source: flair-src/trunk/lib/FlairSensorActuator/src/V4LCamera.cpp@ 124

Last change on this file since 124 was 124, checked in by Sanahuja Guillaume, 6 years ago

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File size: 5.9 KB
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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 <GridLayout.h>
23#include <Label.h>
24#include <cvimage.h>
25#include <FrameworkManager.h>
26#include <linux/videodev2.h>
27
28using std::string;
29using namespace flair::core;
30using namespace flair::gui;
31
32namespace flair {
33namespace sensor {
34
35V4LCamera::V4LCamera(const FrameworkManager *parent, string name,
36 uint8_t camera_index, uint16_t width, uint16_t height,
37 cvimage::Type::Format format, uint8_t priority)
38 : Thread(parent, name, priority),
39 Camera(parent, name, width, height, format) {
40 capture = cvCaptureFromCAM(camera_index); // a mettre apres l'init dsp
41
42 if (capture < 0)
43 Thread::Err("cvCaptureFromCAM error\n");
44
45 if (cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH, width)<0)
46 Thread::Err("cvSetCaptureProperty error\n");
47 if (cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT, height)<0)
48 Thread::Err("cvSetCaptureProperty error\n");
49
50 if (format == cvimage::Type::Format::UYVY) {
51 if (cvSetCaptureProperty(capture, CV_CAP_PROP_FORMAT, V4L2_PIX_FMT_UYVY)<0)
52 Thread::Err("cvSetCaptureProperty error\n");
53 } else if (format == cvimage::Type::Format::YUYV) {
54 if (cvSetCaptureProperty(capture, CV_CAP_PROP_FORMAT, V4L2_PIX_FMT_YUYV) <
55 0)
56 Thread::Err("cvSetCaptureProperty error\n");
57 } else {
58 Thread::Err("format not supported\n");
59 }
60
61 // station sol
62 gain = new DoubleSpinBox(GetGroupBox()->NewRow(), "gain:", 0, 1, 0.1);
63 exposure = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "exposure:", 0,
64 1, 0.1);
65 bright =
66 new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "bright:", 0, 1, 0.1);
67 contrast = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "contrast:", 0,
68 1, 0.1);
69 hue = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "hue:", 0, 1, 0.1);
70 sharpness = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "sharpness:",
71 0, 1, 0.1);
72 sat = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "saturation:", 0, 1,
73 0.1);
74 autogain = new CheckBox(GetGroupBox()->NewRow(), "autogain:");
75 autoexposure = new CheckBox(GetGroupBox()->LastRowLastCol(), "autoexposure:");
76 awb = new CheckBox(GetGroupBox()->LastRowLastCol(), "awb:");
77 fps = new Label(GetGroupBox()->NewRow(), "fps");
78}
79
80V4LCamera::~V4LCamera() {
81 SafeStop();
82 Join();
83}
84
85void V4LCamera::Run(void) {
86 Time cam_time, new_time, fpsNow, fpsPrev;
87 IplImage *img; // raw image
88 int fpsCounter = 0;
89
90 // init image old
91 if (!cvGrabFrame(capture)) {
92 Printf("Could not grab a frame\n");
93 }
94 cam_time = GetTime();
95 fpsPrev = cam_time;
96
97 while (!ToBeStopped()) {
98 // fps counter
99 fpsCounter++;
100 if (fpsCounter == 100) {
101 fpsNow = GetTime();
102 fps->SetText("fps: %.1f",
103 fpsCounter / ((float)(fpsNow - fpsPrev) / 1000000000.));
104 fpsCounter = 0;
105 fpsPrev = fpsNow;
106 }
107
108 // cam properties
109 if (gain->ValueChanged() == true && autogain->Value() == false)
110 SetGain(gain->Value());
111 if (exposure->ValueChanged() == true && autoexposure->Value() == false)
112 SetExposure(exposure->Value());
113 if (bright->ValueChanged() == true)
114 SetBrightness(bright->Value());
115 if (sat->ValueChanged() == true)
116 SetSaturation(sat->Value());
117 if (contrast->ValueChanged() == true)
118 SetContrast(contrast->Value());
119 if (hue->ValueChanged() == true)
120 SetHue(hue->Value());
121 if (sharpness->ValueChanged() == true)
122 cvSetCaptureProperty(capture, CV_CAP_PROP_SHARPNESS, sharpness->Value());
123 if (autogain->ValueChanged() == true) {
124 if (autogain->Value() == true) {
125 gain->setEnabled(false);
126 } else {
127 gain->setEnabled(true);
128 SetGain(gain->Value());
129 }
130 SetAutoGain(autogain->Value());
131 }
132 if (autoexposure->ValueChanged() == true) {
133 if (autoexposure->Value() == true) {
134 exposure->setEnabled(false);
135 } else {
136 exposure->setEnabled(true);
137 SetExposure(exposure->Value());
138 }
139 SetAutoExposure(autoexposure->Value());
140 }
141 if (awb->ValueChanged() == true)
142 cvSetCaptureProperty(capture, CV_CAP_PROP_AWB, awb->Value());
143
144 // cam pictures
145 img = cvRetrieveRawFrame(capture);
146 if (!cvGrabFrame(capture)) {
147 Printf("Could not grab a frame\n");
148 }
149 new_time = GetTime();
150
151 output->GetMutex();
152 output->img->imageData = img->imageData;
153 output->ReleaseMutex();
154
155 output->SetDataTime(cam_time);
156 ProcessUpdate(output);
157
158 cam_time = new_time;
159 }
160
161 cvReleaseCapture(&capture);
162}
163
164void V4LCamera::SetAutoGain(bool value) {
165 cvSetCaptureProperty(capture, CV_CAP_PROP_AUTOGAIN, value);
166}
167
168void V4LCamera::SetAutoExposure(bool value) {
169 Thread::Warn("not implemented in opencv\n");
170}
171
172void V4LCamera::SetGain(float value) {
173 cvSetCaptureProperty(capture, CV_CAP_PROP_GAIN, value);
174}
175
176void V4LCamera::SetExposure(float value) {
177 cvSetCaptureProperty(capture, CV_CAP_PROP_EXPOSURE, value);
178}
179
180void V4LCamera::SetBrightness(float value) {
181 cvSetCaptureProperty(capture, CV_CAP_PROP_BRIGHTNESS, value);
182}
183
184void V4LCamera::SetSaturation(float value) {
185 cvSetCaptureProperty(capture, CV_CAP_PROP_SATURATION, value);
186}
187
188void V4LCamera::SetHue(float value) {
189 cvSetCaptureProperty(capture, CV_CAP_PROP_HUE, value);
190}
191
192void V4LCamera::SetContrast(float value) {
193 cvSetCaptureProperty(capture, CV_CAP_PROP_CONTRAST, value);
194}
195
196} // end namespace sensor
197} // end namespace flair
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