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 | #define DEFAULT_V4L_BUFFERS 4
|
---|
34 |
|
---|
35 | #define CHANNEL_NUMBER 1
|
---|
36 | #define CLEAR(x) memset (&(x), 0, sizeof (x))
|
---|
37 | #define DEFAULT_V4L_WIDTH 640
|
---|
38 | #define DEFAULT_V4L_HEIGHT 480
|
---|
39 | #define CV_CAP_PROP_POS_MSEC 0
|
---|
40 | #define CV_CAP_PROP_POS_FRAMES 1
|
---|
41 | #define CV_CAP_PROP_POS_AVI_RATIO 2
|
---|
42 | #define CV_CAP_PROP_FRAME_WIDTH 3
|
---|
43 | #define CV_CAP_PROP_FRAME_HEIGHT 4
|
---|
44 | #define CV_CAP_PROP_FPS 5
|
---|
45 | #define CV_CAP_PROP_FOURCC 6
|
---|
46 | #define CV_CAP_PROP_FRAME_COUNT 7
|
---|
47 | #define CV_CAP_PROP_FORMAT 8
|
---|
48 | #define CV_CAP_PROP_MODE 9
|
---|
49 | #define CV_CAP_PROP_BRIGHTNESS 10
|
---|
50 | #define CV_CAP_PROP_CONTRAST 11
|
---|
51 | #define CV_CAP_PROP_SATURATION 12
|
---|
52 | #define CV_CAP_PROP_HUE 13
|
---|
53 | #define CV_CAP_PROP_GAIN 14
|
---|
54 | #define CV_CAP_PROP_CONVERT_RGB 15
|
---|
55 | #define CV_CAP_PROP_SHARPNESS 16
|
---|
56 | #define CV_CAP_PROP_EXPOSURE 17
|
---|
57 | #define CV_CAP_PROP_AUTOGAIN 18
|
---|
58 | #define CV_CAP_PROP_AWB 19
|
---|
59 |
|
---|
60 | #define HAVE_CAMV4L2
|
---|
61 |
|
---|
62 | using std::string;
|
---|
63 | using namespace flair::core;
|
---|
64 | using namespace flair::gui;
|
---|
65 |
|
---|
66 | namespace flair {
|
---|
67 | namespace sensor {
|
---|
68 |
|
---|
69 | V4LCamera::V4LCamera(string name,
|
---|
70 | uint8_t camera_index, uint16_t width, uint16_t height,
|
---|
71 | Image::Type::Format format, uint8_t priority)
|
---|
72 | : Thread(getFrameworkManager(), name, priority),
|
---|
73 | Camera(name, width, height, format) {
|
---|
74 |
|
---|
75 | string deviceName="/dev/video"+std::to_string(camera_index);
|
---|
76 | device = open(deviceName.c_str(), O_RDWR | O_NONBLOCK);
|
---|
77 | if (device == -1) {
|
---|
78 | Thread::Err("Cannot open %s\n",deviceName.c_str());
|
---|
79 | } else {
|
---|
80 | Printf("V4LCamera %s, opened %s\n",name.c_str(),deviceName.c_str());
|
---|
81 | }
|
---|
82 |
|
---|
83 | /* w/o memset some parts arent initialized - AKA: Fill it with zeros so it is clean */
|
---|
84 | memset(&capture,0,sizeof(CvCaptureCAM_V4L));
|
---|
85 | /* Present the routines needed for V4L funtionality. They are inserted as part of
|
---|
86 | the standard set of cv calls promoting transparency. "Vector Table" insertion. */
|
---|
87 | capture.FirstCapture = 1;
|
---|
88 | capture.deviceHandle = device;
|
---|
89 |
|
---|
90 | PALETTE_YUYV = 0;
|
---|
91 | PALETTE_UYVY= 0;
|
---|
92 |
|
---|
93 | n_buffers = 0;
|
---|
94 | if (_capture_V4L2 (&capture) == -1) {
|
---|
95 | Thread::Err("_capture_V4L2 failed\n");
|
---|
96 | }
|
---|
97 |
|
---|
98 | if (icvSetPropertyCAM_V4L(&capture, CV_CAP_PROP_FRAME_WIDTH, width)<0)
|
---|
99 | Thread::Err("cvSetCaptureProperty error\n");
|
---|
100 | if (icvSetPropertyCAM_V4L(&capture, CV_CAP_PROP_FRAME_HEIGHT, height)<0)
|
---|
101 | Thread::Err("cvSetCaptureProperty error\n");
|
---|
102 |
|
---|
103 | if (format == Image::Type::Format::UYVY) {
|
---|
104 | if (icvSetPropertyCAM_V4L(&capture, CV_CAP_PROP_FORMAT, V4L2_PIX_FMT_UYVY)<0)
|
---|
105 | Thread::Err("cvSetCaptureProperty error\n");
|
---|
106 | } else if (format == Image::Type::Format::YUYV) {
|
---|
107 | if (icvSetPropertyCAM_V4L(&capture, CV_CAP_PROP_FORMAT, V4L2_PIX_FMT_YUYV) <
|
---|
108 | 0)
|
---|
109 | Thread::Err("cvSetCaptureProperty error\n");
|
---|
110 | } else {
|
---|
111 | Thread::Err("format not supported\n");
|
---|
112 | }
|
---|
113 | // ground station
|
---|
114 | gain = new DoubleSpinBox(GetGroupBox()->NewRow(), "gain:", 0, 1, 0.1);
|
---|
115 | exposure = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "exposure:", 0,1, 0.1);
|
---|
116 | bright = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "bright:", 0, 1, 0.1);
|
---|
117 | contrast = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "contrast:", 0,1, 0.1);
|
---|
118 | hue = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "hue:", 0, 1, 0.1);
|
---|
119 | sharpness = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "sharpness:", 0, 1, 0.1);
|
---|
120 | sat = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "saturation:", 0, 1,0.1);
|
---|
121 | autogain = new CheckBox(GetGroupBox()->NewRow(), "autogain:");
|
---|
122 | autoexposure = new CheckBox(GetGroupBox()->LastRowLastCol(), "autoexposure:");
|
---|
123 | awb = new CheckBox(GetGroupBox()->LastRowLastCol(), "awb:");
|
---|
124 | fps = new Label(GetGroupBox()->NewRow(), "fps");
|
---|
125 |
|
---|
126 | hasProblems=false;
|
---|
127 | }
|
---|
128 |
|
---|
129 | V4LCamera::~V4LCamera() {
|
---|
130 | for (int n_buffers = 0; n_buffers < nbBuffers; n_buffers++) {
|
---|
131 | //FreeFunction((char*)buffers[n_buffers].start);
|
---|
132 | }
|
---|
133 | SafeStop();
|
---|
134 | Join();
|
---|
135 | }
|
---|
136 | int V4LCamera::icvSetPropertyCAM_V4L( CvCaptureCAM_V4L* capture,
|
---|
137 | int property_id, double value ){
|
---|
138 | static int width = 0, height = 0;
|
---|
139 | int retval;
|
---|
140 |
|
---|
141 | /* initialization */
|
---|
142 | retval = 0;
|
---|
143 |
|
---|
144 | /* two subsequent calls setting WIDTH and HEIGHT will change
|
---|
145 | the video size */
|
---|
146 | /* the first one will return an error, though. */
|
---|
147 |
|
---|
148 | switch (property_id) {
|
---|
149 | case CV_CAP_PROP_FRAME_WIDTH:
|
---|
150 | width = value;
|
---|
151 | if(width !=0 && height != 0) {
|
---|
152 | retval = icvSetVideoSize( capture, width, height);
|
---|
153 | width = height = 0;
|
---|
154 | }
|
---|
155 | break;
|
---|
156 | case CV_CAP_PROP_FRAME_HEIGHT:
|
---|
157 | height = value;
|
---|
158 | if(width !=0 && height != 0) {
|
---|
159 | retval = icvSetVideoSize( capture, width, height);
|
---|
160 | width = height = 0;
|
---|
161 | }
|
---|
162 | break;
|
---|
163 | case CV_CAP_PROP_FORMAT:
|
---|
164 |
|
---|
165 | capture->form.fmt.pix.pixelformat = (unsigned long)value;
|
---|
166 | retval == xioctl (capture->deviceHandle, VIDIOC_S_FMT, &capture->form);
|
---|
167 | if ((unsigned long)value != capture->form.fmt.pix.pixelformat)
|
---|
168 | retval=-1;
|
---|
169 |
|
---|
170 |
|
---|
171 | PALETTE_YUYV = 0;
|
---|
172 | PALETTE_UYVY= 0;
|
---|
173 |
|
---|
174 |
|
---|
175 | if ((unsigned long)value== V4L2_PIX_FMT_YUYV)
|
---|
176 | {
|
---|
177 | PALETTE_YUYV = 1;
|
---|
178 | }
|
---|
179 | if ((unsigned long)value== V4L2_PIX_FMT_UYVY)
|
---|
180 | {
|
---|
181 | PALETTE_UYVY = 1;
|
---|
182 | }
|
---|
183 |
|
---|
184 |
|
---|
185 | break;
|
---|
186 | case CV_CAP_PROP_BRIGHTNESS:
|
---|
187 | case CV_CAP_PROP_CONTRAST:
|
---|
188 | case CV_CAP_PROP_SATURATION:
|
---|
189 | case CV_CAP_PROP_HUE:
|
---|
190 | case CV_CAP_PROP_GAIN:
|
---|
191 | case CV_CAP_PROP_SHARPNESS:
|
---|
192 | case CV_CAP_PROP_EXPOSURE:
|
---|
193 | case CV_CAP_PROP_AUTOGAIN:
|
---|
194 | case CV_CAP_PROP_AWB:
|
---|
195 | retval = icvSetControl(capture, property_id, value);
|
---|
196 | break;
|
---|
197 | default:
|
---|
198 | fprintf(stderr,
|
---|
199 | "HIGHGUI ERROR: V4L: setting property #%d is not supported\n",
|
---|
200 | property_id);
|
---|
201 | }
|
---|
202 |
|
---|
203 | /* return the the status */
|
---|
204 | return retval;
|
---|
205 | }
|
---|
206 | int V4LCamera::icvSetControl (CvCaptureCAM_V4L* capture,
|
---|
207 | int property_id, double value) {
|
---|
208 |
|
---|
209 | /* limitation of the input value */
|
---|
210 | if (value < 0.0) {
|
---|
211 | value = 0.0;
|
---|
212 | } else if (value > 1.0) {
|
---|
213 | value = 1.0;
|
---|
214 | }
|
---|
215 |
|
---|
216 |
|
---|
217 | /* default value for min and max */
|
---|
218 | int v4l2_min = 0;
|
---|
219 | int v4l2_max = 255;
|
---|
220 |
|
---|
221 | /* initialisations */
|
---|
222 | CLEAR (capture->control);
|
---|
223 |
|
---|
224 | /* set which control we want to set */
|
---|
225 | switch (property_id) {
|
---|
226 |
|
---|
227 | case CV_CAP_PROP_BRIGHTNESS:
|
---|
228 | capture->control.id = V4L2_CID_BRIGHTNESS;
|
---|
229 | break;
|
---|
230 | case CV_CAP_PROP_CONTRAST:
|
---|
231 | capture->control.id = V4L2_CID_CONTRAST;
|
---|
232 | break;
|
---|
233 | case CV_CAP_PROP_SATURATION:
|
---|
234 | capture->control.id = V4L2_CID_SATURATION;
|
---|
235 | break;
|
---|
236 | case CV_CAP_PROP_HUE:
|
---|
237 | capture->control.id = V4L2_CID_HUE;
|
---|
238 | break;
|
---|
239 | case CV_CAP_PROP_GAIN:
|
---|
240 | capture->control.id = V4L2_CID_GAIN;
|
---|
241 | break;
|
---|
242 | case CV_CAP_PROP_SHARPNESS:
|
---|
243 | capture->control.id = V4L2_CID_SHARPNESS;
|
---|
244 | break;
|
---|
245 | case CV_CAP_PROP_EXPOSURE:
|
---|
246 | capture->control.id = V4L2_CID_EXPOSURE;
|
---|
247 | break;
|
---|
248 | case CV_CAP_PROP_AUTOGAIN:
|
---|
249 | capture->control.id = V4L2_CID_AUTOGAIN;
|
---|
250 | break;
|
---|
251 | case CV_CAP_PROP_AWB:
|
---|
252 | capture->control.id = V4L2_CID_AUTO_WHITE_BALANCE;
|
---|
253 | break;
|
---|
254 | default:
|
---|
255 | fprintf(stderr,
|
---|
256 | "HIGHGUI ERROR: V4L2: setting property #%d is not supported\n",
|
---|
257 | property_id);
|
---|
258 | return -1;
|
---|
259 | }
|
---|
260 |
|
---|
261 | /* get the min and max values */
|
---|
262 | if (-1 == xioctl (capture->deviceHandle,
|
---|
263 | VIDIOC_G_CTRL, &capture->control)) {
|
---|
264 | // perror ("VIDIOC_G_CTRL for getting min/max values");
|
---|
265 | return -1;
|
---|
266 | }
|
---|
267 |
|
---|
268 | /* get the min/max values */
|
---|
269 | switch (property_id) {
|
---|
270 |
|
---|
271 | case CV_CAP_PROP_BRIGHTNESS:
|
---|
272 | v4l2_min = capture->v4l2_brightness_min;
|
---|
273 | v4l2_max = capture->v4l2_brightness_max;
|
---|
274 | break;
|
---|
275 | case CV_CAP_PROP_CONTRAST:
|
---|
276 | v4l2_min = capture->v4l2_contrast_min;
|
---|
277 | v4l2_max = capture->v4l2_contrast_max;
|
---|
278 | break;
|
---|
279 | case CV_CAP_PROP_SATURATION:
|
---|
280 | v4l2_min = capture->v4l2_saturation_min;
|
---|
281 | v4l2_max = capture->v4l2_saturation_max;
|
---|
282 | break;
|
---|
283 | case CV_CAP_PROP_HUE:
|
---|
284 | v4l2_min = capture->v4l2_hue_min;
|
---|
285 | v4l2_max = capture->v4l2_hue_max;
|
---|
286 | break;
|
---|
287 | case CV_CAP_PROP_GAIN:
|
---|
288 | v4l2_min = capture->v4l2_gain_min;
|
---|
289 | v4l2_max = capture->v4l2_gain_max;
|
---|
290 | break;
|
---|
291 | case CV_CAP_PROP_SHARPNESS:
|
---|
292 | v4l2_min = capture->v4l2_sharpness_min;
|
---|
293 | v4l2_max = capture->v4l2_sharpness_max;
|
---|
294 | break;
|
---|
295 | case CV_CAP_PROP_EXPOSURE:
|
---|
296 | v4l2_min = capture->v4l2_exposure_min;
|
---|
297 | v4l2_max = capture->v4l2_exposure_max;
|
---|
298 | break;
|
---|
299 | case CV_CAP_PROP_AUTOGAIN:
|
---|
300 | v4l2_min = capture->v4l2_autogain_min;
|
---|
301 | v4l2_max = capture->v4l2_autogain_max;
|
---|
302 | break;
|
---|
303 | case CV_CAP_PROP_AWB:
|
---|
304 | v4l2_min = capture->v4l2_awb_min;
|
---|
305 | v4l2_max = capture->v4l2_awb_max;
|
---|
306 | break;
|
---|
307 | }
|
---|
308 |
|
---|
309 | /* initialisations */
|
---|
310 | CLEAR (capture->control);
|
---|
311 |
|
---|
312 | /* set which control we want to set */
|
---|
313 | switch (property_id) {
|
---|
314 |
|
---|
315 | case CV_CAP_PROP_BRIGHTNESS:
|
---|
316 | capture->control.id = V4L2_CID_BRIGHTNESS;
|
---|
317 | break;
|
---|
318 | case CV_CAP_PROP_CONTRAST:
|
---|
319 | capture->control.id = V4L2_CID_CONTRAST;
|
---|
320 | break;
|
---|
321 | case CV_CAP_PROP_SATURATION:
|
---|
322 | capture->control.id = V4L2_CID_SATURATION;
|
---|
323 | break;
|
---|
324 | case CV_CAP_PROP_HUE:
|
---|
325 | capture->control.id = V4L2_CID_HUE;
|
---|
326 | break;
|
---|
327 | case CV_CAP_PROP_GAIN:
|
---|
328 | capture->control.id = V4L2_CID_GAIN;
|
---|
329 | break;
|
---|
330 | case CV_CAP_PROP_SHARPNESS:
|
---|
331 | capture->control.id = V4L2_CID_SHARPNESS;
|
---|
332 | break;
|
---|
333 | case CV_CAP_PROP_EXPOSURE:
|
---|
334 | capture->control.id = V4L2_CID_EXPOSURE;
|
---|
335 | break;
|
---|
336 | case CV_CAP_PROP_AUTOGAIN:
|
---|
337 | capture->control.id = V4L2_CID_AUTOGAIN;
|
---|
338 | break;
|
---|
339 | case CV_CAP_PROP_AWB:
|
---|
340 | capture->control.id = V4L2_CID_AUTO_WHITE_BALANCE;
|
---|
341 | break;
|
---|
342 | default:
|
---|
343 | fprintf(stderr,
|
---|
344 | "HIGHGUI ERROR: V4L2: setting property #%d is not supported\n",
|
---|
345 | property_id);
|
---|
346 | return -1;
|
---|
347 | }
|
---|
348 |
|
---|
349 | /* set the value we want to set to the scaled the value */
|
---|
350 | capture->control.value = (int)(value * (v4l2_max - v4l2_min) + v4l2_min);
|
---|
351 |
|
---|
352 | /* The driver may clamp the value or return ERANGE, ignored here */
|
---|
353 | if (-1 == xioctl (capture->deviceHandle,
|
---|
354 | VIDIOC_S_CTRL, &capture->control) && errno != ERANGE) {
|
---|
355 | perror ("VIDIOC_S_CTRL");
|
---|
356 | return -1;
|
---|
357 | }
|
---|
358 |
|
---|
359 | /* all was OK */
|
---|
360 | return 0;
|
---|
361 |
|
---|
362 | }
|
---|
363 | int V4LCamera::_capture_V4L2 (CvCaptureCAM_V4L *capture)
|
---|
364 | {
|
---|
365 | int detect_v4l2 = 0;
|
---|
366 |
|
---|
367 | detect_v4l2 = try_init_v4l2(capture);
|
---|
368 |
|
---|
369 | if (detect_v4l2 != 1) {
|
---|
370 | /* init of the v4l2 device is not OK */
|
---|
371 | return -1;
|
---|
372 | }
|
---|
373 |
|
---|
374 | /* Init V4L2 control variables */
|
---|
375 | capture->v4l2_brightness = 0;
|
---|
376 | capture->v4l2_contrast = 0;
|
---|
377 | capture->v4l2_saturation = 0;
|
---|
378 | capture->v4l2_hue = 0;
|
---|
379 | capture->v4l2_gain = 0;
|
---|
380 | capture->v4l2_sharpness = 0;
|
---|
381 | capture->v4l2_exposure = 0;
|
---|
382 | capture->v4l2_autogain = 0;
|
---|
383 | capture->v4l2_awb = 0;
|
---|
384 |
|
---|
385 | capture->v4l2_brightness_min = 0;
|
---|
386 | capture->v4l2_contrast_min = 0;
|
---|
387 | capture->v4l2_saturation_min = 0;
|
---|
388 | capture->v4l2_hue_min = 0;
|
---|
389 | capture->v4l2_gain_min = 0;
|
---|
390 | capture->v4l2_sharpness_min = 0;
|
---|
391 | capture->v4l2_exposure_min = 0;
|
---|
392 | capture->v4l2_autogain_min = 0;
|
---|
393 | capture->v4l2_awb_min = 0;
|
---|
394 |
|
---|
395 | capture->v4l2_brightness_max = 0;
|
---|
396 | capture->v4l2_contrast_max = 0;
|
---|
397 | capture->v4l2_saturation_max = 0;
|
---|
398 | capture->v4l2_hue_max = 0;
|
---|
399 | capture->v4l2_gain_max = 0;
|
---|
400 | capture->v4l2_sharpness_max = 0;
|
---|
401 | capture->v4l2_exposure_max = 0;
|
---|
402 | capture->v4l2_autogain_max = 0;
|
---|
403 | capture->v4l2_awb_max = 0;
|
---|
404 |
|
---|
405 |
|
---|
406 | if ((capture->cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
|
---|
407 | /* Nope. */
|
---|
408 | fprintf( stderr, "HIGHGUI ERROR: V4L2: device is unable to capture video memory.\n");
|
---|
409 |
|
---|
410 | return -1;
|
---|
411 | }
|
---|
412 |
|
---|
413 |
|
---|
414 |
|
---|
415 | /* Find Window info */
|
---|
416 | CLEAR (capture->form);
|
---|
417 | capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
418 |
|
---|
419 | if (-1 == xioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form)) {
|
---|
420 | fprintf( stderr, "HIGHGUI ERROR: V4L2: Could not obtain specifics of capture window.\n\n");
|
---|
421 |
|
---|
422 | return -1;
|
---|
423 | }
|
---|
424 |
|
---|
425 |
|
---|
426 |
|
---|
427 | if (autosetup_capture_mode_v4l2(capture) == -1)
|
---|
428 | return -1;
|
---|
429 |
|
---|
430 | icvSetVideoSize(capture, DEFAULT_V4L_WIDTH, DEFAULT_V4L_HEIGHT);
|
---|
431 |
|
---|
432 | unsigned int min;
|
---|
433 |
|
---|
434 | /* Buggy driver paranoia. */
|
---|
435 | min = capture->form.fmt.pix.width * 2;
|
---|
436 |
|
---|
437 | if (capture->form.fmt.pix.bytesperline < min)
|
---|
438 | capture->form.fmt.pix.bytesperline = min;
|
---|
439 |
|
---|
440 | min = capture->form.fmt.pix.bytesperline * capture->form.fmt.pix.height;
|
---|
441 |
|
---|
442 | if (capture->form.fmt.pix.sizeimage < min)
|
---|
443 | capture->form.fmt.pix.sizeimage = min;
|
---|
444 |
|
---|
445 | return 1;
|
---|
446 | }
|
---|
447 | int V4LCamera::icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h) {
|
---|
448 |
|
---|
449 |
|
---|
450 |
|
---|
451 | CLEAR (capture->crop);
|
---|
452 | capture->crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
453 | capture->crop.c.left = 0;
|
---|
454 | capture->crop.c.top = 0;
|
---|
455 | capture->crop.c.height = h*24;
|
---|
456 | capture->crop.c.width = w*24;
|
---|
457 |
|
---|
458 | /* set the crop area, but don't exit if the device don't support croping */
|
---|
459 | xioctl (capture->deviceHandle, VIDIOC_S_CROP, &capture->crop);
|
---|
460 |
|
---|
461 | CLEAR (capture->form);
|
---|
462 | capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
463 |
|
---|
464 | /* read the current setting, mainly to retreive the pixelformat information */
|
---|
465 | xioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form);
|
---|
466 |
|
---|
467 | /* set the values we want to change */
|
---|
468 | capture->form.fmt.pix.width = w;
|
---|
469 | capture->form.fmt.pix.height = h;
|
---|
470 | capture->form.fmt.win.chromakey = 0;
|
---|
471 | capture->form.fmt.win.field = V4L2_FIELD_ANY;
|
---|
472 | capture->form.fmt.win.clips = 0;
|
---|
473 | capture->form.fmt.win.clipcount = 0;
|
---|
474 | capture->form.fmt.pix.field = V4L2_FIELD_ANY;
|
---|
475 |
|
---|
476 | /* ask the device to change the size
|
---|
477 | * don't test if the set of the size is ok, because some device
|
---|
478 | * don't allow changing the size, and we will get the real size
|
---|
479 | * later */
|
---|
480 | xioctl (capture->deviceHandle, VIDIOC_S_FMT, &capture->form);
|
---|
481 |
|
---|
482 | /* try to set framerate to 30 fps */
|
---|
483 | struct v4l2_streamparm setfps;
|
---|
484 | memset (&setfps, 0, sizeof(struct v4l2_streamparm));
|
---|
485 | setfps.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
486 | setfps.parm.capture.timeperframe.numerator = 1;
|
---|
487 | setfps.parm.capture.timeperframe.denominator = 30;
|
---|
488 | xioctl (capture->deviceHandle, VIDIOC_S_PARM, &setfps);
|
---|
489 |
|
---|
490 | /* we need to re-initialize some things, like buffers, because the size has
|
---|
491 | * changed */
|
---|
492 | capture->FirstCapture = 1;
|
---|
493 |
|
---|
494 | /* Get window info again, to get the real value */
|
---|
495 | if (-1 == xioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form))
|
---|
496 | {
|
---|
497 | fprintf(stderr, "HIGHGUI ERROR: V4L/V4L2: Could not obtain specifics of capture window.\n\n");
|
---|
498 |
|
---|
499 |
|
---|
500 |
|
---|
501 | return 0;
|
---|
502 | }
|
---|
503 |
|
---|
504 | return 0;
|
---|
505 |
|
---|
506 |
|
---|
507 |
|
---|
508 |
|
---|
509 | return 0;
|
---|
510 |
|
---|
511 | }
|
---|
512 | int V4LCamera::try_palette_v4l2(CvCaptureCAM_V4L* capture, unsigned long colorspace)
|
---|
513 | {
|
---|
514 | CLEAR (capture->form);
|
---|
515 |
|
---|
516 | capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
517 | capture->form.fmt.pix.pixelformat = colorspace;
|
---|
518 | capture->form.fmt.pix.field = V4L2_FIELD_ANY;
|
---|
519 | capture->form.fmt.pix.width = DEFAULT_V4L_WIDTH;
|
---|
520 | capture->form.fmt.pix.height = DEFAULT_V4L_HEIGHT;
|
---|
521 |
|
---|
522 | if (-1 == xioctl (capture->deviceHandle, VIDIOC_S_FMT, &capture->form))
|
---|
523 | return -1;
|
---|
524 |
|
---|
525 |
|
---|
526 | if (colorspace != capture->form.fmt.pix.pixelformat)
|
---|
527 | return -1;
|
---|
528 | else
|
---|
529 | return 0;
|
---|
530 | }
|
---|
531 | int V4LCamera::autosetup_capture_mode_v4l2(CvCaptureCAM_V4L* capture)
|
---|
532 | {
|
---|
533 | if (try_palette_v4l2(capture, V4L2_PIX_FMT_YUYV) == 0) {
|
---|
534 | PALETTE_YUYV = 1;
|
---|
535 | } else if (try_palette_v4l2(capture, V4L2_PIX_FMT_UYVY) == 0) {
|
---|
536 | PALETTE_UYVY = 1;
|
---|
537 | } else {
|
---|
538 | fprintf(stderr, "HIGHGUI ERROR: V4L2: Pixel format of incoming image is unsupported by OpenCV\n");
|
---|
539 |
|
---|
540 | return -1;
|
---|
541 | }
|
---|
542 |
|
---|
543 | return 0;
|
---|
544 |
|
---|
545 | }
|
---|
546 |
|
---|
547 |
|
---|
548 |
|
---|
549 | int V4LCamera::try_init_v4l2(CvCaptureCAM_V4L* capture)
|
---|
550 | {
|
---|
551 |
|
---|
552 | // if detect = -1 then unable to open device
|
---|
553 | // if detect = 0 then detected nothing
|
---|
554 | // if detect = 1 then V4L2 device
|
---|
555 | int detect = 0;
|
---|
556 |
|
---|
557 |
|
---|
558 | if (detect == 0)
|
---|
559 | {
|
---|
560 | CLEAR (capture->cap);
|
---|
561 | if (-1 == xioctl (capture->deviceHandle, VIDIOC_QUERYCAP, &capture->cap))
|
---|
562 | {
|
---|
563 | detect = 0;
|
---|
564 |
|
---|
565 |
|
---|
566 | }
|
---|
567 | else
|
---|
568 | {
|
---|
569 | CLEAR (capture->capability);
|
---|
570 | capture->capability.type = capture->cap.capabilities;
|
---|
571 |
|
---|
572 | /* Query channels number */
|
---|
573 | if (-1 != xioctl (capture->deviceHandle, VIDIOC_G_INPUT, &capture->capability.channels))
|
---|
574 | {
|
---|
575 | detect = 1;
|
---|
576 | }
|
---|
577 | }
|
---|
578 | }
|
---|
579 |
|
---|
580 | return detect;
|
---|
581 |
|
---|
582 | }
|
---|
583 | /*
|
---|
584 | V4LCamera::V4LCamera(string name,
|
---|
585 | uint8_t camera_index, uint16_t width, uint16_t height,
|
---|
586 | Image::Type::Format format, uint8_t priority)
|
---|
587 | : Thread(getFrameworkManager(), name, priority),
|
---|
588 | Camera(name, width, height, format) {
|
---|
589 |
|
---|
590 | string deviceName="/dev/video"+std::to_string(camera_index);
|
---|
591 | device = open(deviceName.c_str(), O_RDWR | O_NONBLOCK);
|
---|
592 | if (device == -1) {
|
---|
593 | Thread::Err("Cannot open %s\n",deviceName.c_str());
|
---|
594 | } else {
|
---|
595 | Printf("V4LCamera %s, opened %s\n",name.c_str(),deviceName.c_str());
|
---|
596 | }
|
---|
597 |
|
---|
598 | struct v4l2_capability cap;
|
---|
599 | memset(&cap, 0, sizeof (v4l2_capability));
|
---|
600 | if (xioctl (device, VIDIOC_QUERYCAP, &cap)==-1) {
|
---|
601 | Thread::Err("VIDIOC_QUERYCAP xioctl\n");
|
---|
602 | }
|
---|
603 | if ((cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
|
---|
604 | Thread::Err("device is unable to capture video memory.\n");
|
---|
605 | }
|
---|
606 |
|
---|
607 | //get v4l2_format
|
---|
608 | struct v4l2_format form;
|
---|
609 | form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
610 | if(xioctl (device, VIDIOC_G_FMT,&form)==-1) {
|
---|
611 | Thread::Err("VIDIOC_G_FMT xioctl\n");
|
---|
612 | }
|
---|
613 |
|
---|
614 | //set width, height and format
|
---|
615 | if (format == Image::Type::Format::UYVY) {
|
---|
616 | form.fmt.pix.pixelformat = V4L2_PIX_FMT_UYVY;
|
---|
617 | } else if (format == Image::Type::Format::YUYV) {
|
---|
618 | form.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
|
---|
619 | } else {
|
---|
620 | Thread::Err("format not supported\n");
|
---|
621 | }
|
---|
622 |
|
---|
623 | form.fmt.pix.width = width;
|
---|
624 | form.fmt.pix.height = height;
|
---|
625 | form.fmt.win.chromakey = 0;
|
---|
626 | form.fmt.win.field = V4L2_FIELD_ANY;
|
---|
627 | form.fmt.win.clips = 0;
|
---|
628 | form.fmt.win.clipcount = 0;
|
---|
629 | form.fmt.pix.field = V4L2_FIELD_ANY;
|
---|
630 | if(xioctl (device, VIDIOC_S_FMT,&form)==-1) {
|
---|
631 | Thread::Err("VIDIOC_S_FMT xioctl\n");
|
---|
632 | }
|
---|
633 |
|
---|
634 | //alloc and queue bufs
|
---|
635 | AllocBuffers();
|
---|
636 | for (int bufferIndex = 0; bufferIndex < nbBuffers;++bufferIndex) {
|
---|
637 | QueueBuffer(bufferIndex);
|
---|
638 | }
|
---|
639 |
|
---|
640 | // enable the streaming
|
---|
641 | v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
642 | if (xioctl (device, VIDIOC_STREAMON,&type)==-1) {
|
---|
643 | Thread::Err("VIDIOC_STREAMON xioctl\n");
|
---|
644 | }
|
---|
645 |
|
---|
646 | // skip first frame. it is often bad -- this is unnotied in traditional apps,
|
---|
647 | // but could be fatal if bad jpeg is enabled
|
---|
648 | bufferIndex=-1;
|
---|
649 | GrabFrame();
|
---|
650 |
|
---|
651 | // ground station
|
---|
652 | gain = new DoubleSpinBox(GetGroupBox()->NewRow(), "gain:", 0, 1, 0.1);
|
---|
653 | exposure = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "exposure:", 0,1, 0.1);
|
---|
654 | bright = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "bright:", 0, 1, 0.1);
|
---|
655 | contrast = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "contrast:", 0,1, 0.1);
|
---|
656 | hue = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "hue:", 0, 1, 0.1);
|
---|
657 | sharpness = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "sharpness:", 0, 1, 0.1);
|
---|
658 | sat = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "saturation:", 0, 1,0.1);
|
---|
659 | autogain = new CheckBox(GetGroupBox()->NewRow(), "autogain:");
|
---|
660 | autoexposure = new CheckBox(GetGroupBox()->LastRowLastCol(), "autoexposure:");
|
---|
661 | awb = new CheckBox(GetGroupBox()->LastRowLastCol(), "awb:");
|
---|
662 | fps = new Label(GetGroupBox()->NewRow(), "fps");
|
---|
663 |
|
---|
664 | hasProblems=false;
|
---|
665 | }
|
---|
666 |
|
---|
667 | V4LCamera::~V4LCamera() {
|
---|
668 | for (int n_buffers = 0; n_buffers < nbBuffers; n_buffers++) {
|
---|
669 | FreeFunction((char*)buffers[n_buffers].start);
|
---|
670 | }
|
---|
671 | SafeStop();
|
---|
672 | Join();
|
---|
673 | }
|
---|
674 |
|
---|
675 | void V4LCamera::Run(void) {
|
---|
676 | Time cam_time, new_time, fpsNow, fpsPrev;
|
---|
677 | int fpsCounter = 0;
|
---|
678 |
|
---|
679 | // init image old
|
---|
680 | GrabFrame();
|
---|
681 | cam_time = GetTime();
|
---|
682 | fpsPrev = cam_time;
|
---|
683 |
|
---|
684 | while (!ToBeStopped()) {
|
---|
685 | //check for ps3eye deconnection in hds uav
|
---|
686 | if(hasProblems==false) {
|
---|
687 | struct v4l2_format form;
|
---|
688 | form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
689 | xioctl(device, VIDIOC_G_FMT,&form);
|
---|
690 | if(xioctl (device, VIDIOC_G_FMT,&form)<0) {
|
---|
691 | Thread::Warn("camera disconnected\n");
|
---|
692 | hasProblems=true;
|
---|
693 | }
|
---|
694 | }
|
---|
695 |
|
---|
696 | // fps counter
|
---|
697 | fpsCounter++;
|
---|
698 | if (GetTime() > (fpsPrev + 5 * (Time)1000000000)) {
|
---|
699 | // every 5 secondes
|
---|
700 | fpsNow = GetTime();
|
---|
701 | fps->SetText("fps: %.1f",
|
---|
702 | fpsCounter / ((float)(fpsNow - fpsPrev) / 1000000000.));
|
---|
703 | fpsCounter = 0;
|
---|
704 | fpsPrev = fpsNow;
|
---|
705 | }
|
---|
706 |
|
---|
707 | // cam properties
|
---|
708 | if (gain->ValueChanged() == true && autogain->Value() == false)
|
---|
709 | SetGain(gain->Value());
|
---|
710 | if (exposure->ValueChanged() == true && autoexposure->Value() == false)
|
---|
711 | SetExposure(exposure->Value());
|
---|
712 | if (bright->ValueChanged() == true)
|
---|
713 | SetBrightness(bright->Value());
|
---|
714 | if (sat->ValueChanged() == true)
|
---|
715 | SetSaturation(sat->Value());
|
---|
716 | if (contrast->ValueChanged() == true)
|
---|
717 | SetContrast(contrast->Value());
|
---|
718 | if (hue->ValueChanged() == true)
|
---|
719 | SetHue(hue->Value());
|
---|
720 | if (sharpness->ValueChanged() == true)
|
---|
721 | SetProperty(V4L2_CID_SHARPNESS, sharpness->Value());
|
---|
722 | if (autogain->ValueChanged() == true) {
|
---|
723 | if (autogain->Value() == true) {
|
---|
724 | gain->setEnabled(false);
|
---|
725 | } else {
|
---|
726 | gain->setEnabled(true);
|
---|
727 | SetGain(gain->Value());
|
---|
728 | }
|
---|
729 | SetAutoGain(autogain->Value());
|
---|
730 | }
|
---|
731 | if (autoexposure->ValueChanged() == true) {
|
---|
732 | if (autoexposure->Value() == true) {
|
---|
733 | exposure->setEnabled(false);
|
---|
734 | } else {
|
---|
735 | exposure->setEnabled(true);
|
---|
736 | SetExposure(exposure->Value());
|
---|
737 | }
|
---|
738 | SetAutoExposure(autoexposure->Value());
|
---|
739 | }
|
---|
740 | if (awb->ValueChanged() == true)
|
---|
741 | SetProperty(V4L2_CID_AUTO_WHITE_BALANCE, awb->Value());
|
---|
742 |
|
---|
743 | // get picture
|
---|
744 | GrabFrame();
|
---|
745 | new_time = GetTime();
|
---|
746 |
|
---|
747 | //check for ps3eye deconnection in hds uav
|
---|
748 | if(new_time-cam_time>100*1000*1000) {
|
---|
749 | Thread::Warn("delta trop grand\n");
|
---|
750 | hasProblems=true;
|
---|
751 | }
|
---|
752 |
|
---|
753 | output->GetMutex();
|
---|
754 | output->buffer=(char*)buffers[bufferIndex].start;
|
---|
755 | output->ReleaseMutex();
|
---|
756 |
|
---|
757 | output->SetDataTime(cam_time);
|
---|
758 | ProcessUpdate(output);
|
---|
759 |
|
---|
760 | cam_time = new_time;
|
---|
761 | }
|
---|
762 |
|
---|
763 | close(device);
|
---|
764 | }
|
---|
765 | */
|
---|
766 | int V4LCamera::v4l2_alloc_buffers (CvCaptureCAM_V4L *capture, char *deviceName)
|
---|
767 | {
|
---|
768 | CLEAR (capture->req);
|
---|
769 |
|
---|
770 | unsigned int buffer_number = DEFAULT_V4L_BUFFERS;
|
---|
771 |
|
---|
772 | try_again:
|
---|
773 |
|
---|
774 | capture->req.count = buffer_number;
|
---|
775 | capture->req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
776 | capture->req.memory = V4L2_MEMORY_MMAP;
|
---|
777 |
|
---|
778 | if (-1 == xioctl (capture->deviceHandle, VIDIOC_REQBUFS, &capture->req))
|
---|
779 | {
|
---|
780 | if (EINVAL == errno)
|
---|
781 | {
|
---|
782 | fprintf (stderr, "%s does not support memory mapping\n", deviceName);
|
---|
783 | } else {
|
---|
784 | perror ("VIDIOC_REQBUFS");
|
---|
785 | }
|
---|
786 | /* free capture, and returns an error code */
|
---|
787 |
|
---|
788 | return -1;
|
---|
789 | }
|
---|
790 |
|
---|
791 | if (capture->req.count < buffer_number)
|
---|
792 | {
|
---|
793 | if (buffer_number == 1)
|
---|
794 | {
|
---|
795 | fprintf (stderr, "Insufficient buffer memory on %s\n", deviceName);
|
---|
796 |
|
---|
797 | /* free capture, and returns an error code */
|
---|
798 |
|
---|
799 | return -1;
|
---|
800 | } else {
|
---|
801 | buffer_number--;
|
---|
802 | fprintf (stderr, "Insufficient buffer memory on %s -- decreaseing buffers\n", deviceName);
|
---|
803 |
|
---|
804 | goto try_again;
|
---|
805 | }
|
---|
806 | }
|
---|
807 |
|
---|
808 | for (n_buffers = 0; n_buffers < capture->req.count; ++n_buffers)
|
---|
809 | {
|
---|
810 | struct v4l2_buffer buf;
|
---|
811 |
|
---|
812 | CLEAR (buf);
|
---|
813 |
|
---|
814 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
815 | buf.memory = V4L2_MEMORY_MMAP;
|
---|
816 | buf.index = n_buffers;
|
---|
817 |
|
---|
818 | if (-1 == xioctl (capture->deviceHandle, VIDIOC_QUERYBUF, &buf)) {
|
---|
819 | perror ("VIDIOC_QUERYBUF");
|
---|
820 |
|
---|
821 | /* free capture, and returns an error code */
|
---|
822 |
|
---|
823 | return -1;
|
---|
824 | }
|
---|
825 |
|
---|
826 | capture->buffers[n_buffers].length = buf.length;
|
---|
827 | capture->buffers[n_buffers].start =
|
---|
828 | mmap (NULL /* start anywhere */,
|
---|
829 | buf.length,
|
---|
830 | PROT_READ | PROT_WRITE /* required */,
|
---|
831 | MAP_SHARED /* recommended */,
|
---|
832 | capture->deviceHandle, buf.m.offset);
|
---|
833 |
|
---|
834 | if (MAP_FAILED == capture->buffers[n_buffers].start) {
|
---|
835 | perror ("mmap");
|
---|
836 |
|
---|
837 | /* free capture, and returns an error code */
|
---|
838 |
|
---|
839 | return -1;
|
---|
840 | }
|
---|
841 |
|
---|
842 |
|
---|
843 | }
|
---|
844 |
|
---|
845 | /* Set up Image data */
|
---|
846 | /*
|
---|
847 | cvInitImageHeader( &capture->frame,
|
---|
848 | cvSize( capture->captureWindow.width,
|
---|
849 | capture->captureWindow.height ),
|
---|
850 | IPL_DEPTH_8U, 3, IPL_ORIGIN_TL, 4 );*/
|
---|
851 | /* Allocate space for RGBA data */
|
---|
852 | capture->imageSize=capture->form.fmt.pix.width*capture->form.fmt.pix.height*2;
|
---|
853 | capture->imageData = AllocFunction(capture->imageSize);
|
---|
854 | Printf("cmem allocated %i at %x\n",capture->imageSize,capture->imageData);
|
---|
855 |
|
---|
856 | return 1;
|
---|
857 | };
|
---|
858 | int V4LCamera::cvGrabFrame(CvCaptureCAM_V4L* capture) {
|
---|
859 |
|
---|
860 | if (capture->FirstCapture) {
|
---|
861 | /* Some general initialization must take place the first time through */
|
---|
862 |
|
---|
863 | /* This is just a technicality, but all buffers must be filled up before any
|
---|
864 | staggered SYNC is applied. SO, filler up. (see V4L HowTo) */
|
---|
865 |
|
---|
866 |
|
---|
867 | v4l2_alloc_buffers (capture, NULL);
|
---|
868 |
|
---|
869 | for (capture->bufferIndex = 0;
|
---|
870 | capture->bufferIndex < ((int)capture->req.count);
|
---|
871 | ++capture->bufferIndex)
|
---|
872 | {
|
---|
873 |
|
---|
874 | struct v4l2_buffer buf;
|
---|
875 |
|
---|
876 | CLEAR (buf);
|
---|
877 |
|
---|
878 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
879 | buf.memory = V4L2_MEMORY_MMAP;
|
---|
880 | buf.index = (unsigned long)capture->bufferIndex;
|
---|
881 |
|
---|
882 | if (-1 == xioctl (capture->deviceHandle, VIDIOC_QBUF, &buf)) {
|
---|
883 | perror ("VIDIOC_QBUF");
|
---|
884 | return 0;
|
---|
885 | }
|
---|
886 | }
|
---|
887 |
|
---|
888 | /* enable the streaming */
|
---|
889 | capture->type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
890 | if (-1 == xioctl (capture->deviceHandle, VIDIOC_STREAMON,
|
---|
891 | &capture->type)) {
|
---|
892 | /* error enabling the stream */
|
---|
893 | perror ("VIDIOC_STREAMON");
|
---|
894 | return 0;
|
---|
895 | }
|
---|
896 |
|
---|
897 |
|
---|
898 |
|
---|
899 |
|
---|
900 | /* preparation is ok */
|
---|
901 | capture->FirstCapture = 0;
|
---|
902 | }
|
---|
903 |
|
---|
904 |
|
---|
905 |
|
---|
906 | mainloop_v4l2(capture);
|
---|
907 |
|
---|
908 |
|
---|
909 |
|
---|
910 | return(1);
|
---|
911 | }
|
---|
912 | void V4LCamera::mainloop_v4l2(CvCaptureCAM_V4L* capture) {
|
---|
913 | unsigned int count;
|
---|
914 |
|
---|
915 | count = 1;
|
---|
916 |
|
---|
917 | while (count-- > 0) {
|
---|
918 | for (;;) {
|
---|
919 | fd_set fds;
|
---|
920 | struct timeval tv;
|
---|
921 | int r;
|
---|
922 |
|
---|
923 | FD_ZERO (&fds);
|
---|
924 | FD_SET (capture->deviceHandle, &fds);
|
---|
925 |
|
---|
926 | /* Timeout. */
|
---|
927 | tv.tv_sec = 2;
|
---|
928 | tv.tv_usec = 0;
|
---|
929 |
|
---|
930 | r = select (capture->deviceHandle+1, &fds, NULL, NULL, &tv);
|
---|
931 |
|
---|
932 | if (-1 == r) {
|
---|
933 | if (EINTR == errno)
|
---|
934 | continue;
|
---|
935 |
|
---|
936 | perror ("select");
|
---|
937 | }
|
---|
938 |
|
---|
939 | if (0 == r) {
|
---|
940 | fprintf (stderr, "select timeout\n");
|
---|
941 |
|
---|
942 | /* end the infinite loop */
|
---|
943 | break;
|
---|
944 | }
|
---|
945 |
|
---|
946 | if (read_frame_v4l2 (capture))
|
---|
947 | break;
|
---|
948 | }
|
---|
949 | }
|
---|
950 | }
|
---|
951 | int V4LCamera::read_frame_v4l2(CvCaptureCAM_V4L* capture) {
|
---|
952 | struct v4l2_buffer buf;
|
---|
953 |
|
---|
954 | CLEAR (buf);
|
---|
955 |
|
---|
956 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
957 | buf.memory = V4L2_MEMORY_MMAP;
|
---|
958 |
|
---|
959 | if (-1 == xioctl (capture->deviceHandle, VIDIOC_DQBUF, &buf)) {
|
---|
960 | switch (errno) {
|
---|
961 | case EAGAIN:
|
---|
962 | return 0;
|
---|
963 |
|
---|
964 | case EIO:
|
---|
965 | /* Could ignore EIO, see spec. */
|
---|
966 |
|
---|
967 | /* fall through */
|
---|
968 |
|
---|
969 | default:
|
---|
970 | /* display the error and stop processing */
|
---|
971 | perror ("VIDIOC_DQBUF");
|
---|
972 | return 1;
|
---|
973 | }
|
---|
974 | }
|
---|
975 |
|
---|
976 | if(buf.index >= capture->req.count) {
|
---|
977 | Thread::Err("buf.index >= capture->req.count\n");
|
---|
978 | }
|
---|
979 |
|
---|
980 |
|
---|
981 | capture->bufferIndex = buf.index;
|
---|
982 |
|
---|
983 |
|
---|
984 | if (-1 == xioctl (capture->deviceHandle, VIDIOC_QBUF, &buf))
|
---|
985 | perror ("VIDIOC_QBUF");
|
---|
986 |
|
---|
987 | return 1;
|
---|
988 | }
|
---|
989 | void V4LCamera::Run(void) {
|
---|
990 | Time cam_time, new_time, fpsNow, fpsPrev;
|
---|
991 | //IplImage *img; // raw image
|
---|
992 | int fpsCounter = 0;
|
---|
993 |
|
---|
994 | // init image old
|
---|
995 | if (!cvGrabFrame(&capture)) {
|
---|
996 | Printf("Could not grab a frame\n");
|
---|
997 | }
|
---|
998 | cam_time = GetTime();
|
---|
999 | fpsPrev = cam_time;
|
---|
1000 |
|
---|
1001 | while (!ToBeStopped()) {
|
---|
1002 |
|
---|
1003 |
|
---|
1004 | // fps counter
|
---|
1005 | fpsCounter++;
|
---|
1006 | if (fpsCounter == 100) {
|
---|
1007 | fpsNow = GetTime();
|
---|
1008 | fps->SetText("fps: %.1f",
|
---|
1009 | fpsCounter / ((float)(fpsNow - fpsPrev) / 1000000000.));
|
---|
1010 | fpsCounter = 0;
|
---|
1011 | fpsPrev = fpsNow;
|
---|
1012 | }
|
---|
1013 |
|
---|
1014 | // cam properties
|
---|
1015 | if (gain->ValueChanged() == true && autogain->Value() == false)
|
---|
1016 | SetGain(gain->Value());
|
---|
1017 | if (exposure->ValueChanged() == true && autoexposure->Value() == false)
|
---|
1018 | SetExposure(exposure->Value());
|
---|
1019 | if (bright->ValueChanged() == true)
|
---|
1020 | SetBrightness(bright->Value());
|
---|
1021 | if (sat->ValueChanged() == true)
|
---|
1022 | SetSaturation(sat->Value());
|
---|
1023 | if (contrast->ValueChanged() == true)
|
---|
1024 | SetContrast(contrast->Value());
|
---|
1025 | if (hue->ValueChanged() == true)
|
---|
1026 | SetHue(hue->Value());
|
---|
1027 | //if (sharpness->ValueChanged() == true)
|
---|
1028 | // cvSetCaptureProperty(capture, CV_CAP_PROP_SHARPNESS, sharpness->Value());
|
---|
1029 | if (autogain->ValueChanged() == true) {
|
---|
1030 | if (autogain->Value() == true) {
|
---|
1031 | gain->setEnabled(false);
|
---|
1032 | } else {
|
---|
1033 | gain->setEnabled(true);
|
---|
1034 | SetGain(gain->Value());
|
---|
1035 | }
|
---|
1036 | SetAutoGain(autogain->Value());
|
---|
1037 | }
|
---|
1038 | if (autoexposure->ValueChanged() == true) {
|
---|
1039 | if (autoexposure->Value() == true) {
|
---|
1040 | exposure->setEnabled(false);
|
---|
1041 | } else {
|
---|
1042 | exposure->setEnabled(true);
|
---|
1043 | SetExposure(exposure->Value());
|
---|
1044 | }
|
---|
1045 | SetAutoExposure(autoexposure->Value());
|
---|
1046 | }
|
---|
1047 | //if (awb->ValueChanged() == true)
|
---|
1048 | // cvSetCaptureProperty(capture, CV_CAP_PROP_AWB, awb->Value());
|
---|
1049 |
|
---|
1050 | // cam pictures
|
---|
1051 | cvRetrieveRawFrame(&capture);
|
---|
1052 | if (!cvGrabFrame(&capture)) {
|
---|
1053 | Printf("Could not grab a frame\n");
|
---|
1054 | }
|
---|
1055 | new_time = GetTime();
|
---|
1056 |
|
---|
1057 | //check for ps3eye deconnection in hds uav
|
---|
1058 | if(new_time-cam_time>100*1000*1000) {
|
---|
1059 | Thread::Warn("delta trop grand\n");
|
---|
1060 | hasProblems=true;
|
---|
1061 | }
|
---|
1062 |
|
---|
1063 | output->GetMutex();
|
---|
1064 |
|
---|
1065 | output->buffer=capture.imageData;
|
---|
1066 | output->ReleaseMutex();
|
---|
1067 |
|
---|
1068 | output->SetDataTime(cam_time);
|
---|
1069 | ProcessUpdate(output);
|
---|
1070 | cam_time = new_time;
|
---|
1071 | }
|
---|
1072 |
|
---|
1073 | //cvReleaseCapture(&capture);
|
---|
1074 | }
|
---|
1075 |
|
---|
1076 | void V4LCamera::cvRetrieveRawFrame( CvCaptureCAM_V4L* capture) {
|
---|
1077 |
|
---|
1078 |
|
---|
1079 |
|
---|
1080 |
|
---|
1081 | /* Now get what has already been captured as a IplImage return */
|
---|
1082 |
|
---|
1083 | /* First, reallocate imageData if the frame size changed */
|
---|
1084 |
|
---|
1085 |
|
---|
1086 | /*
|
---|
1087 | if(((unsigned long)capture->frame.width != capture->form.fmt.pix.width)
|
---|
1088 | || ((unsigned long)capture->frame.height != capture->form.fmt.pix.height)) {
|
---|
1089 | if (PALETTE_YUYV == 1 || PALETTE_UYVY == 1)
|
---|
1090 | {
|
---|
1091 | cvFree(&capture->frame.imageData);
|
---|
1092 | cvInitImageHeader( &capture->frame,
|
---|
1093 | cvSize( capture->form.fmt.pix.width,
|
---|
1094 | capture->form.fmt.pix.height ),
|
---|
1095 | IPL_DEPTH_8U,2, IPL_ORIGIN_TL, 4 );
|
---|
1096 | capture->frame.imageData = (char *)cvAlloc(capture->frame.imageSize);
|
---|
1097 | }else
|
---|
1098 | {
|
---|
1099 | fprintf( stderr,
|
---|
1100 | "HIGHGUI ERROR: V4L: raw output not supported for this palette\n");
|
---|
1101 | }
|
---|
1102 |
|
---|
1103 | }
|
---|
1104 |
|
---|
1105 | */
|
---|
1106 |
|
---|
1107 |
|
---|
1108 | if (PALETTE_YUYV == 1){
|
---|
1109 | memcpy((char *)capture->imageData,
|
---|
1110 | (char *)capture->buffers[capture->bufferIndex].start,
|
---|
1111 | capture->imageSize);
|
---|
1112 | }
|
---|
1113 | if (PALETTE_UYVY == 1){
|
---|
1114 | memcpy((char *)capture->imageData,
|
---|
1115 | (char *)capture->buffers[capture->bufferIndex].start,
|
---|
1116 | capture->imageSize);
|
---|
1117 | }
|
---|
1118 |
|
---|
1119 |
|
---|
1120 |
|
---|
1121 |
|
---|
1122 | }
|
---|
1123 | int V4LCamera::QueueBuffer(int index) {
|
---|
1124 | struct v4l2_buffer buf;
|
---|
1125 | if(index>=0 && index<nbBuffers) {
|
---|
1126 | memset(&buf, 0, sizeof (v4l2_buffer));
|
---|
1127 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
1128 | buf.memory = V4L2_MEMORY_USERPTR;//V4L2_MEMORY_MMAP;
|
---|
1129 | buf.index = (unsigned long)index;
|
---|
1130 | buf.m.userptr=(unsigned long)(buffers[index].start);
|
---|
1131 | buf.length=buffers[index].length;
|
---|
1132 |
|
---|
1133 | int ret=xioctl (device, VIDIOC_QBUF, &buf);
|
---|
1134 | if (ret==-1) {
|
---|
1135 | Thread::Err("VIDIOC_QBUF xioctl %s\n",strerror(-ret));
|
---|
1136 | return -1;
|
---|
1137 | }
|
---|
1138 | }
|
---|
1139 | return 0;
|
---|
1140 | }
|
---|
1141 |
|
---|
1142 | int V4LCamera::GrabFrame(void) {
|
---|
1143 | //queue previous buffer
|
---|
1144 | if(QueueBuffer(bufferIndex)<0) return -1;
|
---|
1145 |
|
---|
1146 | fd_set fds;
|
---|
1147 | struct timeval tv;
|
---|
1148 | FD_ZERO (&fds);
|
---|
1149 | FD_SET (device, &fds);
|
---|
1150 |
|
---|
1151 | tv.tv_sec = 0;
|
---|
1152 | tv.tv_usec = 100000;
|
---|
1153 |
|
---|
1154 | int r = select (device+1, &fds, NULL, NULL, &tv);
|
---|
1155 |
|
---|
1156 | if (-1 == r) {
|
---|
1157 | char errorMsg[256];
|
---|
1158 | Thread::Err("select (%s)\n", strerror_r(-r, errorMsg, sizeof(errorMsg)));
|
---|
1159 | return -1;
|
---|
1160 | }
|
---|
1161 |
|
---|
1162 | if (0 == r) {
|
---|
1163 | Thread::Err("select timeout\n");
|
---|
1164 | return -1;
|
---|
1165 | }
|
---|
1166 |
|
---|
1167 | struct v4l2_buffer buf;
|
---|
1168 | memset(&buf, 0, sizeof (v4l2_buffer));
|
---|
1169 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
1170 | buf.memory = V4L2_MEMORY_USERPTR;//V4L2_MEMORY_MMAP;
|
---|
1171 |
|
---|
1172 | //get last captured image
|
---|
1173 | int prevDQbuf=-1;
|
---|
1174 | for(int i=0;i<4;i++) {
|
---|
1175 | if (xioctl (device, VIDIOC_DQBUF, &buf)==-1) {
|
---|
1176 | if (errno==EAGAIN) {
|
---|
1177 | break;
|
---|
1178 | } else {
|
---|
1179 | Thread::Err("VIDIOC_DQBUF xioctl\n");
|
---|
1180 | return -1;
|
---|
1181 | }
|
---|
1182 | } else {
|
---|
1183 | if(prevDQbuf!=-1) {
|
---|
1184 | QueueBuffer(prevDQbuf);
|
---|
1185 | }
|
---|
1186 | for (int n_buffers = 0; n_buffers < nbBuffers; n_buffers++) {
|
---|
1187 | if((void*)(buf.m.userptr)==buffers[n_buffers].start) {
|
---|
1188 | prevDQbuf=n_buffers;
|
---|
1189 | bufferIndex=n_buffers;
|
---|
1190 | break;
|
---|
1191 | }
|
---|
1192 | }
|
---|
1193 | }
|
---|
1194 | }
|
---|
1195 |
|
---|
1196 | return 1;
|
---|
1197 | }
|
---|
1198 |
|
---|
1199 | int V4LCamera::AllocBuffers(void) {
|
---|
1200 | struct v4l2_requestbuffers requestbuffers;
|
---|
1201 | memset(&requestbuffers, 0, sizeof (v4l2_requestbuffers));
|
---|
1202 |
|
---|
1203 | unsigned int buffer_number = DEFAULT_V4L_BUFFERS;
|
---|
1204 |
|
---|
1205 | try_again:
|
---|
1206 |
|
---|
1207 | requestbuffers.count = buffer_number;
|
---|
1208 | requestbuffers.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
1209 | requestbuffers.memory = V4L2_MEMORY_USERPTR;//V4L2_MEMORY_MMAP;
|
---|
1210 |
|
---|
1211 | if (xioctl (device, VIDIOC_REQBUFS, &requestbuffers)==-1) {
|
---|
1212 | if (errno==EINVAL) {
|
---|
1213 | Thread::Err("VIDIOC_REQBUFS user memory not supported\n");
|
---|
1214 | } else {
|
---|
1215 | Thread::Err ("VIDIOC_REQBUFS xioctl\n");
|
---|
1216 | }
|
---|
1217 | return -1;
|
---|
1218 | }
|
---|
1219 |
|
---|
1220 | nbBuffers=DEFAULT_V4L_BUFFERS;
|
---|
1221 | for (int n_buffers = 0; n_buffers < nbBuffers; n_buffers++) {
|
---|
1222 | buffers[n_buffers].length = output->GetDataType().GetSize();
|
---|
1223 | buffers[n_buffers].start =AllocFunction(output->GetDataType().GetSize());
|
---|
1224 | }
|
---|
1225 |
|
---|
1226 | return 1;
|
---|
1227 | };
|
---|
1228 |
|
---|
1229 | bool V4LCamera::HasProblems(void) {
|
---|
1230 | return hasProblems;
|
---|
1231 | }
|
---|
1232 |
|
---|
1233 | void V4LCamera::SetAutoGain(bool value) {
|
---|
1234 | SetProperty(V4L2_CID_AUTOGAIN, value);
|
---|
1235 | }
|
---|
1236 |
|
---|
1237 | void V4LCamera::SetAutoExposure(bool value) {
|
---|
1238 | Thread::Warn("not implemented\n");
|
---|
1239 | }
|
---|
1240 |
|
---|
1241 | void V4LCamera::SetGain(float value) {
|
---|
1242 | SetProperty(V4L2_CID_GAIN, value);
|
---|
1243 | }
|
---|
1244 |
|
---|
1245 | void V4LCamera::SetExposure(float value) {
|
---|
1246 | SetProperty(V4L2_CID_EXPOSURE, value);
|
---|
1247 | }
|
---|
1248 |
|
---|
1249 | void V4LCamera::SetBrightness(float value) {
|
---|
1250 | SetProperty(V4L2_CID_BRIGHTNESS, value);
|
---|
1251 | }
|
---|
1252 |
|
---|
1253 | void V4LCamera::SetSaturation(float value) {
|
---|
1254 | SetProperty(V4L2_CID_SATURATION, value);
|
---|
1255 | }
|
---|
1256 |
|
---|
1257 | void V4LCamera::SetHue(float value) {
|
---|
1258 | SetProperty(V4L2_CID_HUE, value);
|
---|
1259 | }
|
---|
1260 |
|
---|
1261 | void V4LCamera::SetContrast(float value) {
|
---|
1262 | SetProperty(V4L2_CID_CONTRAST, value);
|
---|
1263 | }
|
---|
1264 |
|
---|
1265 | float V4LCamera::GetProperty(int property) {
|
---|
1266 | //get min and max value
|
---|
1267 | struct v4l2_queryctrl queryctrl;
|
---|
1268 | queryctrl.id = property;
|
---|
1269 | if(xioctl (device, VIDIOC_QUERYCTRL,&queryctrl)==-1) return -1;
|
---|
1270 | int min = queryctrl.minimum;
|
---|
1271 | int max = queryctrl.maximum;
|
---|
1272 |
|
---|
1273 | //set value
|
---|
1274 | struct v4l2_control control;
|
---|
1275 | memset (&control, 0, sizeof (v4l2_control));
|
---|
1276 | control.id = property;
|
---|
1277 | if(xioctl (device,VIDIOC_G_CTRL, &control)==-1) return -1;
|
---|
1278 |
|
---|
1279 | return ((float)control.value - min + 1) / (max - min);
|
---|
1280 | }
|
---|
1281 |
|
---|
1282 | void V4LCamera::SetProperty(int property,float value) {
|
---|
1283 | //get min and max value
|
---|
1284 | struct v4l2_queryctrl queryctrl;
|
---|
1285 | queryctrl.id = property;
|
---|
1286 | xioctl (device, VIDIOC_QUERYCTRL,&queryctrl);
|
---|
1287 | int min = queryctrl.minimum;
|
---|
1288 | int max = queryctrl.maximum;
|
---|
1289 |
|
---|
1290 | //set value
|
---|
1291 | struct v4l2_control control;
|
---|
1292 | memset (&control, 0, sizeof (v4l2_control));
|
---|
1293 | control.id = property;
|
---|
1294 | control.value = (int)(value * (max - min) + min);
|
---|
1295 | xioctl (device,VIDIOC_S_CTRL, &control);
|
---|
1296 | }
|
---|
1297 |
|
---|
1298 | int V4LCamera::xioctl( int fd, int request, void *arg) {
|
---|
1299 | int r;
|
---|
1300 |
|
---|
1301 | do r = ioctl (fd, request, arg);
|
---|
1302 | while (-1 == r && EINTR == errno);
|
---|
1303 |
|
---|
1304 | return r;
|
---|
1305 | }
|
---|
1306 |
|
---|
1307 | } // end namespace sensor
|
---|
1308 | } // end namespace flair
|
---|