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gstCamera.h
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1 /*
2 * Copyright (c) 2017, NVIDIA CORPORATION. All rights reserved.
3 *
4 * Permission is hereby granted, free of charge, to any person obtaining a
5 * copy of this software and associated documentation files (the "Software"),
6 * to deal in the Software without restriction, including without limitation
7 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
8 * and/or sell copies of the Software, and to permit persons to whom the
9 * Software is furnished to do so, subject to the following conditions:
10 *
11 * The above copyright notice and this permission notice shall be included in
12 * all copies or substantial portions of the Software.
13 *
14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
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19 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
20 * DEALINGS IN THE SOFTWARE.
21 */
22
23 #ifndef __GSTREAMER_CAMERA_H__
24 #define __GSTREAMER_CAMERA_H__
25
26 #include <gst/gst.h>
27 #include <string>
28
29 #include "videoSource.h"
30 #include "gstBufferManager.h"
31
32
33 // Forward declarations
34 struct _GstAppSink;
35
36
57 class gstCamera : public videoSource
58 {
59 public:
63static gstCamera* Create( const videoOptions& options );
64
83static gstCamera* Create( const char* camera=NULL ); // use MIPI CSI camera by default
84
106static gstCamera* Create( uint32_t width, uint32_t height, const char* camera=NULL );
107
112~gstCamera();
113
124virtual bool Open();
125
132virtual void Close();
133
138virtual bool Capture( void** image, imageFormat format, uint64_t timeout=DEFAULT_TIMEOUT, int* status=NULL );
139
173bool CaptureRGBA( float** image, uint64_t timeout=DEFAULT_TIMEOUT, bool zeroCopy=false );
174
179void SetZeroCopy(bool zeroCopy) { mOptions.zeroCopy = zeroCopy; }
180
184virtual inline uint32_t GetType() const { return Type; }
185
189static const uint32_t Type = (1 << 0);
190
194static const uint32_t DefaultWidth = 1280;
195
199static const uint32_t DefaultHeight = 720;
200
201 private:
202static void onEOS(_GstAppSink* sink, void* user_data);
203static GstFlowReturn onPreroll(_GstAppSink* sink, void* user_data);
204static GstFlowReturn onBuffer(_GstAppSink* sink, void* user_data);
205
206gstCamera( const videoOptions& options );
207
208bool init();
209bool discover();
210bool buildLaunchStr();
211
212void checkMsgBus();
213void checkBuffer();
214
215bool matchCaps( GstCaps* caps );
216bool printCaps( GstCaps* caps );
217bool parseCaps( GstStructure* caps, videoOptions::Codec* codec, imageFormat* format, uint32_t* width, uint32_t* height, float* frameRate );
218
219 _GstBus* mBus;
220 _GstAppSink* mAppSink;
221 _GstElement* mPipeline;
222
223 std::string mLaunchStr;
224imageFormat mFormatYUV;
225
226gstBufferManager* mBufferManager;
227 };
228
229 #endif
bool CaptureRGBA(float **image, uint64_t timeout=DEFAULT_TIMEOUT, bool zeroCopy=false)
Capture the next image frame from the camera and convert it to float4 RGBA format,...
virtual void Close()
Stop streaming the camera.
static gstCamera * Create(const videoOptions &options)
Create a MIPI CSI or V4L2 camera device.
gstBufferManager recieves GStreamer buffers from appsink elements and unpacks/maps them into CUDA add...
Definition: gstBufferManager.h:61
MIPI CSI and V4L2 camera capture using GStreamer and nvarguscamerasrc or v4l2src elements.
Definition: gstCamera.h:57
void SetZeroCopy(bool zeroCopy)
Set whether converted RGB(A) images should use ZeroCopy buffer allocation.
Definition: gstCamera.h:179
static const uint32_t DefaultWidth
Default camera width, unless otherwise specified during Create()
Definition: gstCamera.h:194
Codec
Video codecs.
Definition: videoOptions.h:198
~gstCamera()
Release the camera interface and resources.
virtual bool Capture(void **image, imageFormat format, uint64_t timeout=DEFAULT_TIMEOUT, int *status=NULL)
Capture the next image frame from the camera.
videoOptions mOptions
Definition: videoSource.h:378
bool zeroCopy
If true, indicates the buffers are allocated in zeroCopy memory that is mapped to both the CPU and GP...
Definition: videoOptions.h:104
virtual uint32_t GetType() const
Return the interface type (gstCamera::Type)
Definition: gstCamera.h:184
static const uint64_t DEFAULT_TIMEOUT
The default Capture timeout (1000ms)
Definition: videoSource.h:371
static const uint32_t DefaultHeight
Default camera height, unless otherwise specified during Create()
Definition: gstCamera.h:199
The videoOptions struct contains common settings that are used to configure and query videoSource and...
Definition: videoOptions.h:37
virtual bool Open()
Begin streaming the camera.
static const uint32_t Type
Unique type identifier of gstCamera class.
Definition: gstCamera.h:189
imageFormat
The imageFormat enum is used to identify the pixel format and colorspace of an image.
Definition: imageFormat.h:49
The videoSource API is for capturing frames from video input devices such as MIPI CSI cameras,...
Definition: videoSource.h:118