMX_CONFIG_IMAGEFILTERTYPE image_filter;
OMX_INIT_STRUCTURE(image_filter);
image_filter.nPortIndex = OMX_ALL;
image_filter.eImageFilter = CAM_IMAGE_FILTER;
if((r = OMX_SetConfig(ctx.camera, OMX_IndexConfigCommonImageFilter, &image_filter)) != OMX_ErrorNone) {
omx_die(r, "Failed to set camera image filter configuration");
}
// Configure mirror
OMX_MIRRORTYPE eMirror = OMX_MirrorNone;
if(CAM_FLIP_HORIZONTAL && !CAM_FLIP_VERTICAL) {
eMirror = OMX_MirrorHorizontal;
} else if(!CAM_FLIP_HORIZONTAL && CAM_FLIP_VERTICAL) {
eMirror = OMX_MirrorVertical;
} else if(CAM_FLIP_HORIZONTAL && CAM_FLIP_VERTICAL) {
eMirror = OMX_MirrorBoth;
}
OMX_CONFIG_MIRRORTYPE mirror;
OMX_INIT_STRUCTURE(mirror);
mirror.nPortIndex = 71;
mirror.eMirror = eMirror;
if((r = OMX_SetConfig(ctx.camera, OMX_IndexConfigCommonMirror, &mirror)) != OMX_ErrorNone) {
omx_die(r, "Failed to set mirror configuration for camera video output port 71");
}
// Ensure camera is ready
while(!ctx.camera_ready) {
usleep(10000);
}
say("Configuring null sink...");
say("Default port definition for null sink input port 240");
dump_port(ctx.null_sink, 240, OMX_TRUE);
// Null sink input port definition is done automatically upon tunneling
// Tunnel camera preview output port and null sink input port
say("Setting up tunnel from camera preview output port 70 to null sink input port 240...");
if((r = OMX_SetupTunnel(ctx.camera, 70, ctx.null_sink, 240)) != OMX_ErrorNone) {
omx_die(r, "Failed to setup tunnel between camera preview output port 70 and null sink input port 240");
}
// Switch components to idle state
say("Switching state of the camera component to idle...");
if((r = OMX_SendCommand(ctx.camera, OMX_CommandStateSet, OMX_StateIdle, NULL)) != OMX_ErrorNone) {
omx_die(r, "Failed to switch state of the camera component to idle");
}
block_until_state_changed(ctx.camera, OMX_StateIdle);
say("Switching state of the null sink component to idle...");
if((r = OMX_SendCommand(ctx.null_sink, OMX_CommandStateSet, OMX_StateIdle, NULL)) != OMX_ErrorNone) {
omx_die(r, "Failed to switch state of the null sink component to idle");
}
block_until_state_changed(ctx.null_sink, OMX_StateIdle);
// Enable ports
say("Enabling ports...");
if((r = OMX_SendCommand(ctx.camera, OMX_CommandPortEnable, 73, NULL)) != OMX_ErrorNone) {
omx_die(r, "Failed to enable camera input port 73");
}
block_until_port_changed(ctx.camera, 73, OMX_TRUE);
if((r = OMX_SendCommand(ctx.camera, OMX_CommandPortEnable, 70, NULL)) != OMX_ErrorNone) {
omx_die(r, "Failed to enable camera preview output port 70");
}
block_until_port_changed(ctx.camera, 70, OMX_TRUE);
if((r = OMX_SendCommand(ctx.camera, OMX_CommandPortEnable, 71, NULL)) != OMX_ErrorNone) {
omx_die(r, "Failed to enable camera video output port 71");
}
block_until_port_changed(ctx.camera, 71, OMX_TRUE);
if((r = OMX_SendCommand(ctx.null_sink, OMX_CommandPortEnable, 240, NULL)) != OMX_ErrorNone) {
omx_die(r, "Failed to enable null sink input port 240");
}
block_until_port_changed(ctx.null_sink, 240, OMX_TRUE);
// Allocate camera input and video output buffers,
// buffers for tunneled ports are allocated internally by OMX
say("Allocating buffers...");
OMX_INIT_STRUCTURE(camera_portdef);
camera_portdef.nPortIndex = 73;
if((r = OMX_GetParameter(ctx.camera, OMX_IndexParamPortDefinition, &camera_portdef)) != OMX_ErrorNone) {
omx_die(r, "Failed to get port definition for camera input port 73");
}
if((r = OMX_AllocateBuffer(ctx.camera, &ctx.camera_ppBuffer_in, 73, NULL, camera_portdef.nBufferSize)) != OMX_ErrorNone) {
omx_die(r, "Failed to allocate buffer for camera input port 73");
}
camera_portdef.nPortIndex = 71;
if((r = OMX_GetParameter(ctx.camera, OMX_IndexParamPortDefinition, &camera_portdef)) != OMX_ErrorNone) {
omx_die(r, "Failed to get port definition for camera vіdeo output port 71");
}
if((r = OMX_AllocateBuffer(ctx.camera, &ctx.camera_ppBuffer_out, 71, NULL, camera_portdef.nBufferSize)) != OMX_ErrorNone) {
omx_die(r, "Failed to allocate buffer for camera video output port 71");
}
// Just use stdout for output
say("Opening input and output files...");
ctx.fd_out = stdout;
// Switch state of the components prior to starting
// the video capture loop
say("Switching state of the camera component to executing...");
if((r = OMX_SendCommand(ctx.camera, OMX_CommandStateSet, OMX_StateExecuting, NULL)) != OMX_ErrorNone) {
omx_die(r, "Failed to switch state of the camera component to executing");
}
block_until_state_changed(ctx.camera, OMX_StateExecuting);
say("Switching state of the null sink component to executing...");
if((r = OMX_SendCommand(ctx.null_sink, OMX_CommandStateSet, OMX_StateExecuting, NULL)) != OMX_ErrorNone) {
omx_die(r, "Failed to switch state of the null sink component to executing");
}
block_until_state_changed(ctx.null_sink, OMX_StateExecuting);
// Start capturing video with the camera
say("Switching on capture on camera video output port 71...");
OMX_CONFIG_PORTBOOLEANTYPE capture;
OMX_INIT_STRUCTURE(capture);
capture.nPortIndex = 71;
capture.bEnabled = OMX_TRUE;
if((r = OMX_SetParameter(ctx.camera, OMX_IndexConfigPortCapturing, &capture)) != OMX_ErrorNone) {
omx_die(r, "Failed to switch on capture on camera video output port 71");
}
say("Configured port definition for camera input port 73");
dump_port(ctx.camera, 73, OMX_FALSE);
say("Configured port definition for camera preview output port 70");
dump_port(ctx.camera, 70, OMX_FALSE);
say("Configured port definition for camera video output port 71");
dump_port(ctx.camera, 71, OMX_FALSE);
say("Configured port definition for null sink input port 240");
dump_port(ctx.null_sink, 240, OMX_FALSE);
i420_frame_info frame_info, buf_info;
get_i420_frame_info(camera_portdef.format.image.nFrameWidth, camera_portdef.format.image.nFrameHeight, camera_portdef.format.image.nStride, camera_portdef.format.video.nSliceHeight, &frame_info);
get_i420_frame_info(frame_info.buf_stride, frame_info.buf_slice_height, -1, -1, &buf_info);
dump_frame_info("Destination frame", &frame_info);
dump_frame_info("Source buffer", &buf_info);
// Buffer representing an I420 frame where to unpack
// the fragmented Y, U, and V plane spans from the OMX buffers
char *frame = calloc(1, frame_info.size);
if(frame == NULL) {
die("Failed to allocate frame buffer");
}
// Some counters
int frame_num = 1, buf_num = 0;
size_t output_written, frame_bytes = 0, buf_size, buf_bytes_read = 0, buf_bytes_copied;
int i;
// I420 spec: U and V plane span size half of the size of the Y plane span size
int max_spans_y = buf_info.height, max_spans_uv = max_spans_y / 2;
int valid_spans_y, valid_spans_uv;
// For unpack memory copy operation
unsigned char *buf_start;
int max_spans, valid_spans;
int dst_offset, src_offset, span_size;
// For controlling the loop
int quit_detected = 0, quit_in_frame_boundry = 0, need_next_buffer_to_be_filled = 1;
say("Enter capture loop, press Ctrl-C to quit...");
signal(SIGINT, signal_handler);
signal(SIGTERM, signal_handler);
signal(SIGQUIT, signal_handler);
while(1) {
// fill_output_buffer_done_handler() has marked that there's
// a buffer for us to flush
if(ctx.camera_output_buffer_available) {
// Print a message if the user wants to quit, but don't exit
// the loop until we are certain that we have processed
// a full frame till end of the frame. This way we should always
// avoid corruption of the last encoded at the expense of
// small delay in exiting.
if(want_quit && !quit_detected) {
say("Exit signal detected, waiting for next frame boundry before exiting...");
quit_detected = 1;
quit_in_frame_boundry = ctx.camera_ppBuffer_out->nFlags & OMX_BUFFERFLAG_ENDOFFRAME;
}
if(quit_detected &&
(quit_in_frame_boundry ^
(ctx.camera_ppBuffer_out->nFlags & OMX_BUFFERFLAG_ENDOFFRAME))) {
say("Frame boundry reached, exiting loop...");
break;
}
// Start of the OMX buffer data
buf_start = ctx.camera_ppBuffer_out->pBuffer
+ ctx.camera_ppBuffer_out->nOffset;
// Size of the OMX buffer data;
buf_size = ctx.camera_ppBuffer_out->nFilledLen;
buf_bytes_read += buf_size;
buf_bytes_copied = 0;
// Detect the possibly non-full buffer in the last buffer of a frame
valid_spans_y = max_spans_y
- ((ctx.camera_ppBuffer_out->nFlags & OMX_BUFFERFLAG_ENDOFFRAME)
? frame_info.buf_extra_padding
: 0);
// I420 spec: U and V plane span size half of the size of the Y plane span size
valid_spans_uv = valid_spans_y / 2;
// Unpack Y, U, and V plane spans from the buffer to the I420 frame
for(i = 0; i < 3; i++) {
// Number of maximum and valid spans for this plane
max_spans = (i == 0 ? max_spans_y : max_spans_uv);
valid_spans = (i == 0 ? valid_spans_y : valid_spans_uv);
dst_offset =
// Start of the plane span in the I420 frame
frame_info.p_offset[i] +
// Plane spans copied from the previous buffers
(buf_num * frame_info.p_stride[i] * max_spans);
src_offset =
// Start of the plane span in the buffer
buf_info.p_offset[i];
span_size =
// Plane span size multiplied by the available spans in the buffer
frame_info.p_stride[i] * valid_spans;
memcpy(
// Destination starts from the beginning of the frame and move forward by offset
frame + dst_offset,
// Source starts from the beginning of the OMX component buffer and move forward by offset
buf_start + src_offset,
// The final plane span size, possible padding at the end of
// the plane span section in the buffer isn't included
// since the size is based on the final frame plane span size
span_size);
buf_bytes_copied += span_size;
}
frame_bytes += buf_bytes_copied;
buf_num++;
say("Read %d bytes from buffer %d of frame %d, copied %d bytes from %d Y spans and %d U/V spans available",
buf_size, buf_num, frame_num, buf_bytes_copied, valid_spans_y, valid_spans_uv);
if(ctx.camera_ppBuffer_out->nFlags & OMX_BUFFERFLAG_ENDOFFRAME) {
// Dump the complete I420 frame
say("Captured frame %d, %d packed bytes read, %d bytes unpacked, writing %d unpacked frame bytes",
frame_num, buf_bytes_read, frame_bytes, frame_info.size);
if(frame_bytes != frame_info.size) {
die("Frame bytes read %d doesn't match the frame size %d",
frame_bytes, frame_info.size);
}
output_written = fwrite(frame, 1, frame_info.size, ctx.fd_out);
if(output_written != frame_info.size) {
die("Failed to write to output file: Requested to write %d bytes, but only %d bytes written: %s",
frame_info.size, output_written, strerror(errno));
}
frame_num++;
buf_num = 0;
buf_bytes_read = 0;
frame_bytes = 0;
memset(frame, 0, frame_info.size);
}
need_next_buffer_to_be_filled = 1;
}
// Buffer flushed, request a new buffer to be filled by the camera component
if(need_next_buffer_to_be_filled) {
need_next_buffer_to_be_filled = 0;
ctx.camera_output_buffer_available = 0;
if((r = OMX_FillThisBuffer(ctx.camera, ctx.camera_ppBuffer_out)) != OMX_ErrorNone) {
omx_die(r, "Failed to request filling of the output buffer on camera video output port 71");
}
}
// Would be better to use signaling here but hey this works too
usleep(10);
}
say("Cleaning up...");
// Restore signal handlers
signal(SIGINT, SIG_DFL);
signal(SIGTERM, SIG_DFL);
signal(SIGQUIT, SIG_DFL);
// Stop capturing video with the camera
OMX_INIT_STRUCTURE(capture);
capture.nPortIndex = 71;
capture.bEnabled = OMX_FALSE;
if((r = OMX_SetParameter(ctx.camera, OMX_IndexConfigPortCapturing, &capture)) != OMX_ErrorNone) {
omx_die(r, "Failed to switch off capture on camera video output port 71");
}
// Return the last full buffer back to the camera component
if((r = OMX_FillThisBuffer(ctx.camera, ctx.camera_ppBuffer_out)) != OMX_ErrorNone) {
omx_die(r, "Failed to request filling of the output buffer on camera video output port 71");
}
// Flush the buffers on each component
if((r = OMX_SendCommand(ctx.camera, OMX_CommandFlush, 73, NULL)) != OMX_ErrorNone) {
omx_die(r, "Failed to flush buffers of camera input port 73");
}
block_until_flushed(&ctx);
if((r = OMX_SendCommand(ctx.camera, OMX_CommandFlush, 70, NULL)) != OMX_ErrorNone) {
omx_die(r, "Failed to flush buffers of camera preview output port 70");
}
block_until_flushed(&ctx);
if((r = OMX_SendCommand(ctx.camera, OMX_CommandFlush, 71, NULL)) != OMX_ErrorNone) {
omx_die(r, "Failed to flush buffers of camera video output port 71");
}
block_until_flushed(&ctx);
if((r = OMX_SendCommand(ctx.null_sink, OMX_CommandFlush, 240, NULL)) != OMX_ErrorNone) {
omx_die(r, "Failed to flush buffers of null sink input port 240");
}
block_until_flushed(&ctx);
// Disable all the ports
if((r = OMX_SendCommand(ctx.camera, OMX_CommandPortDisable, 73, NULL)) != OMX_ErrorNone) {
omx_die(r, "Failed to disable camera input port 73");
}
block_until_port_changed(ctx.camera, 73, OMX_FALSE);
if((r = OMX_SendCommand(ctx.camera, OMX_CommandPortDisable, 70, NULL)) != OMX_ErrorNone) {
omx_die(r, "Failed to disable camera preview output port 70");
}
block_until_port_changed(ctx.camera, 70, OMX_FALSE);
if((r = OMX_SendCommand(ctx.camera, OMX_CommandPortDisable, 71, NULL)) != OMX_ErrorNone) {
omx_die(r, "Failed to disable camera video output port 71");
}
block_until_port_changed(ctx.camera, 71, OMX_FALSE);
if((r = OMX_SendCommand(ctx.null_sink, OMX_CommandPortDisable, 240, NULL)) != OMX_ErrorNone) {
omx_die(r, "Failed to disable null sink input port 240");
}
block_until_port_changed(ctx.null_sink, 240, OMX_FALSE);
// Free all the buffers
if((r = OMX_FreeBuffer(ctx.camera, 73, ctx.camera_ppBuffer_in)) != OMX_ErrorNone) {
omx_die(r, "Failed to free buffer for camera input port 73");
}
if((r = OMX_FreeBuffer(ctx.camera, 71, ctx.camera_ppBuffer_out)) != OMX_ErrorNone) {
omx_die(r, "Failed to free buffer for camera video output port 71");
}