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diff --git a/Documentation/userspace-api/media/v4l/metafmt-d4xx.rst b/Documentation/userspace-api/media/v4l/metafmt-d4xx.rst new file mode 100644 index 0000000000..0686413b16 --- /dev/null +++ b/Documentation/userspace-api/media/v4l/metafmt-d4xx.rst @@ -0,0 +1,252 @@ +.. SPDX-License-Identifier: GFDL-1.1-no-invariants-or-later + +.. _v4l2-meta-fmt-d4xx: + +******************************* +V4L2_META_FMT_D4XX ('D4XX') +******************************* + +Intel D4xx UVC Cameras Metadata + + +Description +=========== + +Intel D4xx (D435, D455 and others) cameras include per-frame metadata in their UVC +payload headers, following the Microsoft(R) UVC extension proposal [1_]. That +means, that the private D4XX metadata, following the standard UVC header, is +organised in blocks. D4XX cameras implement several standard block types, +proposed by Microsoft, and several proprietary ones. Supported standard metadata +types are MetadataId_CaptureStats (ID 3), MetadataId_CameraExtrinsics (ID 4), +and MetadataId_CameraIntrinsics (ID 5). For their description see [1_]. This +document describes proprietary metadata types, used by D4xx cameras. + +V4L2_META_FMT_D4XX buffers follow the metadata buffer layout of +V4L2_META_FMT_UVC with the only difference, that it also includes proprietary +payload header data. D4xx cameras use bulk transfers and only send one payload +per frame, therefore their headers cannot be larger than 255 bytes. + +This document implements Intel Configuration version 3 [9_]. + +Below are proprietary Microsoft style metadata types, used by D4xx cameras, +where all fields are in little endian order: + +.. tabularcolumns:: |p{5.0cm}|p{12.5cm}| + + +.. flat-table:: D4xx metadata + :widths: 1 2 + :header-rows: 1 + :stub-columns: 0 + + * - **Field** + - **Description** + * - :cspan:`1` *Depth Control* + * - __u32 ID + - 0x80000000 + * - __u32 Size + - Size in bytes, include ID (all protocol versions: 60) + * - __u32 Version + - Version of this structure. The documentation herein covers versions 1, + 2 and 3. The version number will be incremented when new fields are + added. + * - __u32 Flags + - A bitmask of flags: see [2_] below + * - __u32 Gain + - Gain value in internal units, same as the V4L2_CID_GAIN control, used to + capture the frame + * - __u32 Exposure + - Exposure time (in microseconds) used to capture the frame + * - __u32 Laser power + - Power of the laser LED 0-360, used for depth measurement + * - __u32 AE mode + - 0: manual; 1: automatic exposure + * - __u32 Exposure priority + - Exposure priority value: 0 - constant frame rate + * - __u32 AE ROI left + - Left border of the AE Region of Interest (all ROI values are in pixels + and lie between 0 and maximum width or height respectively) + * - __u32 AE ROI right + - Right border of the AE Region of Interest + * - __u32 AE ROI top + - Top border of the AE Region of Interest + * - __u32 AE ROI bottom + - Bottom border of the AE Region of Interest + * - __u32 Preset + - Preset selector value, default: 0, unless changed by the user + * - __u8 Emitter mode (v3 only) (__u32 Laser mode for v1) [8_] + - 0: off, 1: on, same as __u32 Laser mode for v1 + * - __u8 RFU byte (v3 only) + - Spare byte for future use + * - __u16 LED Power (v3 only) + - Led power value 0-360 (F416 SKU) + * - :cspan:`1` *Capture Timing* + * - __u32 ID + - 0x80000001 + * - __u32 Size + - Size in bytes, include ID (all protocol versions: 40) + * - __u32 Version + - Version of this structure. The documentation herein corresponds to + version xxx. The version number will be incremented when new fields are + added. + * - __u32 Flags + - A bitmask of flags: see [3_] below + * - __u32 Frame counter + - Monotonically increasing counter + * - __u32 Optical time + - Time in microseconds from the beginning of a frame till its middle + * - __u32 Readout time + - Time, used to read out a frame in microseconds + * - __u32 Exposure time + - Frame exposure time in microseconds + * - __u32 Frame interval + - In microseconds = 1000000 / framerate + * - __u32 Pipe latency + - Time in microseconds from start of frame to data in USB buffer + * - :cspan:`1` *Configuration* + * - __u32 ID + - 0x80000002 + * - __u32 Size + - Size in bytes, include ID (v1:36, v3:40) + * - __u32 Version + - Version of this structure. The documentation herein corresponds to + version xxx. The version number will be incremented when new fields are + added. + * - __u32 Flags + - A bitmask of flags: see [4_] below + * - __u8 Hardware type + - Camera hardware version [5_] + * - __u8 SKU ID + - Camera hardware configuration [6_] + * - __u32 Cookie + - Internal synchronisation + * - __u16 Format + - Image format code [7_] + * - __u16 Width + - Width in pixels + * - __u16 Height + - Height in pixels + * - __u16 Framerate + - Requested frame rate per second + * - __u16 Trigger + - Byte 0: bit 0: depth and RGB are synchronised, bit 1: external trigger + * - __u16 Calibration count (v3 only) + - Calibration counter, see [4_] below + * - __u8 GPIO input data (v3 only) + - GPIO readout, see [4_] below (Supported from FW 5.12.7.0) + * - __u32 Sub-preset info (v3 only) + - Sub-preset choice information, see [4_] below + * - __u8 reserved (v3 only) + - RFU byte. + +.. _1: + +[1] https://docs.microsoft.com/en-us/windows-hardware/drivers/stream/uvc-extensions-1-5 + +.. _2: + +[2] Depth Control flags specify which fields are valid: :: + + 0x00000001 Gain + 0x00000002 Exposure + 0x00000004 Laser power + 0x00000008 AE mode + 0x00000010 Exposure priority + 0x00000020 AE ROI + 0x00000040 Preset + 0x00000080 Emitter mode + 0x00000100 LED Power + +.. _3: + +[3] Capture Timing flags specify which fields are valid: :: + + 0x00000001 Frame counter + 0x00000002 Optical time + 0x00000004 Readout time + 0x00000008 Exposure time + 0x00000010 Frame interval + 0x00000020 Pipe latency + +.. _4: + +[4] Configuration flags specify which fields are valid: :: + + 0x00000001 Hardware type + 0x00000002 SKU ID + 0x00000004 Cookie + 0x00000008 Format + 0x00000010 Width + 0x00000020 Height + 0x00000040 Framerate + 0x00000080 Trigger + 0x00000100 Cal count + 0x00000200 GPIO Input Data + 0x00000400 Sub-preset Info + +.. _5: + +[5] Camera model: :: + + 0 DS5 + 1 IVCAM2 + +.. _6: + +[6] 8-bit camera hardware configuration bitfield: :: + + [1:0] depthCamera + 00: no depth + 01: standard depth + 10: wide depth + 11: reserved + [2] depthIsActive - has a laser projector + [3] RGB presence + [4] Inertial Measurement Unit (IMU) presence + [5] projectorType + 0: HPTG + 1: Princeton + [6] 0: a projector, 1: an LED + [7] reserved + +.. _7: + +[7] Image format codes per video streaming interface: + +Depth: :: + + 1 Z16 + 2 Z + +Left sensor: :: + + 1 Y8 + 2 UYVY + 3 R8L8 + 4 Calibration + 5 W10 + +Fish Eye sensor: :: + + 1 RAW8 + +.. _8: + +[8] The "Laser mode" has been replaced in version 3 by three different fields. +"Laser" has been renamed to "Emitter" as there are multiple technologies for +camera projectors. As we have another field for "Laser Power" we introduced +"LED Power" for extra emitter. + +The "Laser mode" __u32 fields has been split into: :: + 1 __u8 Emitter mode + 2 __u8 RFU byte + 3 __u16 LED Power + +This is a change between versions 1 and 3. All versions 1, 2 and 3 are backward +compatible with the same data format and they are supported. See [2_] for which +attributes are valid. + +.. _9: + +[9] LibRealSense SDK metadata source: +https://github.com/IntelRealSense/librealsense/blob/master/src/metadata.h |