Jetson Nano用户空间设置相机参数

Jetson Nano平台，增加图像sensor，在应用程序调用V4L2通用接口，无法调整相机参数（gain,exposure,frame rate）,需要采用扩展的方式进行调用方可。

1.设置gain

int SetGain(int gain)
{
    struct v4l2_ext_controls ctrls;
    struct v4l2_ext_control ctrl;

    memset(&ctrls, 0, sizeof(ctrls));
    memset(&ctrl, 0, sizeof(ctrl));

    ctrls.controls = &ctrl;
    ctrls.count = 1;
    ctrls.which = V4L2_CTRL_WHICH_CUR_VAL;

    ctrl.id = TEGRA_CAMERA_CID_GAIN;
    ctrl.value = gain;

    return Xioctl(fd, VIDIOC_S_EXT_CTRLS, &ctrls);
}

2.设置exposure

int SetExposure(int exposure)
{
    struct v4l2_ext_controls ctrls;
    struct v4l2_ext_control ctrl;

    memset(&ctrls, 0, sizeof(ctrls));
    memset(&ctrl, 0, sizeof(ctrl));

    ctrls.controls = &ctrl;
    ctrls.count = 1;
    ctrls.which = V4L2_CTRL_WHICH_CUR_VAL;

    ctrl.id = TEGRA_CAMERA_CID_EXPOSURE;
    ctrl.value = exposure;

    return Xioctl(fd, VIDIOC_S_EXT_CTRLS, &ctrls);
}

3.设置frame rate

int SetFrameRate(unsigned int frame_rate)
{
    struct v4l2_ext_controls ctrls;
    struct v4l2_ext_control ctrl;

    memset(&ctrls, 0, sizeof(ctrls));
    memset(&ctrl, 0, sizeof(ctrl));

    ctrls.controls = &ctrl;
    ctrls.count = 1;
    ctrls.which = V4L2_CTRL_WHICH_CUR_VAL;

    ctrl.id = TEGRA_CAMERA_CID_FRAME_RATE;
    ctrl.value = frame_rate;

    return Xioctl(fd, VIDIOC_S_EXT_CTRLS, &ctrls);
}

4.设置模式

int SetMode(unsigned int mode)
{
    struct v4l2_ext_controls ctrls;
    struct v4l2_ext_control ctrl;

    memset(&ctrls, 0, sizeof(ctrls));
    memset(&ctrl, 0, sizeof(ctrl));

    ctrls.controls = &ctrl;
    ctrls.count = 1;
    ctrls.which = V4L2_CTRL_WHICH_CUR_VAL;

    ctrl.id = TEGRA_CAMERA_CID_SENSOR_MODE_ID;
    ctrl.value = mode;

    return Xioctl(fd, VIDIOC_S_EXT_CTRLS, &ctrls);
}

5.其他

诸如：

TEGRA_CAMERA_CID_VI_BYPASS_MODE
TEGRA_CAMERA_CID_OVERRIDE_ENABLE
TEGRA_CAMERA_CID_VI_PREFERRED_STRIDE

可按上述方法进行设置。