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utils.py
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utils.py
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import v4l2
import fcntl
import array
import ctypes
import cv2
import numpy as np
_IOC_NRBITS = 8
_IOC_TYPEBITS = 8
_IOC_SIZEBITS = 14
_IOC_DIRBITS = 2
_IOC_NRSHIFT = 0
_IOC_TYPESHIFT = _IOC_NRSHIFT + _IOC_NRBITS
_IOC_SIZESHIFT = _IOC_TYPESHIFT + _IOC_TYPEBITS
_IOC_DIRSHIFT = _IOC_SIZESHIFT + _IOC_SIZEBITS
_IOC_NONE = 0
_IOC_WRITE = 1
_IOC_READ = 2
def _IOC(dir_, type_, nr, size):
return (
ctypes.c_int32(dir_ << _IOC_DIRSHIFT).value |
ctypes.c_int32(ord(type_) << _IOC_TYPESHIFT).value |
ctypes.c_int32(nr << _IOC_NRSHIFT).value |
ctypes.c_int32(size << _IOC_SIZESHIFT).value)
def _IOC_TYPECHECK(t):
return ctypes.sizeof(t)
def _IO(type_, nr):
return _IOC(_IOC_NONE, type_, nr, 0)
def _IOW(type_, nr, size):
return _IOC(_IOC_WRITE, type_, nr, _IOC_TYPECHECK(size))
def _IOR(type_, nr, size):
return _IOC(_IOC_READ, type_, nr, _IOC_TYPECHECK(size))
def _IOWR(type_, nr, size):
return _IOC(_IOC_READ | _IOC_WRITE, type_, nr, _IOC_TYPECHECK(size))
BASE_VIDIOC_PRIVATE = 192
class arducam_i2c(ctypes.Structure):
_fields_ = [
('reg', ctypes.c_uint16),
('val', ctypes.c_uint16),
]
class arducam_dev(ctypes.Structure):
_fields_ = [
('reg', ctypes.c_uint16),
('val', ctypes.c_uint32),
]
VIDIOC_R_I2C = _IOWR('V', BASE_VIDIOC_PRIVATE + 0, arducam_i2c)
VIDIOC_W_I2C = _IOWR('V', BASE_VIDIOC_PRIVATE + 1, arducam_i2c)
VIDIOC_R_DEV = _IOWR('V', BASE_VIDIOC_PRIVATE + 2, arducam_dev)
VIDIOC_W_DEV = _IOWR('V', BASE_VIDIOC_PRIVATE + 3, arducam_dev)
class ArducamUtils(object):
pixfmt_map = {
v4l2.V4L2_PIX_FMT_SBGGR10:{ "depth":10, "cvt_code": cv2.COLOR_BAYER_RG2BGR, "convert2rgb": 0},
v4l2.V4L2_PIX_FMT_SGBRG10:{ "depth":10, "cvt_code": cv2.COLOR_BAYER_GR2BGR, "convert2rgb": 0},
v4l2.V4L2_PIX_FMT_SGRBG10:{ "depth":10, "cvt_code": cv2.COLOR_BAYER_GB2BGR, "convert2rgb": 0},
v4l2.V4L2_PIX_FMT_SRGGB10:{ "depth":10, "cvt_code": cv2.COLOR_BAYER_BG2BGR, "convert2rgb": 0},
v4l2.V4L2_PIX_FMT_Y10:{ "depth":10, "cvt_code": -1, "convert2rgb": 0},
}
pixfmt_map_xavier_nx = {
v4l2.V4L2_PIX_FMT_SBGGR10:{ "depth":16, "cvt_code": cv2.COLOR_BAYER_RG2BGR, "convert2rgb": 0},
v4l2.V4L2_PIX_FMT_SGBRG10:{ "depth":16, "cvt_code": cv2.COLOR_BAYER_GR2BGR, "convert2rgb": 0},
v4l2.V4L2_PIX_FMT_SGRBG10:{ "depth":16, "cvt_code": cv2.COLOR_BAYER_GB2BGR, "convert2rgb": 0},
v4l2.V4L2_PIX_FMT_SRGGB10:{ "depth":16, "cvt_code": cv2.COLOR_BAYER_BG2BGR, "convert2rgb": 0},
v4l2.V4L2_PIX_FMT_Y10:{ "depth":16, "cvt_code": -1, "convert2rgb": 0},
}
pixfmt_map_raw8 = {
v4l2.V4L2_PIX_FMT_SBGGR8:{ "depth":8, "cvt_code": cv2.COLOR_BAYER_RG2BGR, "convert2rgb": 0},
v4l2.V4L2_PIX_FMT_SGBRG8:{ "depth":8, "cvt_code": cv2.COLOR_BAYER_GR2BGR, "convert2rgb": 0},
v4l2.V4L2_PIX_FMT_SGRBG8:{ "depth":8, "cvt_code": cv2.COLOR_BAYER_GB2BGR, "convert2rgb": 0},
v4l2.V4L2_PIX_FMT_SRGGB8:{ "depth":8, "cvt_code": cv2.COLOR_BAYER_BG2BGR, "convert2rgb": 0},
}
AUTO_CONVERT_TO_RGB = { "depth":-1, "cvt_code": -1, "convert2rgb": 1}
DEVICE_REG_BASE = 0x0100
PIXFORMAT_REG_BASE = 0x0200
FORMAT_REG_BASE = 0x0300
CTRL_REG_BASE = 0x0400
SENSOR_REG_BASE = 0x500
STREAM_ON = (DEVICE_REG_BASE | 0x0000)
FIRMWARE_VERSION_REG = (DEVICE_REG_BASE | 0x0001)
SENSOR_ID_REG = (DEVICE_REG_BASE | 0x0002)
DEVICE_ID_REG = (DEVICE_REG_BASE | 0x0003)
FIRMWARE_SENSOR_ID_REG = (DEVICE_REG_BASE | 0x0005)
SERIAL_NUMBER_REG = (DEVICE_REG_BASE | 0x0006)
CHANNEL_SWITCH_REG = (DEVICE_REG_BASE | 0x0008)
PIXFORMAT_INDEX_REG = (PIXFORMAT_REG_BASE | 0x0000)
PIXFORMAT_TYPE_REG = (PIXFORMAT_REG_BASE | 0x0001)
PIXFORMAT_ORDER_REG = (PIXFORMAT_REG_BASE | 0x0002)
MIPI_LANES_REG = (PIXFORMAT_REG_BASE | 0x0003)
RESOLUTION_INDEX_REG = (FORMAT_REG_BASE | 0x0000)
FORMAT_WIDTH_REG = (FORMAT_REG_BASE | 0x0001)
FORMAT_HEIGHT_REG = (FORMAT_REG_BASE | 0x0002)
CTRL_INDEX_REG = (CTRL_REG_BASE | 0x0000)
CTRL_ID_REG = (CTRL_REG_BASE | 0x0001)
CTRL_MIN_REG = (CTRL_REG_BASE | 0x0002)
CTRL_MAX_REG = (CTRL_REG_BASE | 0x0003)
CTRL_STEP_REG = (CTRL_REG_BASE | 0x0004)
CTRL_DEF_REG = (CTRL_REG_BASE | 0x0005)
CTRL_VALUE_REG = (CTRL_REG_BASE | 0x0006)
SENSOR_RD_REG = (SENSOR_REG_BASE |0x0001)
SENSOR_WR_REG = (SENSOR_REG_BASE |0x0002)
NO_DATA_AVAILABLE = 0xFFFFFFFE
DEVICE_ID = 0x0030
def __init__(self, device_num):
from jtop import jtop
with jtop() as jetson:
if jetson.ok():
for name_category, category in jetson.board.items():
if name_category == "hardware":
environment_vars = category['Module']
print("Hardware is: {}".format(environment_vars))
# Jetson Model
if "Xavier NX" in environment_vars:
ArducamUtils.pixfmt_map = ArducamUtils.pixfmt_map_xavier_nx
elif "Orin NX" in environment_vars:
ArducamUtils.pixfmt_map = ArducamUtils.pixfmt_map_xavier_nx
elif "Orin Nano" in environment_vars:
ArducamUtils.pixfmt_map = ArducamUtils.pixfmt_map_xavier_nx
elif "AGX Orin" in environment_vars:
ArducamUtils.pixfmt_map = ArducamUtils.pixfmt_map_xavier_nx
self.vd = open('/dev/video{}'.format(device_num), 'w')
self.refresh()
def refresh(self):
self.config = self.get_pixfmt_cfg()
def read_sensor(self, reg):
i2c = arducam_i2c()
i2c.reg = reg
fcntl.ioctl(self.vd, VIDIOC_R_I2C, i2c)
return i2c.val
def write_sensor(self, reg, val):
i2c = arducam_i2c()
i2c.reg = reg
i2c.val = val
return fcntl.ioctl(self.vd, VIDIOC_W_I2C, i2c)
def read_dev(self, reg):
dev = arducam_dev()
dev.reg = reg
ret = fcntl.ioctl(self.vd, VIDIOC_R_DEV, dev)
return ret, dev.val
def write_dev(self, reg, val):
dev = arducam_dev()
dev.reg = reg
dev.val = val
return fcntl.ioctl(self.vd, VIDIOC_W_DEV, dev)
def get_device_info(self):
fw_sensor_id = self.read_dev(ArducamUtils.FIRMWARE_SENSOR_ID_REG)
sensor_id = self.read_dev(ArducamUtils.SENSOR_ID_REG)
fw_version = self.read_dev(ArducamUtils.FIRMWARE_VERSION_REG)
serial_number = self.read_dev(ArducamUtils.SERIAL_NUMBER_REG)
pass
def convert(self, frame):
if self.convert2rgb == 1:
return frame
if self.depth != -1:
frame = cv2.convertScaleAbs(frame, None, 256.0 / (1 << self.depth))
frame = frame.astype(np.uint8)
if self.cvt_code != -1:
frame = cv2.cvtColor(frame, self.cvt_code)
return frame
def get_pixelformat(self):
fmt = v4l2.v4l2_format()
fmt.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
ret = fcntl.ioctl(self.vd, v4l2.VIDIOC_G_FMT, fmt)
return ret, fmt.fmt.pix.pixelformat
# Find the actual pixel format
def get_pixfmt_cfg(self):
ret, pixfmt = self.get_pixelformat()
pf = ArducamUtils.pixfmt_map_raw8.get(pixfmt, None)
if pf != None:
return pf
if pixfmt != v4l2.V4L2_PIX_FMT_Y16:
return ArducamUtils.AUTO_CONVERT_TO_RGB
fmtdesc = v4l2.v4l2_fmtdesc()
fmtdesc.index = 0
fmtdesc.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
while True:
try:
fcntl.ioctl(self.vd, v4l2.VIDIOC_ENUM_FMT, fmtdesc)
pixfmt = ArducamUtils.pixfmt_map.get(fmtdesc.pixelformat, None)
if pixfmt != None:
return pixfmt
fmtdesc.index += 1
except Exception as e:
break
return ArducamUtils.AUTO_CONVERT_TO_RGB
def get_pixelformats(self):
pixfmts = []
fmtdesc = v4l2.v4l2_fmtdesc()
fmtdesc.index = 0
fmtdesc.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
while True:
try:
fcntl.ioctl(self.vd, v4l2.VIDIOC_ENUM_FMT, fmtdesc)
pixfmts.append((fmtdesc.pixelformat, fmtdesc.description))
fmtdesc.index += 1
except Exception as e:
break
return pixfmts
def get_framesizes(self, pixel_format = v4l2.V4L2_PIX_FMT_Y16):
framesizes = []
framesize = v4l2.v4l2_frmsizeenum()
framesize.index = 0
framesize.pixel_format = pixel_format
while True:
try:
fcntl.ioctl(self.vd, v4l2.VIDIOC_ENUM_FRAMESIZES, framesize)
framesizes.append((framesize.discrete.width, framesize.discrete.height))
framesize.index += 1
except Exception as e:
break
return framesizes
def __getattr__(self, key):
return self.config.get(key)