source: flair-src/trunk/lib/FlairSensorActuator/src/V4LCamera.cpp@ 137

Last change on this file since 137 was 137, checked in by Sanahuja Guillaume, 6 years ago

singleton manager

File size: 5.9 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2014/07/17
6// filename: V4LCamera.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: base class for V4l camera
14//
15//
16/*********************************************************************/
17
18#include "V4LCamera.h"
19#include <GroupBox.h>
20#include <DoubleSpinBox.h>
21#include <CheckBox.h>
22#include <Label.h>
23#include <cvimage.h>
24#include <FrameworkManager.h>
25#include <linux/videodev2.h>
26
27using std::string;
28using namespace flair::core;
29using namespace flair::gui;
30
31namespace flair {
32namespace sensor {
33
34V4LCamera::V4LCamera(string name,
35 uint8_t camera_index, uint16_t width, uint16_t height,
36 cvimage::Type::Format format, uint8_t priority)
37 : Thread(getFrameworkManager(), name, priority),
38 Camera(name, width, height, format) {
39 capture = cvCaptureFromCAM(camera_index); // a mettre apres l'init dsp
40
41 if (capture < 0)
42 Thread::Err("cvCaptureFromCAM error\n");
43
44 if (cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH, width)<0)
45 Thread::Err("cvSetCaptureProperty error\n");
46 if (cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT, height)<0)
47 Thread::Err("cvSetCaptureProperty error\n");
48
49 if (format == cvimage::Type::Format::UYVY) {
50 if (cvSetCaptureProperty(capture, CV_CAP_PROP_FORMAT, V4L2_PIX_FMT_UYVY)<0)
51 Thread::Err("cvSetCaptureProperty error\n");
52 } else if (format == cvimage::Type::Format::YUYV) {
53 if (cvSetCaptureProperty(capture, CV_CAP_PROP_FORMAT, V4L2_PIX_FMT_YUYV) <
54 0)
55 Thread::Err("cvSetCaptureProperty error\n");
56 } else {
57 Thread::Err("format not supported\n");
58 }
59
60 // station sol
61 gain = new DoubleSpinBox(GetGroupBox()->NewRow(), "gain:", 0, 1, 0.1);
62 exposure = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "exposure:", 0,
63 1, 0.1);
64 bright =
65 new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "bright:", 0, 1, 0.1);
66 contrast = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "contrast:", 0,
67 1, 0.1);
68 hue = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "hue:", 0, 1, 0.1);
69 sharpness = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "sharpness:",
70 0, 1, 0.1);
71 sat = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "saturation:", 0, 1,
72 0.1);
73 autogain = new CheckBox(GetGroupBox()->NewRow(), "autogain:");
74 autoexposure = new CheckBox(GetGroupBox()->LastRowLastCol(), "autoexposure:");
75 awb = new CheckBox(GetGroupBox()->LastRowLastCol(), "awb:");
76 fps = new Label(GetGroupBox()->NewRow(), "fps");
77}
78
79V4LCamera::~V4LCamera() {
80 SafeStop();
81 Join();
82}
83
84void V4LCamera::Run(void) {
85 Time cam_time, new_time, fpsNow, fpsPrev;
86 IplImage *img; // raw image
87 int fpsCounter = 0;
88
89 // init image old
90 if (!cvGrabFrame(capture)) {
91 Printf("Could not grab a frame\n");
92 }
93 cam_time = GetTime();
94 fpsPrev = cam_time;
95
96 while (!ToBeStopped()) {
97 // fps counter
98 fpsCounter++;
99 if (fpsCounter == 100) {
100 fpsNow = GetTime();
101 fps->SetText("fps: %.1f",
102 fpsCounter / ((float)(fpsNow - fpsPrev) / 1000000000.));
103 fpsCounter = 0;
104 fpsPrev = fpsNow;
105 }
106
107 // cam properties
108 if (gain->ValueChanged() == true && autogain->Value() == false)
109 SetGain(gain->Value());
110 if (exposure->ValueChanged() == true && autoexposure->Value() == false)
111 SetExposure(exposure->Value());
112 if (bright->ValueChanged() == true)
113 SetBrightness(bright->Value());
114 if (sat->ValueChanged() == true)
115 SetSaturation(sat->Value());
116 if (contrast->ValueChanged() == true)
117 SetContrast(contrast->Value());
118 if (hue->ValueChanged() == true)
119 SetHue(hue->Value());
120 if (sharpness->ValueChanged() == true)
121 cvSetCaptureProperty(capture, CV_CAP_PROP_SHARPNESS, sharpness->Value());
122 if (autogain->ValueChanged() == true) {
123 if (autogain->Value() == true) {
124 gain->setEnabled(false);
125 } else {
126 gain->setEnabled(true);
127 SetGain(gain->Value());
128 }
129 SetAutoGain(autogain->Value());
130 }
131 if (autoexposure->ValueChanged() == true) {
132 if (autoexposure->Value() == true) {
133 exposure->setEnabled(false);
134 } else {
135 exposure->setEnabled(true);
136 SetExposure(exposure->Value());
137 }
138 SetAutoExposure(autoexposure->Value());
139 }
140 if (awb->ValueChanged() == true)
141 cvSetCaptureProperty(capture, CV_CAP_PROP_AWB, awb->Value());
142
143 // cam pictures
144 img = cvRetrieveRawFrame(capture);
145 if (!cvGrabFrame(capture)) {
146 Printf("Could not grab a frame\n");
147 }
148 new_time = GetTime();
149
150 output->GetMutex();
151 output->img->imageData = img->imageData;
152 output->ReleaseMutex();
153
154 output->SetDataTime(cam_time);
155 ProcessUpdate(output);
156
157 cam_time = new_time;
158 }
159
160 cvReleaseCapture(&capture);
161}
162
163void V4LCamera::SetAutoGain(bool value) {
164 cvSetCaptureProperty(capture, CV_CAP_PROP_AUTOGAIN, value);
165}
166
167void V4LCamera::SetAutoExposure(bool value) {
168 Thread::Warn("not implemented in opencv\n");
169}
170
171void V4LCamera::SetGain(float value) {
172 cvSetCaptureProperty(capture, CV_CAP_PROP_GAIN, value);
173}
174
175void V4LCamera::SetExposure(float value) {
176 cvSetCaptureProperty(capture, CV_CAP_PROP_EXPOSURE, value);
177}
178
179void V4LCamera::SetBrightness(float value) {
180 cvSetCaptureProperty(capture, CV_CAP_PROP_BRIGHTNESS, value);
181}
182
183void V4LCamera::SetSaturation(float value) {
184 cvSetCaptureProperty(capture, CV_CAP_PROP_SATURATION, value);
185}
186
187void V4LCamera::SetHue(float value) {
188 cvSetCaptureProperty(capture, CV_CAP_PROP_HUE, value);
189}
190
191void V4LCamera::SetContrast(float value) {
192 cvSetCaptureProperty(capture, CV_CAP_PROP_CONTRAST, value);
193}
194
195} // end namespace sensor
196} // end namespace flair
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