Camera.h

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#ifndef DW_SENSORS_CAMERA_CAMERA_H_
#define DW_SENSORS_CAMERA_CAMERA_H_
 
#include <dw/core/base/Config.h>
#include <dw/core/base/Types.h>
#include <dw/sensors/common/Sensors.h>
#include <dw/image/Image.h>
 
#include <nvscisync.h>
#include <nvscibuf.h>
 
// Forward declares from NvMedia
typedef void NvMediaIPPManager;
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define DW_CAMERA_NUM_ISP_UNITS 2U
 
typedef struct dwCameraFrame* dwCameraFrameHandle_t;
 
typedef enum dwCameraOutputType {
    DW_CAMERA_OUTPUT_NATIVE_PROCESSED = 1 << 0,
    DW_CAMERA_OUTPUT_NATIVE_RAW = 1 << 1,
    DW_CAMERA_OUTPUT_CUDA_RGBA_UINT8 = 1 << 2,
    DW_CAMERA_OUTPUT_CUDA_YUV420_UINT8_PLANAR = 1 << 3,
    DW_CAMERA_OUTPUT_CUDA_RAW_UINT16 = 1 << 4,
    DW_CAMERA_OUTPUT_CUDA_YUV420_UINT16_SEMIPLANAR = 1 << 5,
    DW_CAMERA_OUTPUT_CUDA_YUV444_UINT8_PLANAR = 1 << 6,
    DW_CAMERA_OUTPUT_CUDA_YUV444_UINT16_PLANAR = 1 << 7,
    DW_CAMERA_OUTPUT_CUDA_YUV420_UINT8_SEMIPLANAR = 1 << 8,
    DW_CAMERA_OUTPUT_NATIVE_PROCESSED1 = 1 << 9,
    DW_CAMERA_OUTPUT_NATIVE_PROCESSED2 = 1 << 10,
    DW_CAMERA_OUTPUT_UNSUPPORTED = 1 << 11,
} dwCameraOutputType;
 
typedef enum dwCameraRawFormat {
    DW_CAMERA_RAW_FORMAT_UNKNOWN = 0,
 
    DW_CAMERA_RAW_FORMAT_RGGB = 7000,
    DW_CAMERA_RAW_FORMAT_BGGR = 7100,
    DW_CAMERA_RAW_FORMAT_GRBG = 7200,
    DW_CAMERA_RAW_FORMAT_GBRG = 7300,
 
    DW_CAMERA_RAW_FORMAT_RCCB = 8000,
    DW_CAMERA_RAW_FORMAT_BCCR = 8100,
    DW_CAMERA_RAW_FORMAT_CRBC = 8200,
    DW_CAMERA_RAW_FORMAT_CBRC = 8300,
 
    DW_CAMERA_RAW_FORMAT_RCCC = 9000,
    DW_CAMERA_RAW_FORMAT_CRCC = 9100,
    DW_CAMERA_RAW_FORMAT_CCRC = 9200,
    DW_CAMERA_RAW_FORMAT_CCCR = 9300,
 
    DW_CAMERA_RAW_FORMAT_CCCC = 10000,
 
    DW_CAMERA_RAW_FORMAT_BGGI_RGGI = 0x0000002EU,
 
    DW_CAMERA_RAW_FORMAT_TOF = 20000,
 
    DW_CAMERA_RAW_FORMAT_KINECT = 30000,
    DW_CAMERA_RAW_FORMAT_KINECT_IR = 30010,
    DW_CAMERA_RAW_FORMAT_KINECT_DEPTH = 30020
} dwCameraRawFormat;
 
typedef enum dwCameraType {
    DW_CAMERA_GENERIC      = 0,  
    DW_CAMERA_GMSL_AR0231  = 3,  
    DW_CAMERA_USB_GENERIC  = 4,  
    DW_CAMERA_GMSL_AR0144  = 5,  
    DW_CAMERA_GMSL_AR0138  = 6,  
    DW_CAMERA_GMSL_AR0220  = 7,  
    DW_CAMERA_GMSL_AR0820  = 8,  
    DW_CAMERA_GMSL_MN34906 = 9,  
    DW_CAMERA_GMSL_OV2311  = 10, 
    DW_CAMERA_GMSL_IMX390  = 11, 
    DW_CAMERA_USB_KINECT   = 12, 
    DW_CAMERA_GMSL_CUSTOM  = 99  
} dwCameraType;
 
typedef enum dwCameraExposureControl {
    DW_CAMERA_EXPOSURE_NONE,
    DW_CAMERA_EXPOSURE_UNKNOWN,
    DW_CAMERA_EXPOSURE_AE,
    DW_CAMERA_EXPOSURE_BAE,
    DW_CAMERA_EXPOSURE_CUSTOM
} dwCameraExposureControl;
 
typedef enum dwCameraFOV {
    DW_CAMERA_FOV_UNKNOWN = 0,
    DW_CAMERA_FOV_30 = 30,
    DW_CAMERA_FOV_48 = 48,
    DW_CAMERA_FOV_50 = 50,
    DW_CAMERA_FOV_55 = 55,
    DW_CAMERA_FOV_60 = 60,
    DW_CAMERA_FOV_65 = 65,
    DW_CAMERA_FOV_90 = 90,
    DW_CAMERA_FOV_100 = 100,
    DW_CAMERA_FOV_110 = 110,
    DW_CAMERA_FOV_120 = 120,
    DW_CAMERA_FOV_185 = 185
} dwCameraFOV;
 
typedef enum dwCameraSIPLInterfaceProviderType {
    DW_SIPL_CAMERA_INTERFACE_PROVIDER_TYPE_DESERIALIZER,
    DW_SIPL_CAMERA_INTERFACE_PROVIDER_TYPE_MODULE,
    DW_SIPL_CAMERA_INTERFACE_PROVIDER_TYPE_COUNT
} dwSIPLCameraInterfaceProviderType;
 
typedef enum dwCameraISPType {
    DW_CAMERA_ISP0 = 0,
    DW_CAMERA_ISP1,
    DW_CAMERA_ISP2,
    DW_CAMERA_MAX_ISP_COUNT,
    // Only to be used for raw
    DW_CAMERA_ISP_UNKNOWN,
} dwCameraISPType;
 
typedef struct dwCameraProperties
{
    dwCameraType cameraType;          
    dwCameraRawFormat rawFormat;      
    dwCameraExposureControl exposure; 
    float32_t framerate;              
    dwCameraFOV fov;                  
    dwVector2ui resolution;           
    int32_t outputTypes;              
    uint32_t siblings;                
    uint32_t revision;                
    uint32_t imageBitDepth;           
    bool isSimulated;                 
} dwCameraProperties;
 
typedef enum dwCameraSIPLNotificationData {
    DW_NOTIF_INFO_ICP_PROCESSING_DONE = 0,
    DW_NOTIF_INFO_ISP_PROCESSING_DONE = 1,
    DW_NOTIF_INFO_ACP_PROCESSING_DONE = 2,
    DW_NOTIF_INFO_CDI_PROCESSING_DONE = 3,
    DW_NOTIF_INFO_ICP_AUTH_SUCCESS = 4,
    DW_NOTIF_WARN_ICP_FRAME_DROP = 100,
    DW_NOTIF_WARN_ICP_FRAME_DISCONTINUITY = 101,
    DW_NOTIF_WARN_ICP_CAPTURE_TIMEOUT = 102,
    DW_NOTIF_ERROR_ICP_BAD_INPUT_STREAM = 200,
    DW_NOTIF_ERROR_ICP_CAPTURE_FAILURE = 201,
    DW_NOTIF_ERROR_ICP_EMB_DATA_PARSE_FAILURE = 202,
    DW_NOTIF_ERROR_ISP_PROCESSING_FAILURE = 203,
    DW_NOTIF_ERROR_ACP_PROCESSING_FAILURE = 204,
    DW_NOTIF_ERROR_CDI_SET_SENSOR_CTRL_FAILURE = 205,
    DW_NOTIF_ERROR_DESER_LINK_FAILURE = 206,
    DW_NOTIF_ERROR_DESERIALIZER_FAILURE = 207,
    DW_NOTIF_ERROR_SERIALIZER_FAILURE = 208,
    DW_NOTIF_ERROR_SENSOR_FAILURE = 209,
    DW_NOTIF_ERROR_ICP_AUTH_FAILURE = 211,
    // Indicates out of order image is detected.
    DW_NOTIF_ERROR_ICP_AUTH_OUT_OF_ORDER = 212,
    DW_NOTIF_ERROR_INTERNAL_FAILURE = 300,
} dwCameraSIPLNotificationData;
 
typedef enum dwCameraEvent {
    DW_CAMERA_EVENT_WARN_ICP_FRAME_DISCONTINUITY = 4,
    DW_CAMERA_EVENT_WARN_ICP_CAPTURE_TIMEOUT,
    DW_CAMERA_EVENT_ERROR_ICP_BAD_INPUT_STREAM,
    DW_CAMERA_EVENT_ERROR_ICP_CAPTURE_FAILURE,
    DW_CAMERA_EVENT_ERROR_ICP_EMB_DATA_PARSE_FAILURE,
    DW_CAMERA_EVENT_ERROR_ISP_PROCESSING_FAILURE,
    DW_CAMERA_EVENT_ERROR_ACP_PROCESSING_FAILURE,
    DW_CAMERA_EVENT_ERROR_CDI_SET_SENSOR_CTRL_FAILURE,
    DW_CAMERA_EVENT_ERROR_DESER_LINK_FAILURE,
    DW_CAMERA_EVENT_ERROR_DESERIALIZER_FAILURE,
    DW_CAMERA_EVENT_ERROR_SERIALIZER_FAILURE,
    DW_CAMERA_EVENT_ERROR_SENSOR_FAILURE,
    DW_CAMERA_EVENT_ERROR_INTERNAL_FAILURE,
    DW_CAMERA_EVENT_ERROR_FRAME_OVERRUN,
    DW_CAMERA_EVENT_ERROR_FRAME_COUNTER,
} dwCameraEvent;
 
#define DW_CAMERA_ERROR_ID_MAX DW_NOTIF_ERROR_INTERNAL_FAILURE
 
#define DW_CAMERA_MAX_DEVICE_GPIOS 8U
 
typedef struct dwCameraNotificationData
{
    dwCameraSIPLNotificationData eNotifyType;
    uint32_t uIndex;
    uint8_t uLinkMask;
    uint64_t frameSeqNumber;
    uint64_t frameCaptureTSC;
    uint32_t gpioIdxs[DW_CAMERA_MAX_DEVICE_GPIOS];
    uint32_t numGpioIdxs;
} dwCameraNotificationData;
 
typedef struct dwCameraSIPLEErrorDetails
{
    uint8_t const* errorBuffer;
    size_t sizeWritten;
} dwCameraSIPLEErrorDetails;
 
#define DW_CAMERA_MAX_CAMERAMODULES_PER_BLOCK 4U
 
typedef struct dwCameraSIPLNotification
{
    dwCameraNotificationData data;
 
    dwCameraSIPLEErrorDetails deserializerErrorInfo;
    bool isRemoteError;
    uint8_t linkErrorMask;
 
    uint32_t numCameraModules;
    dwCameraSIPLEErrorDetails serializerErrorInfoList[DW_CAMERA_MAX_CAMERAMODULES_PER_BLOCK];
    dwCameraSIPLEErrorDetails sensorErrorInfoList[DW_CAMERA_MAX_CAMERAMODULES_PER_BLOCK];
} dwCameraSIPLNotification;
 
typedef void (*dwCameraCallback)(dwCameraSIPLNotification* notification, dwSensorHandle_t sensor);
 
typedef struct dwCameraISPEllipse
{
    dwVector2f center;
    uint32_t horizontalAxis;
    uint32_t verticalAxis;
    float32_t angle;
} dwCameraISPEllipse;
 
typedef struct
{
    uint32_t width;
    uint32_t height;
    uint32_t numWindowsH;
    uint32_t numWindowsV;
    uint32_t horizontalInterval;
    uint32_t verticalInterval;
    dwVector2i startOffset;
} dwCameraISPStatisticsWindows;
 
typedef struct
{
    bool enable;
    dwRect rectangularMask;
} dwCameraISPBadPixelStats;
 
typedef struct dwCameraISPHistogramStatsOverride
{
    bool enable;
    float32_t offset;
    uint8_t knees[8];
    uint8_t ranges[8];
    dwRect rectangularMask;
    bool ellipticalMaskEnable;
    dwCameraISPEllipse ellipticalMask;
    bool disableLensShadingCorrection;
} dwCameraISPHistogramStatsOverride;
 
typedef struct
{
    bool enable;
    float32_t min[DW_ISP_MAX_COLOR_COMPONENT];
    float32_t max[DW_ISP_MAX_COLOR_COMPONENT];
    bool roiEnable[DW_ISP_MAX_COLOR_COMPONENT];
    dwCameraISPStatisticsWindows windows[DW_ISP_MAX_COLOR_COMPONENT];
    bool ellipticalMaskEnable[DW_ISP_MAX_COLOR_COMPONENT];
    dwCameraISPEllipse ellipticalMask;
} dwCameraISPLocalAvgClipStats;
 
typedef struct dwCameraIspStatsOverrideSetting
{
    bool enableHistStatsOverride[DW_CAMERA_NUM_ISP_UNITS];
    dwCameraISPHistogramStatsOverride histStats[DW_CAMERA_NUM_ISP_UNITS];
    bool enableLacStatsOverride[DW_CAMERA_NUM_ISP_UNITS];
    dwCameraISPLocalAvgClipStats lacStats[DW_CAMERA_NUM_ISP_UNITS];
    bool enableBpStatsOverride;
    dwCameraISPBadPixelStats bpStats;
} dwCameraIspStatsOverrideSetting;
 
DW_API_PUBLIC
dwStatus dwSensorCamera_readFrame(dwCameraFrameHandle_t* const frameHandle,
                                  dwTime_t const timeoutUs, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorCamera_returnFrame(dwCameraFrameHandle_t* const frameHandle);
 
DW_API_PUBLIC
dwStatus dwSensorCamera_getImage(dwImageHandle_t* const image, dwCameraOutputType const type,
                                 dwCameraFrameHandle_t const frame);
 
DW_API_PUBLIC
dwStatus dwSensorCamera_getImageAsync(dwImageHandle_t* const image, dwCameraOutputType const type,
                                      dwCameraFrameHandle_t const frame);
 
DW_API_PUBLIC
DW_DEPRECATED("dwSensorCamera_setImagePool() is deprecated and will be removed in the next major release,"
              " use dwSensorCamera_setImagePoolNew() instead")
dwStatus dwSensorCamera_setImagePool(dwImagePool imagePool, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorCamera_setImagePoolNew(dwImagePool imagePool, dwCameraOutputType const type, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorCamera_appendAllocationAttributes(dwImageProperties* const imgProps,
                                                   dwCameraOutputType const outputType,
                                                   dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorCamera_getSensorProperties(dwCameraProperties* const properties,
                                            dwSensorHandle_t const sensor);
 
#ifndef DW_IS_SAFETY
 
DW_API_PUBLIC
dwStatus dwSensorCamera_getNumSupportedCaptureModes(uint32_t* const numModes,
                                                    dwSensorHandle_t const sensor);
DW_API_PUBLIC
dwStatus dwSensorCamera_getSupportedCaptureMode(dwCameraProperties* const captureMode,
                                                uint32_t const modeIdx,
                                                dwSensorHandle_t const sensor);
#endif
 
DW_API_PUBLIC
dwStatus dwSensorCamera_getImageProperties(dwImageProperties* const imageProperties,
                                           dwCameraOutputType const outputType,
                                           dwSensorHandle_t const sensor);
 
#ifndef DW_IS_SAFETY
 
DW_API_PUBLIC
dwStatus dwSensorCamera_setImageAttributes(dwImageProperties* const imageProperties,
                                           dwCameraOutputType const outputType,
                                           dwSensorHandle_t const sensor);
#endif
 
DW_API_PUBLIC
dwStatus dwSensorCamera_setCUDAStream(cudaStream_t const stream, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorCamera_getCUDAStream(cudaStream_t* const stream, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorCamera_getTimestamp(dwTime_t* const timestamp, dwCameraFrameHandle_t const frameHandle);
 
DW_API_PUBLIC
dwStatus dwSensorCamera_getImageTimestamps(dwImageTimestamps* const imageTimestamps, dwCameraFrameHandle_t const frameHandle);
 
DW_API_PUBLIC
dwStatus dwSensorCamera_getSIPLInterfaceProvider(void** const interfaceProvider, dwSensorHandle_t const sensor, dwSIPLCameraInterfaceProviderType const type);
 
DW_API_PUBLIC
dwStatus dwSensorCamera_readEEPROM(uint32_t const paramId, void* const buffer, uint32_t const size, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorCamera_getEOFFence(NvSciSyncFence* syncFence, dwCameraOutputType outputType, dwCameraFrameHandle_t const frameHandle);
 
DW_API_PUBLIC
DW_DEPRECATED("dwSensorCamera_fillSyncAttributes() is deprecated and will be removed in the next major release,"
              " use dwSensorCamera_fillSyncAttributesNew() instead")
dwStatus dwSensorCamera_fillSyncAttributes(NvSciSyncAttrList syncAttrList, dwCameraOutputType outputType, dwSensorHandle_t sensor);
 
DW_API_PUBLIC
DW_DEPRECATED("dwSensorCamera_setSyncObject() is deprecated and will be removed in the next major release,"
              " use dwSensorCamera_setSyncObjectNew() instead")
dwStatus dwSensorCamera_setSyncObject(NvSciSyncObj syncObj, dwCameraOutputType outputType, dwSensorHandle_t sensor);
 
DW_API_PUBLIC
dwStatus dwSensorCamera_setSyncObjectNew(NvSciSyncObj syncObj, dwSyncType syncType, dwCameraOutputType outputType, dwSensorHandle_t sensor);
 
DW_API_PUBLIC
dwStatus dwSensorCamera_fillSyncAttributesNew(NvSciSyncAttrList syncAttrList, dwSyncType syncType, dwCameraOutputType outputType, dwSensorHandle_t sensor);
 
DW_API_PUBLIC
dwStatus dwSensorCamera_addPreFenceArray(NvSciSyncFence* syncFences, uint32_t count, dwCameraOutputType outputType, dwCameraFrameHandle_t const frameHandle);
 
DW_API_PUBLIC
dwStatus dwSensorCamera_setEventCallback(dwCameraCallback blkCallback, dwCameraCallback lineCallback, dwSensorHandle_t sensor);
 
DW_API_PUBLIC
dwStatus dwSensorCamera_disableLink(dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorCamera_enableLink(dwSensorHandle_t const sensor, bool const resetModule);
 
#ifndef DW_IS_SAFETY
 
DW_API_PUBLIC
dwStatus dwSensorCamera_setImageMetaDataStats(dwCameraIspStatsOverrideSetting const* overrideISPStats, dwSensorHandle_t sensor);
#endif
 
DW_API_PUBLIC
dwStatus dwSensorCamera_lockImage(dwImageHandle_t image, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorCamera_unlockImage(dwImageHandle_t image, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorCamera_setHeaterState(dwSensorHandle_t const sensor, bool const state);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_SENSORS_CAMERA_CAMERA_H_