| 1 | // %flair:license{
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| 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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| 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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| 23 | #include <Image.h>
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| 24 | #include <FrameworkManager.h>
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| 25 | #include <fcntl.h>
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| 26 | #include <linux/videodev2.h>
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| 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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| 31 | #include <VisionFilter.h>
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| 32 |
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| 33 | #define DEFAULT_V4L_BUFFERS 4
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| 34 |
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| 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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| 39 | namespace flair {
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| 40 | namespace sensor {
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| 41 |
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| 42 | V4LCamera::V4LCamera(string name,uint8_t camera_index, uint16_t width, uint16_t height,
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| 43 | Image::Type::Format format, uint8_t priority)
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| 44 | : Thread(getFrameworkManager(), name, priority),
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| 45 | Camera(name, width, height, format) {
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| 46 |
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| 47 | string deviceName="/dev/video"+std::to_string(camera_index);
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| 48 | device = open(deviceName.c_str(), O_RDWR | O_NONBLOCK);
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| 49 | if (device == -1) {
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| 50 | Thread::Err("Cannot open %s\n",deviceName.c_str());
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| 51 | } else {
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| 52 | Printf("V4LCamera %s, opened %s\n",name.c_str(),deviceName.c_str());
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| 53 | }
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| 54 |
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| 55 | if(format == Image::Type::Format::UYVY) {
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| 56 | if(init(width,height,V4L2_PIX_FMT_UYVY) == -1) {
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| 57 | Thread::Err("initialisation failed\n");
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| 58 | }
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| 59 | } else if (format == Image::Type::Format::YUYV) {
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| 60 | if(init(width,height,V4L2_PIX_FMT_YUYV) == -1) {
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| 61 | Thread::Err("initialisation failed\n");
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| 62 | }
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| 63 | } else {
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| 64 | Thread::Err("format not supported\n");
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| 65 | }
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| 66 |
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| 67 | /* This is just a technicality, but all buffers must be filled up before any
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| 68 | staggered SYNC is applied. SO, filler up. (see V4L HowTo) */
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| 69 |
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| 70 | allocBuffers();
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| 71 |
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| 72 | for (int i=0;i < nbBuffers;i++) {
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| 73 | struct v4l2_buffer buf;
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| 74 | memset(&buf, 0, sizeof (v4l2_buffer));
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| 75 |
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| 76 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 77 | buf.memory = V4L2_MEMORY_MMAP;
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| 78 | buf.index = (unsigned long)i;
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| 79 |
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| 80 | if (-1 == xioctl (device, VIDIOC_QBUF, &buf)) {
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| 81 | Thread::Err("VIDIOC_QBUF error\n");
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| 82 | }
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| 83 | }
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| 84 |
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| 85 | /* enable the streaming */
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| 86 | v4l2_buf_type type;
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| 87 | type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 88 | if (-1 == xioctl (device, VIDIOC_STREAMON,&type)) {
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| 89 | Thread::Err("VIDIOC_STREAMON error\n");
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| 90 | }
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| 91 |
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| 92 | // ground station
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| 93 | gain = new DoubleSpinBox(GetGroupBox()->NewRow(), "gain:", 0, 1, 0.1);
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| 94 | exposure = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "exposure:", 0,1, 0.1);
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| 95 | bright = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "bright:", 0, 1, 0.1);
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| 96 | contrast = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "contrast:", 0,1, 0.1);
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| 97 | hue = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "hue:", 0, 1, 0.1);
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| 98 | sharpness = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "sharpness:", 0, 1, 0.1);
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| 99 | sat = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "saturation:", 0, 1,0.1);
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| 100 | autogain = new CheckBox(GetGroupBox()->NewRow(), "autogain:");
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| 101 | autoexposure = new CheckBox(GetGroupBox()->LastRowLastCol(), "autoexposure:");
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| 102 | awb = new CheckBox(GetGroupBox()->LastRowLastCol(), "awb:");
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| 103 | fps = new Label(GetGroupBox()->NewRow(), "fps");
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| 104 |
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| 105 | hasProblems=false;
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| 106 | }
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| 107 |
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| 108 | V4LCamera::~V4LCamera() {
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| 109 | for (int i = 0; i < nbBuffers; i++) {
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| 110 | //FreeFunction((char*)buffers[i].start);
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| 111 | }
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| 112 | SafeStop();
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| 113 | Join();
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| 114 | close(device);
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| 115 | }
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| 116 |
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| 117 | int V4LCamera::init(int width, int height,unsigned long colorspace) {
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| 118 | struct v4l2_capability cap;
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| 119 | memset(&cap, 0, sizeof (v4l2_capability));
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| 120 |
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| 121 | if(-1 == xioctl(device, VIDIOC_QUERYCAP, &cap)) {
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| 122 | return -1;
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| 123 | }
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| 124 |
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| 125 | if ((cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
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| 126 | Thread::Err("device is unable to capture video memory.\n");
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| 127 | return -1;
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| 128 | }
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| 129 |
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| 130 | struct v4l2_format form;
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| 131 | memset(&form, 0, sizeof (v4l2_format));
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| 132 | form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 133 |
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| 134 | /* read the current setting */
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| 135 | if(-1 == xioctl(device, VIDIOC_G_FMT, &form)) {
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| 136 | Thread::Err("Could not obtain specifics of capture window.\n");
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| 137 | return -1;
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| 138 | }
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| 139 |
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| 140 | /* set the values we want to change */
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| 141 | form.fmt.pix.width = width;
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| 142 | form.fmt.pix.height = height;
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| 143 | form.fmt.win.chromakey = 0;
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| 144 | form.fmt.win.field = V4L2_FIELD_ANY;
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| 145 | form.fmt.win.clips = 0;
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| 146 | form.fmt.win.clipcount = 0;
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| 147 | form.fmt.pix.field = V4L2_FIELD_ANY;
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| 148 | form.fmt.pix.pixelformat = colorspace;
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| 149 |
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| 150 | /* ask the device to change the size*/
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| 151 | if(-1 == xioctl (device, VIDIOC_S_FMT, &form)) {
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| 152 | Thread::Err("Could not set specifics of capture window.\n");
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| 153 | return -1;
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| 154 | }
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| 155 |
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| 156 | /* Get window info again, to get the real value */
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| 157 | if(-1 == xioctl (device, VIDIOC_G_FMT, &form)) {
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| 158 | Thread::Err("Could not obtain specifics of capture window.\n");
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| 159 | return -1;
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| 160 | }
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| 161 |
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| 162 | return 0;
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| 163 | }
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| 164 |
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| 165 | /*
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| 166 | void V4LCamera::Run(void) {
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| 167 | Time cam_time, new_time, fpsNow, fpsPrev;
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| 168 | int fpsCounter = 0;
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| 169 |
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| 170 | // init image old
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| 171 | GrabFrame();
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| 172 | cam_time = GetTime();
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| 173 | fpsPrev = cam_time;
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| 174 |
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| 175 | while (!ToBeStopped()) {
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| 176 | //check for ps3eye deconnection in hds uav
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| 177 | if(hasProblems==false) {
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| 178 | struct v4l2_format form;
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| 179 | form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 180 | xioctl(device, VIDIOC_G_FMT,&form);
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| 181 | if(xioctl (device, VIDIOC_G_FMT,&form)<0) {
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| 182 | Thread::Warn("camera disconnected\n");
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| 183 | hasProblems=true;
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| 184 | }
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| 185 | }
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| 186 |
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| 187 | // fps counter
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| 188 | fpsCounter++;
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| 189 | if (GetTime() > (fpsPrev + 5 * (Time)1000000000)) {
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| 190 | // every 5 secondes
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| 191 | fpsNow = GetTime();
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| 192 | fps->SetText("fps: %.1f",
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| 193 | fpsCounter / ((float)(fpsNow - fpsPrev) / 1000000000.));
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| 194 | fpsCounter = 0;
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| 195 | fpsPrev = fpsNow;
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| 196 | }
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| 197 |
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| 198 | // cam properties
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| 199 | if (gain->ValueChanged() == true && autogain->Value() == false)
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| 200 | SetGain(gain->Value());
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| 201 | if (exposure->ValueChanged() == true && autoexposure->Value() == false)
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| 202 | SetExposure(exposure->Value());
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| 203 | if (bright->ValueChanged() == true)
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| 204 | SetBrightness(bright->Value());
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| 205 | if (sat->ValueChanged() == true)
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| 206 | SetSaturation(sat->Value());
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| 207 | if (contrast->ValueChanged() == true)
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| 208 | SetContrast(contrast->Value());
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| 209 | if (hue->ValueChanged() == true)
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| 210 | SetHue(hue->Value());
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| 211 | if (sharpness->ValueChanged() == true)
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| 212 | SetProperty(V4L2_CID_SHARPNESS, sharpness->Value());
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| 213 | if (autogain->ValueChanged() == true) {
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| 214 | if (autogain->Value() == true) {
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| 215 | gain->setEnabled(false);
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| 216 | } else {
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| 217 | gain->setEnabled(true);
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| 218 | SetGain(gain->Value());
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| 219 | }
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| 220 | SetAutoGain(autogain->Value());
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| 221 | }
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| 222 | if (autoexposure->ValueChanged() == true) {
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| 223 | if (autoexposure->Value() == true) {
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| 224 | exposure->setEnabled(false);
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| 225 | } else {
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| 226 | exposure->setEnabled(true);
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| 227 | SetExposure(exposure->Value());
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| 228 | }
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| 229 | SetAutoExposure(autoexposure->Value());
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| 230 | }
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| 231 | if (awb->ValueChanged() == true)
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| 232 | SetProperty(V4L2_CID_AUTO_WHITE_BALANCE, awb->Value());
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| 233 |
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| 234 | // get picture
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| 235 | GrabFrame();
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| 236 | new_time = GetTime();
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| 237 |
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| 238 | //check for ps3eye deconnection in hds uav
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| 239 | if(new_time-cam_time>100*1000*1000) {
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| 240 | Thread::Warn("delta trop grand\n");
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| 241 | hasProblems=true;
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| 242 | }
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| 243 |
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| 244 | output->GetMutex();
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| 245 | output->buffer=(char*)buffers[bufferIndex].start;
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| 246 | output->ReleaseMutex();
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| 247 |
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| 248 | output->SetDataTime(cam_time);
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| 249 | ProcessUpdate(output);
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| 250 |
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| 251 | cam_time = new_time;
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| 252 | }
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| 253 |
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| 254 | close(device);
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| 255 | }
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| 256 | */
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| 257 | int V4LCamera::allocBuffers() {
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| 258 | struct v4l2_requestbuffers req;
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| 259 | memset(&req, 0, sizeof (v4l2_requestbuffers));
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| 260 | nbBuffers=DEFAULT_V4L_BUFFERS;
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| 261 |
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| 262 | try_again:
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| 263 |
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| 264 | req.count = nbBuffers;
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| 265 | req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 266 | req.memory = V4L2_MEMORY_MMAP;
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| 267 |
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| 268 | if(-1 == xioctl(device, VIDIOC_REQBUFS, &req)) {
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| 269 | if (EINVAL == errno) {
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| 270 | Thread::Err("camera does not support memory mapping\n");
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| 271 | } else {
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| 272 | Thread::Err("VIDIOC_REQBUFS failed\n");
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| 273 | }
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| 274 | return -1;
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| 275 | }
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| 276 |
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| 277 | if(req.count < nbBuffers) {
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| 278 | if (nbBuffers == 1) {
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| 279 | Thread::Err("Insufficient buffer memory\n");
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| 280 | return -1;
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| 281 | } else {
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| 282 | nbBuffers--;
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| 283 | Thread::Warn("Insufficient buffer memory -- decreaseing buffers to %i\n",nbBuffers);
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| 284 | goto try_again;
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| 285 | }
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| 286 | }
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| 287 |
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| 288 | for(int i=0; i<req.count; i++) {
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| 289 | struct v4l2_buffer buf;
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| 290 | memset(&buf, 0, sizeof (v4l2_buffer));
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| 291 |
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| 292 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 293 | buf.memory = V4L2_MEMORY_MMAP;
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| 294 | buf.index = i;
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| 295 |
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| 296 | if(-1 == xioctl(device, VIDIOC_QUERYBUF, &buf)) {
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| 297 | Thread::Err("VIDIOC_QUERYBUF error\n");
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| 298 | return -1;
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| 299 | }
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| 300 |
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| 301 | if(output->GetDataType().GetSize()!=buf.length) {
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| 302 | Thread::Err("buf size is not as exepcted %i/%i\n",buf.length,output->GetDataType().GetSize());
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| 303 | return -1;
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| 304 | }
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| 305 |
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| 306 | buffers[i]=mmap(NULL,buf.length,PROT_READ | PROT_WRITE,MAP_SHARED,device, buf.m.offset);
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| 307 |
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| 308 | if(MAP_FAILED == buffers[i]) {
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| 309 | Thread::Err("mmap error\n");
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| 310 | return -1;
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| 311 | }
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| 312 | }
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| 313 |
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| 314 | //allocate output data
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| 315 | imageData = AllocFunction(output->GetDataType().GetSize());
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| 316 | Printf("cmem allocated %i at %x\n",output->GetDataType().GetSize(),imageData);
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| 317 |
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| 318 | return 1;
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| 319 | };
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| 320 |
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| 321 | int V4LCamera::AllocBuffers(void) {
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| 322 | struct v4l2_requestbuffers requestbuffers;
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| 323 | memset(&requestbuffers, 0, sizeof (v4l2_requestbuffers));
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| 324 |
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| 325 | unsigned int buffer_number = DEFAULT_V4L_BUFFERS;
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| 326 |
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| 327 | try_again:
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| 328 |
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| 329 | requestbuffers.count = buffer_number;
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| 330 | requestbuffers.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 331 | requestbuffers.memory = V4L2_MEMORY_USERPTR;
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| 332 |
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| 333 | if (xioctl (device, VIDIOC_REQBUFS, &requestbuffers)==-1) {
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| 334 | if (errno==EINVAL) {
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| 335 | Thread::Err("VIDIOC_REQBUFS user memory not supported\n");
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| 336 | } else {
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| 337 | Thread::Err ("VIDIOC_REQBUFS xioctl\n");
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| 338 | }
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| 339 | return -1;
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| 340 | }
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| 341 |
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| 342 | nbBuffers=DEFAULT_V4L_BUFFERS;
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| 343 | for (int i=0; i<nbBuffers; i++) {
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| 344 | buffers[i] =AllocFunction(output->GetDataType().GetSize());
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| 345 | }
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| 346 |
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| 347 | return 1;
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| 348 | };
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| 349 |
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| 350 | int V4LCamera::cvGrabFrame(void) {
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| 351 | unsigned int count;
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| 352 |
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| 353 | count = 1;
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| 354 |
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| 355 | while (count-- > 0) {
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| 356 | for (;;) {
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| 357 | fd_set fds;
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| 358 | struct timeval tv;
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| 359 | int r;
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| 360 |
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| 361 | FD_ZERO (&fds);
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| 362 | FD_SET (device, &fds);
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| 363 |
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| 364 | /* Timeout. */
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| 365 | tv.tv_sec = 2;
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| 366 | tv.tv_usec = 0;
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| 367 |
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| 368 | r = select (device+1, &fds, NULL, NULL, &tv);
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| 369 |
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| 370 | if (-1 == r) {
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| 371 | if (EINTR == errno)
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| 372 | continue;
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| 373 |
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| 374 | perror ("select");
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| 375 | }
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| 376 |
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| 377 | if (0 == r) {
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| 378 | fprintf (stderr, "select timeout\n");
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| 379 |
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| 380 | /* end the infinite loop */
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| 381 | break;
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| 382 | }
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| 383 |
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| 384 | if (read_frame_v4l2 ())
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| 385 | break;
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| 386 | }
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| 387 | }
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| 388 | return(1);
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| 389 | }
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| 390 |
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| 391 | int V4LCamera::read_frame_v4l2(void) {
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| 392 | struct v4l2_buffer buf;
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| 393 | memset(&buf, 0, sizeof (v4l2_buffer));
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| 394 |
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| 395 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 396 | buf.memory = V4L2_MEMORY_MMAP;
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| 397 |
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| 398 | if (-1 == xioctl (device, VIDIOC_DQBUF, &buf)) {
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| 399 | switch (errno) {
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| 400 | case EAGAIN:
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| 401 | return 0;
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| 402 |
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| 403 | case EIO:
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| 404 | /* Could ignore EIO, see spec. */
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| 405 |
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| 406 | /* fall through */
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| 407 |
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| 408 | default:
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| 409 | /* display the error and stop processing */
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| 410 | perror ("VIDIOC_DQBUF");
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| 411 | return 1;
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| 412 | }
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| 413 | }
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| 414 |
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| 415 | if(buf.index >= nbBuffers) {
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| 416 | Thread::Err("buf.index >= capture->req.count\n");
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| 417 | }
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| 418 |
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| 419 | bufferIndex = buf.index;
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| 420 |
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| 421 | if (-1 == xioctl (device, VIDIOC_QBUF, &buf))
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| 422 | perror ("VIDIOC_QBUF");
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| 423 |
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| 424 | return 1;
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| 425 | }
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| 426 |
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| 427 | void V4LCamera::Run(void) {
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| 428 | Time cam_time, new_time, fpsNow, fpsPrev;
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| 429 | //IplImage *img; // raw image
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| 430 | int fpsCounter = 0;
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| 431 |
|
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| 432 | // init image old
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| 433 | if (!cvGrabFrame()) {
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| 434 | Printf("Could not grab a frame\n");
|
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| 435 | }
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| 436 | cam_time = GetTime();
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| 437 | fpsPrev = cam_time;
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| 438 |
|
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| 439 | while (!ToBeStopped()) {
|
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| 440 | // fps counter
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| 441 | fpsCounter++;
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| 442 | if (fpsCounter == 100) {
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| 443 | fpsNow = GetTime();
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| 444 | fps->SetText("fps: %.1f",
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| 445 | fpsCounter / ((float)(fpsNow - fpsPrev) / 1000000000.));
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| 446 | fpsCounter = 0;
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| 447 | fpsPrev = fpsNow;
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| 448 | }
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| 449 |
|
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| 450 | // cam properties
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| 451 | if (gain->ValueChanged() == true && autogain->Value() == false)
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| 452 | SetGain(gain->Value());
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| 453 | if (exposure->ValueChanged() == true && autoexposure->Value() == false)
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| 454 | SetExposure(exposure->Value());
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| 455 | if (bright->ValueChanged() == true)
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| 456 | SetBrightness(bright->Value());
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| 457 | if (sat->ValueChanged() == true)
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| 458 | SetSaturation(sat->Value());
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| 459 | if (contrast->ValueChanged() == true)
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| 460 | SetContrast(contrast->Value());
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| 461 | if (hue->ValueChanged() == true)
|
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| 462 | SetHue(hue->Value());
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| 463 | //if (sharpness->ValueChanged() == true)
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| 464 | // cvSetCaptureProperty(capture, CV_CAP_PROP_SHARPNESS, sharpness->Value());
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| 465 | if (autogain->ValueChanged() == true) {
|
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| 466 | if (autogain->Value() == true) {
|
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| 467 | gain->setEnabled(false);
|
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| 468 | } else {
|
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| 469 | gain->setEnabled(true);
|
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| 470 | SetGain(gain->Value());
|
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| 471 | }
|
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| 472 | SetAutoGain(autogain->Value());
|
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| 473 | }
|
---|
| 474 | if (autoexposure->ValueChanged() == true) {
|
---|
| 475 | if (autoexposure->Value() == true) {
|
---|
| 476 | exposure->setEnabled(false);
|
---|
| 477 | } else {
|
---|
| 478 | exposure->setEnabled(true);
|
---|
| 479 | SetExposure(exposure->Value());
|
---|
| 480 | }
|
---|
| 481 | SetAutoExposure(autoexposure->Value());
|
---|
| 482 | }
|
---|
| 483 | //if (awb->ValueChanged() == true)
|
---|
| 484 | // cvSetCaptureProperty(capture, CV_CAP_PROP_AWB, awb->Value());
|
---|
| 485 |
|
---|
| 486 | // cam pictures
|
---|
| 487 | cvRetrieveRawFrame();
|
---|
| 488 | if (!cvGrabFrame()) {
|
---|
| 489 | Printf("Could not grab a frame\n");
|
---|
| 490 | }
|
---|
| 491 | new_time = GetTime();
|
---|
| 492 |
|
---|
| 493 | //check for ps3eye deconnection in hds uav
|
---|
| 494 | if(new_time-cam_time>100*1000*1000) {
|
---|
| 495 | Thread::Warn("delta trop grand\n");
|
---|
| 496 | hasProblems=true;
|
---|
| 497 | }
|
---|
| 498 |
|
---|
| 499 | output->GetMutex();
|
---|
| 500 |
|
---|
| 501 | output->buffer=imageData;
|
---|
| 502 | output->ReleaseMutex();
|
---|
| 503 |
|
---|
| 504 | output->SetDataTime(cam_time);
|
---|
| 505 | ProcessUpdate(output);
|
---|
| 506 | cam_time = new_time;
|
---|
| 507 | }
|
---|
| 508 | }
|
---|
| 509 |
|
---|
| 510 | void V4LCamera::cvRetrieveRawFrame(void) {
|
---|
| 511 | memcpy(imageData,(char *)buffers[bufferIndex],output->GetDataType().GetSize());
|
---|
| 512 | }
|
---|
| 513 |
|
---|
| 514 | int V4LCamera::QueueBuffer(int index) {
|
---|
| 515 | struct v4l2_buffer buf;
|
---|
| 516 | if(index>=0 && index<nbBuffers) {
|
---|
| 517 | memset(&buf, 0, sizeof (v4l2_buffer));
|
---|
| 518 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 519 | buf.memory = V4L2_MEMORY_USERPTR;//V4L2_MEMORY_MMAP;
|
---|
| 520 | buf.index = (unsigned long)index;
|
---|
| 521 | buf.m.userptr=(unsigned long)(buffers[index]);
|
---|
| 522 | buf.length=output->GetDataType().GetSize();
|
---|
| 523 |
|
---|
| 524 | int ret=xioctl (device, VIDIOC_QBUF, &buf);
|
---|
| 525 | if (ret==-1) {
|
---|
| 526 | Thread::Err("VIDIOC_QBUF xioctl %s\n",strerror(-ret));
|
---|
| 527 | return -1;
|
---|
| 528 | }
|
---|
| 529 | }
|
---|
| 530 | return 0;
|
---|
| 531 | }
|
---|
| 532 |
|
---|
| 533 | int V4LCamera::GrabFrame(void) {
|
---|
| 534 | //queue previous buffer
|
---|
| 535 | if(QueueBuffer(bufferIndex)<0) return -1;
|
---|
| 536 |
|
---|
| 537 | fd_set fds;
|
---|
| 538 | struct timeval tv;
|
---|
| 539 | FD_ZERO (&fds);
|
---|
| 540 | FD_SET (device, &fds);
|
---|
| 541 |
|
---|
| 542 | tv.tv_sec = 0;
|
---|
| 543 | tv.tv_usec = 100000;
|
---|
| 544 |
|
---|
| 545 | int r = select (device+1, &fds, NULL, NULL, &tv);
|
---|
| 546 |
|
---|
| 547 | if (-1 == r) {
|
---|
| 548 | char errorMsg[256];
|
---|
| 549 | Thread::Err("select (%s)\n", strerror_r(-r, errorMsg, sizeof(errorMsg)));
|
---|
| 550 | return -1;
|
---|
| 551 | }
|
---|
| 552 |
|
---|
| 553 | if (0 == r) {
|
---|
| 554 | Thread::Err("select timeout\n");
|
---|
| 555 | return -1;
|
---|
| 556 | }
|
---|
| 557 |
|
---|
| 558 | struct v4l2_buffer buf;
|
---|
| 559 | memset(&buf, 0, sizeof (v4l2_buffer));
|
---|
| 560 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 561 | buf.memory = V4L2_MEMORY_USERPTR;//V4L2_MEMORY_MMAP;
|
---|
| 562 |
|
---|
| 563 | //get last captured image
|
---|
| 564 | int prevDQbuf=-1;
|
---|
| 565 | for(int i=0;i<4;i++) {
|
---|
| 566 | if (xioctl (device, VIDIOC_DQBUF, &buf)==-1) {
|
---|
| 567 | if (errno==EAGAIN) {
|
---|
| 568 | break;
|
---|
| 569 | } else {
|
---|
| 570 | Thread::Err("VIDIOC_DQBUF xioctl\n");
|
---|
| 571 | return -1;
|
---|
| 572 | }
|
---|
| 573 | } else {
|
---|
| 574 | if(prevDQbuf!=-1) {
|
---|
| 575 | QueueBuffer(prevDQbuf);
|
---|
| 576 | }
|
---|
| 577 | for (int i=0; i<nbBuffers; i++) {
|
---|
| 578 | if((void*)(buf.m.userptr)==buffers[i]) {
|
---|
| 579 | prevDQbuf=i;
|
---|
| 580 | bufferIndex=i;
|
---|
| 581 | break;
|
---|
| 582 | }
|
---|
| 583 | }
|
---|
| 584 | }
|
---|
| 585 | }
|
---|
| 586 |
|
---|
| 587 | return 1;
|
---|
| 588 | }
|
---|
| 589 |
|
---|
| 590 | bool V4LCamera::HasProblems(void) {
|
---|
| 591 | return hasProblems;
|
---|
| 592 | }
|
---|
| 593 |
|
---|
| 594 | void V4LCamera::SetAutoGain(bool value) {
|
---|
| 595 | SetProperty(V4L2_CID_AUTOGAIN, value);
|
---|
| 596 | }
|
---|
| 597 |
|
---|
| 598 | void V4LCamera::SetAutoExposure(bool value) {
|
---|
| 599 | Thread::Warn("not implemented\n");
|
---|
| 600 | }
|
---|
| 601 |
|
---|
| 602 | void V4LCamera::SetGain(float value) {
|
---|
| 603 | SetProperty(V4L2_CID_GAIN, value);
|
---|
| 604 | }
|
---|
| 605 |
|
---|
| 606 | void V4LCamera::SetExposure(float value) {
|
---|
| 607 | SetProperty(V4L2_CID_EXPOSURE, value);
|
---|
| 608 | }
|
---|
| 609 |
|
---|
| 610 | void V4LCamera::SetBrightness(float value) {
|
---|
| 611 | SetProperty(V4L2_CID_BRIGHTNESS, value);
|
---|
| 612 | }
|
---|
| 613 |
|
---|
| 614 | void V4LCamera::SetSaturation(float value) {
|
---|
| 615 | SetProperty(V4L2_CID_SATURATION, value);
|
---|
| 616 | }
|
---|
| 617 |
|
---|
| 618 | void V4LCamera::SetHue(float value) {
|
---|
| 619 | SetProperty(V4L2_CID_HUE, value);
|
---|
| 620 | }
|
---|
| 621 |
|
---|
| 622 | void V4LCamera::SetContrast(float value) {
|
---|
| 623 | SetProperty(V4L2_CID_CONTRAST, value);
|
---|
| 624 | }
|
---|
| 625 |
|
---|
| 626 | float V4LCamera::GetProperty(int property) {
|
---|
| 627 | //get min and max value
|
---|
| 628 | struct v4l2_queryctrl queryctrl;
|
---|
| 629 | queryctrl.id = property;
|
---|
| 630 | if(xioctl (device, VIDIOC_QUERYCTRL,&queryctrl)==-1) return -1;
|
---|
| 631 | int min = queryctrl.minimum;
|
---|
| 632 | int max = queryctrl.maximum;
|
---|
| 633 |
|
---|
| 634 | //set value
|
---|
| 635 | struct v4l2_control control;
|
---|
| 636 | memset (&control, 0, sizeof (v4l2_control));
|
---|
| 637 | control.id = property;
|
---|
| 638 | if(xioctl (device,VIDIOC_G_CTRL, &control)==-1) return -1;
|
---|
| 639 |
|
---|
| 640 | return ((float)control.value - min + 1) / (max - min);
|
---|
| 641 | }
|
---|
| 642 |
|
---|
| 643 | void V4LCamera::SetProperty(int property,float value) {
|
---|
| 644 | //get min and max value
|
---|
| 645 | struct v4l2_queryctrl queryctrl;
|
---|
| 646 | queryctrl.id = property;
|
---|
| 647 | if(xioctl (device, VIDIOC_QUERYCTRL,&queryctrl)==-1) {
|
---|
| 648 | Thread::Warn("prop %x, VIDIOC_QUERYCTRL failed\n",property);
|
---|
| 649 | }
|
---|
| 650 | int min = queryctrl.minimum;
|
---|
| 651 | int max = queryctrl.maximum;
|
---|
| 652 |
|
---|
| 653 | //set value
|
---|
| 654 | struct v4l2_control control;
|
---|
| 655 | memset (&control, 0, sizeof (v4l2_control));
|
---|
| 656 | control.id = property;
|
---|
| 657 | control.value = (int)(value * (max - min) + min);
|
---|
| 658 | if(xioctl (device,VIDIOC_S_CTRL, &control)==-1) {
|
---|
| 659 | Thread::Warn("prop %x, VIDIOC_S_CTRL failed\n",property);
|
---|
| 660 | }
|
---|
| 661 | }
|
---|
| 662 |
|
---|
| 663 | int V4LCamera::xioctl( int fd, int request, void *arg) {
|
---|
| 664 | int r;
|
---|
| 665 |
|
---|
| 666 | do r = ioctl (fd, request, arg);
|
---|
| 667 | while (-1 == r && EINTR == errno);
|
---|
| 668 |
|
---|
| 669 | return r;
|
---|
| 670 | }
|
---|
| 671 |
|
---|
| 672 | } // end namespace sensor
|
---|
| 673 | } // end namespace flair
|
---|