source: flair-src/trunk/lib/FlairSensorActuator/src/V4LCamera.cpp @ 15

Last change on this file since 15 was 15, checked in by Bayard Gildas, 6 years ago

sources reformatted with flair-format-dir script

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