[3] | 1 | // %flair:license{
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[15] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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[3] | 4 | // %flair:license}
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| 5 | // created: 2014/07/17
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| 6 | // filename: V4LCamera.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: base class for V4l camera
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "V4LCamera.h"
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| 19 | #include <GroupBox.h>
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| 20 | #include <DoubleSpinBox.h>
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| 21 | #include <CheckBox.h>
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| 22 | #include <Label.h>
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[338] | 23 | #include <Image.h>
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[3] | 24 | #include <FrameworkManager.h>
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[330] | 25 | #include <fcntl.h>
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[3] | 26 | #include <linux/videodev2.h>
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[330] | 27 | #include <sys/ioctl.h>
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| 28 | #include <unistd.h>
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| 29 | #include <cstring>
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| 30 | #include <sys/mman.h>
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[338] | 31 | #include <VisionFilter.h>
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[330] | 32 |
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| 33 | #define DEFAULT_V4L_BUFFERS 4
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| 34 |
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[3] | 35 | using std::string;
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| 36 | using namespace flair::core;
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| 37 | using namespace flair::gui;
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| 38 |
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[15] | 39 | namespace flair {
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| 40 | namespace sensor {
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[3] | 41 |
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[137] | 42 | V4LCamera::V4LCamera(string name,
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[15] | 43 | uint8_t camera_index, uint16_t width, uint16_t height,
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[338] | 44 | Image::Type::Format format, uint8_t priority)
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[137] | 45 | : Thread(getFrameworkManager(), name, priority),
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| 46 | Camera(name, width, height, format) {
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[330] | 47 |
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[338] | 48 | string deviceName="/dev/video"+std::to_string(camera_index);
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| 49 | device = open(deviceName.c_str(), O_RDWR | O_NONBLOCK);
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| 50 | if (device == -1) {
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| 51 | Thread::Err("Cannot open %s\n",deviceName.c_str());
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| 52 | } else {
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| 53 | Printf("V4LCamera %s, opened %s\n",name.c_str(),deviceName.c_str());
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| 54 | }
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| 55 |
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| 56 | struct v4l2_capability cap;
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| 57 | memset(&cap, 0, sizeof (v4l2_capability));
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| 58 | if (xioctl (device, VIDIOC_QUERYCAP, &cap)==-1) {
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| 59 | Thread::Err("VIDIOC_QUERYCAP xioctl\n");
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| 60 | }
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| 61 | if ((cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
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| 62 | Thread::Err("device is unable to capture video memory.\n");
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| 63 | }
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| 64 |
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| 65 | //get v4l2_format
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| 66 | struct v4l2_format form;
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| 67 | form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 68 | if(xioctl (device, VIDIOC_G_FMT,&form)==-1) {
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| 69 | Thread::Err("VIDIOC_G_FMT xioctl\n");
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| 70 | }
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[330] | 71 |
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[338] | 72 | //set width, height and format
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| 73 | if (format == Image::Type::Format::UYVY) {
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| 74 | form.fmt.pix.pixelformat = V4L2_PIX_FMT_UYVY;
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| 75 | } else if (format == Image::Type::Format::YUYV) {
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| 76 | form.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
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| 77 | } else {
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| 78 | Thread::Err("format not supported\n");
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| 79 | }
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[330] | 80 |
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[338] | 81 | form.fmt.pix.width = width;
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| 82 | form.fmt.pix.height = height;
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| 83 | form.fmt.win.chromakey = 0;
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| 84 | form.fmt.win.field = V4L2_FIELD_ANY;
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| 85 | form.fmt.win.clips = 0;
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| 86 | form.fmt.win.clipcount = 0;
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| 87 | form.fmt.pix.field = V4L2_FIELD_ANY;
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| 88 | if(xioctl (device, VIDIOC_S_FMT,&form)==-1) {
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| 89 | Thread::Err("VIDIOC_S_FMT xioctl\n");
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| 90 | }
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[330] | 91 |
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[338] | 92 | //alloc and queue bufs
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| 93 | AllocBuffers();
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| 94 | for (int bufferIndex = 0; bufferIndex < nbBuffers;++bufferIndex) {
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| 95 | QueueBuffer(bufferIndex);
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[330] | 96 | }
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[338] | 97 |
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| 98 | // enable the streaming
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| 99 | v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 100 | if (xioctl (device, VIDIOC_STREAMON,&type)==-1) {
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| 101 | Thread::Err("VIDIOC_STREAMON xioctl\n");
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| 102 | }
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[330] | 103 |
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[338] | 104 | // skip first frame. it is often bad -- this is unnotied in traditional apps,
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| 105 | // but could be fatal if bad jpeg is enabled
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| 106 | bufferIndex=-1;
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| 107 | GrabFrame();
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[330] | 108 |
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[338] | 109 | // ground station
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| 110 | gain = new DoubleSpinBox(GetGroupBox()->NewRow(), "gain:", 0, 1, 0.1);
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| 111 | exposure = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "exposure:", 0,1, 0.1);
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| 112 | bright = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "bright:", 0, 1, 0.1);
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| 113 | contrast = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "contrast:", 0,1, 0.1);
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| 114 | hue = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "hue:", 0, 1, 0.1);
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| 115 | sharpness = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "sharpness:", 0, 1, 0.1);
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| 116 | sat = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "saturation:", 0, 1,0.1);
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| 117 | autogain = new CheckBox(GetGroupBox()->NewRow(), "autogain:");
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| 118 | autoexposure = new CheckBox(GetGroupBox()->LastRowLastCol(), "autoexposure:");
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| 119 | awb = new CheckBox(GetGroupBox()->LastRowLastCol(), "awb:");
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| 120 | fps = new Label(GetGroupBox()->NewRow(), "fps");
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[330] | 121 |
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[338] | 122 | hasProblems=false;
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[3] | 123 | }
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| 124 |
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[15] | 125 | V4LCamera::~V4LCamera() {
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[338] | 126 | for (int n_buffers = 0; n_buffers < nbBuffers; n_buffers++) {
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| 127 | FreeFunction((char*)buffers[n_buffers].start);
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| 128 | }
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| 129 | SafeStop();
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| 130 | Join();
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[3] | 131 | }
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| 132 |
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[15] | 133 | void V4LCamera::Run(void) {
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| 134 | Time cam_time, new_time, fpsNow, fpsPrev;
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| 135 | int fpsCounter = 0;
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[3] | 136 |
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[15] | 137 | // init image old
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[330] | 138 | GrabFrame();
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[15] | 139 | cam_time = GetTime();
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| 140 | fpsPrev = cam_time;
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| 141 |
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| 142 | while (!ToBeStopped()) {
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[165] | 143 | //check for ps3eye deconnection in hds uav
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[330] | 144 | if(hasProblems==false) {
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| 145 | struct v4l2_format form;
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| 146 | form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 147 | xioctl(device, VIDIOC_G_FMT,&form);
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| 148 | if(xioctl (device, VIDIOC_G_FMT,&form)<0) {
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| 149 | Thread::Warn("camera disconnected\n");
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| 150 | hasProblems=true;
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| 151 | }
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[165] | 152 | }
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| 153 |
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[15] | 154 | // fps counter
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| 155 | fpsCounter++;
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[307] | 156 | if (GetTime() > (fpsPrev + 5 * (Time)1000000000)) {
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[338] | 157 | // every 5 secondes
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[15] | 158 | fpsNow = GetTime();
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| 159 | fps->SetText("fps: %.1f",
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[307] | 160 | fpsCounter / ((float)(fpsNow - fpsPrev) / 1000000000.));
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[15] | 161 | fpsCounter = 0;
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| 162 | fpsPrev = fpsNow;
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[307] | 163 | }
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| 164 |
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[15] | 165 | // cam properties
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| 166 | if (gain->ValueChanged() == true && autogain->Value() == false)
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| 167 | SetGain(gain->Value());
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| 168 | if (exposure->ValueChanged() == true && autoexposure->Value() == false)
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| 169 | SetExposure(exposure->Value());
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| 170 | if (bright->ValueChanged() == true)
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| 171 | SetBrightness(bright->Value());
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| 172 | if (sat->ValueChanged() == true)
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| 173 | SetSaturation(sat->Value());
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| 174 | if (contrast->ValueChanged() == true)
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| 175 | SetContrast(contrast->Value());
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| 176 | if (hue->ValueChanged() == true)
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| 177 | SetHue(hue->Value());
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| 178 | if (sharpness->ValueChanged() == true)
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[330] | 179 | SetProperty(V4L2_CID_SHARPNESS, sharpness->Value());
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[15] | 180 | if (autogain->ValueChanged() == true) {
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| 181 | if (autogain->Value() == true) {
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| 182 | gain->setEnabled(false);
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| 183 | } else {
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| 184 | gain->setEnabled(true);
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| 185 | SetGain(gain->Value());
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| 186 | }
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| 187 | SetAutoGain(autogain->Value());
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| 188 | }
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| 189 | if (autoexposure->ValueChanged() == true) {
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| 190 | if (autoexposure->Value() == true) {
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| 191 | exposure->setEnabled(false);
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| 192 | } else {
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| 193 | exposure->setEnabled(true);
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| 194 | SetExposure(exposure->Value());
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| 195 | }
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| 196 | SetAutoExposure(autoexposure->Value());
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| 197 | }
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| 198 | if (awb->ValueChanged() == true)
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[330] | 199 | SetProperty(V4L2_CID_AUTO_WHITE_BALANCE, awb->Value());
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[3] | 200 |
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[338] | 201 | // get picture
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[330] | 202 | GrabFrame();
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[15] | 203 | new_time = GetTime();
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[165] | 204 |
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| 205 | //check for ps3eye deconnection in hds uav
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| 206 | if(new_time-cam_time>100*1000*1000) {
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| 207 | Thread::Warn("delta trop grand\n");
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| 208 | hasProblems=true;
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| 209 | }
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[3] | 210 |
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[15] | 211 | output->GetMutex();
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[338] | 212 | output->buffer=(char*)buffers[bufferIndex].start;
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[15] | 213 | output->ReleaseMutex();
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[3] | 214 |
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[15] | 215 | output->SetDataTime(cam_time);
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| 216 | ProcessUpdate(output);
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[3] | 217 |
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[15] | 218 | cam_time = new_time;
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| 219 | }
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[3] | 220 |
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[330] | 221 | close(device);
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[3] | 222 | }
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| 223 |
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[338] | 224 | int V4LCamera::QueueBuffer(int index) {
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| 225 | struct v4l2_buffer buf;
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| 226 | if(index>=0 && index<nbBuffers) {
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| 227 | memset(&buf, 0, sizeof (v4l2_buffer));
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| 228 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 229 | buf.memory = V4L2_MEMORY_USERPTR;//V4L2_MEMORY_MMAP;
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| 230 | buf.index = (unsigned long)index;
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| 231 | buf.m.userptr=(unsigned long)(buffers[index].start);
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| 232 | buf.length=buffers[index].length;
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| 233 |
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| 234 | int ret=xioctl (device, VIDIOC_QBUF, &buf);
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| 235 | if (ret==-1) {
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| 236 | Thread::Err("VIDIOC_QBUF xioctl %s\n",strerror(-ret));
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| 237 | return -1;
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| 238 | }
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| 239 | }
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| 240 | return 0;
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| 241 | }
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[330] | 242 |
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[338] | 243 | int V4LCamera::GrabFrame(void) {
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| 244 | //queue previous buffer
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| 245 | if(QueueBuffer(bufferIndex)<0) return -1;
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| 246 |
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| 247 | fd_set fds;
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| 248 | struct timeval tv;
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| 249 | FD_ZERO (&fds);
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| 250 | FD_SET (device, &fds);
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[330] | 251 |
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[338] | 252 | tv.tv_sec = 0;
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| 253 | tv.tv_usec = 100000;
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[330] | 254 |
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[338] | 255 | int r = select (device+1, &fds, NULL, NULL, &tv);
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[330] | 256 |
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[338] | 257 | if (-1 == r) {
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| 258 | char errorMsg[256];
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| 259 | Thread::Err("select (%s)\n", strerror_r(-r, errorMsg, sizeof(errorMsg)));
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| 260 | return -1;
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| 261 | }
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[330] | 262 |
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[338] | 263 | if (0 == r) {
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| 264 | Thread::Err("select timeout\n");
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| 265 | return -1;
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| 266 | }
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[330] | 267 |
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[338] | 268 | struct v4l2_buffer buf;
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| 269 | memset(&buf, 0, sizeof (v4l2_buffer));
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| 270 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 271 | buf.memory = V4L2_MEMORY_USERPTR;//V4L2_MEMORY_MMAP;
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[330] | 272 |
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[338] | 273 | //get last captured image
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| 274 | int prevDQbuf=-1;
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| 275 | for(int i=0;i<4;i++) {
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| 276 | if (xioctl (device, VIDIOC_DQBUF, &buf)==-1) {
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| 277 | if (errno==EAGAIN) {
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[330] | 278 | break;
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[338] | 279 | } else {
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| 280 | Thread::Err("VIDIOC_DQBUF xioctl\n");
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| 281 | return -1;
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[330] | 282 | }
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[338] | 283 | } else {
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| 284 | if(prevDQbuf!=-1) {
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| 285 | QueueBuffer(prevDQbuf);
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| 286 | }
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| 287 | for (int n_buffers = 0; n_buffers < nbBuffers; n_buffers++) {
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| 288 | if((void*)(buf.m.userptr)==buffers[n_buffers].start) {
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| 289 | prevDQbuf=n_buffers;
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| 290 | bufferIndex=n_buffers;
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| 291 | break;
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| 292 | }
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| 293 | }
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| 294 | }
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[330] | 295 | }
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| 296 |
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| 297 | return 1;
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| 298 | }
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| 299 |
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| 300 | int V4LCamera::AllocBuffers(void) {
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[338] | 301 | struct v4l2_requestbuffers requestbuffers;
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[330] | 302 | memset(&requestbuffers, 0, sizeof (v4l2_requestbuffers));
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| 303 |
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| 304 | unsigned int buffer_number = DEFAULT_V4L_BUFFERS;
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| 305 |
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| 306 | try_again:
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| 307 |
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| 308 | requestbuffers.count = buffer_number;
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| 309 | requestbuffers.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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[338] | 310 | requestbuffers.memory = V4L2_MEMORY_USERPTR;//V4L2_MEMORY_MMAP;
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[330] | 311 |
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[338] | 312 | if (xioctl (device, VIDIOC_REQBUFS, &requestbuffers)==-1) {
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| 313 | if (errno==EINVAL) {
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| 314 | Thread::Err("VIDIOC_REQBUFS user memory not supported\n");
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[330] | 315 | } else {
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| 316 | Thread::Err ("VIDIOC_REQBUFS xioctl\n");
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| 317 | }
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| 318 | return -1;
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| 319 | }
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[338] | 320 |
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| 321 | nbBuffers=DEFAULT_V4L_BUFFERS;
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| 322 | for (int n_buffers = 0; n_buffers < nbBuffers; n_buffers++) {
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| 323 | buffers[n_buffers].length = output->GetDataType().GetSize();
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| 324 | buffers[n_buffers].start =AllocFunction(output->GetDataType().GetSize());
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[330] | 325 | }
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| 326 |
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| 327 | return 1;
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| 328 | };
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| 329 |
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[165] | 330 | bool V4LCamera::HasProblems(void) {
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| 331 | return hasProblems;
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| 332 | }
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| 333 |
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[15] | 334 | void V4LCamera::SetAutoGain(bool value) {
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[330] | 335 | SetProperty(V4L2_CID_AUTOGAIN, value);
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[3] | 336 | }
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| 337 |
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[15] | 338 | void V4LCamera::SetAutoExposure(bool value) {
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[338] | 339 | Thread::Warn("not implemented\n");
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[3] | 340 | }
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| 341 |
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[15] | 342 | void V4LCamera::SetGain(float value) {
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[330] | 343 | SetProperty(V4L2_CID_GAIN, value);
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[3] | 344 | }
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| 345 |
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[15] | 346 | void V4LCamera::SetExposure(float value) {
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[330] | 347 | SetProperty(V4L2_CID_EXPOSURE, value);
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[3] | 348 | }
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| 349 |
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[15] | 350 | void V4LCamera::SetBrightness(float value) {
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[330] | 351 | SetProperty(V4L2_CID_BRIGHTNESS, value);
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[3] | 352 | }
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| 353 |
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[15] | 354 | void V4LCamera::SetSaturation(float value) {
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[330] | 355 | SetProperty(V4L2_CID_SATURATION, value);
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[3] | 356 | }
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| 357 |
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[15] | 358 | void V4LCamera::SetHue(float value) {
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[330] | 359 | SetProperty(V4L2_CID_HUE, value);
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[3] | 360 | }
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| 361 |
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[15] | 362 | void V4LCamera::SetContrast(float value) {
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[330] | 363 | SetProperty(V4L2_CID_CONTRAST, value);
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[3] | 364 | }
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| 365 |
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[330] | 366 | float V4LCamera::GetProperty(int property) {
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| 367 | //get min and max value
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| 368 | struct v4l2_queryctrl queryctrl;
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| 369 | queryctrl.id = property;
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| 370 | if(xioctl (device, VIDIOC_QUERYCTRL,&queryctrl)==-1) return -1;
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| 371 | int min = queryctrl.minimum;
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| 372 | int max = queryctrl.maximum;
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| 373 |
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| 374 | //set value
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| 375 | struct v4l2_control control;
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| 376 | memset (&control, 0, sizeof (v4l2_control));
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| 377 | control.id = property;
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| 378 | if(xioctl (device,VIDIOC_G_CTRL, &control)==-1) return -1;
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| 379 |
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| 380 | return ((float)control.value - min + 1) / (max - min);
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| 381 | }
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| 382 |
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| 383 | void V4LCamera::SetProperty(int property,float value) {
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| 384 | //get min and max value
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| 385 | struct v4l2_queryctrl queryctrl;
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| 386 | queryctrl.id = property;
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| 387 | xioctl (device, VIDIOC_QUERYCTRL,&queryctrl);
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| 388 | int min = queryctrl.minimum;
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| 389 | int max = queryctrl.maximum;
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| 390 |
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| 391 | //set value
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| 392 | struct v4l2_control control;
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| 393 | memset (&control, 0, sizeof (v4l2_control));
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| 394 | control.id = property;
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| 395 | control.value = (int)(value * (max - min) + min);
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| 396 | xioctl (device,VIDIOC_S_CTRL, &control);
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| 397 | }
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| 398 |
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| 399 | int V4LCamera::xioctl( int fd, int request, void *arg) {
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| 400 | int r;
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| 401 |
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| 402 | do r = ioctl (fd, request, arg);
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| 403 | while (-1 == r && EINTR == errno);
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| 404 |
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| 405 | return r;
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| 406 | }
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| 407 |
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[3] | 408 | } // end namespace sensor
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| 409 | } // end namespace flair
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