Collaboration diagram for Image Acquisition:

Data Structures
union	VCFlashSelector
	Flash Output Selector. More...

struct	VCSenCustomCalls
	Sensor/FPGA Customizations (ignore at standard cameras). More...

union	VCSenCustomInit
	Special Sensor Settings and Data. More...

struct	VCSenInit
	Sensor Settings only configurable during Initialization. More...

struct	VCSenExternal
	External optional delivered Values of Sensor Settings Struct. More...

struct	VCSenCaptInfo
	Sensor Capture Data. More...

struct	VCSenVolatile
	Volatile Values of Sensor Settings Struct. More...

struct	VCSenDesc
	Sensor Description. More...

union	VCSenCustom
	Special Sensor Settings and Data. More...

struct	VCSenCfg
	Sensor Settings. More...

struct	VCTrgInit
	Trigger Settings only configurable during Initialization. More...

struct	VCTrgDesc
	Trigger Description. More...

struct	VCTrgCfg
	Trigger Settings. More...

struct	VCCaptDesc
	Capture Slot Description. More...

struct	VCCaptCfg
	Capture Slot Settings. More...

Macros
#define	NULL_VCFlashSelector { .whole = 0x00000000 }

#define	VCFlashSelector_Default { .whole = 0x80000000 }

#define	VCSenInit_Default { 0,0,0, SENSYNC_SYNC, IMAGE_UNSET, 0, {0}, VCSenCustomCalls_Default, NULL_VCSenCustomInit }
	Sensor Initialization Default Settings. More...

#define	VCSenCfg_Default(d)
	Sensor Configuration Default Settings. More...

#define	VCTrgInit_Default { TRGMODE_EDGE }
	Trigger Initialization Default Settings. More...

#define	VCTrgCfg_Default
	Trigger Config Default Settings. More...

#define	str_VCErrCpt(e)
	Error Code String for Capture Struct. More...

Enumerations
enum	VCSenType { SENTYPE_UNSET = 0, SENTYPE_E2V_EV76C560ABT_1_0 = 1, SENTYPE_E2V_EV76C560ACT_1_0 = 2, SENTYPE_APT_MT9P031I12STM_1_0 = 3, SENTYPE_E2V_EV76C570ABT_1_0 = 4, SENTYPE_E2V_EV76C541ABT_1_0 = 5, SENTYPE_E2V_EV76C661ABT_1_0 = 6, SENTYPE_E2V_EV76C661ACT_1_0 = 7, SENTYPE_E2V_EV76C570ACT_1_0 = 8, SENTYPE_E2V_EV76C541ACT_1_0 = 9, SENTYPE_SNY_IMX252LLR_1_0 =10, SENTYPE_SNY_IMX273LLR_1_0 =11, SENTYPE_SNY_IMX252LQR_1_0 =12, SENTYPE_SNY_IMX392LLR_1_0 =13, SENTYPE_SNY_IMX392LQR_1_0 =14, SENTYPE_SNY_IMX273LQR_1_0 =15, SENTYPE_SNY_IMX250LLR_1_0 =16, SENTYPE_SNY_IMX183CLKJ_1_0 =17 }
	Sensor Type. More...

enum	VCSenState { SENSTATE_UNSET = 0, SENSTATE_IDLE = 1, SENSTATE_BUSY = 2, SENSTATE_INIT = 3 }
	Sensor State. More...

enum	VCSenSync { SENSYNC_UNSET = 0, SENSYNC_STANDALONE = 1, SENSYNC_SYNC = 2 }
	Sensor Synchronization. More...

enum	VCSenFlip { SENFLIP_UNSET = 0xFF, SENFLIP_NONE = 0x00, SENFLIP_HOR = 0x01, SENFLIP_VERT = 0x02 }
	Sensor Flipping Mode. More...

enum	VCCustomId
	Custom Data Identificator. More...

enum	VCTrgSrc { TRGSRC_UNSET = 0, TRGSRC_IMM = 1, TRGSRC_EXT = 2 }
	Trigger Source Selection. More...

enum	VCTrgMode { TRGMODE_UNSET = 0, TRGMODE_EDGE = 1, TRGMODE_LEVEL = 2 }
	Trigger Mode Selection. More...

enum	VCErrCpt { ERR_CPT_NONE = ERR_NONE, ERR_CPT_NULLPTR = -101, ERR_CPT_FDMEM = -102, ERR_CPT_SENCNT = -103, ERR_TRG_NULLPTR = -201, ERR_TRG_SRC = -202, ERR_SEN_NULLPTR = -301, ERR_SEN_SENTYPE = -302, ERR_SEN_SHUTTER = -303, ERR_SEN_GAIN = -304, ERR_SEN_TGTADDR = -305, ERR_SEN_ROI_X0_MIN = -306, ERR_SEN_ROI_Y0_MIN = -307, ERR_SEN_ROI_DX_MIN = -308, ERR_SEN_ROI_DX_MAX = -309, ERR_SEN_ROI_DX_STEP = -310, ERR_SEN_ROI_DY_MIN = -311, ERR_SEN_ROI_DY_MAX = -312, ERR_SEN_ROI_DY_STEP = -313, ERR_SEN_ROI_PITCH_MIN = -314, ERR_SEN_ROI_PITCH_MAX = -315, ERR_SEN_ROI_PITCH_STEP = -316, ERR_SEN_ROI_SUBSMPL_X_MIN = -317, ERR_SEN_ROI_SUBSMPL_X_MAX = -318, ERR_SEN_ROI_SUBSMPL_Y_MIN = -319, ERR_SEN_ROI_SUBSMPL_Y_MAX = -320, ERR_SEN_ROI_WIDTH = -321, ERR_SEN_ROI_HEIGHT = -322, ERR_SEN_ROI_BINNING_X_MIN = -323, ERR_SEN_ROI_BINNING_X_MAX = -324, ERR_SEN_ROI_BINNING_Y_MIN = -325, ERR_SEN_ROI_BINNING_Y_MAX = -326, ERR_SEN_ROI_SUBSMPL_N_BIN = -327, ERR_SEN_ROI_SUBSMPL_POWER = -328, ERR_SEN_ROI_BINNING_POWER = -329 }
	Error Codes for Capture Struct. More...

Functions
I32	vc_capt_init (VCCaptCfg cptNew, VCCamCfg cam, VCTrgInit trgInit, VCSenInit senInitArr)
	Initializes a Standard Capture Setup used for Image Acquisitions. More...

I32	vc_capt (VCCaptCfg *cpt)
	Takes a Picture. More...

I32	vc_capt_deinit (VCCaptCfg *cpt)
	Deinitializes the Capture Configuration used for Image Acquisitions. More...

I32	vc_capt_init_clone (VCCaptCfg cptSrc, VCCaptCfg cptTgt)
	Initializes a new Capture Setup by Cloning. More...

I32	vc_capt_request (VCCaptCfg *cpt)
	Requests for an Image Acquisition. More...

I32	vc_capt_wait (VCCaptCfg *cpt, I64 timeout_ms)
	Waits for an Image Acquisition to be Finished. More...

I32	vc_capt_remove_all_requests (I32 cptCnt, VCCaptCfg *allCpt)
	Removes any outstanding image acquisition requests. More...

void	vc_capt_print (VCCaptCfg *cpt)
	Prints out the Values of the VCCaptCfg Struct to the Terminal. More...

I32	vc_capt_verify (VCCaptCfg *cpt)
	Verifies Capture Struct Readiness for Image Acquisition. More...

I32	vc_capt_init_raw (VCCaptCfg cptNew, VCCamCfg cam, VCTrgInit *cptInit)
	Initializes the Capture Setup used for Image Acquisitions. More...

I32	vc_capt_init_sen_add (VCCaptCfg cpt, U32 senPortNr, VCSenInit senInit, VCTrgInit *trgInit)
	Adds a Sensor to a pre-initialized Capture Configuration. More...

void	vc_capt_sen_shutter_set_all (VCCaptCfg *cpt, U32 shutter)
	Sets the Shutter Time of All Sensors at the Capture Struct to the given Value. More...

void	vc_capt_sen_gain_set_all (VCCaptCfg *cpt, F32 gain)
	Sets the Gain Value of All Sensors at the Capture Struct to the given Value. More...

I32	vc_capt_sen_lut_set_all (VCCaptCfg capt, U8 lut, I32 entries)
	Sets the sensor grey value lookup table of all sensors at the capture struct to the given value. More...

I32	vc_capt_sen_lut_reset_all (VCCaptCfg *capt)
	Sets the sensor grey value lookup table of all sensors at the capture struct to its initial state. More...

I32	vc_sen_shutter_calculate (VCSenCfg sen, U32 requestShutter, U32 calculatedShutter)
	Calculates the Exact Shutter Time used for the Image Acquisition. More...

I32	vc_sen_lut_set (U8 lut, I32 entries, VCSenCfg sen)
	Sets sensor grey value lookup table. More...

I32	vc_sen_lut_reset (VCSenCfg *sen)
	Resets sensor grey value lookup table to its initial state. More...

void	vc_sen_cfg_to_default (VCSenCfg *sen)
	Sets the Sensor Configuration to Default Values. More...

void	vc_sen_img_to_default (VCSenCfg *sen)
	Sets the Image Variable at the Sensor Configuration to Default Values. More...

Detailed Description

Image Recording Overview and Brief Code

Function and Structure Model

A capture configuration holds information about the triggering input and the sensors recording photons at the moment of the trigger event. This capture configuration structure, VCCaptCfg, will be initialized by the function vc_capt_init(). Each added sensor becomes accessible over an index value starting with 0. The initialisation sets the sensor configuration to default values which can be modified afterwards, for example, to change the shutter time of the first sensor to 10000us, you can write cpt.sen[0].shutter = 10000 (which is for index 0 equivalent to cpt. sen->shutter = 10000). An order for an image acquisition is placed by providing the complete capture configuration to the function named vc_capt_request(). Depending on the configuration, the image acquisition will be served at the next possible moment, or the capture will be started after the input trigger occurs. To ensure, that the image acquisition has been completed, the function vc_capt_wait() must always be used to block until the acquisition finished or until a timeout occurs which may be set to stay out forever. If no timeout functionality is needed, you can replace vc_capt_request() and vc_capt_wait() calls by using the helper function vc_capt(). After an acquisition is finished, the result image can be accessed by its image struct cpt.sen[0].img. For proper deinitialization, the function vc_capt_deinit() must be called before leaving the program. The function vc_capt_init() requires a previously initialized VCCamCfg structure, which can be done at once by calling the wrapper function vc_cam_init().

Note: If vc_capt_request() fails with an error, the function vc_capt_verify() may provide an understandable error code, use str_VCErrCpt(), and if it is a custom camera, for example str_VCErrNano3dZ() onto the return value.; For most examples we silently assume the use of a non-color camera to keep the example small.

#include <vclib.h>
#include <vclinux.h>
I32  main()
{
    I32        rc, ee=0, i;
    VCCamCfg   cam = NULL_VCCamCfg;
    VCCaptCfg  cpt = NULL_VCCaptCfg;
    rc =  vc_license_init("vclib");
    if(rc<0){ee=-1+10*rc; goto end;}
    rc =  vc_cam_init(&cam, &cpt, NULL, NULL, NULL);
    if(rc<0){ee=-2+10*rc; goto end;}
    cpt.sen[0].shutter = 12345;
    for(i= 0; i< 10; i++)
    {
        rc=  vc_capt_request(&cpt);       //
        if(rc<0){ee=-3+10*rc; goto end;}  // equivalent:
                                          //   rc=  vc_capt(&cpt);
        rc=  vc_capt_wait(&cpt,-1);       //
        if(rc<0){ee=-4+10*rc; goto end;}  //
        rc=  fwrite_image(path[i], &(cpt.sen[0].img));
        if(rc<0){ee=-5+10*rc; goto end;}
    }
end:
    vc_capt_deinit(&cpt);
    vc_cam_deinit(&cam);
    return(ee);
}

Changing the Shutter Time and Gain

The shutter time and the gain can be set via the following sensor parameters, assuming the index number of the sensor to be configured is zero:

cpt.sen[0].shutter
cpt.sen[0].gain

Those shutter times may be rounded to the next possible value. You can get the real shutter time by calling the function named vc_sen_shutter_calculate().

Their maximum values are provided through the VCSenDesc struct:

cpt.sen[0].d.maxShutter
cpt.sen[0].d.maxGain

To set the shutter or gain values at once for all the sensors of one capture, the convenience functions vc_capt_sen_shutter_set_all() and vc_capt_sen_gain_set_all() can be used.

Changing the Sensor ROI

You can specify the sensor ROI by changing the following values, assuming the index number of the sensor to be configured is zero:

cpt.sen[0].x0, Top left coordinate's x value
cpt.sen[0].y0, Top left coordinate's y value
cpt.sen[0].img.dx: ROI width
cpt.sen[0].img.dy: ROI height

You may get the default (= maximum) dimensions back from the description cpt.sen[0].d.maxDx and cpt.sen[0].d.maxDy. The top left ROI coordinate is (0,0). The VCSenCfg struct documentation may contain additional information for the parameters.

Please note that sensors may have specific restrictions to the ROI, like, for example, dx must be dividable by 32, or for color sensors x0, y0, dx and dy should be dividable by 2 if you need to use their correct bayer pattern color information. The important dividability information contain the parameters cpt.sen[0].d.stepDx, cpt.sen[0].d.stepDy and cpt.sen[0].d.stepPitch.

For a better memory usage and a possible speed up, one can limit the maximum sensor image size at the sensor initialization phase. To do so, you can pass your maximum values for image dx, dy and pitch, to the VCSenInit struct. The default values (at VCSenInit_Default) for the limiting values are zero, which imply the meaning of an unset value. A zero value will lead to a replacement with the sensor's maximum value. For a limitation in x direction, please also set the maxPitch value to the appropriate maxDx value. The initial dimensions of the sen[].img will be set to your limitation wish (Be aware, that not all values are applicable).

For example, if you only need a small band of 256 px height, you can change the maxDy value at the defaulted VCSenInit struct before calling vc_cam_init() (or vc_capt_init_sen_add()) and pass it to the function:

...
VCSenInit    senInit = VCSenInit_Default;
senInit.maxDy = 256;
rc =  vc_cam_init(&cam, &cpt, NULL, NULL, &senInit);
if(rc<0){ee=-1+100*rc; goto endfunc;}
...

Cloning Capture Configurations for Double Buffering Purposes

Multiple Capture Buffers

The basic idea for doing image acquisitions to more than one buffer per sensor is first to set up and configure a capture configuration and then use it for other capture slots as a blueprint. The initialization and transfer of all settings to a new capture configuration is done by using the function named vc_capt_init_clone().

Capture Queueing

As you can see at the example code, each parallel capture request needs its own capture struct, so you have to clone the initial configuration to reserve more memory for the acquisition.

The example code requests an image first for all defined capture configurations, then waits for the oldest request to finish, and if that capture has been received, it also peeks for the following captures if they are ready, too. Peeking is an important step, since receiving all captured images so far allows us to insert every received capture later for new image acquisitions: Since linux is not a real-time operating system, there may be a sleep time of the capture program at any time. So, for example, to prevent unavailable capture requests for an incoming external trigger signal, the capture queue must not underrun. If there was no peeking for the next captures, one can get a slow drift to capture queue underrun, since, after processing, one is just able to re-enqueue only one capture request and not all available. By having all available captures after peeking, images may be pre-processed and selected or ignored for processing if ever processing speed problems occur. Re-enqueuing the whole bunch of captures fills the capture queue buffer again to (perhaps almost) it's maximum.

If further priority of the image acquisition task is needed, it can be raised by moving the capture process to the real-time scheduler queue, for example, by starting the program with the command chrt the following way (see it's man page for more information):

chrt 30  <progname>

More can be done by separating the program into the capture and the processing part, and let distinct cpu cores do the respective parts, see the command taskset and its man page for more information.

#include <stdio.h>
#include <string.h>
#include <vclib.h>
#include <vclinux.h>
#define COUNT_CAPT_BUF  (4)
I32  main(int argc, char **argv)
{
    I32          rc, ee;
    I32          i=0, k, tgt, tgtIdx, tgtAvail, tgtProcess;
    VCCamCfg     cam;
    VCCaptCfg    cpt[COUNT_CAPT_BUF];
    I32          cntCptClone = 0;
    rc =  vc_license_init("vclib");
    if(rc<0){ee=-1+10*rc; goto end;}
    rc =  vc_cam_init(&cam, &cpt[0], NULL, NULL, NULL);
    if(rc<0){ee=-2+10*rc; goto end;}
    // Now cloning the Capture Setup to all new Structures.
    // This copies all values and allocates needed differing pointers.
    // Only here, k starts at 1!
    for(k= 1; k< COUNT_CAPT_BUF; k++)
    {
        rc =  vc_capt_init_clone(&cpt[0], &cpt[k]);
        if(rc<0){ee=-3+10*rc; goto end;}
        cntCptClone++;
    }
    // Pre-Request an image for all capture slots
    // and point to the first request.
    for(k= 0; k< COUNT_CAPT_BUF; k++)
    {
        rc =  vc_capt_request(&cpt[k]);
        if(rc<0){ee=-5+10*rc; goto end;}
    }
    tgt = 0;
    // Entering Main Double Buffer Image Processing Loop.
    i= 0;
    do
    {
        //Get all already captured images.
        for(tgtAvail= 0; tgtAvail< COUNT_CAPT_BUF; tgtAvail++)
        {
            tgtIdx = (tgt +   tgtAvail)%COUNT_CAPT_BUF;
            rc =  vc_capt_wait(&cpt[tgtIdx],(0==tgtAvail)?(-1):(0));
            if(rc<0){ee=-6+10*rc; goto end;}
            // Not yet caputured?: Process recorded images.
            if(rc>0){ break; }
        }
        //Process or skip captured images.
        for(tgtProcess=0; tgtProcess< tgtAvail; tgtProcess++)
        {
            tgtIdx = (tgt + tgtProcess)%COUNT_CAPT_BUF;
            // ----------------------------------------
            // Process Image  cpt[tgtIdx].sen[X].img  Here
            // ----------------------------------------
        }
        // Refill the capture queue.
        for(tgtProcess=0; tgtProcess< tgtAvail; tgtProcess++)
        {
            rc =  vc_capt_request(&cpt[tgt]);
            if(rc<0){ee=-8+10*rc; goto end;}
            // Cycle to the next image in buffer
            tgt =  (tgt+1)%COUNT_CAPT_BUF;
        }
        i++;
    } while(i<1000);
    ee=0;
end:
    switch(ee)
    {
        case  0:  break;
        default:  printf("Error ee=%d\n", ee); break;
    }
    for(k= cntCptClone; k>= 0; k--)
    {
        vc_capt_deinit(&cpt[k]);
    }
    vc_cam_deinit(&cam);
    return(ee);
}

Subsampling/Binning on Providing Systems

The parameters cpt.sen[0].subsmplX and cpt.sen[0].subsmplY describe the subsampling rate for the sensor pixels. The parameters cpt.sen[0].binX and cpt.sen[0].binY describe the binning rate for the sensor pixels. For example, a value of 4 of either subsampling or binning will put only every fourth pixel to the capture image cpt.sen[0].img. On most systems these values must be equal to a power of two. The standard value, 1, means that every single pixel is used.

Pixel Positions Under Subsampling, equivalent for Binning

Since sooner or later one must know the size of the outcoming pixel width, we decided the img.dx and img.dy values must be set to the image (not the sensor) pixel width, so you can use that image later easily as an input for the functions, since its dimensions are set right. Naturally you will get an error, if you only raise, for example, the subsmplMaxX/Y on a full-sensor-sized image without applying the correct divided dimensions to the img.dx and img.dy parameters. The x0 and y0 parameters also operate on the target image, i.e. the accessible sensor pixel's coordinates are always a multiple of the subsampling and binning factor.

Not each sensor supports binning during subsampling, check cpt.sen[0].d.binAndSubsmplIff1 for it.

As an example, the formula for the resulting sensor pixel width is:

sensor_pixel_width = img->dx * cpt.sen[0].binX * cpt.sen[0].subsmplX

The description cpt.sen[0].d.subsmplMaxX and cpt.sen[0].d.subsmplMaxY describe the maximum possible values, cpt.sen[0].d.subsmplSquareIff1 encodes the use of subsmplMaxX for both, x and y direction, if and only if it's value equals one; cpt.sen[0].d.subsmplPower2Iff1 defines if subsmplX and subsmplY must be a power of 2.

The description cpt.sen[0].d.binMaxX and cpt.sen[0].d.binMaxY describe the maximum possible values, cpt.sen[0].d.binSquareIff1 encodes the use of binMaxX for both, x and y direction, if and only if it's value equals one; cpt.sen[0].d.binPower2Iff1 defines if binX and binY must be a power of 2.

Color Sensor Output Format

Color cameras usually output their image as IMAGE_CBCR444: The first channel img->st stores the luminance, while the other both channels img->ccmp1 and img->ccmp2 contain the chroma information, see Types of Image Data for more information. To get the RGB or Bayer representation, the img->type at the VCSenCfg struct has to be set before capturing to the corresponding type, for example:

cpt.sen[0].img.type  = IMAGE_RGB;
cpt.sen[0].img.type  = IMAGE_BAYER;

Note: Depending on the sensor type the top-left pixel at the Bayer image may vary in color! This is important for further processing routines, for example BayerToRGB_5x5() of the libVCLib needs the top-left pixel to be red.

GPIO Assignment as Trigger

From Pin to Trigger

To choose the sensor input/output trigger signals, the corresponding GPIO Nr. must be determined and assigned by the supporting program named vcio. More information can be found at the help of the program, if you run it with no command line parameter, it will show how to do it. At a multi-sensor-system, be sure to assign the trigger to all sensors, otherwise it would wait for the unassigned trigger forever.

Separate Image Acquisition on Multi-Sensor-Systems

Cameras with two or more sensors can either trigger all sensors simultaneously, or each sensor separately. To do so, the sensors need separate capture structs, since a capture is only finished until all embedded sensors in the capture struct took a picture. Also the input triggers for the sensors should be separated to have them work independently.

Multiple Capture Buffers of separated Sensors

See the demo code below to see how it works. For simplicity reason, there are no multiple captures for double buffering purposes, but this code can be extended by combination with the double buffering example.

#include <stdio.h>
#include "vclib.h"
#include "vcimgnet.h"
#include "vclinux.h"
// To see this demo working one has to split the input triggers
// of the separated sensors by calling 'vcio', for example, assigning
// the input trigger for sensor 0 to gpio 0 and for sensor 1 to gpio 1
// call beforehand:
//  vcio -s 0 -i 0
//  vcio -s 1 -i 1
// Images by sensor X are then only taken, if gpio X is toggled.
I32  main(int argc, char **argv)
{
    I32          shutter[2] = {10000,10000};
    I32          rc, ee, sn;
    I32          run[2], netSrvIff1 = 0;
    VCCamCfg     cam;
    VCCaptCfg    cpt[2];
    VCTrgInit    trgInit[2];
    VCSenInit    senInit[2];
    VCImgNetCfg  imgnetCfg = NULL_VCImgNetCfg;
    image        disp = NULL_IMAGE, from = NULL_IMAGE, to = NULL_IMAGE;
    rc =  vc_license_init("vclib");
    if(rc<0){ee=-1+10*rc; goto end;}
    // To do the separation of sensors for the capturing slots
    // we cannot use the shortcut vc_cam_init(), since it would add
    // all available sensors to the capture struct.
    {
        rc =  vc_cam_init_raw(&cam, NULL);
        if(rc<0){ee=-2+10*rc; goto end;}
        // Decoupling of sensors is done by using the standalone initialisation
        for(sn= 0;sn< 2; sn++)
        {
            trgInit[sn]      = (VCTrgInit) VCTrgInit_Default;
            senInit[sn]      = (VCSenInit) VCSenInit_Default;
            senInit[sn].sync = SENSYNC_STANDALONE;
        }
        for(sn= 0; sn< 2; sn++)
        {
            // First initialize one empty capture struct for each sensor.
            rc =  vc_capt_init_raw(&cpt[sn], &cam, &trgInit[sn]);
            if(rc<0){ee=-3+10*rc; goto end;}
            // Now add the respective sensor to the capture struct.
            rc =  vc_capt_init_sen_add(&cpt[sn], sn, &senInit[sn], &trgInit[sn]);
            if(rc<0){ee=-4+10*rc; goto end;}
        }
    }
    for(sn= 0; sn< 2; sn++)
    {
        // Using for each sensor the external trigger, sources chosen by 'vcio'.
        cpt[sn].trg.src = TRGSRC_EXT;
        vc_capt_sen_shutter_set_all(&cpt[sn], shutter[sn]);
    }
    // (Example for vcimgnet image transfer setup)
    {
        disp       = cpt[0].sen[0].img;
        disp.type  =(cpt[0].sen[0].img.type!=IMAGE_GREY)?(IMAGE_RGB):(IMAGE_GREY);
        disp.dx   *= 2;
        disp.pitch*= 2;
        disp.st    = NULL;
        disp.ccmp1 = NULL;
        disp.ccmp2 = NULL;
        rc =  vcimgnet_attach(&disp, &imgnetCfg);
        if(rc<0){ netSrvIff1=0; printf("\nVCImgNetSrv not running - Please pre-execute:  vcimgnetsrv &\n\n"); }
        else    { netSrvIff1=1; }
    }
    // Pre-request images of both sensors.
    for(sn= 0; sn< 2; sn++)
    {
        rc =  vc_capt_request(&cpt[sn]);
        if(rc<0){ee=-5+10*rc; goto end;}
        run[sn]=0;
    }
    while(1)
    {
        for(sn= 0; sn< 2; sn++)
        {
            rc =  vc_capt_wait(&cpt[sn], 0);
            if(rc<0){ee=-6+10*rc; goto end;}
            if(0==rc)
            {
                // Visualize the recorded image.
                if(1==netSrvIff1)
                {
                    from       = cpt[sn].sen[0].img;
                    to         = disp;
                    to.dx      = disp.dx/2;
                    to.st      = disp.st    + sn * to.dx;
                    // For example simplicity process capture as grey image
                    from.type=IMAGE_GREY;
                    rc =  copy(&from, &to);
                    if(ERR_NONE!=rc){ee=-7+10*rc;goto end;}
                }
                printf("Recorded image %4d from sensor %d\n", run[sn], sn);
                run[sn]++;
                rc =  vc_capt_request(&cpt[sn]);
                if(rc<0){ee=-8+10*rc; goto end;}
            }
        }
    }
    ee=0;
end:
    // Deinitialize everything
    {
        for(sn= 0; sn< 2; sn++)
        {
            vc_capt_deinit(&cpt[sn]);
        }
        vc_cam_deinit(&cam);
    }
    if(1==netSrvIff1)
    {
        vcimgnet_detach(&imgnetCfg);
    }
    if(0!=ee){ printf("Error %d\n", ee); }
    return(ee);
}

Overview of the Capture Slot Structure

The capture struct seems to be a bit confusing due to its constellation. All internal data is kept behind '*Desc' structs, at first just ignore everything behind a parameter named 'd'. However we tried to provide valuable information which otherwise would have to be kept simultaneously, like the maximum allowed image width. This and other information can be found behind the 'd's. Never modify anything in areas which are of internal use, since it leads to unpredictable behaviour!

Capture Struct and its Underlyings

Data Structure Documentation

◆ VCFlashSelector

union VCFlashSelector

You can select the flash outputs for the sensor recording herewith. The settings done at the vcio program will be ORed with these settings. Also differing settings of the individual sensors will be logically ORed.

The pin direction must be set right, e.g. by the vcio tool in order to get a flash output signal. Also the FPGA Firmware version must be new enough.

The default setting for the flash output is the TrigOut pin to be active, all others inactive.

Data Fields
U32	whole	Complete Bitfield Representation
struct VCFlashSelector	set

◆ VCSenCustomCalls

struct VCSenCustomCalls

This structure keeps sensor and fpga customizations (ignore at standard cameras).

Data Fields
VCCustomId	customId

I32(*	cInitAlloc )(struct _VCSenCfg sen, void *cInit)

I32(*	cInitFree )(struct _VCSenCfg sen, void *cInit)

I32(*	cInitCopy )(struct _VCSenCfg senSrc, void cInitSrc, struct _VCSenCfg senTgt, void cInitTgt)

I32(*	cInitDefault )(struct _VCSenCfg sen, void cInit)

I32(*	cAlloc )(struct _VCSenCfg sen, void c, void cInit)

I32(*	cFree )(struct _VCSenCfg sen, void c, void cInit)

I32(*	cCopy )(struct _VCSenCfg senSrc, void cSrc, void cInitSrc, struct _VCSenCfg senTgt, void cTgt, void cInitTgt)

I32(*	cDefault )(struct _VCSenCfg sen, void c, void *cInit)

I32(*	init )(struct _VCSenCfg sen, void c, void *cInit)

I32(*	deinit )(struct _VCSenCfg sen, void c, void *cInit)

I32(*	prepare )(struct _VCSenCfg sen, void c, void *cInit)

I32(*	finalize )(struct _VCSenCfg sen, void c, void *cInit)

I32(*	verify )(struct _VCSenCfg sen, void c, void *cInit)

Field Documentation

◆ customId

VCCustomId customId

If customId fits, the following function pointers will be used instead of the original

◆ cInitAlloc

I32(* cInitAlloc) (struct _VCSenCfg *sen, void **cInit)

If customId fits, this function will be used to allocate memory for the cInit Initialization Structure

◆ cInitFree

I32(* cInitFree) (struct _VCSenCfg *sen, void **cInit)

If customId fits, this function will be used to free memory of the cInit Initialization Structure

◆ cInitCopy

I32(* cInitCopy) (struct _VCSenCfg *senSrc, void *cInitSrc, struct _VCSenCfg *senTgt, void *cInitTgt)

If fpgaId fits, this function will be used to copy the cInit Initialization Structure

◆ cInitDefault

I32(* cInitDefault) (struct _VCSenCfg *sen, void *cInit)

Writes Default Values to the Special Settings Initialization Structure

◆ cAlloc

I32(* cAlloc) (struct _VCSenCfg *sen, void **c, void *cInit)

If customId fits, this function will be used to allocate memory

◆ cFree

I32(* cFree) (struct _VCSenCfg *sen, void **c, void *cInit)

If customId fits, this function will be used to free memory

◆ cCopy

I32(* cCopy) (struct _VCSenCfg *senSrc, void *cSrc, void *cInitSrc, struct _VCSenCfg *senTgt, void *cTgt, void *cInitTgt)

If fpgaId fits, this function will be used to copy the special pointer

◆ cDefault

I32(* cDefault) (struct _VCSenCfg *sen, void *c, void *cInit)

Writes Default Values to the Special Settings Struct

◆ init

I32(* init) (struct _VCSenCfg *sen, void *c, void *cInit)

If customId fits, this function will be used to initialize memory and fpga modules

◆ deinit

I32(* deinit) (struct _VCSenCfg *sen, void *c, void *cInit)

If customId fits, this function will be used to deinitialize memory and fpga modules

◆ prepare

I32(* prepare) (struct _VCSenCfg *sen, void *c, void *cInit)

If customId fits, this function will be used to setup fpga modules for image acquisition

◆ finalize

I32(* finalize) (struct _VCSenCfg *sen, void *c, void *cInit)

If customId fits, this function will be used to finish setup after image acquisition

◆ verify

I32(* verify) (struct _VCSenCfg *sen, void *c, void *cInit)

If customId fits, this function will be used to verify settings

◆ VCSenCustomInit

union VCSenCustomInit

This union points to special settings and data for each sensor, for example, the laser line data and selector settings of a Nano-3D Z. Mandatory is the first element of a custom init struct to be of type VCCustomId with the same value as being used by the VCSenCustomCalls and the custom struct at VCSenCustom.

Data Fields
void *	unknown	may be used as a generic handle
struct _VCNano3dZInit *	nano3dz	if settings/data are for a VCNano3d Z camera
struct _VCCustomBCZInit *	bcz	if settings/data are for a BC Z camera

◆ VCSenInit

struct VCSenInit

This structure keeps sensor settings which are only configurable during Initialization.

Note, that on special devices, the fitting custom is applied automatically if the custom's fpgaId differ from the device's.

Collaboration diagram for VCSenInit:

Data Fields
I32	maxDx	User Limit for Maximum Horizontal Buffer Pixel Count (limits img.dx), at a Value of 0, the Sensor Maximum Value is being used
I32	maxDy	User Limit for Maximum Vertical Buffer Pixel Count (limits img.dy), at a Value of 0, the Sensor Maximum Value is being used
I32	maxPitch	User Limit for (Stride) Pixel Count to Next Pixel in Vertical Direction, at a Value of 0, the Sensor Maximum Value is being used
VCSenSync	sync	Synchronize synchronization behaviour
U32	imgType	To be done. For Bayer Sensors, one can choose IMAGE_BAYER to prevent allocation of 3 channels. Then, however, one cannot change to other types during operation.
I8	GRRIff1	Supported rolling shutter sensors switch to a so-called "global reset mode", a whole-exposure-time integration mode which needs you to flash in a dark environment.
char	pathUndistort[36]	Reserved for later use.
VCSenCustomCalls	custom	Defines the Customisation, e.g. by `VCSenCustomCalls_Nano3dZ` (unused at normal cameras)
VCSenCustomInit	cInit	Custom Settings only configurable during initialization, e.g. by modified `VCNano3dZInit_Default` (unused at normal cameras)

◆ VCSenExternal

struct VCSenExternal

This structure keeps data for each sensor set by extern functions.

Data Fields
F32	pos[3]	Position of the focal point in Space relative to (0,0,0).
F32	angle[2]	Angular direction of the light entry point.
struct _VCSenUndistort *	u	Reserved for later use.

◆ VCSenCaptInfo

struct VCSenCaptInfo

This structure keeps data for each sensor capture.

Data Fields
U32	infoCount	Total Written Count of 32 Bit Capture Information.
U32	captId	Image acquisition number from capture request call.
U64	timestampTicks	Timestamp of Image Acquisition since System Startup in Ticks. Convert to seconds using: timestamp/fpgaClkHz. Main purpose is relative capture time measurement with FPGA quartz accuracy so this FPGA-timestamp may differ and drift from the system clock, also consider the non-realtimeness of Linux if you (re-)calibrate.
U32	reserved1	Reserved for later use.
U32	encoderPos	Encoder position (only available at Nano-3D Z).
U32	reserved[26]	Reserved for later use.

◆ VCSenVolatile

struct VCSenVolatile

This structure keeps volatile data for each sensor.

Collaboration diagram for VCSenVolatile:

Data Fields
I32	requestCaptId	Image acquisition number from capture request call
VCSenState	state	Current Processing State
VCFPGAModCfg *	mod	FPGA Module Configuration
VCSenCaptInfo *	captInfo	Internal Capture Request Handler

◆ VCSenDesc

struct VCSenDesc

This structure keeps Sensor descripting information. Never change anything in here, also not in substructures!

Collaboration diagram for VCSenDesc:

Data Fields
VCSenVolatile	v	Keeps information about the progress.
VCSenExternal	e	Description of Settings filled externally.
I32	fd	Sensor Access File Handle
I32	fdCtl	Sensor Access File Handle
I32	fdMem	Contiguous Memory Access
VCCamType	camType	Camera Type
VCSenType	senType	Sensor Type
I32	portNr	Sensor Internal Access Number
VCFPGAId	fpgaId	FPGA Identifier
U32	shutterInit	Default Initial Shutter Time
U32	maxShutter	Maximum Allowed Shutter Time
F32	gainInit	Default Initial Gain Value
F32	maxGain	Maximum Allowed Gain Value
U32	typeInit	Sensor Pixel Data Encoding
U8 *	stInit	Initial Address
U8 *	ccmp1Init	Initial Address
U8 *	ccmp2Init	Initial Address
I32	senDx	Maximum Horizontal Sensor Pixel Count
I32	senDy	Maximum Vertical Sensor Pixel Count
I32	senPitch	(Stride) Pixel Count to Next Pixel in Vertical Direction
I32	maxDx	Maximum Horizontal Buffer Pixel Count (limits img.dx)
I32	stepDx	Remainderless Divisor of Horizontal Buffer Pixel Count
I32	maxDy	Maximum Vertical Buffer Pixel Count (limits img.dy)
I32	stepDy	Remainderless Divisor of Vertical Buffer Pixel Count
I32	maxPitch	(Stride) Pixel Count to Next Pixel in Vertical Direction
I32	stepPitch	Remainderless Divisor of (Stride) Pixel Count Pitch
I32	binAndSubsmplIff1	If 1 binning and subsampling may be used simultaneously, may have limitations
I16	binSquareIff1	If 1 binX will be used as binY, and binY is ignored
I16	binPower2Iff1	If 1 binX/Y must be a power of two, e.g. 1,2,4,8,...
I32	binMaxX	Binning Factor Max Value for Horizontal Direction
I32	binMaxY	Binning Factor Max Value for Vertical Direction
I16	subsmplSquareIff1	If 1 subsmplX will be used as subsmplY, and subsmplY is ignored
I16	subsmplPower2Iff1	If 1 subsmplX/Y must be a power of two, e.g. 1,2,4,8,...
I32	subsmplMaxX	Subsampling Factor Max Value for Horizontal Direction
I32	subsmplMaxY	Subsampling Factor Max Value for Vertical Direction
VCSenFlip	flipability	All available values for the flip value at `VCSenCfg`
U64	fpgaClkHz	Use for Timestamp Conversion
U64	senClkHz	Sensor Clock
U32	imageSMClks	Internal Conversion Factor
U8 *	physBase	Reference Address, Unchanged by Cloning Capture Struct
U32	physBaseBytes	Bytes Useable for Image Aqcuisition Data at `physBase`
U8 *	physImg	Sensor Data Initial Address
U32	physImgBytes	Bytes Useable for Image Aqcuisition Data at `physImg`
U8 *	virtImg	Sensor Data Initial Address
U16 **	modIdx	FPGA Module Configuration Module Cfg Lookup [i][Name\|Idx]
U16	maxMod	FPGA Module Configuration
VCSenInit	init	Description of Initialization Settings.

◆ VCSenCustom

union VCSenCustom

This union points to special settings and data for each sensor, for example, the laser line data and selector settings of a Nano-3D Z. Mandatory is the first element of a custom struct to be of type VCCustomId with the same value as being used by the VCSenCustomCalls and the custom init struct at VCSenCustomInit.

Data Fields
void *	unknown	may be used as a generic handle
struct _VCNano3dZ *	nano3dz	if settings/data are for a VCNano3d Z camera
struct _VCCustomBCZ *	bcz	if settings/data are for a BC Z camera

◆ VCSenCfg

struct VCSenCfg

This structure keeps settings for each sensor. We will initialize it, but not change anything in it except it is in the VCSenDesc struct.

Do not change parameters between calling vc_capt_request() and vc_capt_wait() for future compatibility reasons; the state of the corresponding VCSenVolatile struct d->v is not SENSTATE_IDLE during that period.

Collaboration diagram for VCSenCfg:

Data Fields
U32	shutter	Exposure Time in Microseconds, also see vc_sen_shutter_calculate().
F32	gain	Gain Value, values below `gainInit` may lead to bad image quality (too dark, noise or stripes in bright areas, etc.). This behaviour is no indication for the quality of the sensor.
image	img	Captured Image
I32	x0	ROI x Coordinate of Upper Left Point, may generate wrong colored images on color sensors if not multiple of 2.
I32	y0	ROI y Coordinate of Upper Left Point, may generate wrong colored images on color sensors if not multiple of 2.
I32	binX	Pixel Binning in Horizontal Direction, may be limited to powers of 2
I32	binY	Pixel Binning in Horizontal Direction, may be limited to powers of 2
I32	subsmplX	Pixel Subsampling in Horizontal Direction, may be limited to powers of 2
I32	subsmplY	Pixel Subsampling in Horizontal Direction, may be limited to powers of 2
VCSenFlip	flip	Pixel Mirroring or 180 deg Rotation, may add some time for switching depending on sensor.
VCFlashSelector	flash	Flash ports active (logically ORed) while image is exposed.
U32	preDelayNs	Delay between trigger signal and image acquisition start in nanoseconds. There is a post time span needed to transfer the image to memory which may be important for periodic image acquisitions of a specific frequency, also see vc_sen_preDelayNS_calculate().
VCSenDesc	d	Read-Only Sensor Description
VCSenCustom	c	Special Settings: To access data on special cameras, e.g. the Nano-3D Z

◆ VCTrgInit

struct VCTrgInit

This structure keeps trigger settings which are only configurable during Initialization.

Data Fields
VCTrgMode	mode	Trigger Sensitivity

◆ VCTrgDesc

struct VCTrgDesc

This structure keeps trigger descripting information. Never change anything in here, also not in substructures!

Collaboration diagram for VCTrgDesc:

Data Fields
VCTrgInit	init	Description of Initialization Settings.

◆ VCTrgCfg

struct VCTrgCfg

This structure keeps settings for the trigger of a capture request. We will initialize it, but not change anything in it except it is in the VCTrgDesc struct.

Collaboration diagram for VCTrgCfg:

Data Fields
VCTrgSrc	src	Trigger Source for Image Acquisition.
VCTrgDesc	d	Read-Only Description

◆ VCCaptDesc

struct VCCaptDesc

This structure keeps Capture Slot descripting information. Never change anything in here, also not in substructures!

Data Fields
VCCamType	camType	Camera Base Type
U32	maxSenCnt	Camera Sensor Count
VCSenType *	senTypeAtPort	Sensor Types listed per Port Nr
U32	senCnt	Capture Sensor Count
I32	clone	No Clone has a value of 0
I32	fdMem	Capture Access File Handle
U8 *	physBase	Initial Address, Unchanged by Cloning Capture Struct
U32	physBaseBytes	Bytes Useable for Image Aqcuisition Data at `physBase`

◆ VCCaptCfg

struct VCCaptCfg

This structure keeps settings for a capture slot configuration.

Do not change parameters between calling vc_capt_request() and vc_capt_wait() for future compatibility reasons; the state of the corresponding VCSenVolatile struct is not SENSTATE_IDLE during that period.

Collaboration diagram for VCCaptCfg:

Data Fields
VCSenCfg *	sen	Sensor Configurations accessible as array entries
VCTrgCfg	trg	Trigger Configuration
VCCaptDesc	d	Read-Only Description

Macro Definition Documentation

◆ NULL_VCFlashSelector

#define NULL_VCFlashSelector { .whole = 0x00000000 }

Every flash output is inactive.

◆ VCFlashSelector_Default

#define VCFlashSelector_Default { .whole = 0x80000000 }

Only TrigOut pin is active.

◆ VCSenInit_Default

#define VCSenInit_Default { 0,0,0, SENSYNC_SYNC, IMAGE_UNSET, 0, {0}, VCSenCustomCalls_Default, NULL_VCSenCustomInit }

The Sensor Configuration used if NULL is given as Initialisation Parameter.

Note, that on special devices, e.g. the Nano-3D Z, the custom loaded is the one which fits that device.

◆ VCSenCfg_Default

#define VCSenCfg_Default ( d )

Value:

{                                  \
            .shutter   = d.shutterInit,    \
            .gain      = d.gainInit,       \
            .img.type  = d.typeInit,       \
            .img.st    = d.stInit,         \
            .img.ccmp1 = d.ccmp1Init,      \
            .img.ccmp2 = d.ccmp2Init,      \
            .img.dx    = d.maxDx,          \
            .img.dy    = d.maxDy,          \
            .img.pitch = d.maxPitch,       \
            .x0        = 0,                \
            .y0        = 0,                \
            .binX      = 1,                \
            .binY      = 1,                \
            .subsmplX  = 1,                \
            .subsmplY  = 1,                \
            .flip      = SENFLIP_NONE,     \
            .flash     = VCFlashSelector_Default,  \
            .preDelayNs  = 0,              \
        }

The Sensor Configuration set directly after initialisation.

◆ VCTrgInit_Default

#define VCTrgInit_Default { TRGMODE_EDGE }

The Trigger Configuration used if NULL is given as Initialisation Parameter.

◆ VCTrgCfg_Default

#define VCTrgCfg_Default

Value:

{                                      \
            .src    = TRGSRC_IMM               \
        }

The Trigger Configuration provided directly after Initialisation.

◆ str_VCErrCpt

#define str_VCErrCpt ( e )

This macro returns a String for the enum VCErrCpt.

Enumeration Type Documentation

◆ VCSenType

enum VCSenType

This enum identifies the Sensor by its Type.

Enumerator
SENTYPE_UNSET	Unset/Unused
SENTYPE_E2V_EV76C560ABT_1_0	Producer: E2V, Sensor Name: EV76C560, 1280x1024 Grey, Revision 1, Head 0
SENTYPE_E2V_EV76C560ACT_1_0	Producer: E2V, Sensor Name: EV76C560, 1280x1024 Bayer, Revision 1, Head 0
SENTYPE_APT_MT9P031I12STM_1_0	Producer: Aptina, Sensor Name: MT9P031, 2592x1944 Grey, Revision 1, Head 0
SENTYPE_E2V_EV76C570ABT_1_0	Producer: E2V, Sensor Name: EV76C570, 1600x1200 Grey, Revision 1, Head 0
SENTYPE_E2V_EV76C541ABT_1_0	Producer: E2V, Sensor Name: EV76C541, 736(752)x480 Grey, Revision 1, Head 0
SENTYPE_E2V_EV76C661ABT_1_0	Producer: E2V, Sensor Name: EV76C661, 1280x1024 Grey, Revision 1, Head 0
SENTYPE_E2V_EV76C661ACT_1_0	Producer: E2V, Sensor Name: EV76C661, 1280x1024 Grey, Revision 1, Head 0
SENTYPE_E2V_EV76C570ACT_1_0	Producer: E2V, Sensor Name: EV76C570, 1600x1200 Bayer, Revision 1, Head 0
SENTYPE_E2V_EV76C541ACT_1_0	Producer: E2V, Sensor Name: EV76C541, 736(752)x480 Bayer, Revision 1, Head 0
SENTYPE_SNY_IMX252LLR_1_0	Producer: Sony, Sensor Name: IMX252, 2048x1536 Grey, Revision 1, Head 0
SENTYPE_SNY_IMX273LLR_1_0	Producer: Sony, Sensor Name: IMX273, 1440x1080 Grey, Revision 1, Head 0
SENTYPE_SNY_IMX252LQR_1_0	Producer: Sony, Sensor Name: IMX252, 2048x1536 Bayer, Revision 1, Head 0
SENTYPE_SNY_IMX392LLR_1_0	Producer: Sony, Sensor Name: IMX392, 1920x1200 Grey, Revision 1, Head 0
SENTYPE_SNY_IMX392LQR_1_0	Producer: Sony, Sensor Name: IMX392, 1920x1200 Bayer, Revision 1, Head 0
SENTYPE_SNY_IMX273LQR_1_0	Producer: Sony, Sensor Name: IMX273, 1440x1080 Bayer, Revision 1, Head 0
SENTYPE_SNY_IMX250LLR_1_0	Producer: Sony, Sensor Name: IMX252, 2048x1536 Grey, Revision 1, Head 0
SENTYPE_SNY_IMX183CLKJ_1_0	Producer: Sony, Sensor Name: IMX183, 5440x3648 Grey, Revision 1, Head 0

◆ VCSenState

enum VCSenState

This enum identifies the Sensor State.

Enumerator
SENSTATE_UNSET	Unset/Unused
SENSTATE_IDLE	Set if Sensor waits for a Capture Request
SENSTATE_BUSY	Set from Capture Request until Image Received by Capture Wait
SENSTATE_INIT	Set during Initialization Phase

◆ VCSenSync

enum VCSenSync

This enum identifies the Sensor Synchronization mode.

Enumerator
SENSYNC_UNSET	Unset/Unused
SENSYNC_STANDALONE	Sensor triggers unsynchronized at capture request
SENSYNC_SYNC	Synchronized Sensor trigger at capture request

◆ VCSenFlip

enum VCSenFlip

This enum identifies the Sensor Flipping mode.

Enumerator
SENFLIP_UNSET	Unset/Unused
SENFLIP_NONE	No Flipping
SENFLIP_HOR	Pixel column order is reversed: (0, 1, .., dx-2, dx-1) becomes (dx-1, dx-2, .., 1, 0)
SENFLIP_VERT	Pixel row order is reversed: (0, 1, .., dy-2, dy-1) becomes (dy-1, dy-2, .., 1, 0)

◆ VCCustomId

enum VCCustomId

This enum identifies custom data by its ID.

◆ VCTrgSrc

enum VCTrgSrc

This enum identifies the Trigger Source.

Enumerator
TRGSRC_UNSET	Unset/Unused
TRGSRC_IMM	Immediate Internal Trigger.
TRGSRC_EXT	External Trigger, choose trigger I/O with vcio command.

◆ VCTrgMode

enum VCTrgMode

This enum identifies when the trigger occurs.

Enumerator
TRGMODE_UNSET	Unset/Unused
TRGMODE_EDGE	External Trigger at edge.
TRGMODE_LEVEL	External Trigger at level.

◆ VCErrCpt

enum VCErrCpt

This enum contains error codes for a capture struct verification.

Enumerator
ERR_CPT_NONE	No Error detected.
ERR_CPT_NULLPTR	Capture Struct pointer points to NULL.
ERR_CPT_FDMEM	Capture Struct file descriptor is invalid.
ERR_CPT_SENCNT	Capture Struct has no sensors attached.
ERR_TRG_NULLPTR	Trigger Struct pointer points to NULL.
ERR_TRG_SRC	Trigger Source misconfigured.
ERR_SEN_NULLPTR	Trigger Struct pointer points to NULL.
ERR_SEN_SENTYPE	Sensor type invalid.
ERR_SEN_SHUTTER	Sensor shutter time out of bounds.
ERR_SEN_GAIN	Sensor gain out of bounds.
ERR_SEN_TGTADDR	Sensor Image Target Address out of bounds
ERR_SEN_ROI_X0_MIN	Sensor ROI x0 too low.
ERR_SEN_ROI_Y0_MIN	Sensor ROI y0 too low.
ERR_SEN_ROI_DX_MIN	Sensor ROI img.dx too low.
ERR_SEN_ROI_DX_MAX	Sensor ROI img.dx too big.
ERR_SEN_ROI_DX_STEP	Sensor ROI img.dx is not multiple of `stepDx`.
ERR_SEN_ROI_DY_MIN	Sensor ROI img.dy too low.
ERR_SEN_ROI_DY_MAX	Sensor ROI img.dy too big.
ERR_SEN_ROI_DY_STEP	Sensor ROI img.dy is not multiple of `stepDy`.
ERR_SEN_ROI_PITCH_MIN	Sensor ROI img.pitch too low.
ERR_SEN_ROI_PITCH_MAX	Sensor ROI img.pitch too big.
ERR_SEN_ROI_PITCH_STEP	Sensor ROI img.pitch is not multiple of `stepPitch`.
ERR_SEN_ROI_SUBSMPL_X_MIN	Sensor ROI subsmplX too low.
ERR_SEN_ROI_SUBSMPL_X_MAX	Sensor ROI subsmplX too big.
ERR_SEN_ROI_SUBSMPL_Y_MIN	Sensor ROI subsmplY too low.
ERR_SEN_ROI_SUBSMPL_Y_MAX	Sensor ROI subsmplY too big.
ERR_SEN_ROI_WIDTH	Sensor ROI width based on x0, dx, subsmplX not in range.
ERR_SEN_ROI_HEIGHT	Sensor ROI height based on x0, dx, subsmplX not in range.
ERR_SEN_ROI_BINNING_X_MIN	Sensor ROI binX too low.
ERR_SEN_ROI_BINNING_X_MAX	Sensor ROI binX too big.
ERR_SEN_ROI_BINNING_Y_MIN	Sensor ROI binY too low.
ERR_SEN_ROI_BINNING_Y_MAX	Sensor ROI binY too big.
ERR_SEN_ROI_SUBSMPL_N_BIN	Sensor ROI binning and subsampling active.
ERR_SEN_ROI_SUBSMPL_POWER	Sensor ROI binning and subsampling active.
ERR_SEN_ROI_BINNING_POWER	Sensor ROI binning and subsampling active.

Function Documentation

◆ vc_capt_init()

I32 vc_capt_init	(	VCCaptCfg *	cptNew,
		VCCamCfg *	cam,
		VCTrgInit *	trgInit,
		VCSenInit *	senInit
	)

This function initializes the capture configuration which will be used for image acquisitions. This function, adds all sensors by calling the function vc_capt_init_sen_add(), the port number is the index for the cpt->sen[] array. Deinitialization is necessary before leaving your program by using the function vc_capt_deinit().

You can provide NULL as value for trgInit and senInit. Then the default values will be used. If you want to add your own settings, please be sure to first pass default values to them, e.g. for senInit the contents of the definition VCSenInit_Default, and second apply your settings.

VCTrgInit/VCSenInit   init = VCTrgInit_Default/VCSenInit_Default;
init.toBeModified = newValue;
rc =  vc_capt_init([...], &init, [...]);

Content of cptNew will be overwritten, so be sure to set values not before the initialisation has been done (e.g. by this function).

This function must not be called more than once before proper deinitialisation.

Parameters

cptNew	New Capture Struct, will be overwritten.
cam	Already initialized camera struct.
trgInit	Set to NULL, or provide it with `VCTrgInit_Default` applied and changed by your needs.
senInit	Set to NULL, or provide it with `VCSenInit_Default` applied and changed by your needs.

See also: vc_capt_deinit(), vc_capt_init_raw(), vc_capt_init_sen_add().

◆ vc_capt()

I32 vc_capt ( VCCaptCfg * cpt )

This function sends a request for an image acquisition and then waits for the image to be taken. There is no timeout.

See section briefcodeforimagerecording for example code.

See also: vc_capt_request(), vc_capt_wait(), vc_sen_shutter_calculate().

Returns: the function vc_capt_verify() may provide an understandable error code, use str_VCErrCpt(), and if it is a custom camera, for example str_VCErrNano3dZ() onto the return value.

◆ vc_capt_deinit()

I32 vc_capt_deinit ( VCCaptCfg * cpt )

This function deinitializes the capture configuration which was used for image acquisitions.

See also: vc_capt_init().

Return values

ERR_NONE on Success.

◆ vc_capt_init_clone()

I32 vc_capt_init_clone	(	VCCaptCfg *	cptSrc,
		VCCaptCfg *	cptTgt
	)

This function initializes the capture configuration by using a fully initialized reference, for example, the capture of the function vc_cam_init(), to be cloned.

Deinitialization is necessary before leaving your program by using the function vc_capt_deinit().

See section cloningCaptureConfigurations for example code.

Parameters

cptSrc	Already Fully Set Up Capture Configuration.
cptTgt	New Configuration based on `cptSrc`.

See also: vc_capt_deinit().

◆ vc_capt_request()

I32 vc_capt_request ( VCCaptCfg * cpt )

This function sends a request for an image acquisition. A successful image acquisition is based on a proper initialized and set up capture configuration.

The exact shutter time used depends on rounding to the next possible value. You can return the calculated shutter time by calling the function named vc_sen_shutter_calculate().

See section briefcodeforimagerecording for example code.

Warning: Don't change settings at the requested VCCaptCfg until the counterpart vc_capt_wait() has been called, or it may lead to inconsistent results.

See also: vc_capt(), vc_capt_wait(), vc_sen_shutter_calculate().

Returns: the function vc_capt_verify() may provide an understandable error code, use str_VCErrCpt(), and if it is a custom camera, for example str_VCErrNano3dZ() onto the return value.

Return values

ERR_OVERRUN	if Capture Request not possible at the moment.
ERR_NONE	on Success.

◆ vc_capt_wait()

I32 vc_capt_wait	(	VCCaptCfg *	cpt,
		I64	timeout_ms
	)

This function waits for an image acquisition requested by the function named vc_capt_request() to be finished.

To wait forever set the variable timeout_ms to -1. The function returns immediately if timeout_ms is set to 0. However, if the sensor is already triggered for an image acquisition, the timeout will be ignored, and the image is available afterwards. The timeout is the total limit of the function to return. However, the function can return often after timeout_ms /2 depending on your shutter time and image acquisition loop design. This behaviour may be changed for your convenience at a future major release.

Note: It is important to call vc_capt_wait() with respect to the VCCaptCfg in the same order as the capture requests, since if not done so, the processing is incorrect!

Return values

>0	if timeout occurs.
=0	on success.
<0	on error.

Return values

ERR_OVERRUN if vc_capt_request() has not been called before.

◆ vc_capt_remove_all_requests()

I32 vc_capt_remove_all_requests	(	I32	cptCnt,
		VCCaptCfg *	allCpt
	)

This function removes any outstanding image acquisition requests from the internal queue. Moreover it can be used to cancel a wait for an external trigger signal. You have to provide any Capture Config initalized (also the clones) as array and its elements. arrCpt will then be processed as cpt = *(arrCpt + i), where i goes from 0 to cptCnt.

It is not possible to remove just one acquisition request, you have to provide all capture configs!

◆ vc_capt_print()

void vc_capt_print ( VCCaptCfg * cpt )

This function prints the values of the VCCaptCfg struct to the terminal.

◆ vc_capt_verify()

I32 vc_capt_verify ( VCCaptCfg * cpt )

This function verifies the readiness of a capture struct to be used for a capture request.

Parameters

cpt	Capture configuration to be tested.

Returns: Error code corresponding to VCErrCpt or custom VCErr or standard error code, especially ERR_NONE.

◆ vc_capt_init_raw()

I32 vc_capt_init_raw	(	VCCaptCfg *	cptNew,
		VCCamCfg *	cam,
		VCTrgInit *	trgInit
	)

This function initializes the capture configuration which will be used for image acquisitions. A more convenient way may be to call the function vc_cam_init() or vc_capt_init() instead.

After calling this function, one can add capture devices by calling the function vc_capt_init_sen_add() with the capture configuration target and the device to be added. Deinitialization is necessary before leaving your program by using the function vc_capt_deinit().

See the function documentation of vc_cam_init_raw() for an initialization example.

You can provide NULL as value for trgInit. Then the default values will be used. If you want to add your own settings, please be sure to first pass default values to them, e.g. for trgInit the contents of the definition VCTrgInit_Default, and second apply your settings.

Content of cptNew will be overwritten, so be sure to set values not before the initialisation has been done (e.g. by this function).

This function must not be called more than once per sensor before proper deinitialisation.

Parameters

cptNew	New Capture Struct, will be overwritten.
cam	Already initialized camera struct.
trgInit	Set to NULL, or provide it with `VCTrgInit_Default` applied and changed by your needs.

See also: vc_cam_init_raw(), vc_capt_init_sen_add(), vc_capt_deinit().

◆ vc_capt_init_sen_add()

I32 vc_capt_init_sen_add	(	VCCaptCfg *	cpt,
		U32	senPortNr,
		VCSenInit *	senInit,
		VCTrgInit *	trgInit
	)

This function adds a sensor device to a capture configuration previously initialized by calling the function vc_capt_init().

See the function documentation of vc_cam_init_raw() for an initialization example.

All sensor parameters will be set to sane default values, so one can easily use the capture setup without tweaking much parameters.

You can provide NULL as value for senInit or trgInit. Then the default values will be used. If you want to add your own settings, please be sure to first pass default values to them, e.g. for trgInit the contents of the definition VCTrgInit_Default, and second apply your settings.

VCTrgInit/VCSenInit   init = VCTrgInit_Default/VCSenInit_Default;
init.toBeModified = newValue;
rc =  vc_capt_init([...], &init, [...]);

Content of cptNew will be overwritten, so be sure to set values not before the initialisation has been done (e.g. by this function).

Parameters

cpt	Already initialized capture Struct, the new `cpt`->`sen` array element will be newly written.
senPortNr	Port number of the sensor to be added.
senInit	Set to NULL, or provide it with `VCSenInit_Default` applied and changed by your needs.
trgInit	Set to NULL, or provide it with `VCTrgInit_Default` applied and changed by your needs.

See also: vc_cam_init_raw(), vc_capt_init_raw(), vc_capt_deinit().

Returns: Sensor Index Number at Capture Config Sensor Array.

◆ vc_capt_sen_shutter_set_all()

void vc_capt_sen_shutter_set_all	(	VCCaptCfg *	capt,
		U32	shutter
	)

This function sets the shutter time of all sensors at the capture struct to the given value.

◆ vc_capt_sen_gain_set_all()

void vc_capt_sen_gain_set_all	(	VCCaptCfg *	capt,
		F32	gain
	)

This function sets the gain value of all sensors at the capture struct to the given value.

◆ vc_capt_sen_lut_set_all()

I32 vc_capt_sen_lut_set_all	(	VCCaptCfg *	capt,
		U8 *	lut,
		I32	entries
	)

This helper function sets the sensor grey value lookup table of all sensors at the capture struct to the given value. See the documentation of vc_sen_lut_set() for more information.

Returns: vc_sen_lut_set() error code.

See also: vc_sen_lut_set().

◆ vc_capt_sen_lut_reset_all()

I32 vc_capt_sen_lut_reset_all ( VCCaptCfg * capt )

This helper function sets the sensor grey value lookup table of all sensors at the capture struct to its initial state. See the documentation of vc_sen_lut_reset() for more information.

Returns: vc_sen_lut_reset() error code.

See also: vc_sen_lut_reset().

◆ vc_sen_shutter_calculate()

I32 vc_sen_shutter_calculate	(	VCSenCfg *	sen,
		U32	requestShutter,
		U32 *	calculatedShutter
	)

This function calculates the exact shutter time used for the image acquisition by calling vc_capt_request().

Return values

0	on Success.
1	if `requestShutter` is out of range (`calculatedShutter` is set to maximum/minimum).

See also: vc_capt_request().

◆ vc_sen_lut_set()

I32 vc_sen_lut_set	(	U8 *	lut,
		I32	entries,
		VCSenCfg *	sen
	)

This function sets the grey value lookup table to map more than eight bit of grey values to eigtht bits. For each value n the grey value at the image will be lut[n]. Sensors may have a smaller input value range than the programmable lut, i.e. the minimum grey value may be 60 and the maximum grey value may be 1022. It is better to have no image acquisition running if the LUT is changed.

Return values

0	on Success.
ERR_TYPE	if entries is not 1024.
ERR_MODEL	if the sensor setup does not support LUTs.

See also: vc_capt_sen_lut_set_all(), vc_capt_sen_lut_reset().

◆ vc_sen_lut_reset()

I32 vc_sen_lut_reset ( VCSenCfg * sen )

This function sets the grey value lookup table to its initial state. It is better to have no image acquisition running if the LUT is changed.

Return values

0	on Success.
ERR_MODEL	if the sensor setup does not support LUTs.

See also: vc_capt_sen_lut_reset_all(), vc_capt_sen_lut_set().

◆ vc_sen_cfg_to_default()

void vc_sen_cfg_to_default ( VCSenCfg * sen )

This function sets the sensor configuration to default values.

◆ vc_sen_img_to_default()

void vc_sen_img_to_default ( VCSenCfg * sen )

This function sets the image variable at the sensor configuration to default values.

Image Acquisition

Data Structures

Macros

Enumerations

Functions

Detailed Description

Image Recording Overview and Brief Code

Changing the Shutter Time and Gain

Changing the Sensor ROI

Cloning Capture Configurations for Double Buffering Purposes

Subsampling/Binning on Providing Systems

Color Sensor Output Format

GPIO Assignment as Trigger

Separate Image Acquisition on Multi-Sensor-Systems

Overview of the Capture Slot Structure

Data Structure Documentation

◆ VCFlashSelector

◆ VCSenCustomCalls

Data Fields

Field Documentation

◆ customId

◆ cInitAlloc

◆ cInitFree

◆ cInitCopy

◆ cInitDefault

◆ cAlloc

◆ cFree

◆ cCopy

◆ cDefault

◆ init

◆ deinit

◆ prepare

◆ finalize

◆ verify

◆ VCSenCustomInit

◆ VCSenInit

◆ VCSenExternal

◆ VCSenCaptInfo

◆ VCSenVolatile

◆ VCSenDesc

◆ VCSenCustom

◆ VCSenCfg

◆ VCTrgInit

◆ VCTrgDesc

◆ VCTrgCfg

◆ VCCaptDesc

◆ VCCaptCfg

Macro Definition Documentation

◆ NULL_VCFlashSelector

◆ VCFlashSelector_Default

◆ VCSenInit_Default

◆ VCSenCfg_Default

◆ VCTrgInit_Default

◆ VCTrgCfg_Default

◆ str_VCErrCpt

Enumeration Type Documentation

◆ VCSenType

◆ VCSenState

◆ VCSenSync

◆ VCSenFlip

◆ VCCustomId

◆ VCTrgSrc

◆ VCTrgMode

◆ VCErrCpt

Function Documentation

◆ vc_capt_init()

◆ vc_capt()

◆ vc_capt_deinit()

◆ vc_capt_init_clone()

◆ vc_capt_request()

◆ vc_capt_wait()

◆ vc_capt_remove_all_requests()

◆ vc_capt_print()

◆ vc_capt_verify()

◆ vc_capt_init_raw()

◆ vc_capt_init_sen_add()

◆ vc_capt_sen_shutter_set_all()

◆ vc_capt_sen_gain_set_all()

◆ vc_capt_sen_lut_set_all()

◆ vc_capt_sen_lut_reset_all()