直接从 CSI2传感器接收原始数据的示例应用_C语言_代码_相关文件_下载

Raspiraw: An example app that receives data directly from CSI sensors on the Raspberry Pi. The register sets for OV5647 and IMX219 are often under NDA, which means that support can not be offered over their contents without breaking those NDAs. Anything added here by RPF/RPT has to be demonstrable as already being in the public domain, or from 3rd parties having reverse engineered how the firmware is working (eg by listening to the I2C communications). The raw Bayer format frames captured by **raspiraw** can be converted to .ppm images by modified **dcraw** image processing app: [https://github.com/6by9/dcraw](https://github.com/6by9/dcraw) Supported sensors: adv7282m imx219 ov5647 ## raspiraw command line options Table of contents: $ raspiraw raspiraw Camera App 0.0.1 -?, --help : This help information -md, --mode : Set sensor mode <mode> -hf, --hflip : Set horizontal flip -vf, --vflip : Set vertical flip -e, --ss : Set the sensor exposure time (not calibrated units) -g, --gain : Set the sensor gain code (not calibrated units) -o, --output : Set the output filename -hd, --header : Write the BRCM header to the output file -t, --timeout : Time (in ms) before shutting down (if not specified, set to 5s) -sr, --saverate : Save every Nth frame -b, --bitdepth : Set output raw bit depth (8, 10, 12 or 16, if not specified, set to sensor native) -c, --cameranum : Set camera number to use (0=CAM0, 1=CAM1). -eus, --expus : Set the sensor exposure time in micro seconds. -y, --i2c : Set the I2C bus to use. -r, --regs : Change (current mode) regs -hi, --hinc : Set horizontal odd/even inc reg -vi, --vinc : Set vertical odd/even inc reg -f, --fps : Set framerate regs -w, --width : Set current mode width -h, --height : Set current mode height -tp, --top : Set current mode top -hd0, --header0 : Sets filename to write the BRCM header to -ts, --tstamps : Sets filename to write timestamps to -emp, --empty : Write empty output files $ ## base options ... -md, --mode : Set sensor mode <mode> Range is 1-7. ... -o, --output : Set the output filename For recording more than one frame specify "C printf integer format strings" as part of the filename. Example: ... -o /dev/shm/out.%04d.raw ... -hd, --header : Write the BRCM header to the output file If selected, this prepeneds each stored frame with a 32KB header (needed for **dcraw** being able to process the raw frame). An alternative (needed for high framerate capturing) is option -hd0 (see below section), which allows **dcraw** to process the captured frames later as well. ... -sr, --saverate : Save every Nth frame Per default this is 20, allowing to capture frames to slow SD cards. In high framerate section, storing on (fast) ramdisk allows to use "-sr 1" (store all frames). ... -y, --i2c : Set the I2C bus to use. Range is 0-2. ## high frame rate options Lookup ov5647, imx219 or adv7282m data sheets for register details. #### I2C register setting options -r, --regs : Change (current mode) regs Allows to change sensor regs in selected sensor mode. Format is a semicolon separated string of assignments. An assignment consists of a 4 hex digits register address, followed by a comma and one or more 2 hex digit byte values. Restriction: Only registers present in selected sensor mode can be modified. Example argument: "380A,003C;3802,78;3806,05FB". In case more than one byte appears after the comma, the byte values get written to next addresses. -hi, --hinc : Set horizontal odd/even inc reg Sets the horizontal odd and even increment numbers. Argument is a 2 hex digits byte. "-hi xy" is convenience shortcut for "3814,xy" in --regs for ov5647 sensor. Lookup the sensor mode registers for your sensor header file for default values. TODO: Needs to be extended to deal with the other sensors as well. -vi, --vinc : Set vertical odd/even inc reg Sets the vertical odd and even increment numbers. Argument is a 2 hex digits byte. "-vi xy" is convenience shortcut for "3815,xy" in --regs for ov5647 sensor. TODO: Needs to be extended to deal with the other sensors as well. -f, --fps : Set frame rate regs Sets the requested frame rate; argument is a floating point number. All sensors but adv7282m sensor are supported. #### Sensor mode setting options The following options allow to overwrite some sensor mode settings for current sensor mode. -w, --width : Set current mode width Sets the width value of current mode. -h, --height : Set current mode height Sets the height value of current mode, and sensor mode regs. -tp, --top : Set current mode top Sets top line in case --vinc setting jumps two or more lines. The tools *_B* modes make use of it to capture bottom half of fov. #### File output settings -hd0, --header0 : Write the BRCM header to output file For high frame rate modes writing BRCM header to each file is a bottleneck. So this option is a replacement for "--header"/"-hd" option. Instead of writing header to each frame file, it is written to specified output file only. For decoding ith frame with **dcraw** later, you need to concatenate specified output file and frame i and store somewhere, then **dcraw** that file. -ts, --tstamps : Write timestamps to output file With this option timestamps for the captured frames get written to specified output file. This happens after video has been captured, so does not negatively affect capture frame rate. Format: "delta,index,timestamp\n" Timestamp distribution analysis can be easily done this way: $ cut -f1 -d, tstamps.csv | sort -n | uniq -c 1 13 1499 17 1500 31 1501 147 1502 376 1503 22 1504 33 1505 14 1506 3 1507 1 3005 2 3006 $ This shows that frame deltas are 1503&micro;s &plusmn; 4&micro;s, which corresponds to 1,000,000/1503=665.3fps. Three frame skips happened during recording, and their indices can be easily determined by: $ grep "^3" tstamps.csv 3006,2,6027843627 3005,85,6027969857 3006,554,6028676146 $ So we know that frames 0085-0553 have no frame skips. All tools do this timestamp analysis for you. -emp, --empty : Write empty output files This option allows to determine the maximal frame rate **raspiraw** callback will be triggered. Only empty files will be written for the frames, but the filenames allow to count how many. This would be an example use: raspiraw -md 7 -t 3000 -emp {some options from this section} -sr 1 -o /dev/shm/out.%04d.raw 2>/dev/null Using **/dev/shm** ramdisk for storage is essential for high frame rates. You precede this command by "rm /dev/shm/out.&ast;.raw" and do "ls -l /dev/shm/out.&ast;.raw | wc --lines" afterwards to determine the number of frames written ("-sr 1" means saverate 1 or writing all frames received from camera). "--empty" option allows to determine upper bounds for the absolute maximal frame rate achievable for a given set of high frame rate options. #### Examples: This is an example making use of most high frame rate command line options: $ rm /dev/shm/out.*.raw $ raspiraw -md 7 -t 1000 -ts tstamps.csv -hd0 hd0.32k -h 64 --vinc 1F --fps 660 -r "380A,0040;3802,78;3806,0603" -sr 1 -o /dev/shm/out.%04d.raw 2>/dev/null Using i2C device /dev/i2c-0 $ ls -l /dev/shm/out.*.raw | wc --lines 660 $ This command captures video from ov5647 camera on CSI-2 interface: * based on 640x480 mode (-md 7) * captures for 1s (-t 1000) * stores &micro;s timestamps in file tstamps.csv (-ts) * stores BCRM header needed for **dcraw** only once in file hd0.32k (-hd0) * sets frame capture height to 64 (-h 64) * increases line skipping to 1 and 15 instead of 3 and 5. Results in doubling vertical covered area (--vinc 1F, sum 8 vs 16). 1F shows colors (see below), 3D result is pale * asks for 660 fps (--fps 660) * sets some ov5647 registers (380A,0040;3802,78;3806,0603) * sets saverate to 1 (save all frames) * outputs in "/dev/shm" ramdisk files starting with "out.0001.raw" * r