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G5Camera C++ library

v2.0.7

Overview
Versions
Library files
G5Camera class description
Data structures
LensParams class description
CameraParams class description
Build and connect to your project
Simple example
Test application

Overview

The G5Camera C++ library is a software controller for G5 camera. G5 camera combines lens and camera (image sensor) and provides one control interface (serial port). The G5Camera library inherits Lens and Camera interfaces. It depends on libraries: Lens (provides interface and data structures to control lenses, source code included, Apache 2.0 license), Camera (provides interface and data structures to control cameras, source code included, Apache 2.0 license), Logger (provides function to print logs, source code included, Apache 2.0 license), SerialPort (provides functions to work with serial ports, source code included, Apache 2.0 license) and G5ProtocolParser library (provides functions to encode control commands for G5 cameras). The G5Camera library provides simple interface to be integrated in any C++ projects. The library repository (folder) provided by source code and doesn’t have third-party dependencies to be specially installed in OS. It is developed with C++17 standard and compatible with Linux and Windows.

Versions

Table 1 - Library versions.

Version	Release date	What’s new
1.0.0	03.04.2023	- First version.
2.0.0	10.01.2024	- Parser updated. - Documentation added.
2.0.1	23.04.2024	- Documentation updated. - Code optimized.
2.0.2	24.05.2024	- Documentation updated. - Submodules updated.
2.0.3	07.08.2024	- CMake structure updated.
2.0.4	10.09.2024	- Add SCENE_MODE parameter to control AGC ROI.
2.0.5	29.09.2024	- Add vertical FOV calculation. - Fixed camera overlay auto off.
2.0.6	21.10.2024	- Fix auto NUC intervale control.
2.0.7	25.11.2024	- Updated supporting camera params.

Library files

The library supplied by source code only. The user would be given a set of files in the form of a CMake project (repository). The repository structure is shown below:

CMakeLists.txt ------------ Main CMake file of the library.
3rdparty ------------------ Folder with third-party libraries.
    CMakeLists.txt -------- CMake file to include third-party libraries.
    Camera ---------------- Folder with Camera library source code.
    G5ProtocolParser ------ Folder with G5ProtocolParser library source code.
    Lens ------------------ Folder with Lens library source code.
    Logger ---------------- Folder with Logger library source code.
    SerialPort ------------ Folder with SerialPort library source code.
test ---------------------- Folder with test application.
    CMakeLists.txt -------- CMake file for test application.
    main.cpp -------------- Source code file of test application.
src ----------------------- Folder with source code of the library.
    CMakeLists.txt -------- CMake file of the library.
    G5Camera.cpp ---------- C++ implementation file.
    G5Camera.h ------------ Header file which includes G5Camera class declaration.
    G5CameraVersion.h ----- Header file which includes version of the library.
    G5CameraVersion.h.in -- CMake service file to generate version file.

G5Camera class description

G5Camera class declaration

G5Camera class declared in G5Camera.h file. The G5Camera class inherits interfaces from Lens and Camera. So, the G5Camera class includes set of similar methods (for lens and camera control). Class declaration:

class G5Camera : public cr::camera::Camera, public cr::lens::Lens
{
public:

    /// Class constructor.
    G5Camera();

    /// Class destructor.
    ~G5Camera();

    /// Get class version.
    static std::string getVersion();

    /// Decode and execute command.
    bool decodeAndExecuteCommand(uint8_t* data, int size) override;

    // #######################################
    // CAMERA CONTROL INTERFACE
    // #######################################

    /// Open controller serial port.
    bool openCamera(std::string initString) override;

    /// Init camera by parameters structure.
    bool initCamera(cr::camera::CameraParams& params) override;

    /// Method closes serial port and stops communication thread.
    void closeCamera() override;

    /// Get serial port status.
    bool isCameraOpen() override;

    /// Get camera connection status.
    bool isCameraConnected() override;

    /// Set the camera parameter.
    bool setParam(cr::camera::CameraParam id, float value) override;

    /// Get the camera parameter.
    float getParam(cr::camera::CameraParam id) override;

    /// Get the camera params.
    void getParams(cr::camera::CameraParams& params) override;

    /// Execute camera command.
    bool executeCommand(cr::camera::CameraCommand id) override;

    // #######################################
    // LENS CONTROL INTERFACE
    // #######################################

    /// Open controller serial port.
    bool openLens(std::string initString) override;

    /// Init lens by parameters structure.
    bool initLens(cr::lens::LensParams& params) override;

    /// Closes serial port and stops communication thread.
    void closeLens() override;

    /// Get serial port status.
    bool isLensOpen() override;

    /// Get camera connection status.
    bool isLensConnected() override;

    /// Set lens parameter.
    bool setParam(cr::lens::LensParam id, float value) override;

    /// Get lens parameter.
    float getParam(cr::lens::LensParam id) override;

    /// Get the lens parameters.
    void getParams(cr::lens::LensParams& params) override;

    /// Execute lens command.
    bool executeCommand(cr::lens::LensCommand id, float arg = 0) override;

    /// Add video frame for auto focus purposes. Not supported.
    void addVideoFrame(cr::video::Frame& frame) override;
};

getVersion method

getVersion() returns string of G5Camera class version. Method declaration:

static std::string getVersion();

Method can be used without G5Camera class instance:

std::cout << "G5Camera class version: " << G5Camera::getVersion();

Console output:

G5Camera class version: 2.0.7

openLens method

openLens(…) opens serial port to communicate with G5 camera. To initialize serial port user can call openCamera(…) or openLens(…) method (not matter which). If serial port already open the method will return TRUE. Camera and lens parameters will be initialized by default. Method declaration:

bool openLens(std::string initString) override;

Parameter	Value
initString	Initialization string. Format: [serial port name];[baudrate];[timeout]. If timeout entered less than 0, it will be set default value 50 millisecond.

Returns: TRUE if the controller initialized or FALSE if not.

openCamera method

openCamera(…) opens serial port to communicate with G5 camera. To initialize serial port user can call openCamera(…) or openLens(…) method (not matter which). If serial port already open the method will return TRUE. Camera and lens parameters will be initialized by default. Method declaration:

bool openCamera(std::string initString) override;

Parameter	Value
initString	Initialization string. Format: [serial port name];[baudrate];[timeout]. If timeout entered less than 0, it will be set default value 50 millisecond.

Returns: TRUE if the controller initialized or FALSE if not.

initLens method

initLens(…) initializes controller and sets lens params (Lens interface). The method will set given lens params and after will call openLens(…) method. The method doesn’t initialize camera params (Camera interface). To initialize camera params user should call initCamera(…) method. After successful initialization the library will run communication threads (thread to communicate with equipment via serial port) if it is not running already. Method declaration:

bool initLens(cr::lens::LensParams& params) override;

Parameter	Value
params	LensParams class object. LensParams class includes initString which used in openLens(…) method.

Returns: TRUE if the controller initialized and lens parameters were set or FALSE if not.

initCamera method

initCamera(…) initializes controller and sets camera params (Camera interface). The method will set given camera params and after will call openCamera(…) method. The method doesn’t initialize lens params (Lens interface). To initialize lens params user should call initLens(…) method. After successful initialization the library will run communication threads (thread to communicate with equipment via serial port) if it is not running already. Method declaration:

bool initCamera(CameraParams& params) override;

Parameter	Value
params	CameraParams class object. CameraParams class includes initString which used in openCamera(…) method.

Returns: TRUE if the controller initialized and camera parameters were set or FALSE if not.

closeLens method

closeLens() closes serial port and stops communication thread. The result of the method is same as closeCamera(…) method (user can use any of them). Method declaration:

void closeLens() override;

closeCamera method

closeCamera() closes serial port and stops communication thread. The result of the method is same as closeLens(…) method (user can use any of them). Method declaration:

void closeCamera() override;

isLensOpen method

isLensOpen() method returns controller initialization status. Open status shows if the controller initialized (serial port open) but doesn’t show if controller has communication with equipment. For example, if serial port is open (opens serial port file in OS) but equipment can be not active (no power). In this case open status just shows that the serial port is open. This method is equivalent to isCameraOpen(…) method. Method declaration:

bool isLensOpen() override;

Returns: TRUE is the controller initialized (serial port open) or FALSE if not.

isCameraOpen method

isCameraOpen() method returns controller initialization status. Open status shows if the controller initialized (serial port open) but doesn’t show if controller has communication with equipment. For example, if serial port is open (opens serial port file in OS) but equipment can be not active (no power). In this case open status just shows that the serial port is open. This method is equivalent to isLensOpen(…) method. Method declaration:

bool isCameraOpen() override;

Returns: TRUE is the controller initialized (serial port open) or FALSE if not.

isLensConnected method

isLensConnected() shows if the controller receives responses from equipment (camera). For example, if serial port open but equipment not active (no power). In this case methods isLensOpen(…) and isCameraOpen(…) methods will return TRUE but isLensConnected() method will return FALSE. This method is equivalent to isCameraConnected(…) method (user can use any of them). Method declaration:

bool isLensConnected() override;

Returns: TRUE if the controller has data exchange with equipment or FALSE if not.

isCameraConnected method

isCameraConnected() shows if the controller receives responses from equipment (camera). For example, if serial port open but equipment not active (no power). In this case methods isLensOpen(…) and isCameraOpen(…) methods will return TRUE but isCameraConnected() method will return FALSE. This method is equivalent to isLensConnected(…) method (user can use any of them). Method declaration:

bool isCameraConnected() override;

Returns: TRUE if the controller has data exchange with equipment or FALSE if not.

setParam method

setParam(…) is overloaded method. The method intended to set Camera or Lens parameter value. Method declaration:

bool setParam(LensParam id, float value) override;
bool setParam(CameraParam id, float value) override;

Parameter	Description
id	Lens parameter ID according to LensParam enum or camera parameter ID according to CameraParam enum.
value	Camera or Lens parameter value. Valid values depend on parameter ID.

Returns: TRUE if the parameter is set or FALSE if not.

getParam method

getParam(…) is overloaded method. The method intended to obtain Camera or Lens parameter value. Method declaration:

float getParam(LensParam id) override;
float getParam(CameraParam id) override;

Parameter	Description
id	Lens parameter ID according to LensParam enum or camera parameter ID according to CameraParam enum.

Returns: parameter value or -1 of the parameters not supported.

getParams method

getParams(…) is overloaded method. The method intended to obtain Camera or Lens parameters structure. Method declaration:

void getParams(LensParams& params) override;

Parameter	Description
params	Reference to LensParams class object or CameraParams class object.

executeCommand method

executeCommand(…) is overloaded method. The method intended to execute Camera or Lens action command. Method declaration:

bool executeCommand(LensCommand id, float arg = 0) override;
bool executeCommand(CameraCommand id) override;

Parameter	Description
id	Camera command ID according to CameraCommand enum or lens command ID according to LensCommand enum.
arg	Only for lens interface. Lens command argument. Valid values depend on command ID.

Returns: TRUE is the command is executed (accepted by controller) or FALSE if not.

addVideoFrame method

addVideoFrame(…) copies video frame data to lens controller to perform autofocus algorithm. It is not supported by G5Camera. Method declaration:

void addVideoFrame(cr::video::Frame& frame) override;

Parameter	Description
frame	Frame class object.

decodeAndExecuteCommand method

decodeAndExecuteCommand(…) method decodes and executes command on controller side. Method will decode commands which encoded by encodeCommand(…) and encodeSetParamCommand(…) methods of Lens and Camera interface classes. If command decoded the method will call setParam(…) or executeCommand(…) methods for lens or camera interfaces. This method is thread-safe. This means that the method can be safely called from any thread. Method declaration:

bool decodeAndExecuteCommand(uint8_t* data, int size) override;

Parameter	Description
data	Pointer to input command.
size	Size of command. Must be 11 bytes for SET_PARAM and COMMAND.

Returns: TRUE if command decoded (SET_PARAM or COMMAND) and executed (action command or set param command).

encodeSetParamCommand method of Lens class

encodeSetParamCommand(…) static method of Lens interface class designed to encode command to change any remote lens parameter. To control a lens remotely, the developer has to develop his own protocol and according to it encode the command and deliver it over the communication channel. To simplify this, the Lens class contains static methods for encoding the control command. The Lens class provides two types of commands: a parameter change command (SET_PARAM) and an action command (COMMAND). encodeSetParamCommand(…) designed to encode SET_PARAM command. Method declaration:

static void encodeSetParamCommand(uint8_t* data, int& size, LensParam id, float value);

Parameter	Description
data	Pointer to data buffer for encoded command. Must have size >= 11.
size	Size of encoded data. Will be 11 bytes.
id	Parameter ID according to LensParam enum.
value	Parameter value.

SET_PARAM command format:

Byte	Value	Description
0	0x01	SET_PARAM command header value.
1	Major	Major version of Lens class.
2	Minor	Minor version of Lens class.
3	id	Parameter ID int32_t in Little-endian format.
4	id	Parameter ID int32_t in Little-endian format.
5	id	Parameter ID int32_t in Little-endian format.
6	id	Parameter ID int32_t in Little-endian format.
7	value	Parameter value float in Little-endian format.
8	value	Parameter value float in Little-endian format.
9	value	Parameter value float in Little-endian format.
10	value	Parameter value float in Little-endian format.

encodeSetParamCommand(…) is static and used without Lens class instance. This method used on client side (control system). Example:

// Buffer for encoded data.
uint8_t data[11];
// Size of encoded data.
int size = 0;
// Random parameter value.
float outValue = (float)(rand() % 20);
// Encode command.
Lens::encodeSetParamCommand(data, size, LensParam::AF_ROI_X0, outValue);

encodeCommand method of Lens class

encodeCommand(…) static method of Lens interface class designed to encode lens action command. To control a lens remotely, the developer has to develop his own protocol and according to it encode the command and deliver it over the communication channel. To simplify this, the Lens class contains static methods for encoding the control command. The Lens class provides two types of commands: a parameter change command (SET_PARAM) and an action command (COMMAND). encodeCommand(…) designed to encode COMMAND command (action command). Method declaration:

static void encodeCommand(uint8_t* data, int& size, LensCommand id, float arg = 0.0f);

Parameter	Description
data	Pointer to data buffer for encoded command. Must have size >= 11.
size	Size of encoded data. Will be 11 bytes.
id	Command ID according to LensCommand enum.
arg	Command argument value (value depends on command ID).

COMMAND format:

Byte	Value	Description
0	0x00	SET_PARAM command header value.
1	Major	Major version of Lens class.
2	Minor	Minor version of Lens class.
3	id	Command ID int32_t in Little-endian format.
4	id	Command ID int32_t in Little-endian format.
5	id	Command ID int32_t in Little-endian format.
6	id	Command ID int32_t in Little-endian format.
7	arg	Command argument value float in Little-endian format.
8	arg	Command argument value float in Little-endian format.
9	arg	Command argument value float in Little-endian format.
10	arg	Command argument value float in Little-endian format.

encodeCommand(…) is static and used without Lens class instance. This method used on client side (control system). Encoding example:

// Buffer for encoded data.
uint8_t data[11];
// Size of encoded data.
int size = 0;
// Random command argument value.
float outValue = (float)(rand() % 20);
// Encode command.
Lens::encodeCommand(data, size, LensCommand::ZOOM_TO_POS, outValue);

decodeCommand method of Lens class

decodeCommand(…) static method of Lens interface class designed to decode command on lens controller side. o control a lens remotely, the developer has to develop his own protocol and according to it decode the command on lens controller side. To simplify this, the Lens interface class contains static method to decode input command (commands should be encoded by methods encodeSetParamsCommand(…) or encodeCommand(…)). The Lens class provides two types of commands: a parameter change command (SET_PARAM) and an action command (COMMAND). Method declaration:

static int decodeCommand(uint8_t* data, int size, LensParam& paramId, LensCommand& commandId, float& value);

Parameter	Description
data	Pointer to input command.
size	Size of command. Should be 11 bytes.
paramId	Lens parameter ID according to LensParam enum. After decoding SET_PARAM command the method will return parameter ID.
commandId	Lens command ID according to LensCommand enum. After decoding COMMAND the method will return command ID.
value	Lens parameter value (after decoding SET_PARAM command) or lens command argument (after decoding COMMAND).

Returns: 0 - in case decoding COMMAND, 1 - in case decoding SET_PARAM command or -1 in case errors.

encodeSetParamCommand method of Camera class

encodeSetParamCommand(…) static method of Camera interface class encodes command to change any remote camera parameter value. To control a camera remotely, the developer has to design his own protocol and according to it encode the command and deliver it over the communication channel. To simplify this, the Camera class contains static methods for encoding the control command. The Camera class provides two types of commands: a parameter change command (SET_PARAM) and an action command (COMMAND). encodeSetParamCommand(…) designed to encode SET_PARAM command. Method declaration:

static void encodeSetParamCommand(uint8_t* data, int& size, CameraParam id, float value);

Parameter	Description
data	Pointer to data buffer for encoded command. Must have size >= 11.
size	Size of encoded data. Will be 11 bytes.
id	Parameter ID according to CameraParam enum.
value	Parameter value.

SET_PARAM command format:

Byte	Value	Description
0	0x01	SET_PARAM command header value.
1	Major	Major version of Camera class.
2	Minor	Minor version of Camera class.
3	id	Parameter ID int32_t in Little-endian format.
4	id	Parameter ID int32_t in Little-endian format.
5	id	Parameter ID int32_t in Little-endian format.
6	id	Parameter ID int32_t in Little-endian format.
7	value	Parameter value float in Little-endian format.
8	value	Parameter value float in Little-endian format.
9	value	Parameter value float in Little-endian format.
10	value	Parameter value float in Little-endian format.

encodeSetParamCommand(…) is static and used without Camera class instance. This method used on client side (control system). Command encoding example:

// Buffer for encoded data.
uint8_t data[11];
// Size of encoded data.
int size = 0;
// Random parameter value.
float outValue = (float)(rand() % 20);
// Encode command.
Camera::encodeSetParamCommand(data, size, CameraParam::ROI_X0, outValue);

encodeCommand method of Camera class

encodeCommand(…) static method of Camera interface class encodes command for camera remote control. To control a camera remotely, the developer has to design his own protocol and according to it encode the command and deliver it over the communication channel. To simplify this, the Camera class contains static methods for encoding the control command. The Camera class provides two types of commands: a parameter change command (SET_PARAM) and an action command (COMMAND). encodeCommand(…) designed to encode COMMAND command (action command). Method declaration:

static void encodeCommand(uint8_t* data, int& size, CameraCommand id);

Parameter	Description
data	Pointer to data buffer for encoded command. Must have size >= 7.
size	Size of encoded data. Will be 7 bytes.
id	Command ID according to CameraCommand enum.

COMMAND format:

Byte	Value	Description
0	0x00	COMMAND header value.
1	Major	Major version of Camera class.
2	Minor	Minor version of Camera class.
3	id	Command ID int32_t in Little-endian format.
4	id	Command ID int32_t in Little-endian format.
5	id	Command ID int32_t in Little-endian format.
6	id	Command ID int32_t in Little-endian format.

encodeCommand(…) is static and used without Camera class instance. This method used on client side (control system). Command encoding example:

// Buffer for encoded data.
uint8_t data[7];
// Size of encoded data.
int size = 0;
// Encode command.
Camera::encodeCommand(data, size, CameraCommand::NUC);

decodeCommand method of Camera class

decodeCommand(…) static method of Camera interface class decodes command on camera controller side. Method declaration:

static int decodeCommand(uint8_t* data, int size, CameraParam& paramId, CameraCommand& commandId, float& value);

Parameter	Description
data	Pointer to input command.
size	Size of command. Must be 11 bytes for SET_PARAM and 7 bytes for COMMAND.
paramId	Camera parameter ID according to CameraParam enum. After decoding SET_PARAM command the method will return parameter ID.
commandId	Camera command ID according to CameraCommand enum. After decoding COMMAND the method will return command ID.
value	Camera parameter value (after decoding SET_PARAM command).

Returns: 0 - in case decoding COMMAND, 1 - in case decoding SET_PARAM command or -1 in case errors.

Data structures

LensCommand enum

Enum declaration:

enum class LensCommand
{
    /// Move zoom tele (in).
    ZOOM_TELE = 1,
    /// Move zoom wide (out).
    ZOOM_WIDE,
    /// Move zoom to position.
    ZOOM_TO_POS,
    /// Stop zoom moving including stop zoom to position command.
    ZOOM_STOP,
    /// Move focus far.
    FOCUS_FAR,
    /// Move focus near.
    FOCUS_NEAR,
    /// Move focus to position.
    FOCUS_TO_POS,
    /// Stop focus moving including stop focus to position command.
    FOCUS_STOP,
    /// Move iris open.
    IRIS_OPEN,
    /// Move iris close.
    IRIS_CLOSE,
    /// Move iris to position.
    IRIS_TO_POS,
    /// Stop iris moving including stop iris to position command.
    IRIS_STOP,
    /// Start autofocus.
    AF_START,
    /// Stop autofocus.
    AF_STOP,
    /// Restart lens controller.
    RESTART,
    /// Detect zoom and focus hardware ranges.
    DETECT_HW_RANGES
};

Table 2 - Lens commands description.

Command	Description
ZOOM_TELE	Move zoom tele (in). Command doesn’t have arguments.
ZOOM_WIDE	Move zoom wide (out). Command doesn’t have arguments.
ZOOM_TO_POS	Move zoom to position. Lens controller should have zoom range from 0 (full wide) to 65535 (full tele) regardless of the hardware value of the zoom position. If the minimum and maximum zoom position limits are set by the user in the lens parameters, the range of the hardware zoom position must be scaled to the user space 0-65535 range. Command argument: zoom position 0-65535.
ZOOM_STOP	Stop zoom moving including stop zoom to position command.
FOCUS_FAR	Move focus far. Command doesn’t have arguments.
FOCUS_NEAR	Move focus near. Command doesn’t have arguments.
FOCUS_TO_POS	Move focus to position. Lens controller should have focus range from 0 (full near) to 65535 (full far) regardless of the hardware value of the focus position. If the minimum and maximum focus position limits are set by the user in the lens parameters, the range of the hardware focus position must be scaled to the 0-65535 user space range. Command argument: focus position 0-65535.
FOCUS_STOP	Stop focus moving including stop focus to position command.
IRIS_OPEN	Not supported by G5Camera library.
IRIS_CLOSE	Not supported by G5Camera library.
IRIS_TO_POS	Not supported by G5Camera library.
IRIS_STOP	Not supported by G5Camera library.
AF_START	Start autofocus. Command doesn’t have arguments.
AF_STOP	Not supported by G5Camera library.
RESTART	Not supported by G5Camera library.
DETECT_HW_RANGES	Not supported by G5Camera library.

CameraCommand enum

Enum declaration:

enum class CameraCommand
{
    /// Restart camera controller.
    RESTART = 1,
    /// Do NUC.
    NUC,
    /// Apply settings.
    APPLY_PARAMS,
    /// Save params.
    SAVE_PARAMS,
    /// Menu on.
    MENU_ON,
    /// Menu off.
    MENU_OFF,
    /// Menu set.
    MENU_SET,
    /// Menu up.
    MENU_UP,
    /// Menu down.
    MENU_DOWN,
    /// Menu left.
    MENU_LEFT,
    /// Menu right.
    MENU_RIGHT,
    /// Freeze, Argument: time msec.
    FREEZE,
    /// Disable freeze.
    DEFREEZE
};

Table 3 - Camera commands description.

Command	Description
RESTART	Restart camera controller.
NUC	Do NUC. For thermal cameras.
APPLY_PARAMS	Not supported by G5Camera library.
SAVE_PARAMS	Not supported by G5Camera library.
MENU_ON	Not supported by G5Camera library.
MENU_OFF	Not supported by G5Camera library.
MENU_SET	Not supported by G5Camera library.
MENU_UP	Not supported by G5Camera library.
MENU_DOWN	Not supported by G5Camera library.
MENU_LEFT	Not supported by G5Camera library.
MENU_RIGHT	Not supported by G5Camera library.
FREEZE	Freeze image.
DEFREEZE	Defreeze image.

LensParam enum

Enum declaration:

enum class LensParam
{
    /// Zoom position.
    ZOOM_POS = 1,
    /// Hardware zoom position.
    ZOOM_HW_POS,
    /// Focus position.
    FOCUS_POS,
    /// Hardware focus position. 
    FOCUS_HW_POS,
    /// Iris position.
    IRIS_POS,
    /// Hardware iris position.
    IRIS_HW_POS,
    /// Focus mode.
    FOCUS_MODE,
    /// Filter mode.
    FILTER_MODE,
    /// Autofocus ROI top-left corner horizontal position in pixels.
    AF_ROI_X0,
    /// Autofocus ROI top-left corner vertical position in pixels.
    AF_ROI_Y0,
    /// Autofocus ROI bottom-right corner horizontal position in pixels.
    AF_ROI_X1,
    /// Autofocus ROI bottom-right corner vertical position in pixels.
    AF_ROI_Y1,
    /// Zoom speed.
    ZOOM_SPEED,
    /// Zoom hardware speed. 
    ZOOM_HW_SPEED,
    /// Maximum zoom hardware speed. 
    ZOOM_HW_MAX_SPEED,
    /// Focus speed.
    FOCUS_SPEED,
    /// Focus hardware speed. 
    FOCUS_HW_SPEED,
    /// Maximum focus hardware speed. 
    FOCUS_HW_MAX_SPEED,
    /// Iris speed.
    IRIS_SPEED,
    /// Iris hardware speed. 
    IRIS_HW_SPEED,
    /// Maximum iris hardware speed. 
    IRIS_HW_MAX_SPEED,
    /// Zoom hardware tele limit. 
    ZOOM_HW_TELE_LIMIT,
    /// Zoom hardware wide limit. 
    ZOOM_HW_WIDE_LIMIT,
    /// Focus hardware far limit. 
    FOCUS_HW_FAR_LIMIT,
    /// Focus hardware near limit. 
    FOCUS_HW_NEAR_LIMIT,
    /// Iris hardware open limit.
    IRIS_HW_OPEN_LIMIT,
    /// Iris hardware close limit.
    IRIS_HW_CLOSE_LIMIT,
    /// Focus factor if it was calculated.
    FOCUS_FACTOR,
    /// Lens connection status.
    IS_CONNECTED,
    /// Focus hardware speed in autofocus mode. 
    FOCUS_HW_AF_SPEED,
    /// Threshold for changes of focus factor to start refocus.
    FOCUS_FACTOR_THRESHOLD,
    /// Timeout for automatic refocus in seconds.
    REFOCUS_TIMEOUT_SEC,
    /// Flag about active autofocus algorithm.
    AF_IS_ACTIVE,
    /// Iris mode.
    IRIS_MODE,
    /// ROI width (pixels).
    AUTO_AF_ROI_WIDTH,
    /// ROI height (pixels).
    AUTO_AF_ROI_HEIGHT,
    /// Video frame border size (along vertical and horizontal axes).
    AUTO_AF_ROI_BORDER,
    /// AF ROI mode (write/read). Value: 0 - Manual position, 1 - Auto position.
    AF_ROI_MODE,
    /// Lens extender mode.
    EXTENDER_MODE,
    /// Lens stabilization mode.
    STABILIZER_MODE,
    /// Autofocus range.
    AF_RANGE,
    /// Current horizontal Field of view, degree.
    X_FOV_DEG,
    /// Current vertical Field of view, degree.
    Y_FOV_DEG,
    /// Logging mode.
    LOG_MODE,
    /// Lens temperature, degree.
    TEMPERATURE,
    /// Lens controller initialization status.
    IS_OPEN,
    /// Lens type.
    TYPE,
    /// Lens custom parameter.
    CUSTOM_1,
    /// Lens custom parameter.
    CUSTOM_2,
    /// Lens custom parameter.
    CUSTOM_3
};

Table 4 - Lens params description.

Parameter	Access	Description
ZOOM_POS	read / write	Zoom position. Setting a parameter is equivalent to the command ZOOM_TO_POS. Lens controller should have zoom range from 0 (full wide) to 65535 (full tele) regardless of the hardware value of the zoom position. If the minimum and maximum zoom position limits are set by the user in the lens parameters, the range of the hardware zoom position must be scaled to the user space 0-65535 range. Parameter value: zoom position 0-65535.
ZOOM_HW_POS	read / write	Hardware zoom position. Parameter value: zoom position 0-65535.
FOCUS_POS	read / write	Focus position. Setting a parameter is equivalent to the command FOCUS_TO_POS. Lens controller should have focus range from 0 (full near) to 65535 (full far) regardless of the hardware value of the focus position. If the minimum and maximum focus position limits are set by the user in the lens parameters, the range of the hardware focus position must be scaled to the user space 0-65535 range. Parameter value: focus position 0-65535.
FOCUS_HW_POS	read / write	Hardware focus position. Parameter value: focus position 0-65535.
IRIS_POS	read / write	Not supported by G5Camera library.
IRIS_HW_POS	read / write	Not supported by G5Camera library.
FOCUS_MODE	read / write	Not supported by G5Camera library.
FILTER_MODE	read / write	Not supported by G5Camera library.
AF_ROI_X0	read / write	Not supported by G5Camera library.
AF_ROI_Y0	read / write	Not supported by G5Camera library.
AF_ROI_X1	read / write	Not supported by G5Camera library.
AF_ROI_Y1	read / write	Not supported by G5Camera library.
ZOOM_SPEED	read / write	Zoom speed. Lens controller should have zoom speed range from 0 to 100% of max hardware zoom speed (parameter ZOOM_HW_MAX_SPEED). If the user sets a new parameter value of the ZOOM_HW_SPEED parameter the parameter ZOOM_SPEED must be updated automatically by lens controller. Formula for calculating speed: ZOOM_SPEED = ( ZOOM_HW_SPEED / ZOOM_HW_MAX_SPEED) * 100.
ZOOM_HW_SPEED	read / write	Not supported by G5Camera library.
ZOOM_HW_MAX_SPEED	read / write	Not supported by G5Camera library.
FOCUS_SPEED	read / write	Focus speed. Lens controller should have focus speed range from 0 to 100% of max hardware focus speed (parameter FOCUS_HW_MAX_SPEED). If the user sets a new parameter value of the FOCUS_HW_SPEED parameter the parameter FOCUS_SPEED must be updated automatically by lens controller. Formula for calculating speed: FOCUS_SPEED = ( FOCUS_HW_SPEED / FOCUS_HW_MAX_SPEED) * 100.
FOCUS_HW_SPEED	read / write	Not supported by G5Camera library.
FOCUS_HW_MAX_SPEED	read / write	Not supported by G5Camera library.
IRIS_SPEED	read / write	Not supported by G5Camera library.
IRIS_HW_SPEED	read / write	Not supported by G5Camera library.
IRIS_HW_MAX_SPEED	read / write	Not supported by G5Camera library.
ZOOM_HW_TELE_LIMIT	read / write	Not supported by G5Camera library.
ZOOM_HW_WIDE_LIMIT	read / write	Not supported by G5Camera library.
FOCUS_HW_FAR_LIMIT	read / write	Not supported by G5Camera library.
FOCUS_HW_NEAR_LIMIT	read / write	Not supported by G5Camera library.
IRIS_HW_OPEN_LIMIT	read / write	Not supported by G5Camera library.
IRIS_HW_CLOSE_LIMIT	read / write	Not supported by G5Camera library.
FOCUS_FACTOR	read only	Not supported by G5Camera library.
IS_CONNECTED	read only	Lens connection status. Value: 0 - not connected. 1 - connected.
FOCUS_HW_AF_SPEED	read / write	Not supported by G5Camera library.
FOCUS_FACTOR_THRESHOLD	read / write	Not supported by G5Camera library.
REFOCUS_TIMEOUT_SEC	read / write	Not supported by G5Camera library.
AF_IS_ACTIVE	read only	Not supported by G5Camera library.
IRIS_MODE	read / write	Not supported by G5Camera library.
AUTO_AF_ROI_WIDTH	read / write	Not supported by G5Camera library.
AUTO_AF_ROI_HEIGHT	read / write	Not supported by G5Camera library.
AUTO_AF_ROI_BORDER	read / write	Not supported by G5Camera library.
AF_ROI_MODE	read / write	Not supported by G5Camera library.
EXTENDER_MODE	read / write	Not supported by G5Camera library.
STABILIZER_MODE	read / write	Not supported by G5Camera library.
AF_RANGE	read / write	Not supported by G5Camera library.
ZOOM_FULL_WIDE_FOV_GED	read / write	Not supported by G5Camera library.
ZOOM_FULL_TELE_FOV_DEG	read / write	Not supported by G5Camera library.
FOV_DEG		Not supported by G5Camera library.
LOG_MODE	read / write	Logging mode. Default values: 0 - Disable. 1 - Only file. 2 - Only terminal. 3 - File and terminal.
TEMPERATURE	read only	Not supported by G5Camera.
IS_OPEN	read only	Controller initialization status. Open status shows if the controller initialized or not but doesn’t show if controller has communication with equipment. For example, if serial port open but equipment can be not active (no power). In this case open status just shows that the controller has opened serial port. Values: 0 - not open (not initialized), 1 - open (initialized).
TYPE	read / write	Not supported by G5Camera library.
CUSTOM_1	read / write	Not supported by G5Camera library.
CUSTOM_2	read / write	Not supported by G5Camera library.
CUSTOM_3	read / write	Not supported by G5Camera library.

CameraParam enum

Enum declaration:

enum class CameraParam
{
    /// Video frame width. Value from 0 to 16384.
    WIDTH = 1,
    /// Video frame height Value from 0 to 16384.
    HEIGHT,
    /// Display menu mode.
    DISPLAY_MODE,
    /// Video output type.
    VIDEO_OUTPUT,
    /// Logging mode.
    LOG_MODE,
    /// Exposure mode.
    EXPOSURE_MODE,
    /// Exposure time of the camera sensor.
    EXPOSURE_TIME,
    /// White balance mode.
    WHITE_BALANCE_MODE,
    /// White balance area.
    WHITE_BALANCE_AREA,
    /// White dynamic range mode.
    WIDE_DYNAMIC_RANGE_MODE,
    /// Image stabilization mode.
    STABILIZATION_MODE,
    /// ISO sensitivity.
    ISO_SENSITIVITY,
    /// Scene mode.
    SCENE_MODE,
    /// FPS.
    FPS,
    /// Brightness mode.
    BRIGHTNESS_MODE,
    /// Brightness. Value 0 - 100%.
    BRIGHTNESS,
    /// Contrast. Value 1 - 100%.
    CONTRAST,
    /// Gain mode.
    GAIN_MODE,
    /// Gain. Value 1 - 100%.
    GAIN,
    /// Sharpening mode.
    SHARPENING_MODE,
    /// Sharpening. Value 1 - 100%.
    SHARPENING,
    /// Palette.
    PALETTE,
    /// Analog gain control mode.
    AGC_MODE,
    /// Shutter mode.
    SHUTTER_MODE,
    /// Shutter position. 0 (full close) - 65535 (full open).
    SHUTTER_POSITION,
    /// Shutter speed. Value: 0 - 100%.
    SHUTTER_SPEED,
    /// Digital zoom mode.
    DIGITAL_ZOOM_MODE,
    /// Digital zoom. Value 1.0 (x1) - 20.0 (x20).
    DIGITAL_ZOOM,
    /// Exposure compensation mode.
    EXPOSURE_COMPENSATION_MODE,
    /// Exposure compensation position. 
    EXPOSURE_COMPENSATION_POSITION,
    /// Defog mode.
    DEFOG_MODE,
    /// Dehaze mode.
    DEHAZE_MODE,
    /// Noise reduction mode.
    NOISE_REDUCTION_MODE,
    /// Black and white filter mode.
    BLACK_WHITE_FILTER_MODE,
    /// Filter mode.
    FILTER_MODE,
    /// NUC mode for thermal cameras.
    NUC_MODE,
    /// Auto NUC interval for thermal cameras. 
    AUTO_NUC_INTERVAL_MSEC,
    /// Image flip mode.
    IMAGE_FLIP,
    /// DDE mode.
    DDE_MODE,
    /// DDE level.
    DDE_LEVEL,
    /// ROI top-left horizontal position, pixels.
    ROI_X0,
    /// ROI top-left vertical position, pixels.
    ROI_Y0,
    /// ROI bottom-right horizontal position, pixels.
    ROI_X1,
    /// ROI bottom-right vertical position, pixels.
    ROI_Y1,
    /// Camera temperature, degree.
    TEMPERATURE,
    /// ALC gate.
    ALC_GATE,
    /// Sensor sensitivity.
    SENSETIVITY,
    /// Changing mode (day / night).
    CHANGING_MODE,
    /// Changing level (day / night).
    CHANGING_LEVEL,
    /// Chroma level. Values: 0 - 100%.
    CHROMA_LEVEL,
    /// Details, enhancement. Values: 0 - 100%.
    DETAIL,
    /// Camera settings profile.
    PROFILE,
    /// Connection status (read only). Shows if we have respond from camera.
    /// Value: 0 - not connected, 2 - connected.
    IS_CONNECTED,
    /// Open status (read only):
    /// 1 - camera control port open, 0 - not open.
    IS_OPEN,
    /// Camera type.
    TYPE,
    /// Camera custom param.
    CUSTOM_1,
    /// Camera custom param.
    CUSTOM_2,
    /// Camera custom param.
    CUSTOM_3
};

Table 5 - Camera params description.

Parameter	Access	Description
WIDTH	read / write	Not supported by G5Camera library.
HEIGHT	read / write	Not supported by G5Camera library.
DISPLAY_MODE	read / write	Not supported by G5Camera library.
VIDEO_OUTPUT	read / write	Not supported by G5Camera library.
LOG_MODE	read / write	Logging mode. Default values: 0 - Disable. 1 - Only file. 2 - Only terminal. 3 - File and terminal.
EXPOSURE_MODE	read / write	Not supported by G5Camera library.
EXPOSURE_TIME	read / write	Not supported by G5Camera library.
WHITE_BALANCE_MODE	read / write	Not supported by G5Camera library.
WHITE_BALANCE_AREA	read / write	Not supported by G5Camera library.
WHITE_DINAMIC_RANGE_MODE	read / write	Not supported by G5Camera library.
STABILIZATION_MODE	read / write	Stabilization mode. Default values: 0 - OFF. 1 - ON.
ISO_SENSITIVITY	read / write	Not supported by G5Camera library.
SCENE_MODE	read / write	AGC ROI mode. Default values: 1 - ¼ of image. 2 - ½ of image 3 - ¾ of image 4 - whole image 5 - top 1/3 of image 6 - middle 1/3 of image 7 - bottom 1/3 of image.
FPS	read / write	Not supported by G5Camera library.
BRIGHTNESS_MODE	read / write	Not supported by G5Camera library.
BRIGHTNESS	read / write	Not supported by G5Camera library.
CONTRAST	read / write	Local area contrast enhancement mode. Default values: 0 - OFF. 1 - LOW. 2 - MEDIUM. 3 - HIGH.
GAIN_MODE	read / write	Gain mode. Default values: 0 - Manual. 1 - Auto.
GAIN	read / write	Gain. Value 1-100%.
SHARPENING_MODE	read / write	Sharpness mode. Default values: 0 - OFF. 1 - MIN. 2 - LOW. 3 - MEDIUM. 4 - HIGH. 5 - MAX.
SHARPENING	read / write	Not supported by G5Camera library.
PALETTE	read / write	Palette. Value : 0 - 17.
AGC_MODE	read / write	Analog gain control mode. Default values: 0 - Manual. 1 - Auto.
SHUTTER_MODE	read / write	Not supported by G5Camera library.
SHUTTER_POSITION	read / write	Not supported by G5Camera library.
SHUTTER_SPEED	read / write	Not supported by G5Camera library.
DIGITAL_ZOOM_MODE	read / write	Not supported by G5Camera library.
DIGITAL_ZOOM	read only	Digital zoom. Value x1.0 to x20.0.
EXPOSURE_COMPENSATION_MODE	read only	Not supported by G5Camera library.
EXPOSURE_COMPENSATION_POSITION	read / write	Not supported by G5Camera library.
DEFOG_MODE	read / write	Not supported by G5Camera library.
DEHAZE_MODE	read / write	Dehaze mode. Default values: 0 - OFF. 1 - MIN. 2 - LOW. 3 - MEDIUM. 4 - HIGH. 5 - MAX.
NOISE_REDUCTION_MODE	read / write	Not supported by G5Camera library.
BLACK_WHITE_FILTER_MODE	read only	Not supported by G5Camera library.
FILTER_MODE	read / write	Filter mode. Default values 1 to 10: 0 - Off. 1 - Make the image appear slightly sharper. 5 - Make the image appear very sharp with enhanced edges.
NUC_MODE	read / write	NUC mode for thermal cameras. Default values: 0 - Manual. 1 - Auto.
AUTO_NUC_INTERVAL	read / write	Auto NUC interval for thermal cameras. Value in milliseconds from 0 (Off) to 100000.
IMAGE_FLIP	read / write	Not supported by G5Camera library.
DDE_MODE	read / write	Not supported by G5Camera library.
DDE_LEVEL	read / write	Not supported by G5Camera library.
ROI_X0	read / write	Not supported by G5Camera library.
ROI_Y0	read / write	Not supported by G5Camera library.
ROI_X1	read / write	Not supported by G5Camera library.
ROI_Y1	read / write	Not supported by G5Camera library.
TEMPERATURE	read only	Not supported by G5Camera library.
ALC_GATE	read / write	Not supported by G5Camera library.
SENSETIVITY	read / write	Sensor sensitivity. Value : -1, 0, 1.
CHANGING_MODE	read / write	Not supported by G5Camera library.
CHANGING_LEVEL	read / write	Not supported by G5Camera library.
CHROMA_LEVEL	read / write	Not supported by G5Camera library.
DETAIL	read / write	Not supported by G5Camera library.
PROFILE	read / write	Not supported by G5Camera library.
IS_CONNECTED	read only	Connection status. Value: 0 - no camera responses, 1 - connected.
TYPE	read / write	Not supported by G5Camera library.
CUSTOM_1	read / write	TM ROI. Default values: 1 - ¼ of image 2 - ½ of image 3 - ¾ of image 4 - whole image 5 - top 1/3 of image 6 - middle 1/3 of image 7 - bottom 1/3 of image
CUSTOM_2	read / write	TM Quality mode. Default value 2 (40%): 0 - 0 (%). 1 - 20 (%). 2 - 40 (%). 3 - 60 (%). 4 - 80 (%). 5 - 100 (%).
CUSTOM_3	read / write	Motion level. Default value 0 (100%): 0 - 100 (%). 1 - 80 (%). 2 - 60 (%). 3 - 40 (%). 4 - 20 (%). 5 - 0 (%).

LensParams class description

LensParams class used for lens initialization or to get all actual params. Also LensParams provides structure to write/read params from JSON files (JSON_READABLE macro) and provides methods to encode and decode params.

LensParams class declaration

LensParams interface class declared in Lens.h file. Class declaration:

class LensParams
{
public:
    /// Initialization string.
    std::string initString{"/dev/ttyUSB0;9600;100"};
    /// Zoom position.
    int zoomPos{0};
    /// Hardware zoom position.
    int zoomHwPos{0};
    /// Focus position.
    int focusPos{0};
    /// Hardware focus position.
    int focusHwPos{0};
    /// Iris position.
    int irisPos{0};
    /// Hardware iris position.
    int irisHwPos{0};
    /// Focus mode.
    int focusMode{0};
    /// Filter mode.
    int filterMode{0};
    /// Autofocus ROI top-left corner horizontal position in pixels.
    int afRoiX0{0};
    /// Autofocus ROI top-left corner vertical position in pixels.
    int afRoiY0{0};
    /// Autofocus ROI bottom-right corner horizontal position in pixels.
    int afRoiX1{0};
    /// Autofocus ROI bottom-right corner vertical position in pixels.
    int afRoiY1{0};
    /// Zoom speed.
    int zoomSpeed{50};
    /// Zoom hardware speed.
    int zoomHwSpeed{50};
    /// Maximum zoom hardware speed.
    int zoomHwMaxSpeed{50};
    /// Focus speed.
    int focusSpeed{50};
    /// Focus hardware speed.
    int focusHwSpeed{50};
    /// Maximum focus hardware speed.
    int focusHwMaxSpeed{50};
    /// Iris speed.
    int irisSpeed{50};
    /// Iris hardware speed.
    int irisHwSpeed{50};
    /// Maximum iris hardware speed.
    int irisHwMaxSpeed{50};
    /// Zoom hardware tele limit.
    int zoomHwTeleLimit{65535};
    /// Zoom hardware wide limit.
    int zoomHwWideLimit{0};
    /// Focus hardware far limit.
    int focusHwFarLimit{65535};
    /// Focus hardware near limit.
    int focusHwNearLimit{0};
    /// Iris hardware open limit.
    int irisHwOpenLimit{65535};
    /// Iris hardware close limit.
    int irisHwCloseLimit{0};
    /// Focus factor if it was calculated.
    float focusFactor{0.0f};
    /// Lens connection status.
    bool isConnected{false};
    /// Focus hardware speed in autofocus mode.
    int afHwSpeed{50};
    /// Timeout for automatic refocus in seconds.
    float focusFactorThreshold{0.0f};
    /// Timeout for automatic refocus in seconds.
    int refocusTimeoutSec{0};
    /// Flag about active autofocus algorithm.
    bool afIsActive{false};
    /// Iris mode.
    int irisMode{0};
    /// ROI width (pixels) for autofocus algorithm.
    int autoAfRoiWidth{150};
    /// ROI height (pixels) for autofocus algorithm.
    int autoAfRoiHeight{150};
    /// Video frame border size (along vertical and horizontal axes).
    int autoAfRoiBorder{100};
    /// AF ROI mode (write/read).
    int afRoiMode{0};
    /// Lens extender mode.
    int extenderMode{0};
    /// Lens stabilization mode.
    int stabiliserMode{0};
    /// Autofocus range.
    int afRange{0};
    /// Current horizontal Field of view, degree.
    float xFovDeg{1.0f};
    /// Current vertical Field of view, degree.
    float yFovDeg{1.0f};
    /// Logging mode.
    int logMode{0};
    /// Lens temperature, degree (read only).
    float temperature{0.0f};
    /// Lens controller initialization status.
    bool isOpen{false};
    /// Lens type.
    int type{0};
    /// Lens custom parameter.
    float custom1{0.0f};
    /// Lens custom parameter.
    float custom2{0.0f};
    /// Lens custom parameter.
    float custom3{0.0f};
    /// List of points to calculate fiend of view.
    std::vector<FovPoint> fovPoints{std::vector<FovPoint>()};

    JSON_READABLE(LensParams, initString, focusMode, filterMode,
                  afRoiX0, afRoiY0, afRoiX1, afRoiY1, zoomHwMaxSpeed,
                  focusHwMaxSpeed, irisHwMaxSpeed, zoomHwTeleLimit,
                  zoomHwWideLimit, focusHwFarLimit, focusHwNearLimit,
                  irisHwOpenLimit, irisHwCloseLimit, afHwSpeed,
                  focusFactorThreshold, refocusTimeoutSec, irisMode,
                  autoAfRoiWidth, autoAfRoiHeight, autoAfRoiBorder,
                  afRoiMode, extenderMode, stabiliserMode, afRange,
                  logMode, type, custom1, custom2, custom3, fovPoints);

    /// operator =
    LensParams& operator= (const LensParams& src);

    /// Encode params.
    bool encode(uint8_t* data, int bufferSize, int& size,
                LensParamsMask* mask = nullptr);

    /// Decode params.
    bool decode(uint8_t* data, int dataSize);
};

LensParams class fields description is equivalent to LensParam enum description except initString. initString : [serial port name];[baudrate];[timeout].

Serialize lens params

LensParams class provides method encode(…) to serialize lens params. Serialization of lens params necessary in case when you need to send lens params via communication channels. Method doesn’t encode initString string field and fovPoints. Method provides options to exclude particular parameters from serialization. To do this method inserts binary mask (7 bytes) where each bit represents particular parameter and decode(…) method recognizes it. Method declaration:

bool encode(uint8_t* data, int bufferSize, int& size, LensParamsMask* mask = nullptr);

Parameter	Value
data	Pointer to data buffer.
size	Size of encoded data.
bufferSize	Data buffer size. Buffer size must be >= 201 bytes.
mask	Parameters mask - pointer to LensParamsMask structure. LensParamsMask (declared in Lens.h file) determines flags for each field (parameter) declared in LensParams class. If the user wants to exclude any parameters from serialization, he can put a pointer to the mask. If the user wants to exclude a particular parameter from serialization, he should set the corresponding flag in the LensParamsMask structure.

LensParamsMask structure declaration:

typedef struct LensParamsMask
{
    bool zoomPos{true};
    bool zoomHwPos{true};
    bool focusPos{true};
    bool focusHwPos{true};
    bool irisPos{true};
    bool irisHwPos{true};
    bool focusMode{true};
    bool filterMode{true};
    bool afRoiX0{true};
    bool afRoiY0{true};
    bool afRoiX1{true};
    bool afRoiY1{true};
    bool zoomSpeed{true};
    bool zoomHwSpeed{true};
    bool zoomHwMaxSpeed{true};
    bool focusSpeed{true};
    bool focusHwSpeed{true};
    bool focusHwMaxSpeed{true};
    bool irisSpeed{true};
    bool irisHwSpeed{true};
    bool irisHwMaxSpeed{true};
    bool zoomHwTeleLimit{true};
    bool zoomHwWideLimit{true};
    bool focusHwFarLimit{true};
    bool focusHwNearLimit{true};
    bool irisHwOpenLimit{true};
    bool irisHwCloseLimit{true};
    bool focusFactor{true};
    bool isConnected{true};
    bool afHwSpeed{true};
    bool focusFactorThreshold{true};
    bool refocusTimeoutSec{true};
    bool afIsActive{true};
    bool irisMode{true};
    bool autoAfRoiWidth{true};
    bool autoAfRoiHeight{true};
    bool autoAfRoiBorder{true};
    bool afRoiMode{true};
    bool extenderMode{true};
    bool stabiliserMode{true};
    bool afRange{true};
    bool xFovDeg{true};
    bool yFovDeg{true};
    bool logMode{true};
    bool temperature{true};
    bool isOpen{false};
    bool type{true};
    bool custom1{true};
    bool custom2{true};
    bool custom3{true};
} LensParamsMask;

Example without parameters mask:

// Encode data.
LensParams in;
in.logMode = 3;
uint8_t data[1024];
int size = 0;
in.encode(data, 1024, size);
cout << "Encoded data size: " << size << " bytes" << endl;

Example with parameters mask:

// Prepare params.
LensParams in;
in.logMode = 3;

// Prepare mask.
LensParamsMask mask;
mask.logMode = false; // Exclude logMode. Others by default.

// Encode.
uint8_t data[1024];
int size = 0;
in.encode(data, 1024, size, &mask);
cout << "Encoded data size: " << size << " bytes" << endl;

Deserialize lens params

LensParams class provides method decode(…) to deserialize lens params. Deserialization of lens params necessary in case when you need to receive lens params via communication channels. Method automatically recognizes which parameters were serialized by encode(…) method. Method doesn’t decode fields: initString and fovPoints. Method declaration:

bool decode(uint8_t* data, int dataSize);

Parameter	Value
data	Pointer to data buffer.
dataSize	Size of data.

Returns: TRUE if data decoded (deserialized) or FALSE if not.

Example:

// Encode data.
LensParams in;
uint8_t data[1024];
int size = 0;
in.encode(data, 1024, size);
cout << "Encoded data size: " << size << " bytes" << endl;

// Decode data.
LensParams out;
if (!out.decode(data, size))
    cout << "Can't decode data" << endl;

Read and write lens params to JSON file

Lens interface class library depends on ConfigReader library which provides method to read params from JSON file and to write params to JSON file. Example of writing and reading params to JSON file:

// Prepare random params.
LensParams in;
for (int i = 0; i < 5; ++i)
{
    FovPoint pt;
    pt.hwZoomPos = rand() % 255;
    pt.xFovDeg = rand() % 255;
    pt.yFovDeg = rand() % 255;
    in.fovPoints.push_back(pt);
}

// Write params to file.
cr::utils::ConfigReader inConfig;
inConfig.set(in, "lensParams");
inConfig.writeToFile("TestLensParams.json");

// Read params from file.
cr::utils::ConfigReader outConfig;
if(!outConfig.readFromFile("TestLensParams.json"))
{
    cout << "Can't open config file" << endl;
    return false;
}

TestLensParams.json will look like:

{
    "lensParams": {
        "afHwSpeed": 93,
        "afRange": 128,
        "afRoiMode": 239,
        "afRoiX0": 196,
        "afRoiX1": 252,
        "afRoiY0": 115,
        "afRoiY1": 101,
        "autoAfRoiBorder": 70,
        "autoAfRoiHeight": 125,
        "autoAfRoiWidth": 147,
        "custom1": 91.0,
        "custom2": 236.0,
        "custom3": 194.0,
        "extenderMode": 84,
        "filterMode": 49,
        "focusFactorThreshold": 98.0,
        "focusHwFarLimit": 228,
        "focusHwMaxSpeed": 183,
        "focusHwNearLimit": 47,
        "focusMode": 111,
        "fovPoints": [
            {
                "hwZoomPos": 55,
                "xFovDeg": 6.0,
                "yFovDeg": 51.0
            },
            {
                "hwZoomPos": 63,
                "xFovDeg": 249.0,
                "yFovDeg": 33.0
            },
            {
                "hwZoomPos": 4,
                "xFovDeg": 121.0,
                "yFovDeg": 144.0
            },
            {
                "hwZoomPos": 53,
                "xFovDeg": 214.0,
                "yFovDeg": 153.0
            },
            {
                "hwZoomPos": 143,
                "xFovDeg": 15.0,
                "yFovDeg": 218.0
            }
        ],
        "initString": "dfhglsjirhuhjfb",
        "irisHwCloseLimit": 221,
        "irisHwMaxSpeed": 79,
        "irisHwOpenLimit": 211,
        "irisMode": 206,
        "logMode": 216,
        "refocusTimeoutSec": 135,
        "stabiliserMode": 137,
        "type": 125,
        "zoomHwMaxSpeed": 157,
        "zoomHwTeleLimit": 68,
        "zoomHwWideLimit": 251
    }
}

CameraParams class description

CameraParams class used for camera controller initialization or to get all actual params. Also CameraParams provide structure to write/read params from JSON files (JSON_READABLE macro) and provide method to encode and decode params.

CameraParams Class declaration

CameraParams interface class declared in Camera.h file. Class declaration:

class CameraParams
{
public:
    /// Initialization string.
    std::string initString{"/dev/ttyUSB0;9600;100"};
    /// Video frame width. Value from 0 to 16384.
    int width{0};
    /// Video frame height Value from 0 to 16384.
    int height{0};
    /// Display menu mode. 
    int displayMode{0};
    /// Video output type.
    int videoOutput{0};
    /// Logging mode.
    int logMode{0};
    /// Exposure mode. 
    int exposureMode{1};
    /// Exposure time of the camera sensor.
    int exposureTime{0};
    /// White balance mode. 
    int whiteBalanceMode{1};
    /// White balance area.
    int whiteBalanceArea{0};
    /// White dynamic range mode.
    int wideDynamicRangeMode{0};
    /// Image stabilization mode.
    int stabilisationMode{0};
    /// ISO sensitivity.
    int isoSensetivity{0};
    /// Scene mode.
    int sceneMode{0};
    /// FPS.
    float fps{0.0f};
    /// Brightness mode.
    int brightnessMode{1};
    /// Brightness. Value 0 - 100%.
    int brightness{0};
    /// Contrast. Value 1 - 100%.
    int contrast{0};
    /// Gain mode.
    int gainMode{1};
    /// Gain. Value 1 - 100%.
    int gain{0};
    /// Sharpening mode.
    int sharpeningMode{0};
    /// Sharpening. Value 1 - 100%.
    int sharpening{0};
    /// Palette.
    int palette{0};
    /// Analog gain control mode.
    int agcMode{1};
    /// Shutter mode.
    int shutterMode{1};
    /// Shutter position. 0 (full close) - 65535 (full open).
    int shutterPos{0};
    /// Shutter speed. Value: 0 - 100%.
    int shutterSpeed{0};
    /// Digital zoom mode.
    int digitalZoomMode{0};
    /// Digital zoom. Value 1.0 (x1) - 20.0 (x20).
    float digitalZoom{1.0f};
    /// Exposure compensation mode.
    int exposureCompensationMode{0};
    /// Exposure compensation position.
    int exposureCompensationPosition{0};
    /// Defog mode. 
    int defogMode{0};
    /// Dehaze mode.
    int dehazeMode{0};
    /// Noise reduction mode.
    int noiseReductionMode{0};
    /// Black and white filter mode.
    int blackAndWhiteFilterMode{0};
    /// Filter mode.
    int filterMode{0};
    /// NUC mode for thermal cameras.
    int nucMode{0};
    /// Auto NUC interval for thermal cameras.
    int autoNucIntervalMsec{0};
    /// Image flip mode. 
    int imageFlip{0};
    /// DDE mode.
    int ddeMode{0};
    /// DDE level.
    float ddeLevel{0};
    /// ROI top-left horizontal position, pixels.
    int roiX0{0};
    /// ROI top-left vertical position, pixels.
    int roiY0{0};
    /// ROI bottom-right horizontal position, pixels.
    int roiX1{0};
    /// ROI bottom-right vertical position, pixels.
    int roiY1{0};
    /// Camera temperature, degree.
    float temperature{0.0f};
    /// ALC gate.
    int alcGate{0};
    /// Sensor sensitivity.
    float sensitivity{0};
    /// Changing mode (day / night).
    int changingMode{0};
    /// Changing level (day / night).
    float changingLevel{0.0f};
    /// Chroma level. Values: 0 - 100%.
    int chromaLevel{0};
    /// Details, enhancement. Values: 0 - 100%.
    int detail{0};
    /// Camera settings profile.
    int profile{0};
    /// Connection status (read only).
    bool isConnected{false};
    /// Open status (read only).
    bool isOpen{false};
    /// Camera type.
    int type{0};
    /// Camera custom param.
    float custom1{0.0f};
    /// Camera custom param.
    float custom2{0.0f};
    /// Camera custom param.
    float custom3{0.0f};

    JSON_READABLE(CameraParams, initString, width, height, displayMode,
                  videoOutput, logMode, exposureMode, exposureTime,
                  whiteBalanceMode, whiteBalanceArea, wideDynamicRangeMode,
                  stabilisationMode, isoSensetivity, sceneMode, fps,
                  brightnessMode, brightness, contrast, gainMode, gain,
                  sharpeningMode, sharpening, palette, agcMode, shutterMode,
                  shutterPos, shutterSpeed, digitalZoomMode, digitalZoom,
                  exposureCompensationMode, exposureCompensationPosition,
                  defogMode, dehazeMode, noiseReductionMode,
                  blackAndWhiteFilterMode, filterMode, nucMode,
                  autoNucIntervalMsec, imageFlip, ddeMode, ddeLevel,
                  roiX0, roiY0, roiX1, roiY1, alcGate, sensitivity,
                  changingMode, changingLevel, chromaLevel, detail,
                  profile, type, custom1, custom2, custom3)

    /// operator =
    CameraParams& operator= (const CameraParams& src);

    /// Encode params. The method doesn't encode initString.
    bool encode(uint8_t* data, int bufferSize, int& size,
                CameraParamsMask* mask = nullptr);

    /// Decode params. The method doesn't decode initString.
    bool decode(uint8_t* data, int dataSize);
};

CameraParams class fields description is equivalent to CameraParam enum description except initString. initString :
- [serial port name];[baudrate];[timeout].

Serialize camera params

CameraParams class provides method encode(…) to serialize camera params. Serialization of camera params necessary in case when you have to send camera params via communication channels. Method doesn’t encode initString field. Method provides options to exclude particular parameters from serialization. To do this method inserts binary mask (8 bytes) where each bit represents particular parameter and decode(…) method recognizes it. Method declaration:

bool encode(uint8_t* data, int bufferSize, int& size, CameraParamsMask* mask = nullptr);

Parameter	Value
data	Pointer to data buffer. Buffer size must be >= 237 bytes.
bufferSize	Data buffer size. Buffer size must be >= 237 bytes.
size	Size of encoded data.
mask	Parameters mask - pointer to CameraParamsMask structure. CameraParamsMask (declared in Camera.h file) determines flags for each field (parameter) declared in CameraParams class. If the user wants to exclude any parameters from serialization, he can put a pointer to the mask. If the user wants to exclude a particular parameter from serialization, he should set the corresponding flag in the CameraParamsMask structure.

Returns: TRUE if params encoded (serialized) or FALSE if not.

CameraParamsMask structure declaration:

typedef struct CameraParamsMask
{
    bool width{true};
    bool height{true};
    bool displayMode{true};
    bool videoOutput{true};
    bool logMode{true};
    bool exposureMode{true};
    bool exposureTime{true};
    bool whiteBalanceMode{true};
    bool whiteBalanceArea{true};
    bool wideDynamicRangeMode{true};
    bool stabilisationMode{true};
    bool isoSensetivity{true};
    bool sceneMode{true};
    bool fps{true};
    bool brightnessMode{true};
    bool brightness{true};
    bool contrast{true};
    bool gainMode{true};
    bool gain{true};
    bool sharpeningMode{true};
    bool sharpening{true};
    bool palette{true};
    bool agcMode{true};
    bool shutterMode{true};
    bool shutterPos{true};
    bool shutterSpeed{true};
    bool digitalZoomMode{true};
    bool digitalZoom{true};
    bool exposureCompensationMode{true};
    bool exposureCompensationPosition{true};
    bool defogMode{true};
    bool dehazeMode{true};
    bool noiseReductionMode{true};
    bool blackAndWhiteFilterMode{true};
    bool filterMode{true};
    bool nucMode{true};
    bool autoNucIntervalMsec{true};
    bool imageFlip{true};
    bool ddeMode{true};
    bool ddeLevel{true};
    bool roiX0{true};
    bool roiY0{true};
    bool roiX1{true};
    bool roiY1{true};
    bool temperature{true};
    bool alcGate{true};
    bool sensitivity{true};
    bool changingMode{true};
    bool changingLevel{true};
    bool chromaLevel{true};
    bool detail{true};
    bool profile{true};
    bool isConnected{true};
    bool isOpen{true};
    bool type{true};
    bool custom1{true};
    bool custom2{true};
    bool custom3{true};
} CameraParamsMask;

Example without parameters mask:

// Encode data.
CameraParams in;
in.profile = 10;
uint8_t data[1024];
int size = 0;
in.encode(data, 1024, size);
cout << "Encoded data size: " << size << " bytes" << endl;

Example with parameters mask:

// Prepare params.
CameraParams in;
in.profile = 3;

// Prepare mask.
CameraParamsMask mask;
mask.profile = false; // Exclude profile. Others by default.

// Encode.
uint8_t data[1024];
int size = 0;
in.encode(data, 1024, size, &mask);
cout << "Encoded data size: " << size << " bytes" << endl;

Deserialize camera params

CameraParams class provides method decode(…) to deserialize camera params (fields of CameraParams class, see Table 4). Deserialization of camera params necessary in case when you need to receive params via communication channels. Method automatically recognizes which parameters were serialized by encode(…) method. Method doesn’t decode initString field. Method declaration:

bool decode(uint8_t* data, int dataSize);

Parameter	Value
data	Pointer to data buffer with serialized camera params.
dataSize	Size of command data.

Returns: TRUE if params decoded (deserialized) or FALSE if not.

Example:

// Encode data.
CameraParams in;
uint8_t data[1024];
int size = 0;
in.encode(data, 1024, size);
cout << "Encoded data size: " << size << " bytes" << endl;

// Decode data.
CameraParams out;
if (!out.decode(data, size))
    cout << "Can't decode data" << endl;

Read and write camera params to JSON file

Camera library depends on ConfigReader library which provides method to read params from JSON file and to write params to JSON file. Example of writing and reading params to JSON file:

// Write params to file.
cr::utils::ConfigReader inConfig;
inConfig.set(in, "cameraParams");
inConfig.writeToFile("TestCameraParams.json");

// Read params from file.
cr::utils::ConfigReader outConfig;
if(!outConfig.readFromFile("TestCameraParams.json"))
{
    cout << "Can't open config file" << endl;
    return false;
}

TestCameraParams.json will look like:

{
    "cameraParams": {
        "agcMode": 252,
        "alcGate": 125,
        "autoNucIntervalMsec": 47,
        "blackAndWhiteFilterMode": 68,
        "brightness": 67,
        "brightnessMode": 206,
        "changingLevel": 84.0,
        "changingMode": 239,
        "chromeLevel": 137,
        "contrast": 65,
        "custom1": 216.0,
        "custom2": 32.0,
        "custom3": 125.0,
        "ddeLevel": 25,
        "ddeMode": 221,
        "defogMode": 155,
        "dehazeMode": 239,
        "detail": 128,
        "digitalZoom": 47.0,
        "digitalZoomMode": 157,
        "displayMode": 2,
        "exposureCompensationMode": 213,
        "exposureCompensationPosition": 183,
        "exposureMode": 192,
        "exposureTime": 16,
        "filterMode": 251,
        "fps": 19.0,
        "gain": 111,
        "gainMode": 130,
        "height": 219,
        "imageFlip": 211,
        "initString": "dfhglsjirhuhjfb",
        "isoSensetivity": 32,
        "logMode": 252,
        "noiseReductionMode": 79,
        "nucMode": 228,
        "palette": 115,
        "profile": 108,
        "roiX0": 93,
        "roiX1": 135,
        "roiY0": 98,
        "roiY1": 206,
        "sceneMode": 195,
        "sensitivity": 70.0,
        "sharpening": 196,
        "sharpeningMode": 49,
        "shutterMode": 101,
        "shutterPos": 157,
        "shutterSpeed": 117,
        "stabilisationMode": 170,
        "type": 55,
        "videoOutput": 18,
        "whiteBalanceArea": 236,
        "whiteBalanceMode": 30,
        "wideDynamicRangeMode": 21,
        "width": 150
    }
}

Build and connect to your project

Typical commands to build G5Camera library:

cd G5Camera
mkdir build
cd build
cmake ..
make

If you want connect G5Camera library to your CMake project as source code you can make follow. For example, if your repository has structure:

CMakeLists.txt
src
    CMakeList.txt
    yourLib.h
    yourLib.cpp

Create folder 3rdparty and copy folder of G5Camera repository there. New structure of your repository:

CMakeLists.txt
src
    CMakeList.txt
    yourLib.h
    yourLib.cpp
3rdparty
    G5Camera

Create CMakeLists.txt file in 3rdparty folder. CMakeLists.txt should contain:

cmake_minimum_required(VERSION 3.13)

################################################################################
## 3RD-PARTY
## dependencies for the project
################################################################################
project(3rdparty LANGUAGES CXX)

################################################################################
## SETTINGS
## basic 3rd-party settings before use
################################################################################
# To inherit the top-level architecture when the project is used as a submodule.
SET(PARENT ${PARENT}_YOUR_PROJECT_3RDPARTY)
# Disable self-overwriting of parameters inside included subdirectories.
SET(${PARENT}_SUBMODULE_CACHE_OVERWRITE OFF CACHE BOOL "" FORCE)

################################################################################
## CONFIGURATION
## 3rd-party submodules configuration
################################################################################
SET(${PARENT}_SUBMODULE_G5_CAMERA                       ON  CACHE BOOL "" FORCE)
if (${PARENT}_SUBMODULE_G5_CAMERA)
    SET(${PARENT}_G5_CAMERA                             ON  CACHE BOOL "" FORCE)
    SET(${PARENT}_G5_CAMERA_TEST                        OFF CACHE BOOL "" FORCE)
endif()

################################################################################
## INCLUDING SUBDIRECTORIES
## Adding subdirectories according to the 3rd-party configuration
################################################################################
if (${PARENT}_SUBMODULE_G5_CAMERA)
    add_subdirectory(G5Camera)
endif()

File 3rdparty/CMakeLists.txt adds folder G5Camera to your project and excludes test application and example from compiling (by default test application is excluded from compiling if G5Camera is included as sub-repository). The new structure of your repository:

CMakeLists.txt
src
    CMakeList.txt
    yourLib.h
    yourLib.cpp
3rdparty
    CMakeLists.txt
    G5Camera

Next you need include folder 3rdparty in main CMakeLists.txt file of your repository. Add string at the end of your main CMakeLists.txt:

add_subdirectory(3rdparty)

Next you have to include Lens library in your src/CMakeLists.txt file:

target_link_libraries(${PROJECT_NAME} G5Camera)

Done!

Simple example

Simple example is application which initializes controller and provide few options to user to control camera.

#include <iostream>
#include "G5Camera.h"

int main(void)
{
    // Init camera controller.
    cr::camera::G5Camera controller;
    if (!controller.openCamera("/dev/ttyUSB0;9600;100"))
        return -1;

    while (true)
    {
        // Main dialog.
        int option = -1;
        std::cout << "Options (1:Zoom tele, 2:Zoom wide, 3:Zoom stop, " <<
        "4:Brightness+1, 5:Brightness-1) : ";
        std::cin >> option;

        // Get all camera params.
        cr::camera::CameraParams cameraParams;
        controller.getParams(cameraParams);

        // Get all lens params.
        cr::lens::LensParams lensParams;
        controller.getParams(lensParams);

        switch (option)
        {
        case 1: // Zoom tele.
            controller.executeCommand(cr::lens::LensCommand::ZOOM_TELE);
            break;
        case 2: // Zoom wide.
            controller.executeCommand(cr::lens::LensCommand::ZOOM_WIDE);
            break;
        case 3: // Zoom stop.
            controller.executeCommand(cr::lens::LensCommand::ZOOM_STOP);
            break;
        case 4:
            controller.setParam(cr::camera::CameraParam::BRIGHTNESS,
            cameraParams.brightness + 1);
            break;
        case 5:
            controller.setParam(cr::camera::CameraParam::BRIGHTNESS,
            cameraParams.brightness - 1);
            break;
        default:
            break;
        }
    }
    return 1;
}

Test application

G5Camera/test folder contains test application which demonstrates how to use G5Camera library. Test application allows to connect to camera, set and get camera params. Test application can be used to test camera controller and to set/get camera params.

Test application will show introduction message and will ask to enter camera port name and baudrate. After that test application will connect to camera and will show main menu. Main menu allows to set and get camera params and execute commands.

Test application output will look like:

================================================
G5 camera controller v2.0.7
================================================

Choose command:
-  Zoom tele
-  Zoom wide
-  Zoom stop
-  Focus near
-  Focus far
-  Focus stop
-  Get zoom position
-  Get focus position
-  Start AF
-  RunNuc
-  DZoom
-  Freeze/Defreeze
-  Palette
-  Sens
-  Gain mode
-  Gain

G5Camera C++ library

Table of contents

Overview

Versions

Library files

G5Camera class description

G5Camera class declaration

getVersion method

openLens method

openCamera method

initLens method

initCamera method

closeLens method

closeCamera method

isLensOpen method

isCameraOpen method

isLensConnected method

isCameraConnected method

setParam method

getParam method

getParams method

executeCommand method

addVideoFrame method

decodeAndExecuteCommand method

encodeSetParamCommand method of Lens class

encodeCommand method of Lens class

decodeCommand method of Lens class

encodeSetParamCommand method of Camera class

encodeCommand method of Camera class

decodeCommand method of Camera class

Data structures

LensCommand enum

CameraCommand enum

LensParam enum

CameraParam enum

LensParams class description

LensParams class declaration

Serialize lens params

Deserialize lens params

Read and write lens params to JSON file

CameraParams class description

CameraParams Class declaration

Serialize camera params

Deserialize camera params

Read and write camera params to JSON file

Build and connect to your project

Simple example

Test application