A C++ wrapper for Raspberry PI camera library, including callbacks, streaming, and encoding. It can dump accurate timestamp from ISP (Image signal processor) within the RPi4's Broadcom BCM2711 CPU. This is intended to be used as the source for sensor fusion project such as VIO, V-SLAM, etc...

This library is intended to be used as a submodule of other projects. However, it still can be compile with some modification. You can include this repo as submodule with cmake add_subdirectory() function.

• Raspberry Pi VideoCore under /opt/vc. This directory usually comes with the RPI image. It can also be install with apt, according to the "VideoCore" section of this tutorial, or can be built from source with this or this tutorial.
• spdlog v1.8.5
• cxxopts 43ce03fdb For executable argument parsing if you opt-in to build test executables.

• [o] Finish secondary TODOs in raspicam_camcontrol.cpp/ hpp
• [o] Isolate raspicam CPP to a stand alone project
• [o] (Maybe?) get a better name then raspi_encamode. Call it CppRaspiVid maybe?