| 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 <Image.h>
|
---|
| 24 | #include <FrameworkManager.h>
|
---|
| 25 | #include <fcntl.h>
|
---|
| 26 | #include <linux/videodev2.h>
|
---|
| 27 | #include <sys/ioctl.h>
|
---|
| 28 | #include <unistd.h>
|
---|
| 29 | #include <cstring>
|
---|
| 30 | #include <sys/mman.h>
|
---|
| 31 | #include <VisionFilter.h>
|
---|
| 32 |
|
---|
| 33 | using std::string;
|
---|
| 34 | using namespace flair::core;
|
---|
| 35 | using namespace flair::gui;
|
---|
| 36 |
|
---|
| 37 | namespace flair {
|
---|
| 38 | namespace sensor {
|
---|
| 39 |
|
---|
| 40 | V4LCamera::V4LCamera(string name,uint8_t camera_index, uint16_t width, uint16_t height,
|
---|
| 41 | Image::Type::Format format, uint8_t priority)
|
---|
| 42 | : Thread(getFrameworkManager(), name, priority),
|
---|
| 43 | Camera(name, width, height, format) {
|
---|
| 44 |
|
---|
| 45 | string deviceName="/dev/video"+std::to_string(camera_index);
|
---|
| 46 | device = open(deviceName.c_str(), O_RDWR | O_NONBLOCK);
|
---|
| 47 | if (device == -1) {
|
---|
| 48 | Thread::Err("Cannot open %s\n",deviceName.c_str());
|
---|
| 49 | } else {
|
---|
| 50 | Printf("V4LCamera %s, opened %s\n",name.c_str(),deviceName.c_str());
|
---|
| 51 | }
|
---|
| 52 |
|
---|
| 53 | if(format == Image::Type::Format::UYVY) {
|
---|
| 54 | if(init(width,height,V4L2_PIX_FMT_UYVY) == -1) {
|
---|
| 55 | Thread::Err("initialisation failed\n");
|
---|
| 56 | }
|
---|
| 57 | } else if (format == Image::Type::Format::YUYV) {
|
---|
| 58 | if(init(width,height,V4L2_PIX_FMT_YUYV) == -1) {
|
---|
| 59 | Thread::Err("initialisation failed\n");
|
---|
| 60 | }
|
---|
| 61 | } else {
|
---|
| 62 | Thread::Err("format not supported\n");
|
---|
| 63 | }
|
---|
| 64 |
|
---|
| 65 |
|
---|
| 66 | allocBuffers();
|
---|
| 67 |
|
---|
| 68 | for (int i=0;i < nbBuffers;i++) {
|
---|
| 69 | struct v4l2_buffer buf;
|
---|
| 70 | memset(&buf, 0, sizeof (v4l2_buffer));
|
---|
| 71 |
|
---|
| 72 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 73 | buf.memory = V4L2_MEMORY_MMAP;
|
---|
| 74 | buf.index = (unsigned long)i;
|
---|
| 75 |
|
---|
| 76 | if (-1 == xioctl (device, VIDIOC_QBUF, &buf)) {
|
---|
| 77 | Thread::Err("VIDIOC_QBUF error\n");
|
---|
| 78 | }
|
---|
| 79 | }
|
---|
| 80 |
|
---|
| 81 | /* enable the streaming */
|
---|
| 82 | v4l2_buf_type type;
|
---|
| 83 | type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 84 | if (-1 == xioctl (device, VIDIOC_STREAMON,&type)) {
|
---|
| 85 | Thread::Err("VIDIOC_STREAMON error\n");
|
---|
| 86 | }
|
---|
| 87 |
|
---|
| 88 | // ground station
|
---|
| 89 | gain = new DoubleSpinBox(GetGroupBox()->NewRow(), "gain:", 0, 1, 0.1);
|
---|
| 90 | exposure = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "exposure:", 0,1, 0.1);
|
---|
| 91 | bright = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "bright:", 0, 1, 0.1);
|
---|
| 92 | contrast = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "contrast:", 0,1, 0.1);
|
---|
| 93 | hue = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "hue:", 0, 1, 0.1);
|
---|
| 94 | sharpness = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "sharpness:", 0, 1, 0.1);
|
---|
| 95 | sat = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "saturation:", 0, 1,0.1);
|
---|
| 96 | autogain = new CheckBox(GetGroupBox()->NewRow(), "autogain:");
|
---|
| 97 | autoexposure = new CheckBox(GetGroupBox()->LastRowLastCol(), "autoexposure:");
|
---|
| 98 | awb = new CheckBox(GetGroupBox()->LastRowLastCol(), "awb:");
|
---|
| 99 | fps = new Label(GetGroupBox()->NewRow(), "fps");
|
---|
| 100 |
|
---|
| 101 | hasProblems=false;
|
---|
| 102 | }
|
---|
| 103 |
|
---|
| 104 | V4LCamera::~V4LCamera() {
|
---|
| 105 | for (int i = 0; i < nbBuffers; i++) {
|
---|
| 106 | //FreeFunction((char*)buffers[i].start);
|
---|
| 107 | }
|
---|
| 108 | SafeStop();
|
---|
| 109 | Join();
|
---|
| 110 | close(device);
|
---|
| 111 | }
|
---|
| 112 |
|
---|
| 113 | int V4LCamera::init(int width, int height,unsigned long colorspace) {
|
---|
| 114 | struct v4l2_capability cap;
|
---|
| 115 | memset(&cap, 0, sizeof (v4l2_capability));
|
---|
| 116 |
|
---|
| 117 | if(-1 == xioctl(device, VIDIOC_QUERYCAP, &cap)) {
|
---|
| 118 | return -1;
|
---|
| 119 | }
|
---|
| 120 |
|
---|
| 121 | if ((cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
|
---|
| 122 | Thread::Err("device is unable to capture video memory.\n");
|
---|
| 123 | return -1;
|
---|
| 124 | }
|
---|
| 125 |
|
---|
| 126 | struct v4l2_format form;
|
---|
| 127 | memset(&form, 0, sizeof (v4l2_format));
|
---|
| 128 | form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 129 |
|
---|
| 130 | /* read the current setting */
|
---|
| 131 | if(-1 == xioctl(device, VIDIOC_G_FMT, &form)) {
|
---|
| 132 | Thread::Err("Could not obtain specifics of capture window.\n");
|
---|
| 133 | return -1;
|
---|
| 134 | }
|
---|
| 135 |
|
---|
| 136 | /* set the values we want to change */
|
---|
| 137 | form.fmt.pix.width = width;
|
---|
| 138 | form.fmt.pix.height = height;
|
---|
| 139 | form.fmt.win.chromakey = 0;
|
---|
| 140 | form.fmt.win.field = V4L2_FIELD_ANY;
|
---|
| 141 | form.fmt.win.clips = 0;
|
---|
| 142 | form.fmt.win.clipcount = 0;
|
---|
| 143 | form.fmt.pix.field = V4L2_FIELD_ANY;
|
---|
| 144 | form.fmt.pix.pixelformat = colorspace;
|
---|
| 145 |
|
---|
| 146 | /* ask the device to change the size*/
|
---|
| 147 | if(-1 == xioctl (device, VIDIOC_S_FMT, &form)) {
|
---|
| 148 | Thread::Err("Could not set specifics of capture window.\n");
|
---|
| 149 | return -1;
|
---|
| 150 | }
|
---|
| 151 |
|
---|
| 152 | return 0;
|
---|
| 153 | }
|
---|
| 154 |
|
---|
| 155 | /*
|
---|
| 156 | void V4LCamera::Run(void) {
|
---|
| 157 | Time cam_time, new_time, fpsNow, fpsPrev;
|
---|
| 158 | int fpsCounter = 0;
|
---|
| 159 |
|
---|
| 160 | // init image old
|
---|
| 161 | GrabFrame();
|
---|
| 162 | cam_time = GetTime();
|
---|
| 163 | fpsPrev = cam_time;
|
---|
| 164 |
|
---|
| 165 | while (!ToBeStopped()) {
|
---|
| 166 | //check for ps3eye deconnection in hds uav
|
---|
| 167 | if(hasProblems==false) {
|
---|
| 168 | struct v4l2_format form;
|
---|
| 169 | form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 170 | xioctl(device, VIDIOC_G_FMT,&form);
|
---|
| 171 | if(xioctl (device, VIDIOC_G_FMT,&form)<0) {
|
---|
| 172 | Thread::Warn("camera disconnected\n");
|
---|
| 173 | hasProblems=true;
|
---|
| 174 | }
|
---|
| 175 | }
|
---|
| 176 |
|
---|
| 177 | // fps counter
|
---|
| 178 | fpsCounter++;
|
---|
| 179 | if (GetTime() > (fpsPrev + 5 * (Time)1000000000)) {
|
---|
| 180 | // every 5 secondes
|
---|
| 181 | fpsNow = GetTime();
|
---|
| 182 | fps->SetText("fps: %.1f",
|
---|
| 183 | fpsCounter / ((float)(fpsNow - fpsPrev) / 1000000000.));
|
---|
| 184 | fpsCounter = 0;
|
---|
| 185 | fpsPrev = fpsNow;
|
---|
| 186 | }
|
---|
| 187 |
|
---|
| 188 | // cam properties
|
---|
| 189 | if (gain->ValueChanged() == true && autogain->Value() == false)
|
---|
| 190 | SetGain(gain->Value());
|
---|
| 191 | if (exposure->ValueChanged() == true && autoexposure->Value() == false)
|
---|
| 192 | SetExposure(exposure->Value());
|
---|
| 193 | if (bright->ValueChanged() == true)
|
---|
| 194 | SetBrightness(bright->Value());
|
---|
| 195 | if (sat->ValueChanged() == true)
|
---|
| 196 | SetSaturation(sat->Value());
|
---|
| 197 | if (contrast->ValueChanged() == true)
|
---|
| 198 | SetContrast(contrast->Value());
|
---|
| 199 | if (hue->ValueChanged() == true)
|
---|
| 200 | SetHue(hue->Value());
|
---|
| 201 | if (sharpness->ValueChanged() == true)
|
---|
| 202 | SetProperty(V4L2_CID_SHARPNESS, sharpness->Value());
|
---|
| 203 | if (autogain->ValueChanged() == true) {
|
---|
| 204 | if (autogain->Value() == true) {
|
---|
| 205 | gain->setEnabled(false);
|
---|
| 206 | } else {
|
---|
| 207 | gain->setEnabled(true);
|
---|
| 208 | SetGain(gain->Value());
|
---|
| 209 | }
|
---|
| 210 | SetAutoGain(autogain->Value());
|
---|
| 211 | }
|
---|
| 212 | if (autoexposure->ValueChanged() == true) {
|
---|
| 213 | if (autoexposure->Value() == true) {
|
---|
| 214 | exposure->setEnabled(false);
|
---|
| 215 | } else {
|
---|
| 216 | exposure->setEnabled(true);
|
---|
| 217 | SetExposure(exposure->Value());
|
---|
| 218 | }
|
---|
| 219 | SetAutoExposure(autoexposure->Value());
|
---|
| 220 | }
|
---|
| 221 | if (awb->ValueChanged() == true)
|
---|
| 222 | SetProperty(V4L2_CID_AUTO_WHITE_BALANCE, awb->Value());
|
---|
| 223 |
|
---|
| 224 | // get picture
|
---|
| 225 | GrabFrame();
|
---|
| 226 | new_time = GetTime();
|
---|
| 227 |
|
---|
| 228 | //check for ps3eye deconnection in hds uav
|
---|
| 229 | if(new_time-cam_time>100*1000*1000) {
|
---|
| 230 | Thread::Warn("delta trop grand\n");
|
---|
| 231 | hasProblems=true;
|
---|
| 232 | }
|
---|
| 233 |
|
---|
| 234 | output->GetMutex();
|
---|
| 235 | output->buffer=(char*)buffers[bufferIndex].start;
|
---|
| 236 | output->ReleaseMutex();
|
---|
| 237 |
|
---|
| 238 | output->SetDataTime(cam_time);
|
---|
| 239 | ProcessUpdate(output);
|
---|
| 240 |
|
---|
| 241 | cam_time = new_time;
|
---|
| 242 | }
|
---|
| 243 |
|
---|
| 244 | close(device);
|
---|
| 245 | }
|
---|
| 246 | */
|
---|
| 247 | int V4LCamera::allocBuffers() {
|
---|
| 248 | struct v4l2_requestbuffers req;
|
---|
| 249 | memset(&req, 0, sizeof (v4l2_requestbuffers));
|
---|
| 250 | nbBuffers=DEFAULT_V4L_BUFFERS;
|
---|
| 251 |
|
---|
| 252 | try_again:
|
---|
| 253 |
|
---|
| 254 | req.count = nbBuffers;
|
---|
| 255 | req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 256 | req.memory = V4L2_MEMORY_MMAP;
|
---|
| 257 |
|
---|
| 258 | if(-1 == xioctl(device, VIDIOC_REQBUFS, &req)) {
|
---|
| 259 | if (EINVAL == errno) {
|
---|
| 260 | Thread::Err("camera does not support memory mapping\n");
|
---|
| 261 | } else {
|
---|
| 262 | Thread::Err("VIDIOC_REQBUFS failed\n");
|
---|
| 263 | }
|
---|
| 264 | return -1;
|
---|
| 265 | }
|
---|
| 266 |
|
---|
| 267 | if(req.count < nbBuffers) {
|
---|
| 268 | if (nbBuffers == 1) {
|
---|
| 269 | Thread::Err("Insufficient buffer memory\n");
|
---|
| 270 | return -1;
|
---|
| 271 | } else {
|
---|
| 272 | nbBuffers--;
|
---|
| 273 | Thread::Warn("Insufficient buffer memory -- decreaseing buffers to %i\n",nbBuffers);
|
---|
| 274 | goto try_again;
|
---|
| 275 | }
|
---|
| 276 | }
|
---|
| 277 |
|
---|
| 278 | for(int i=0; i<req.count; i++) {
|
---|
| 279 | struct v4l2_buffer buf;
|
---|
| 280 | memset(&buf, 0, sizeof (v4l2_buffer));
|
---|
| 281 |
|
---|
| 282 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 283 | buf.memory = V4L2_MEMORY_MMAP;
|
---|
| 284 | buf.index = i;
|
---|
| 285 |
|
---|
| 286 | if(-1 == xioctl(device, VIDIOC_QUERYBUF, &buf)) {
|
---|
| 287 | Thread::Err("VIDIOC_QUERYBUF error\n");
|
---|
| 288 | return -1;
|
---|
| 289 | }
|
---|
| 290 |
|
---|
| 291 | if(output->GetDataType().GetSize()!=buf.length) {
|
---|
| 292 | Thread::Err("buf size is not as exepcted %i/%i\n",buf.length,output->GetDataType().GetSize());
|
---|
| 293 | return -1;
|
---|
| 294 | }
|
---|
| 295 |
|
---|
| 296 | buffers[i]=mmap(NULL,buf.length,PROT_READ | PROT_WRITE,MAP_SHARED,device, buf.m.offset);
|
---|
| 297 |
|
---|
| 298 | if(MAP_FAILED == buffers[i]) {
|
---|
| 299 | Thread::Err("mmap error\n");
|
---|
| 300 | return -1;
|
---|
| 301 | }
|
---|
| 302 | }
|
---|
| 303 |
|
---|
| 304 | //allocate output data
|
---|
| 305 | imageData = AllocFunction(output->GetDataType().GetSize());
|
---|
| 306 | Printf("cmem allocated %i at %x\n",output->GetDataType().GetSize(),imageData);
|
---|
| 307 |
|
---|
| 308 | return 1;
|
---|
| 309 | };
|
---|
| 310 |
|
---|
| 311 | int V4LCamera::AllocBuffers(void) {
|
---|
| 312 | struct v4l2_requestbuffers req;
|
---|
| 313 | memset(&req, 0, sizeof (v4l2_requestbuffers));
|
---|
| 314 | nbBuffers=DEFAULT_V4L_BUFFERS;
|
---|
| 315 |
|
---|
| 316 | req.count = nbBuffers;
|
---|
| 317 | req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 318 | req.memory = V4L2_MEMORY_USERPTR;
|
---|
| 319 |
|
---|
| 320 | if (xioctl (device, VIDIOC_REQBUFS, &req)==-1) {
|
---|
| 321 | if (errno==EINVAL) {
|
---|
| 322 | Thread::Err("VIDIOC_REQBUFS user memory not supported\n");
|
---|
| 323 | } else {
|
---|
| 324 | Thread::Err ("VIDIOC_REQBUFS xioctl\n");
|
---|
| 325 | }
|
---|
| 326 | return -1;
|
---|
| 327 | }
|
---|
| 328 |
|
---|
| 329 | for (int i=0; i<nbBuffers; i++) {
|
---|
| 330 | buffers[i] =AllocFunction(output->GetDataType().GetSize());
|
---|
| 331 | }
|
---|
| 332 |
|
---|
| 333 | return 1;
|
---|
| 334 | };
|
---|
| 335 |
|
---|
| 336 | int V4LCamera::cvGrabFrame(void) {
|
---|
| 337 | unsigned int count;
|
---|
| 338 |
|
---|
| 339 | count = 1;
|
---|
| 340 |
|
---|
| 341 | while (count-- > 0) {
|
---|
| 342 | for (;;) {
|
---|
| 343 | fd_set fds;
|
---|
| 344 | struct timeval tv;
|
---|
| 345 | int r;
|
---|
| 346 |
|
---|
| 347 | FD_ZERO (&fds);
|
---|
| 348 | FD_SET (device, &fds);
|
---|
| 349 |
|
---|
| 350 | /* Timeout. */
|
---|
| 351 | tv.tv_sec = 2;
|
---|
| 352 | tv.tv_usec = 0;
|
---|
| 353 |
|
---|
| 354 | r = select (device+1, &fds, NULL, NULL, &tv);
|
---|
| 355 |
|
---|
| 356 | if (-1 == r) {
|
---|
| 357 | if (EINTR == errno)
|
---|
| 358 | continue;
|
---|
| 359 |
|
---|
| 360 | perror ("select");
|
---|
| 361 | }
|
---|
| 362 |
|
---|
| 363 | if (0 == r) {
|
---|
| 364 | fprintf (stderr, "select timeout\n");
|
---|
| 365 |
|
---|
| 366 | /* end the infinite loop */
|
---|
| 367 | break;
|
---|
| 368 | }
|
---|
| 369 |
|
---|
| 370 | if (read_frame_v4l2 ())
|
---|
| 371 | break;
|
---|
| 372 | }
|
---|
| 373 | }
|
---|
| 374 | return(1);
|
---|
| 375 | }
|
---|
| 376 |
|
---|
| 377 | int V4LCamera::read_frame_v4l2(void) {
|
---|
| 378 | struct v4l2_buffer buf;
|
---|
| 379 | memset(&buf, 0, sizeof (v4l2_buffer));
|
---|
| 380 |
|
---|
| 381 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 382 | buf.memory = V4L2_MEMORY_MMAP;
|
---|
| 383 |
|
---|
| 384 | if (-1 == xioctl (device, VIDIOC_DQBUF, &buf)) {
|
---|
| 385 | switch (errno) {
|
---|
| 386 | case EAGAIN:
|
---|
| 387 | return 0;
|
---|
| 388 |
|
---|
| 389 | case EIO:
|
---|
| 390 | /* Could ignore EIO, see spec. */
|
---|
| 391 |
|
---|
| 392 | /* fall through */
|
---|
| 393 |
|
---|
| 394 | default:
|
---|
| 395 | /* display the error and stop processing */
|
---|
| 396 | perror ("VIDIOC_DQBUF");
|
---|
| 397 | return 1;
|
---|
| 398 | }
|
---|
| 399 | }
|
---|
| 400 |
|
---|
| 401 | if(buf.index >= nbBuffers) {
|
---|
| 402 | Thread::Err("buf.index >= capture->req.count\n");
|
---|
| 403 | }
|
---|
| 404 |
|
---|
| 405 | bufferIndex = buf.index;
|
---|
| 406 |
|
---|
| 407 | if (-1 == xioctl (device, VIDIOC_QBUF, &buf))
|
---|
| 408 | perror ("VIDIOC_QBUF");
|
---|
| 409 |
|
---|
| 410 | return 1;
|
---|
| 411 | }
|
---|
| 412 |
|
---|
| 413 | void V4LCamera::Run(void) {
|
---|
| 414 | Time cam_time, new_time, fpsNow, fpsPrev;
|
---|
| 415 | //IplImage *img; // raw image
|
---|
| 416 | int fpsCounter = 0;
|
---|
| 417 |
|
---|
| 418 | // init image old
|
---|
| 419 | if (!cvGrabFrame()) {
|
---|
| 420 | Printf("Could not grab a frame\n");
|
---|
| 421 | }
|
---|
| 422 | cam_time = GetTime();
|
---|
| 423 | fpsPrev = cam_time;
|
---|
| 424 |
|
---|
| 425 | while (!ToBeStopped()) {
|
---|
| 426 | // fps counter
|
---|
| 427 | fpsCounter++;
|
---|
| 428 | if (fpsCounter == 100) {
|
---|
| 429 | fpsNow = GetTime();
|
---|
| 430 | fps->SetText("fps: %.1f",
|
---|
| 431 | fpsCounter / ((float)(fpsNow - fpsPrev) / 1000000000.));
|
---|
| 432 | fpsCounter = 0;
|
---|
| 433 | fpsPrev = fpsNow;
|
---|
| 434 | }
|
---|
| 435 |
|
---|
| 436 | // cam properties
|
---|
| 437 | if (gain->ValueChanged() == true && autogain->Value() == false)
|
---|
| 438 | SetGain(gain->Value());
|
---|
| 439 | if (exposure->ValueChanged() == true && autoexposure->Value() == false)
|
---|
| 440 | SetExposure(exposure->Value());
|
---|
| 441 | if (bright->ValueChanged() == true)
|
---|
| 442 | SetBrightness(bright->Value());
|
---|
| 443 | if (sat->ValueChanged() == true)
|
---|
| 444 | SetSaturation(sat->Value());
|
---|
| 445 | if (contrast->ValueChanged() == true)
|
---|
| 446 | SetContrast(contrast->Value());
|
---|
| 447 | if (hue->ValueChanged() == true)
|
---|
| 448 | SetHue(hue->Value());
|
---|
| 449 | //if (sharpness->ValueChanged() == true)
|
---|
| 450 | // cvSetCaptureProperty(capture, CV_CAP_PROP_SHARPNESS, sharpness->Value());
|
---|
| 451 | if (autogain->ValueChanged() == true) {
|
---|
| 452 | if (autogain->Value() == true) {
|
---|
| 453 | gain->setEnabled(false);
|
---|
| 454 | } else {
|
---|
| 455 | gain->setEnabled(true);
|
---|
| 456 | SetGain(gain->Value());
|
---|
| 457 | }
|
---|
| 458 | SetAutoGain(autogain->Value());
|
---|
| 459 | }
|
---|
| 460 | if (autoexposure->ValueChanged() == true) {
|
---|
| 461 | if (autoexposure->Value() == true) {
|
---|
| 462 | exposure->setEnabled(false);
|
---|
| 463 | } else {
|
---|
| 464 | exposure->setEnabled(true);
|
---|
| 465 | SetExposure(exposure->Value());
|
---|
| 466 | }
|
---|
| 467 | SetAutoExposure(autoexposure->Value());
|
---|
| 468 | }
|
---|
| 469 | //if (awb->ValueChanged() == true)
|
---|
| 470 | // cvSetCaptureProperty(capture, CV_CAP_PROP_AWB, awb->Value());
|
---|
| 471 |
|
---|
| 472 | // cam pictures
|
---|
| 473 | cvRetrieveRawFrame();
|
---|
| 474 | if (!cvGrabFrame()) {
|
---|
| 475 | Printf("Could not grab a frame\n");
|
---|
| 476 | }
|
---|
| 477 | new_time = GetTime();
|
---|
| 478 |
|
---|
| 479 | //check for ps3eye deconnection in hds uav
|
---|
| 480 | if(new_time-cam_time>100*1000*1000) {
|
---|
| 481 | Thread::Warn("delta trop grand\n");
|
---|
| 482 | hasProblems=true;
|
---|
| 483 | }
|
---|
| 484 |
|
---|
| 485 | output->GetMutex();
|
---|
| 486 |
|
---|
| 487 | output->buffer=imageData;
|
---|
| 488 | output->ReleaseMutex();
|
---|
| 489 |
|
---|
| 490 | output->SetDataTime(cam_time);
|
---|
| 491 | ProcessUpdate(output);
|
---|
| 492 | cam_time = new_time;
|
---|
| 493 | }
|
---|
| 494 | }
|
---|
| 495 |
|
---|
| 496 | void V4LCamera::cvRetrieveRawFrame(void) {
|
---|
| 497 | memcpy(imageData,(char *)buffers[bufferIndex],output->GetDataType().GetSize());
|
---|
| 498 | }
|
---|
| 499 |
|
---|
| 500 | int V4LCamera::QueueBuffer(int index) {
|
---|
| 501 | struct v4l2_buffer buf;
|
---|
| 502 | if(index>=0 && index<nbBuffers) {
|
---|
| 503 | memset(&buf, 0, sizeof (v4l2_buffer));
|
---|
| 504 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 505 | buf.memory = V4L2_MEMORY_USERPTR;
|
---|
| 506 | buf.index = (unsigned long)index;
|
---|
| 507 | buf.m.userptr=(unsigned long)(buffers[index]);
|
---|
| 508 | buf.length=output->GetDataType().GetSize();
|
---|
| 509 |
|
---|
| 510 | int ret=xioctl (device, VIDIOC_QBUF, &buf);
|
---|
| 511 | if (ret==-1) {
|
---|
| 512 | Thread::Err("VIDIOC_QBUF xioctl %s\n",strerror(-ret));
|
---|
| 513 | return -1;
|
---|
| 514 | }
|
---|
| 515 | }
|
---|
| 516 | return 0;
|
---|
| 517 | }
|
---|
| 518 |
|
---|
| 519 | int V4LCamera::GrabFrame(void) {
|
---|
| 520 | //queue previous buffer
|
---|
| 521 | if(QueueBuffer(bufferIndex)<0) return -1;
|
---|
| 522 |
|
---|
| 523 | fd_set fds;
|
---|
| 524 | struct timeval tv;
|
---|
| 525 | FD_ZERO (&fds);
|
---|
| 526 | FD_SET (device, &fds);
|
---|
| 527 |
|
---|
| 528 | tv.tv_sec = 0;
|
---|
| 529 | tv.tv_usec = 100000;
|
---|
| 530 |
|
---|
| 531 | int r = select (device+1, &fds, NULL, NULL, &tv);
|
---|
| 532 |
|
---|
| 533 | if (-1 == r) {
|
---|
| 534 | char errorMsg[256];
|
---|
| 535 | Thread::Err("select (%s)\n", strerror_r(-r, errorMsg, sizeof(errorMsg)));
|
---|
| 536 | return -1;
|
---|
| 537 | }
|
---|
| 538 |
|
---|
| 539 | if (0 == r) {
|
---|
| 540 | Thread::Err("select timeout\n");
|
---|
| 541 | return -1;
|
---|
| 542 | }
|
---|
| 543 |
|
---|
| 544 | struct v4l2_buffer buf;
|
---|
| 545 | memset(&buf, 0, sizeof (v4l2_buffer));
|
---|
| 546 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 547 | buf.memory = V4L2_MEMORY_USERPTR;//V4L2_MEMORY_MMAP;
|
---|
| 548 |
|
---|
| 549 | //get last captured image
|
---|
| 550 | int prevDQbuf=-1;
|
---|
| 551 | for(int i=0;i<4;i++) {
|
---|
| 552 | if (xioctl (device, VIDIOC_DQBUF, &buf)==-1) {
|
---|
| 553 | if (errno==EAGAIN) {
|
---|
| 554 | break;
|
---|
| 555 | } else {
|
---|
| 556 | Thread::Err("VIDIOC_DQBUF xioctl\n");
|
---|
| 557 | return -1;
|
---|
| 558 | }
|
---|
| 559 | } else {
|
---|
| 560 | if(prevDQbuf!=-1) {
|
---|
| 561 | QueueBuffer(prevDQbuf);
|
---|
| 562 | }
|
---|
| 563 | for (int i=0; i<nbBuffers; i++) {
|
---|
| 564 | if((void*)(buf.m.userptr)==buffers[i]) {
|
---|
| 565 | prevDQbuf=i;
|
---|
| 566 | bufferIndex=i;
|
---|
| 567 | break;
|
---|
| 568 | }
|
---|
| 569 | }
|
---|
| 570 | }
|
---|
| 571 | }
|
---|
| 572 |
|
---|
| 573 | return 1;
|
---|
| 574 | }
|
---|
| 575 |
|
---|
| 576 | bool V4LCamera::HasProblems(void) {
|
---|
| 577 | return hasProblems;
|
---|
| 578 | }
|
---|
| 579 |
|
---|
| 580 | void V4LCamera::SetAutoGain(bool value) {
|
---|
| 581 | SetProperty(V4L2_CID_AUTOGAIN, value);
|
---|
| 582 | }
|
---|
| 583 |
|
---|
| 584 | void V4LCamera::SetAutoExposure(bool value) {
|
---|
| 585 | Thread::Warn("not implemented\n");
|
---|
| 586 | }
|
---|
| 587 |
|
---|
| 588 | void V4LCamera::SetGain(float value) {
|
---|
| 589 | SetProperty(V4L2_CID_GAIN, value);
|
---|
| 590 | }
|
---|
| 591 |
|
---|
| 592 | void V4LCamera::SetExposure(float value) {
|
---|
| 593 | SetProperty(V4L2_CID_EXPOSURE, value);
|
---|
| 594 | }
|
---|
| 595 |
|
---|
| 596 | void V4LCamera::SetBrightness(float value) {
|
---|
| 597 | SetProperty(V4L2_CID_BRIGHTNESS, value);
|
---|
| 598 | }
|
---|
| 599 |
|
---|
| 600 | void V4LCamera::SetSaturation(float value) {
|
---|
| 601 | SetProperty(V4L2_CID_SATURATION, value);
|
---|
| 602 | }
|
---|
| 603 |
|
---|
| 604 | void V4LCamera::SetHue(float value) {
|
---|
| 605 | SetProperty(V4L2_CID_HUE, value);
|
---|
| 606 | }
|
---|
| 607 |
|
---|
| 608 | void V4LCamera::SetContrast(float value) {
|
---|
| 609 | SetProperty(V4L2_CID_CONTRAST, value);
|
---|
| 610 | }
|
---|
| 611 |
|
---|
| 612 | float V4LCamera::GetProperty(int property) {
|
---|
| 613 | //get min and max value
|
---|
| 614 | struct v4l2_queryctrl queryctrl;
|
---|
| 615 | queryctrl.id = property;
|
---|
| 616 | if(xioctl (device, VIDIOC_QUERYCTRL,&queryctrl)==-1) return -1;
|
---|
| 617 | int min = queryctrl.minimum;
|
---|
| 618 | int max = queryctrl.maximum;
|
---|
| 619 |
|
---|
| 620 | //set value
|
---|
| 621 | struct v4l2_control control;
|
---|
| 622 | memset (&control, 0, sizeof (v4l2_control));
|
---|
| 623 | control.id = property;
|
---|
| 624 | if(xioctl (device,VIDIOC_G_CTRL, &control)==-1) return -1;
|
---|
| 625 |
|
---|
| 626 | return ((float)control.value - min + 1) / (max - min);
|
---|
| 627 | }
|
---|
| 628 |
|
---|
| 629 | void V4LCamera::SetProperty(int property,float value) {
|
---|
| 630 | //get min and max value
|
---|
| 631 | struct v4l2_queryctrl queryctrl;
|
---|
| 632 | queryctrl.id = property;
|
---|
| 633 | if(xioctl (device, VIDIOC_QUERYCTRL,&queryctrl)==-1) {
|
---|
| 634 | Thread::Warn("prop %x, VIDIOC_QUERYCTRL failed\n",property);
|
---|
| 635 | }
|
---|
| 636 | int min = queryctrl.minimum;
|
---|
| 637 | int max = queryctrl.maximum;
|
---|
| 638 |
|
---|
| 639 | //set value
|
---|
| 640 | struct v4l2_control control;
|
---|
| 641 | memset (&control, 0, sizeof (v4l2_control));
|
---|
| 642 | control.id = property;
|
---|
| 643 | control.value = (int)(value * (max - min) + min);
|
---|
| 644 | if(xioctl (device,VIDIOC_S_CTRL, &control)==-1) {
|
---|
| 645 | Thread::Warn("prop %x, VIDIOC_S_CTRL failed\n",property);
|
---|
| 646 | }
|
---|
| 647 | }
|
---|
| 648 |
|
---|
| 649 | int V4LCamera::xioctl( int fd, int request, void *arg) {
|
---|
| 650 | int r;
|
---|
| 651 |
|
---|
| 652 | do r = ioctl (fd, request, arg);
|
---|
| 653 | while (-1 == r && EINTR == errno);
|
---|
| 654 |
|
---|
| 655 | return r;
|
---|
| 656 | }
|
---|
| 657 |
|
---|
| 658 | } // end namespace sensor
|
---|
| 659 | } // end namespace flair
|
---|