| 1 | // %flair:license{
|
---|
| 2 | // This file is part of the Flair framework distributed under the
|
---|
| 3 | // CECILL-C License, Version 1.0.
|
---|
| 4 | // %flair:license}
|
---|
| 5 | // created: 2014/07/17
|
---|
| 6 | // filename: V4LCamera.cpp
|
---|
| 7 | //
|
---|
| 8 | // author: Guillaume Sanahuja
|
---|
| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
|
---|
| 10 | //
|
---|
| 11 | // version: $Id: $
|
---|
| 12 | //
|
---|
| 13 | // purpose: base class for V4l camera
|
---|
| 14 | //
|
---|
| 15 | //
|
---|
| 16 | /*********************************************************************/
|
---|
| 17 |
|
---|
| 18 | #include "V4LCamera.h"
|
---|
| 19 | #include <GroupBox.h>
|
---|
| 20 | #include <DoubleSpinBox.h>
|
---|
| 21 | #include <CheckBox.h>
|
---|
| 22 | #include <Label.h>
|
---|
| 23 | #include <cvimage.h>
|
---|
| 24 | #include <FrameworkManager.h>
|
---|
| 25 | #include <fcntl.h>
|
---|
| 26 | #include <linux/videodev2.h>
|
---|
| 27 |
|
---|
| 28 | #include <sys/ioctl.h>
|
---|
| 29 | #include <unistd.h>
|
---|
| 30 | #include <cstring>
|
---|
| 31 | #include <sys/mman.h>
|
---|
| 32 |
|
---|
| 33 |
|
---|
| 34 | #define DEFAULT_V4L_BUFFERS 4
|
---|
| 35 |
|
---|
| 36 | using std::string;
|
---|
| 37 | using namespace flair::core;
|
---|
| 38 | using namespace flair::gui;
|
---|
| 39 |
|
---|
| 40 | namespace flair {
|
---|
| 41 | namespace sensor {
|
---|
| 42 |
|
---|
| 43 | V4LCamera::V4LCamera(string name,
|
---|
| 44 | uint8_t camera_index, uint16_t width, uint16_t height,
|
---|
| 45 | cvimage::Type::Format format, uint8_t priority)
|
---|
| 46 | : Thread(getFrameworkManager(), name, priority),
|
---|
| 47 | Camera(name, width, height, format) {
|
---|
| 48 |
|
---|
| 49 | string deviceName="/dev/video"+std::to_string(camera_index);
|
---|
| 50 | device = open(deviceName.c_str(), O_RDWR | O_NONBLOCK);
|
---|
| 51 | if (device == -1) {
|
---|
| 52 | Thread::Err("Cannot open %s\n");
|
---|
| 53 | }
|
---|
| 54 |
|
---|
| 55 | //get v4l2_format
|
---|
| 56 | struct v4l2_format form;
|
---|
| 57 | form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 58 | xioctl (device, VIDIOC_G_FMT,&form);
|
---|
| 59 |
|
---|
| 60 | //set width, height and format
|
---|
| 61 | if (format == cvimage::Type::Format::UYVY) {
|
---|
| 62 | form.fmt.pix.pixelformat = V4L2_PIX_FMT_UYVY;
|
---|
| 63 | } else if (format == cvimage::Type::Format::YUYV) {
|
---|
| 64 | form.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
|
---|
| 65 | } else {
|
---|
| 66 | Thread::Err("format not supported\n");
|
---|
| 67 | }
|
---|
| 68 |
|
---|
| 69 | form.fmt.pix.width = width;
|
---|
| 70 | form.fmt.pix.height = height;
|
---|
| 71 | form.fmt.win.chromakey = 0;
|
---|
| 72 | form.fmt.win.field = V4L2_FIELD_ANY;
|
---|
| 73 | form.fmt.win.clips = 0;
|
---|
| 74 | form.fmt.win.clipcount = 0;
|
---|
| 75 | form.fmt.pix.field = V4L2_FIELD_ANY;
|
---|
| 76 | xioctl (device, VIDIOC_S_FMT, &form);
|
---|
| 77 |
|
---|
| 78 | /* This is just a technicality, but all buffers must be filled up before any
|
---|
| 79 | staggered SYNC is applied. SO, filler up. (see V4L HowTo) */
|
---|
| 80 |
|
---|
| 81 | AllocBuffers();
|
---|
| 82 |
|
---|
| 83 | for (int bufferIndex = 0; bufferIndex < ((int)requestbuffers.count);++bufferIndex) {
|
---|
| 84 | struct v4l2_buffer buf;
|
---|
| 85 |
|
---|
| 86 | memset(&buf, 0, sizeof (v4l2_buffer));
|
---|
| 87 |
|
---|
| 88 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 89 | buf.memory = V4L2_MEMORY_MMAP;
|
---|
| 90 | buf.index = (unsigned long)bufferIndex;
|
---|
| 91 |
|
---|
| 92 | if (-1 == xioctl (device, VIDIOC_QBUF, &buf)) {
|
---|
| 93 | Thread::Err("VIDIOC_QBUF xioctl\n");
|
---|
| 94 | break;
|
---|
| 95 | }
|
---|
| 96 | }
|
---|
| 97 |
|
---|
| 98 | // enable the streaming
|
---|
| 99 | v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 100 | if (-1 == xioctl (device, VIDIOC_STREAMON,&type)) {
|
---|
| 101 | Thread::Err("VIDIOC_STREAMON xioctl\n");
|
---|
| 102 | }
|
---|
| 103 |
|
---|
| 104 |
|
---|
| 105 | // skip first frame. it is often bad -- this is unnotied in traditional apps,
|
---|
| 106 | // but could be fatal if bad jpeg is enabled
|
---|
| 107 | GrabFrame();
|
---|
| 108 |
|
---|
| 109 |
|
---|
| 110 |
|
---|
| 111 | // station sol
|
---|
| 112 | gain = new DoubleSpinBox(GetGroupBox()->NewRow(), "gain:", 0, 1, 0.1);
|
---|
| 113 | exposure = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "exposure:", 0,
|
---|
| 114 | 1, 0.1);
|
---|
| 115 | bright =
|
---|
| 116 | new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "bright:", 0, 1, 0.1);
|
---|
| 117 | contrast = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "contrast:", 0,
|
---|
| 118 | 1, 0.1);
|
---|
| 119 | hue = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "hue:", 0, 1, 0.1);
|
---|
| 120 | sharpness = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "sharpness:",
|
---|
| 121 | 0, 1, 0.1);
|
---|
| 122 | sat = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "saturation:", 0, 1,
|
---|
| 123 | 0.1);
|
---|
| 124 | autogain = new CheckBox(GetGroupBox()->NewRow(), "autogain:");
|
---|
| 125 | autoexposure = new CheckBox(GetGroupBox()->LastRowLastCol(), "autoexposure:");
|
---|
| 126 | awb = new CheckBox(GetGroupBox()->LastRowLastCol(), "awb:");
|
---|
| 127 | fps = new Label(GetGroupBox()->NewRow(), "fps");
|
---|
| 128 |
|
---|
| 129 | hasProblems=false;
|
---|
| 130 | }
|
---|
| 131 |
|
---|
| 132 | V4LCamera::~V4LCamera() {
|
---|
| 133 | SafeStop();
|
---|
| 134 | Join();
|
---|
| 135 | }
|
---|
| 136 |
|
---|
| 137 | void V4LCamera::Run(void) {
|
---|
| 138 | Time cam_time, new_time, fpsNow, fpsPrev;
|
---|
| 139 | char* buffer; // raw image
|
---|
| 140 | int fpsCounter = 0;
|
---|
| 141 |
|
---|
| 142 | // init image old
|
---|
| 143 | GrabFrame();
|
---|
| 144 | cam_time = GetTime();
|
---|
| 145 | fpsPrev = cam_time;
|
---|
| 146 |
|
---|
| 147 | while (!ToBeStopped()) {
|
---|
| 148 | //check for ps3eye deconnection in hds uav
|
---|
| 149 | if(hasProblems==false) {
|
---|
| 150 | struct v4l2_format form;
|
---|
| 151 | form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 152 | xioctl(device, VIDIOC_G_FMT,&form);
|
---|
| 153 | if(xioctl (device, VIDIOC_G_FMT,&form)<0) {
|
---|
| 154 | Thread::Warn("camera disconnected\n");
|
---|
| 155 | hasProblems=true;
|
---|
| 156 | }
|
---|
| 157 | }
|
---|
| 158 |
|
---|
| 159 | // fps counter
|
---|
| 160 | fpsCounter++;
|
---|
| 161 | if (GetTime() > (fpsPrev + 5 * (Time)1000000000)) {
|
---|
| 162 | // toute les 5 secondes
|
---|
| 163 | fpsNow = GetTime();
|
---|
| 164 | fps->SetText("fps: %.1f",
|
---|
| 165 | fpsCounter / ((float)(fpsNow - fpsPrev) / 1000000000.));
|
---|
| 166 | fpsCounter = 0;
|
---|
| 167 | fpsPrev = fpsNow;
|
---|
| 168 | }
|
---|
| 169 |
|
---|
| 170 | // cam properties
|
---|
| 171 | if (gain->ValueChanged() == true && autogain->Value() == false)
|
---|
| 172 | SetGain(gain->Value());
|
---|
| 173 | if (exposure->ValueChanged() == true && autoexposure->Value() == false)
|
---|
| 174 | SetExposure(exposure->Value());
|
---|
| 175 | if (bright->ValueChanged() == true)
|
---|
| 176 | SetBrightness(bright->Value());
|
---|
| 177 | if (sat->ValueChanged() == true)
|
---|
| 178 | SetSaturation(sat->Value());
|
---|
| 179 | if (contrast->ValueChanged() == true)
|
---|
| 180 | SetContrast(contrast->Value());
|
---|
| 181 | if (hue->ValueChanged() == true)
|
---|
| 182 | SetHue(hue->Value());
|
---|
| 183 | if (sharpness->ValueChanged() == true)
|
---|
| 184 | SetProperty(V4L2_CID_SHARPNESS, sharpness->Value());
|
---|
| 185 | if (autogain->ValueChanged() == true) {
|
---|
| 186 | if (autogain->Value() == true) {
|
---|
| 187 | gain->setEnabled(false);
|
---|
| 188 | } else {
|
---|
| 189 | gain->setEnabled(true);
|
---|
| 190 | SetGain(gain->Value());
|
---|
| 191 | }
|
---|
| 192 | SetAutoGain(autogain->Value());
|
---|
| 193 | }
|
---|
| 194 | if (autoexposure->ValueChanged() == true) {
|
---|
| 195 | if (autoexposure->Value() == true) {
|
---|
| 196 | exposure->setEnabled(false);
|
---|
| 197 | } else {
|
---|
| 198 | exposure->setEnabled(true);
|
---|
| 199 | SetExposure(exposure->Value());
|
---|
| 200 | }
|
---|
| 201 | SetAutoExposure(autoexposure->Value());
|
---|
| 202 | }
|
---|
| 203 | if (awb->ValueChanged() == true)
|
---|
| 204 | SetProperty(V4L2_CID_AUTO_WHITE_BALANCE, awb->Value());
|
---|
| 205 |
|
---|
| 206 | // cam pictures
|
---|
| 207 | buffer = RetrieveRawFrame();
|
---|
| 208 | GrabFrame();
|
---|
| 209 | new_time = GetTime();
|
---|
| 210 |
|
---|
| 211 | //check for ps3eye deconnection in hds uav
|
---|
| 212 | if(new_time-cam_time>100*1000*1000) {
|
---|
| 213 | Thread::Warn("delta trop grand\n");
|
---|
| 214 | hasProblems=true;
|
---|
| 215 | }
|
---|
| 216 |
|
---|
| 217 | output->GetMutex();
|
---|
| 218 | output->buffer = buffer;
|
---|
| 219 | output->ReleaseMutex();
|
---|
| 220 |
|
---|
| 221 | output->SetDataTime(cam_time);
|
---|
| 222 | ProcessUpdate(output);
|
---|
| 223 |
|
---|
| 224 | cam_time = new_time;
|
---|
| 225 | }
|
---|
| 226 |
|
---|
| 227 | close(device);
|
---|
| 228 | }
|
---|
| 229 |
|
---|
| 230 | void V4LCamera::GrabFrame(void) {
|
---|
| 231 | unsigned int count;
|
---|
| 232 |
|
---|
| 233 | count = 1;
|
---|
| 234 |
|
---|
| 235 | while (count-- > 0) {
|
---|
| 236 | for (;;) {
|
---|
| 237 | fd_set fds;
|
---|
| 238 | struct timeval tv;
|
---|
| 239 | int r;
|
---|
| 240 |
|
---|
| 241 | FD_ZERO (&fds);
|
---|
| 242 | FD_SET (device, &fds);
|
---|
| 243 |
|
---|
| 244 | /* Timeout. */
|
---|
| 245 | tv.tv_sec = 2;
|
---|
| 246 | tv.tv_usec = 0;
|
---|
| 247 |
|
---|
| 248 | r = select (device+1, &fds, NULL, NULL, &tv);
|
---|
| 249 |
|
---|
| 250 | if (-1 == r) {
|
---|
| 251 | if (EINTR == errno) continue;
|
---|
| 252 | Thread::Err("select\n");
|
---|
| 253 | }
|
---|
| 254 |
|
---|
| 255 | if (0 == r) {
|
---|
| 256 | Thread::Err("select timeout\n");
|
---|
| 257 | /* end the infinite loop */
|
---|
| 258 | break;
|
---|
| 259 | }
|
---|
| 260 |
|
---|
| 261 | if (read_frame_v4l2 ()) break;
|
---|
| 262 | }
|
---|
| 263 | }
|
---|
| 264 | }
|
---|
| 265 |
|
---|
| 266 | int V4LCamera::read_frame_v4l2(void) {
|
---|
| 267 | struct v4l2_buffer buf;
|
---|
| 268 | memset(&buf, 0, sizeof (v4l2_buffer));
|
---|
| 269 |
|
---|
| 270 |
|
---|
| 271 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 272 | buf.memory = V4L2_MEMORY_MMAP;
|
---|
| 273 |
|
---|
| 274 | if (-1 == xioctl (device, VIDIOC_DQBUF, &buf)) {
|
---|
| 275 | switch (errno) {
|
---|
| 276 | case EAGAIN:
|
---|
| 277 | return 0;
|
---|
| 278 |
|
---|
| 279 | case EIO:
|
---|
| 280 | /* Could ignore EIO, see spec. */
|
---|
| 281 |
|
---|
| 282 | /* fall through */
|
---|
| 283 |
|
---|
| 284 | default:
|
---|
| 285 | /* display the error and stop processing */
|
---|
| 286 | Thread::Err("VIDIOC_DQBUF xioctl\n");
|
---|
| 287 | return 1;
|
---|
| 288 | }
|
---|
| 289 | }
|
---|
| 290 |
|
---|
| 291 | if(buf.index >= requestbuffers.count) {
|
---|
| 292 | Thread::Err("buf.index >= requestbuffers.count\n");
|
---|
| 293 | }
|
---|
| 294 |
|
---|
| 295 | #ifdef USE_TEMP_BUFFER
|
---|
| 296 | memcpy(capture->buffers[MAX_V4L_BUFFERS].start,
|
---|
| 297 | capture->buffers[buf.index].start,
|
---|
| 298 | capture->buffers[MAX_V4L_BUFFERS].length );
|
---|
| 299 | capture->bufferIndex = MAX_V4L_BUFFERS;
|
---|
| 300 | //printf("got data in buff %d, len=%d, flags=0x%X, seq=%d, used=%d)\n",
|
---|
| 301 | // buf.index, buf.length, buf.flags, buf.sequence, buf.bytesused);
|
---|
| 302 | #else
|
---|
| 303 | bufferIndex = buf.index;
|
---|
| 304 | #endif
|
---|
| 305 |
|
---|
| 306 | if (-1 == xioctl (device, VIDIOC_QBUF, &buf)) {
|
---|
| 307 | Thread::Err ("VIDIOC_QBUF xioctl\n");
|
---|
| 308 | }
|
---|
| 309 |
|
---|
| 310 | return 1;
|
---|
| 311 | }
|
---|
| 312 |
|
---|
| 313 | int V4LCamera::AllocBuffers(void) {
|
---|
| 314 | memset(&requestbuffers, 0, sizeof (v4l2_requestbuffers));
|
---|
| 315 |
|
---|
| 316 | unsigned int buffer_number = DEFAULT_V4L_BUFFERS;
|
---|
| 317 |
|
---|
| 318 | try_again:
|
---|
| 319 |
|
---|
| 320 | requestbuffers.count = buffer_number;
|
---|
| 321 | requestbuffers.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 322 | requestbuffers.memory = V4L2_MEMORY_MMAP;
|
---|
| 323 |
|
---|
| 324 | if (-1 == xioctl (device, VIDIOC_REQBUFS, &requestbuffers)) {
|
---|
| 325 | if (EINVAL == errno) {
|
---|
| 326 | Thread::Err("not support memory mapping not supportted\n");
|
---|
| 327 | } else {
|
---|
| 328 | Thread::Err ("VIDIOC_REQBUFS xioctl\n");
|
---|
| 329 | }
|
---|
| 330 | return -1;
|
---|
| 331 | }
|
---|
| 332 |
|
---|
| 333 | if (requestbuffers.count < buffer_number) {
|
---|
| 334 | if (buffer_number == 1) {
|
---|
| 335 | Thread::Err("Insufficient buffer memory\n");
|
---|
| 336 | return -1;
|
---|
| 337 | } else {
|
---|
| 338 | buffer_number--;
|
---|
| 339 | Thread::Warn ("Insufficient buffer memory, decreasing buffers\n");
|
---|
| 340 | goto try_again;
|
---|
| 341 | }
|
---|
| 342 | }
|
---|
| 343 |
|
---|
| 344 | for (int n_buffers = 0; n_buffers < requestbuffers.count; ++n_buffers) {
|
---|
| 345 | struct v4l2_buffer buf;
|
---|
| 346 |
|
---|
| 347 | memset(&buf, 0, sizeof (v4l2_buffer));
|
---|
| 348 |
|
---|
| 349 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 350 | buf.memory = V4L2_MEMORY_MMAP;
|
---|
| 351 | buf.index = n_buffers;
|
---|
| 352 |
|
---|
| 353 | if (-1 == xioctl (device, VIDIOC_QUERYBUF, &buf)) {
|
---|
| 354 | Thread::Err("VIDIOC_QUERYBUF xioctl\n");
|
---|
| 355 | return -1;
|
---|
| 356 | }
|
---|
| 357 |
|
---|
| 358 | buffers[n_buffers].length = buf.length;
|
---|
| 359 | buffers[n_buffers].start =
|
---|
| 360 | mmap (NULL /* start anywhere */,
|
---|
| 361 | buf.length,
|
---|
| 362 | PROT_READ | PROT_WRITE /* required */,
|
---|
| 363 | MAP_SHARED /* recommended */,
|
---|
| 364 | device, buf.m.offset);
|
---|
| 365 |
|
---|
| 366 | if (MAP_FAILED == buffers[n_buffers].start) {
|
---|
| 367 | Thread::Err("mmap\n");
|
---|
| 368 | return -1;
|
---|
| 369 | }
|
---|
| 370 | }
|
---|
| 371 |
|
---|
| 372 | //todo: verifier cette alloc, pas de double buffeinrg?
|
---|
| 373 | //peut on initialiser l'image dans le constrcteur de la camera?
|
---|
| 374 |
|
---|
| 375 | output->buffer=output->allocFunction(output->dataType.GetSize());
|
---|
| 376 | return 1;
|
---|
| 377 | };
|
---|
| 378 |
|
---|
| 379 | char *V4LCamera::RetrieveRawFrame(void) {
|
---|
| 380 |
|
---|
| 381 | /* [FD] this really belongs here */
|
---|
| 382 | if (ioctl(device, VIDIOCSYNC, &mmaps[bufferIndex].frame) == -1) {
|
---|
| 383 | Thread::Err("Could not SYNC to video stream. %s\n", strerror(errno));
|
---|
| 384 | }
|
---|
| 385 |
|
---|
| 386 | /* Now get what has already been captured as a IplImage return */
|
---|
| 387 | if (output->dataType.GetFormat() == cvimage::Type::Format::YUYV || output->dataType.GetFormat() == cvimage::Type::Format::UYVY) {
|
---|
| 388 | #ifdef USE_TEMP_BUFFER
|
---|
| 389 | capture->frame.imageData=(char*)capture->buffers[capture->bufferIndex].start;
|
---|
| 390 | #else
|
---|
| 391 | Printf("frame is not allocated\n");
|
---|
| 392 | memcpy((char *)frame,(char *)buffers[bufferIndex].start,output->GetDataType().GetSize());
|
---|
| 393 | #endif
|
---|
| 394 | } else {
|
---|
| 395 | Thread::Err("palette %d not supported for raw output\n",output->dataType.GetFormat());
|
---|
| 396 | }
|
---|
| 397 |
|
---|
| 398 | return(frame);
|
---|
| 399 | }
|
---|
| 400 |
|
---|
| 401 | bool V4LCamera::HasProblems(void) {
|
---|
| 402 | return hasProblems;
|
---|
| 403 | }
|
---|
| 404 |
|
---|
| 405 | void V4LCamera::SetAutoGain(bool value) {
|
---|
| 406 | SetProperty(V4L2_CID_AUTOGAIN, value);
|
---|
| 407 | }
|
---|
| 408 |
|
---|
| 409 | void V4LCamera::SetAutoExposure(bool value) {
|
---|
| 410 | Thread::Warn("not implemented in opencv\n");
|
---|
| 411 | }
|
---|
| 412 |
|
---|
| 413 | void V4LCamera::SetGain(float value) {
|
---|
| 414 | SetProperty(V4L2_CID_GAIN, value);
|
---|
| 415 | }
|
---|
| 416 |
|
---|
| 417 | void V4LCamera::SetExposure(float value) {
|
---|
| 418 | SetProperty(V4L2_CID_EXPOSURE, value);
|
---|
| 419 | }
|
---|
| 420 |
|
---|
| 421 | void V4LCamera::SetBrightness(float value) {
|
---|
| 422 | SetProperty(V4L2_CID_BRIGHTNESS, value);
|
---|
| 423 | }
|
---|
| 424 |
|
---|
| 425 | void V4LCamera::SetSaturation(float value) {
|
---|
| 426 | SetProperty(V4L2_CID_SATURATION, value);
|
---|
| 427 | }
|
---|
| 428 |
|
---|
| 429 | void V4LCamera::SetHue(float value) {
|
---|
| 430 | SetProperty(V4L2_CID_HUE, value);
|
---|
| 431 | }
|
---|
| 432 |
|
---|
| 433 | void V4LCamera::SetContrast(float value) {
|
---|
| 434 | SetProperty(V4L2_CID_CONTRAST, value);
|
---|
| 435 | }
|
---|
| 436 |
|
---|
| 437 | float V4LCamera::GetProperty(int property) {
|
---|
| 438 | //get min and max value
|
---|
| 439 | struct v4l2_queryctrl queryctrl;
|
---|
| 440 | queryctrl.id = property;
|
---|
| 441 | if(xioctl (device, VIDIOC_QUERYCTRL,&queryctrl)==-1) return -1;
|
---|
| 442 | int min = queryctrl.minimum;
|
---|
| 443 | int max = queryctrl.maximum;
|
---|
| 444 |
|
---|
| 445 | //set value
|
---|
| 446 | struct v4l2_control control;
|
---|
| 447 | memset (&control, 0, sizeof (v4l2_control));
|
---|
| 448 | control.id = property;
|
---|
| 449 | if(xioctl (device,VIDIOC_G_CTRL, &control)==-1) return -1;
|
---|
| 450 |
|
---|
| 451 | return ((float)control.value - min + 1) / (max - min);
|
---|
| 452 | }
|
---|
| 453 |
|
---|
| 454 | void V4LCamera::SetProperty(int property,float value) {
|
---|
| 455 | //get min and max value
|
---|
| 456 | struct v4l2_queryctrl queryctrl;
|
---|
| 457 | queryctrl.id = property;
|
---|
| 458 | xioctl (device, VIDIOC_QUERYCTRL,&queryctrl);
|
---|
| 459 | int min = queryctrl.minimum;
|
---|
| 460 | int max = queryctrl.maximum;
|
---|
| 461 |
|
---|
| 462 | //set value
|
---|
| 463 | struct v4l2_control control;
|
---|
| 464 | memset (&control, 0, sizeof (v4l2_control));
|
---|
| 465 | control.id = property;
|
---|
| 466 | control.value = (int)(value * (max - min) + min);
|
---|
| 467 | xioctl (device,VIDIOC_S_CTRL, &control);
|
---|
| 468 | }
|
---|
| 469 |
|
---|
| 470 | int V4LCamera::xioctl( int fd, int request, void *arg) {
|
---|
| 471 | int r;
|
---|
| 472 |
|
---|
| 473 | do r = ioctl (fd, request, arg);
|
---|
| 474 | while (-1 == r && EINTR == errno);
|
---|
| 475 |
|
---|
| 476 | return r;
|
---|
| 477 | }
|
---|
| 478 |
|
---|
| 479 | } // end namespace sensor
|
---|
| 480 | } // end namespace flair
|
---|