Add support for libcamera Autofocus parameters (#1417)

* [DEV #1416] Add support for libcamera Autofocus parameters

* [DEVMINOR] Fix Go formatting

* [DEV] Support AF window parameter for rpiCamera

* [DEV] Update default .yml file to add rpiCameraAfWindow parameter

internal/conf/path.go

@@ -73,6 +73,11 @@ type PathConf struct {
 	RPICameraBitrate           int            `json:"rpiCameraBitrate"`
 	RPICameraProfile           string         `json:"rpiCameraProfile"`
 	RPICameraLevel             string         `json:"rpiCameraLevel"`
+	RPICameraAfMode            string         `json:"rpiCameraAfMode"`
+	RPICameraAfRange           string         `json:"rpiCameraAfRange"`
+	RPICameraAfSpeed           string         `json:"rpiCameraAfSpeed"`
+	RPICameraLensPosition      float64        `json:"rpiCameraLensPosition"`
+	RPICameraAfWindow          string         `json:"rpiCameraAfWindow"`
 
 	// authentication
 	PublishUser Credential `json:"publishUser"`

internal/core/source_static.go

@@ -86,30 +86,35 @@ func newSourceStatic(
 	case conf.Source == "rpiCamera":
 		s.impl = newRPICameraSource(
 			rpicamera.Params{
-				CameraID:   conf.RPICameraCamID,
-				Width:      conf.RPICameraWidth,
-				Height:     conf.RPICameraHeight,
-				HFlip:      conf.RPICameraHFlip,
-				VFlip:      conf.RPICameraVFlip,
-				Brightness: conf.RPICameraBrightness,
-				Contrast:   conf.RPICameraContrast,
-				Saturation: conf.RPICameraSaturation,
-				Sharpness:  conf.RPICameraSharpness,
-				Exposure:   conf.RPICameraExposure,
-				AWB:        conf.RPICameraAWB,
-				Denoise:    conf.RPICameraDenoise,
-				Shutter:    conf.RPICameraShutter,
-				Metering:   conf.RPICameraMetering,
-				Gain:       conf.RPICameraGain,
-				EV:         conf.RPICameraEV,
-				ROI:        conf.RPICameraROI,
-				TuningFile: conf.RPICameraTuningFile,
-				Mode:       conf.RPICameraMode,
-				FPS:        conf.RPICameraFPS,
-				IDRPeriod:  conf.RPICameraIDRPeriod,
-				Bitrate:    conf.RPICameraBitrate,
-				Profile:    conf.RPICameraProfile,
-				Level:      conf.RPICameraLevel,
+				CameraID:     conf.RPICameraCamID,
+				Width:        conf.RPICameraWidth,
+				Height:       conf.RPICameraHeight,
+				HFlip:        conf.RPICameraHFlip,
+				VFlip:        conf.RPICameraVFlip,
+				Brightness:   conf.RPICameraBrightness,
+				Contrast:     conf.RPICameraContrast,
+				Saturation:   conf.RPICameraSaturation,
+				Sharpness:    conf.RPICameraSharpness,
+				Exposure:     conf.RPICameraExposure,
+				AWB:          conf.RPICameraAWB,
+				Denoise:      conf.RPICameraDenoise,
+				Shutter:      conf.RPICameraShutter,
+				Metering:     conf.RPICameraMetering,
+				Gain:         conf.RPICameraGain,
+				EV:           conf.RPICameraEV,
+				ROI:          conf.RPICameraROI,
+				TuningFile:   conf.RPICameraTuningFile,
+				Mode:         conf.RPICameraMode,
+				FPS:          conf.RPICameraFPS,
+				IDRPeriod:    conf.RPICameraIDRPeriod,
+				Bitrate:      conf.RPICameraBitrate,
+				Profile:      conf.RPICameraProfile,
+				Level:        conf.RPICameraLevel,
+				AfMode:       conf.RPICameraAfMode,
+				AfRange:      conf.RPICameraAfRange,
+				AfSpeed:      conf.RPICameraAfSpeed,
+				LensPosition: conf.RPICameraLensPosition,
+				AfWindow:     conf.RPICameraAfWindow,
 			},
 			s)
 	}

internal/rpicamera/exe/Makefile

@@ -3,7 +3,8 @@ CFLAGS = \
 	-Werror \
 	-Wall \
 	-Wextra \
-	-Wno-unused-parameter
+	-Wno-unused-parameter \
+	-Wno-unused-result
 
 CXXFLAGS = \
 	-Ofast \
@@ -11,6 +12,7 @@ CXXFLAGS = \
 	-Wall \
 	-Wextra \
 	-Wno-unused-parameter \
+	-Wno-unused-result \
 	-std=c++17 \
 	$$(pkg-config --cflags libcamera)
 
@@ -24,7 +26,7 @@ OBJS = \
 	encoder.o \
 	main.o \
 	parameters.o \
-	roi.o \
+	window.o \
 	sensor_mode.o
 
 all: exe

internal/rpicamera/exe/camera.cpp

@@ -334,6 +334,71 @@ bool camera_start(camera_t *cam) {
     int64_t frame_time = 1000000 / camp->params->fps;
     ctrls.set(controls::FrameDurationLimits, Span<const int64_t, 2>({ frame_time, frame_time }));
 
+    int af_mode;
+    if (strcmp(camp->params->af_mode, "manual") == 0) {
+        af_mode = controls::AfModeManual;
+    } else if (strcmp(camp->params->af_mode, "auto") == 0) {
+        af_mode = controls::AfModeAuto;
+    } else if (strcmp(camp->params->af_mode, "continuous") == 0) {
+        af_mode = controls::AfModeContinuous;
+    } else {
+        af_mode = controls::AfModeManual;
+    }
+    ctrls.set(controls::AfMode, af_mode);
+
+    int af_range;
+    if (strcmp(camp->params->af_range, "normal") == 0) {
+        af_range = controls::AfRangeNormal;
+    } else if (strcmp(camp->params->af_range, "macro") == 0) {
+        af_range = controls::AfRangeMacro;
+    } else if (strcmp(camp->params->af_range, "full") == 0) {
+        af_range = controls::AfRangeFull;
+    } else {
+        af_range = controls::AfRangeNormal;
+    }
+    ctrls.set(controls::AfRange, af_range);
+
+    int af_speed;
+    if (strcmp(camp->params->af_range, "normal") == 0) {
+        af_speed = controls::AfSpeedNormal;
+    } else if (strcmp(camp->params->af_range, "fast") == 0) {
+        af_speed = controls::AfSpeedFast;
+    } else {
+        af_speed = controls::AfSpeedNormal;
+    }
+    ctrls.set(controls::AfSpeed, af_speed);
+
+
+    // Lens Position
+    ctrls.set(controls::LensPosition, camp->params->lens_position);
+
+    // Af Window
+    if (camp->params->af_window != NULL) {
+        std::optional<Rectangle> opt = camp->camera->properties().get(properties::ScalerCropMaximum);
+        Rectangle sensor_area;
+        try {
+            sensor_area = opt.value();
+        } catch(const std::bad_optional_access& exc) {
+            set_error("get(ScalerCropMaximum) failed");
+            return false;
+        }
+
+        Rectangle afwindows_rectangle[1];
+
+        afwindows_rectangle[0] = Rectangle (
+                camp->params->af_window->x * sensor_area.width,
+                camp->params->af_window->y * sensor_area.height,
+                camp->params->af_window->width * sensor_area.width,
+                camp->params->af_window->height * sensor_area.height);
+
+         afwindows_rectangle[0].translateBy(sensor_area.topLeft());
+        //activate the AfMeteringWindows
+        ctrls.set(controls::AfMetering, controls::AfMeteringWindows);
+        //set window
+        ctrls.set(controls::AfWindows, afwindows_rectangle);
+    }
+
+
     int res = camp->camera->start(&ctrls);
     if (res != 0) {
         set_error("Camera.start() failed");

internal/rpicamera/exe/parameters.c

@@ -39,7 +39,7 @@ bool parameters_load(parameters_t *params) {
     params->ev = atof(getenv("EV"));
 
     if (strlen(getenv("ROI")) != 0) {
-        bool ok = roi_load(getenv("ROI"), &params->roi);
+        bool ok = window_load(getenv("ROI"), &params->roi);
         if (!ok) {
             set_error("invalid ROI");
             return false;
@@ -85,5 +85,20 @@ bool parameters_load(parameters_t *params) {
     params->buffer_count = 6;
     params->capture_buffer_count = params->buffer_count * 2;
 
+    params->af_mode = getenv("AF_MODE");
+    params->af_range = getenv("AF_RANGE");
+    params->af_speed = getenv("AF_SPEED");
+    params->lens_position = atof(getenv("LENS_POSITION"));
+
+    if (strlen(getenv("AF_WINDOW")) != 0) {
+        bool ok = window_load(getenv("AF_WINDOW"), &params->af_window);
+        if (!ok) {
+            set_error("invalid AF_WINDOW");
+            return false;
+        }
+    } else {
+        params->af_window = NULL;
+    }
+
     return true;
 }

internal/rpicamera/exe/parameters.h

@@ -3,7 +3,7 @@
 
 #include <stdbool.h>
 
-#include "roi.h"
+#include "window.h"
 #include "sensor_mode.h"
 
 typedef struct {
@@ -23,7 +23,7 @@ typedef struct {
     const char *metering;
     float gain;
     float ev;
-    roi_t *roi;
+    window_t *roi;
     const char *tuning_file;
     sensor_mode_t *mode;
     unsigned int fps;
@@ -31,6 +31,11 @@ typedef struct {
     unsigned int bitrate;
     unsigned int profile;
     unsigned int level;
+    const char *af_mode;
+    const char *af_range;
+    const char *af_speed;
+    float lens_position;
+    window_t *af_window;
 
     // private
     unsigned int buffer_count;

internal/rpicamera/exe/window.c

@@ -1,9 +1,9 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include "roi.h"
+#include "window.h"
 
-bool roi_load(const char *encoded, roi_t **mode) {
+bool window_load(const char *encoded, window_t **mode) {
     float vals[4];
     int i = 0;
     char *token = strtok((char *)encoded, ",");
@@ -21,7 +21,7 @@ bool roi_load(const char *encoded, roi_t **mode) {
         return false;
     }
 
-    *mode = malloc(sizeof(roi_t));
+    *mode = malloc(sizeof(window_t));
     (*mode)->x = vals[0];
     (*mode)->y = vals[1];
     (*mode)->width = vals[2];

internal/rpicamera/exe/window.h

@@ -1,5 +1,5 @@
-#ifndef __ROI_H__
-#define __ROI_H__
+#ifndef __WINDOW_H__
+#define __WINDOW_H__
 
 #include <stdbool.h>
 
@@ -8,8 +8,8 @@ typedef struct {
     float y;
     float width;
     float height;
-} roi_t;
+} window_t;
 
-bool roi_load(const char *encoded, roi_t **mode);
+bool window_load(const char *encoded, window_t **mode);
 
 #endif

internal/rpicamera/params.go

@@ -2,28 +2,33 @@ package rpicamera
 
 // Params is a set of camera parameters.
 type Params struct {
-	CameraID   int
-	Width      int
-	Height     int
-	HFlip      bool
-	VFlip      bool
-	Brightness float64
-	Contrast   float64
-	Saturation float64
-	Sharpness  float64
-	Exposure   string
-	AWB        string
-	Denoise    string
-	Shutter    int
-	Metering   string
-	Gain       float64
-	EV         float64
-	ROI        string
-	TuningFile string
-	Mode       string
-	FPS        int
-	IDRPeriod  int
-	Bitrate    int
-	Profile    string
-	Level      string
+	CameraID     int
+	Width        int
+	Height       int
+	HFlip        bool
+	VFlip        bool
+	Brightness   float64
+	Contrast     float64
+	Saturation   float64
+	Sharpness    float64
+	Exposure     string
+	AWB          string
+	Denoise      string
+	Shutter      int
+	Metering     string
+	Gain         float64
+	EV           float64
+	ROI          string
+	TuningFile   string
+	Mode         string
+	FPS          int
+	IDRPeriod    int
+	Bitrate      int
+	Profile      string
+	Level        string
+	AfMode       string
+	AfRange      string
+	AfSpeed      string
+	LensPosition float64
+	AfWindow     string
 }

internal/rpicamera/rpicamera.go

@@ -145,6 +145,11 @@ func New(
 		"BITRATE=" + strconv.FormatInt(int64(params.Bitrate), 10),
 		"PROFILE=" + params.Profile,
 		"LEVEL=" + params.Level,
+		"AF_MODE=" + params.AfMode,
+		"AF_RANGE=" + params.AfRange,
+		"AF_SPEED=" + params.AfSpeed,
+		"LENS_POSITION=" + strconv.FormatFloat(params.LensPosition, 'f', -1, 64),
+		"AF_WINDOW=" + params.AfWindow,
 	}
 
 	exe, err := newEmbeddedExe(exeContent, env)

rtsp-simple-server.yml

@@ -327,6 +327,24 @@ paths:
     rpiCameraProfile: main
     # H264 level
     rpiCameraLevel: '4.1'
+    # Autofocus mode
+    # values: manual, auto, continuous
+    rpiCameraAfMode: continuous
+    # Autofocus range
+    # values: normal, macro, full
+    rpiCameraAfRange: normal
+    # Autofocus speed
+    # values: normal, fast
+    rpiCameraAfSpeed: normal
+    # Lens position (for manual autofocus only), will be set to focus to a specific distance
+    # calculated by the following formula: d = 1 / value
+    # Examples: 0 moves the lens to infinity.
+    #           0.5 moves the lens to focus on objects 2m away.
+    #           2 moves the lens to focus on objects 50cm away.
+    rpiCameraLensPosition: 0.0
+    # Specifies the autofocus window, in the form x,y,width,height where the coordinates
+    # are given as a proportion of the entire image.
+    rpiCameraAfWindow:
 
     # Username required to publish.
     # SHA256-hashed values can be inserted with the "sha256:" prefix.