1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | // created: 2014/07/17
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6 | // filename: V4LCamera.cpp
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7 | //
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8 | // author: Guillaume Sanahuja
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9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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10 | //
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11 | // version: $Id: $
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12 | //
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13 | // purpose: base class for V4l camera
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14 | //
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15 | //
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16 | /*********************************************************************/
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17 |
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18 | #include "V4LCamera.h"
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19 | #include <GroupBox.h>
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20 | #include <DoubleSpinBox.h>
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21 | #include <CheckBox.h>
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22 | #include <Label.h>
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23 | #include <Image.h>
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24 | #include <FrameworkManager.h>
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25 | #include <fcntl.h>
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26 | #include <linux/videodev2.h>
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27 | #include <sys/ioctl.h>
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28 | #include <unistd.h>
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29 | #include <cstring>
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30 | #include <sys/mman.h>
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31 | #include <VisionFilter.h>
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32 |
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33 | #define DEFAULT_V4L_BUFFERS 4
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34 |
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35 | #define CLEAR(x) memset (&(x), 0, sizeof (x))
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36 |
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37 | using std::string;
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38 | using namespace flair::core;
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39 | using namespace flair::gui;
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40 |
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41 | namespace flair {
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42 | namespace sensor {
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43 |
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44 | V4LCamera::V4LCamera(string name,uint8_t camera_index, uint16_t width, uint16_t height,
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45 | Image::Type::Format format, uint8_t priority)
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46 | : Thread(getFrameworkManager(), name, priority),
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47 | Camera(name, width, height, format) {
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48 |
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49 | string deviceName="/dev/video"+std::to_string(camera_index);
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50 | device = open(deviceName.c_str(), O_RDWR | O_NONBLOCK);
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51 | if (device == -1) {
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52 | Thread::Err("Cannot open %s\n",deviceName.c_str());
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53 | } else {
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54 | Printf("V4LCamera %s, opened %s\n",name.c_str(),deviceName.c_str());
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55 | }
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56 |
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57 | /* w/o memset some parts arent initialized - AKA: Fill it with zeros so it is clean */
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58 | memset(&capture,0,sizeof(CvCaptureCAM_V4L));
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59 | n_buffers = 0;
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60 |
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61 |
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62 | if(format == Image::Type::Format::UYVY) {
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63 | if(init(width,height,V4L2_PIX_FMT_UYVY) == -1) {
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64 | Thread::Err("initialisation failed\n");
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65 | }
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66 | } else if (format == Image::Type::Format::YUYV) {
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67 | if(init(width,height,V4L2_PIX_FMT_YUYV) == -1) {
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68 | Thread::Err("initialisation failed\n");
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69 | }
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70 | } else {
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71 | Thread::Err("format not supported\n");
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72 | }
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73 |
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74 | /* This is just a technicality, but all buffers must be filled up before any
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75 | staggered SYNC is applied. SO, filler up. (see V4L HowTo) */
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76 |
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77 | allocBuffers();
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78 |
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79 | for (capture.bufferIndex = 0;capture.bufferIndex < ((int)capture.req.count);++capture.bufferIndex) {
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80 | struct v4l2_buffer buf;
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81 |
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82 | CLEAR (buf);
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83 |
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84 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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85 | buf.memory = V4L2_MEMORY_MMAP;
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86 | buf.index = (unsigned long)capture.bufferIndex;
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87 |
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88 | if (-1 == xioctl (device, VIDIOC_QBUF, &buf)) {
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89 | Thread::Err("VIDIOC_QBUF error\n");
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90 | }
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91 | }
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92 |
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93 | /* enable the streaming */
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94 | capture.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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95 | if (-1 == xioctl (device, VIDIOC_STREAMON,&capture.type)) {
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96 | /* error enabling the stream */
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97 | Thread::Err("VIDIOC_STREAMON error\n");
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98 | }
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99 |
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100 | // ground station
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101 | gain = new DoubleSpinBox(GetGroupBox()->NewRow(), "gain:", 0, 1, 0.1);
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102 | exposure = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "exposure:", 0,1, 0.1);
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103 | bright = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "bright:", 0, 1, 0.1);
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104 | contrast = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "contrast:", 0,1, 0.1);
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105 | hue = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "hue:", 0, 1, 0.1);
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106 | sharpness = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "sharpness:", 0, 1, 0.1);
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107 | sat = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "saturation:", 0, 1,0.1);
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108 | autogain = new CheckBox(GetGroupBox()->NewRow(), "autogain:");
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109 | autoexposure = new CheckBox(GetGroupBox()->LastRowLastCol(), "autoexposure:");
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110 | awb = new CheckBox(GetGroupBox()->LastRowLastCol(), "awb:");
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111 | fps = new Label(GetGroupBox()->NewRow(), "fps");
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112 |
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113 | hasProblems=false;
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114 | }
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115 |
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116 | V4LCamera::~V4LCamera() {
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117 | for (int n_buffers = 0; n_buffers < nbBuffers; n_buffers++) {
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118 | //FreeFunction((char*)buffers[n_buffers].start);
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119 | }
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120 | SafeStop();
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121 | Join();
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122 | }
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123 |
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124 | int V4LCamera::init(int width, int height,unsigned long colorspace) {
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125 | CLEAR (capture.cap);
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126 | if(-1 == xioctl(device, VIDIOC_QUERYCAP, &capture.cap)) {
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127 | return -1;
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128 | } else {
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129 | CLEAR (capture.capability);
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130 | capture.capability.type = capture.cap.capabilities;
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131 |
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132 | /* Query channels number */
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133 | if (-1 == xioctl(device, VIDIOC_G_INPUT, &capture.capability.channels)) {
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134 | return -1;
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135 | }
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136 | }
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137 |
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138 | if ((capture.cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
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139 | Thread::Err("device is unable to capture video memory.\n");
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140 | return -1;
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141 | }
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142 |
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143 | /* Find Window info */
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144 | CLEAR (capture.form);
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145 | capture.form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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146 |
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147 | if (-1 == xioctl (device, VIDIOC_G_FMT, &capture.form)) {
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148 | Thread::Err("Could not obtain specifics of capture window.\n");
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149 | return -1;
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150 | }
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151 |
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152 | setVideoSize(width, height,colorspace);
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153 |
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154 | unsigned int min;
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155 |
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156 | /* Buggy driver paranoia. */
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157 | min = capture.form.fmt.pix.width * 2;
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158 | if (capture.form.fmt.pix.bytesperline < min) {
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159 | capture.form.fmt.pix.bytesperline = min;
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160 | }
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161 |
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162 | min = capture.form.fmt.pix.bytesperline * capture.form.fmt.pix.height;
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163 | if (capture.form.fmt.pix.sizeimage < min) {
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164 | capture.form.fmt.pix.sizeimage = min;
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165 | }
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166 |
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167 | return 1;
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168 | }
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169 |
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170 | int V4LCamera::setVideoSize(int width, int height,unsigned long colorspace) {
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171 |
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172 | CLEAR (capture.crop);
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173 | capture.crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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174 | capture.crop.c.left = 0;
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175 | capture.crop.c.top = 0;
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176 | capture.crop.c.height = height*24;
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177 | capture.crop.c.width = width*24;
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178 |
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179 | /* set the crop area, but don't exit if the device don't support croping */
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180 | xioctl (device, VIDIOC_S_CROP, &capture.crop);
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181 |
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182 | CLEAR (capture.form);
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183 | capture.form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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184 |
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185 | /* read the current setting */
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186 | xioctl (device, VIDIOC_G_FMT, &capture.form);
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187 |
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188 | /* set the values we want to change */
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189 | capture.form.fmt.pix.width = width;
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190 | capture.form.fmt.pix.height = height;
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191 | capture.form.fmt.win.chromakey = 0;
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192 | capture.form.fmt.win.field = V4L2_FIELD_ANY;
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193 | capture.form.fmt.win.clips = 0;
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194 | capture.form.fmt.win.clipcount = 0;
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195 | capture.form.fmt.pix.field = V4L2_FIELD_ANY;
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196 | capture.form.fmt.pix.pixelformat = colorspace;
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197 |
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198 | /* ask the device to change the size*/
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199 | if (-1 == xioctl (device, VIDIOC_S_FMT, &capture.form)) {
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200 | Thread::Err("Could not set specifics of capture window.\n");
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201 | return -1;
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202 | }
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203 |
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204 | /* Get window info again, to get the real value */
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205 | if (-1 == xioctl (device, VIDIOC_G_FMT, &capture.form)) {
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206 | Thread::Err("Could not obtain specifics of capture window.\n");
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207 | return -1;
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208 | }
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209 | return 0;
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210 |
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211 | }
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212 |
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213 | /*
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214 | V4LCamera::V4LCamera(string name,
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215 | uint8_t camera_index, uint16_t width, uint16_t height,
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216 | Image::Type::Format format, uint8_t priority)
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217 | : Thread(getFrameworkManager(), name, priority),
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218 | Camera(name, width, height, format) {
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219 |
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220 | string deviceName="/dev/video"+std::to_string(camera_index);
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221 | device = open(deviceName.c_str(), O_RDWR | O_NONBLOCK);
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222 | if (device == -1) {
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223 | Thread::Err("Cannot open %s\n",deviceName.c_str());
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224 | } else {
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225 | Printf("V4LCamera %s, opened %s\n",name.c_str(),deviceName.c_str());
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226 | }
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227 |
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228 | struct v4l2_capability cap;
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229 | memset(&cap, 0, sizeof (v4l2_capability));
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230 | if (xioctl (device, VIDIOC_QUERYCAP, &cap)==-1) {
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231 | Thread::Err("VIDIOC_QUERYCAP xioctl\n");
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232 | }
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233 | if ((cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
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234 | Thread::Err("device is unable to capture video memory.\n");
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235 | }
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236 |
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237 | //get v4l2_format
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238 | struct v4l2_format form;
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239 | form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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240 | if(xioctl (device, VIDIOC_G_FMT,&form)==-1) {
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241 | Thread::Err("VIDIOC_G_FMT xioctl\n");
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242 | }
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243 |
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244 | //set width, height and format
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245 | if (format == Image::Type::Format::UYVY) {
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246 | form.fmt.pix.pixelformat = V4L2_PIX_FMT_UYVY;
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247 | } else if (format == Image::Type::Format::YUYV) {
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248 | form.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
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249 | } else {
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250 | Thread::Err("format not supported\n");
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251 | }
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252 |
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253 | form.fmt.pix.width = width;
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254 | form.fmt.pix.height = height;
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255 | form.fmt.win.chromakey = 0;
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256 | form.fmt.win.field = V4L2_FIELD_ANY;
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257 | form.fmt.win.clips = 0;
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258 | form.fmt.win.clipcount = 0;
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259 | form.fmt.pix.field = V4L2_FIELD_ANY;
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260 | if(xioctl (device, VIDIOC_S_FMT,&form)==-1) {
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261 | Thread::Err("VIDIOC_S_FMT xioctl\n");
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262 | }
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263 |
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264 | //alloc and queue bufs
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265 | AllocBuffers();
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266 | for (int bufferIndex = 0; bufferIndex < nbBuffers;++bufferIndex) {
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267 | QueueBuffer(bufferIndex);
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268 | }
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269 |
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270 | // enable the streaming
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271 | v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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272 | if (xioctl (device, VIDIOC_STREAMON,&type)==-1) {
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273 | Thread::Err("VIDIOC_STREAMON xioctl\n");
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274 | }
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275 |
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276 | // skip first frame. it is often bad -- this is unnotied in traditional apps,
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277 | // but could be fatal if bad jpeg is enabled
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278 | bufferIndex=-1;
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279 | GrabFrame();
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280 |
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281 | // ground station
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282 | gain = new DoubleSpinBox(GetGroupBox()->NewRow(), "gain:", 0, 1, 0.1);
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283 | exposure = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "exposure:", 0,1, 0.1);
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284 | bright = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "bright:", 0, 1, 0.1);
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285 | contrast = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "contrast:", 0,1, 0.1);
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286 | hue = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "hue:", 0, 1, 0.1);
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287 | sharpness = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "sharpness:", 0, 1, 0.1);
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288 | sat = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "saturation:", 0, 1,0.1);
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289 | autogain = new CheckBox(GetGroupBox()->NewRow(), "autogain:");
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290 | autoexposure = new CheckBox(GetGroupBox()->LastRowLastCol(), "autoexposure:");
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291 | awb = new CheckBox(GetGroupBox()->LastRowLastCol(), "awb:");
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292 | fps = new Label(GetGroupBox()->NewRow(), "fps");
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293 |
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294 | hasProblems=false;
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295 | }
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296 |
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297 | V4LCamera::~V4LCamera() {
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298 | for (int n_buffers = 0; n_buffers < nbBuffers; n_buffers++) {
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299 | FreeFunction((char*)buffers[n_buffers].start);
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300 | }
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301 | SafeStop();
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302 | Join();
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303 | }
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304 |
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305 | void V4LCamera::Run(void) {
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306 | Time cam_time, new_time, fpsNow, fpsPrev;
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307 | int fpsCounter = 0;
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308 |
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309 | // init image old
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310 | GrabFrame();
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311 | cam_time = GetTime();
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312 | fpsPrev = cam_time;
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313 |
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314 | while (!ToBeStopped()) {
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315 | //check for ps3eye deconnection in hds uav
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316 | if(hasProblems==false) {
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317 | struct v4l2_format form;
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318 | form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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319 | xioctl(device, VIDIOC_G_FMT,&form);
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320 | if(xioctl (device, VIDIOC_G_FMT,&form)<0) {
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321 | Thread::Warn("camera disconnected\n");
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322 | hasProblems=true;
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323 | }
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324 | }
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325 |
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326 | // fps counter
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327 | fpsCounter++;
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328 | if (GetTime() > (fpsPrev + 5 * (Time)1000000000)) {
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329 | // every 5 secondes
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330 | fpsNow = GetTime();
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331 | fps->SetText("fps: %.1f",
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332 | fpsCounter / ((float)(fpsNow - fpsPrev) / 1000000000.));
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333 | fpsCounter = 0;
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334 | fpsPrev = fpsNow;
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335 | }
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336 |
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337 | // cam properties
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338 | if (gain->ValueChanged() == true && autogain->Value() == false)
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339 | SetGain(gain->Value());
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340 | if (exposure->ValueChanged() == true && autoexposure->Value() == false)
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341 | SetExposure(exposure->Value());
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342 | if (bright->ValueChanged() == true)
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343 | SetBrightness(bright->Value());
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344 | if (sat->ValueChanged() == true)
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345 | SetSaturation(sat->Value());
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346 | if (contrast->ValueChanged() == true)
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347 | SetContrast(contrast->Value());
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348 | if (hue->ValueChanged() == true)
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349 | SetHue(hue->Value());
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350 | if (sharpness->ValueChanged() == true)
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351 | SetProperty(V4L2_CID_SHARPNESS, sharpness->Value());
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352 | if (autogain->ValueChanged() == true) {
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353 | if (autogain->Value() == true) {
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354 | gain->setEnabled(false);
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355 | } else {
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356 | gain->setEnabled(true);
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357 | SetGain(gain->Value());
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358 | }
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359 | SetAutoGain(autogain->Value());
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360 | }
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361 | if (autoexposure->ValueChanged() == true) {
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362 | if (autoexposure->Value() == true) {
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363 | exposure->setEnabled(false);
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364 | } else {
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365 | exposure->setEnabled(true);
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366 | SetExposure(exposure->Value());
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367 | }
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368 | SetAutoExposure(autoexposure->Value());
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369 | }
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370 | if (awb->ValueChanged() == true)
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371 | SetProperty(V4L2_CID_AUTO_WHITE_BALANCE, awb->Value());
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372 |
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373 | // get picture
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374 | GrabFrame();
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375 | new_time = GetTime();
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376 |
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377 | //check for ps3eye deconnection in hds uav
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378 | if(new_time-cam_time>100*1000*1000) {
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379 | Thread::Warn("delta trop grand\n");
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380 | hasProblems=true;
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381 | }
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382 |
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383 | output->GetMutex();
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384 | output->buffer=(char*)buffers[bufferIndex].start;
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385 | output->ReleaseMutex();
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386 |
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387 | output->SetDataTime(cam_time);
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388 | ProcessUpdate(output);
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389 |
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390 | cam_time = new_time;
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391 | }
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392 |
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393 | close(device);
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394 | }
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395 | */
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396 | int V4LCamera::allocBuffers() {
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397 | CLEAR (capture.req);
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398 |
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399 | unsigned int buffer_number = DEFAULT_V4L_BUFFERS;
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400 |
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401 | try_again:
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402 |
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403 | capture.req.count = buffer_number;
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404 | capture.req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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405 | capture.req.memory = V4L2_MEMORY_MMAP;
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406 |
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407 | if (-1 == xioctl (device, VIDIOC_REQBUFS, &capture.req)) {
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408 | if (EINVAL == errno) {
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409 | Thread::Warn("does not support memory mapping\n");
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410 | } else {
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411 | perror ("VIDIOC_REQBUFS");
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412 | }
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413 | /* free capture, and returns an error code */
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414 | return -1;
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415 | }
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416 |
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417 | if (capture.req.count < buffer_number) {
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---|
418 | if (buffer_number == 1) {
|
---|
419 | Thread::Warn("Insufficient buffer memory\n");
|
---|
420 | /* free capture, and returns an error code */
|
---|
421 | return -1;
|
---|
422 | } else {
|
---|
423 | buffer_number--;
|
---|
424 | Thread::Warn("Insufficient buffer memory -- decreaseing buffers\n");
|
---|
425 | goto try_again;
|
---|
426 | }
|
---|
427 | }
|
---|
428 |
|
---|
429 | for (n_buffers = 0; n_buffers < capture.req.count; ++n_buffers) {
|
---|
430 | struct v4l2_buffer buf;
|
---|
431 | CLEAR (buf);
|
---|
432 |
|
---|
433 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
434 | buf.memory = V4L2_MEMORY_MMAP;
|
---|
435 | buf.index = n_buffers;
|
---|
436 |
|
---|
437 | if (-1 == xioctl (device, VIDIOC_QUERYBUF, &buf)) {
|
---|
438 | Thread::Warn ("VIDIOC_QUERYBUF error\n");
|
---|
439 | /* free capture, and returns an error code */
|
---|
440 | return -1;
|
---|
441 | }
|
---|
442 |
|
---|
443 | capture.buffers[n_buffers].length = buf.length;
|
---|
444 | capture.buffers[n_buffers].start =
|
---|
445 | mmap (NULL /* start anywhere */,
|
---|
446 | buf.length,
|
---|
447 | PROT_READ | PROT_WRITE /* required */,
|
---|
448 | MAP_SHARED /* recommended */,
|
---|
449 | device, buf.m.offset);
|
---|
450 |
|
---|
451 | if (MAP_FAILED == capture.buffers[n_buffers].start) {
|
---|
452 | Thread::Warn("mmap error\n");
|
---|
453 | /* free capture, and returns an error code */
|
---|
454 | return -1;
|
---|
455 | }
|
---|
456 | }
|
---|
457 |
|
---|
458 | /* Set up Image data */
|
---|
459 | /*
|
---|
460 | cvInitImageHeader( &capture.frame,
|
---|
461 | cvSize( capture.captureWindow.width,
|
---|
462 | capture.captureWindow.height ),
|
---|
463 | IPL_DEPTH_8U, 3, IPL_ORIGIN_TL, 4 );*/
|
---|
464 | /* Allocate space for RGBA data */
|
---|
465 | capture.imageSize=capture.form.fmt.pix.width*capture.form.fmt.pix.height*2;
|
---|
466 | capture.imageData = AllocFunction(capture.imageSize);
|
---|
467 | Printf("cmem allocated %i at %x\n",capture.imageSize,capture.imageData);
|
---|
468 |
|
---|
469 | return 1;
|
---|
470 | };
|
---|
471 |
|
---|
472 |
|
---|
473 | int V4LCamera::cvGrabFrame(void) {
|
---|
474 | unsigned int count;
|
---|
475 |
|
---|
476 | count = 1;
|
---|
477 |
|
---|
478 | while (count-- > 0) {
|
---|
479 | for (;;) {
|
---|
480 | fd_set fds;
|
---|
481 | struct timeval tv;
|
---|
482 | int r;
|
---|
483 |
|
---|
484 | FD_ZERO (&fds);
|
---|
485 | FD_SET (device, &fds);
|
---|
486 |
|
---|
487 | /* Timeout. */
|
---|
488 | tv.tv_sec = 2;
|
---|
489 | tv.tv_usec = 0;
|
---|
490 |
|
---|
491 | r = select (device+1, &fds, NULL, NULL, &tv);
|
---|
492 |
|
---|
493 | if (-1 == r) {
|
---|
494 | if (EINTR == errno)
|
---|
495 | continue;
|
---|
496 |
|
---|
497 | perror ("select");
|
---|
498 | }
|
---|
499 |
|
---|
500 | if (0 == r) {
|
---|
501 | fprintf (stderr, "select timeout\n");
|
---|
502 |
|
---|
503 | /* end the infinite loop */
|
---|
504 | break;
|
---|
505 | }
|
---|
506 |
|
---|
507 | if (read_frame_v4l2 (&capture))
|
---|
508 | break;
|
---|
509 | }
|
---|
510 | }
|
---|
511 | return(1);
|
---|
512 | }
|
---|
513 |
|
---|
514 | int V4LCamera::read_frame_v4l2(CvCaptureCAM_V4L* capture) {
|
---|
515 | struct v4l2_buffer buf;
|
---|
516 |
|
---|
517 | CLEAR (buf);
|
---|
518 |
|
---|
519 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
520 | buf.memory = V4L2_MEMORY_MMAP;
|
---|
521 |
|
---|
522 | if (-1 == xioctl (device, VIDIOC_DQBUF, &buf)) {
|
---|
523 | switch (errno) {
|
---|
524 | case EAGAIN:
|
---|
525 | return 0;
|
---|
526 |
|
---|
527 | case EIO:
|
---|
528 | /* Could ignore EIO, see spec. */
|
---|
529 |
|
---|
530 | /* fall through */
|
---|
531 |
|
---|
532 | default:
|
---|
533 | /* display the error and stop processing */
|
---|
534 | perror ("VIDIOC_DQBUF");
|
---|
535 | return 1;
|
---|
536 | }
|
---|
537 | }
|
---|
538 |
|
---|
539 | if(buf.index >= capture->req.count) {
|
---|
540 | Thread::Err("buf.index >= capture->req.count\n");
|
---|
541 | }
|
---|
542 |
|
---|
543 |
|
---|
544 | capture->bufferIndex = buf.index;
|
---|
545 |
|
---|
546 |
|
---|
547 | if (-1 == xioctl (device, VIDIOC_QBUF, &buf))
|
---|
548 | perror ("VIDIOC_QBUF");
|
---|
549 |
|
---|
550 | return 1;
|
---|
551 | }
|
---|
552 |
|
---|
553 | void V4LCamera::Run(void) {
|
---|
554 | Time cam_time, new_time, fpsNow, fpsPrev;
|
---|
555 | //IplImage *img; // raw image
|
---|
556 | int fpsCounter = 0;
|
---|
557 |
|
---|
558 | // init image old
|
---|
559 | if (!cvGrabFrame()) {
|
---|
560 | Printf("Could not grab a frame\n");
|
---|
561 | }
|
---|
562 | cam_time = GetTime();
|
---|
563 | fpsPrev = cam_time;
|
---|
564 |
|
---|
565 | while (!ToBeStopped()) {
|
---|
566 | // fps counter
|
---|
567 | fpsCounter++;
|
---|
568 | if (fpsCounter == 100) {
|
---|
569 | fpsNow = GetTime();
|
---|
570 | fps->SetText("fps: %.1f",
|
---|
571 | fpsCounter / ((float)(fpsNow - fpsPrev) / 1000000000.));
|
---|
572 | fpsCounter = 0;
|
---|
573 | fpsPrev = fpsNow;
|
---|
574 | }
|
---|
575 |
|
---|
576 | // cam properties
|
---|
577 | if (gain->ValueChanged() == true && autogain->Value() == false)
|
---|
578 | SetGain(gain->Value());
|
---|
579 | if (exposure->ValueChanged() == true && autoexposure->Value() == false)
|
---|
580 | SetExposure(exposure->Value());
|
---|
581 | if (bright->ValueChanged() == true)
|
---|
582 | SetBrightness(bright->Value());
|
---|
583 | if (sat->ValueChanged() == true)
|
---|
584 | SetSaturation(sat->Value());
|
---|
585 | if (contrast->ValueChanged() == true)
|
---|
586 | SetContrast(contrast->Value());
|
---|
587 | if (hue->ValueChanged() == true)
|
---|
588 | SetHue(hue->Value());
|
---|
589 | //if (sharpness->ValueChanged() == true)
|
---|
590 | // cvSetCaptureProperty(capture, CV_CAP_PROP_SHARPNESS, sharpness->Value());
|
---|
591 | if (autogain->ValueChanged() == true) {
|
---|
592 | if (autogain->Value() == true) {
|
---|
593 | gain->setEnabled(false);
|
---|
594 | } else {
|
---|
595 | gain->setEnabled(true);
|
---|
596 | SetGain(gain->Value());
|
---|
597 | }
|
---|
598 | SetAutoGain(autogain->Value());
|
---|
599 | }
|
---|
600 | if (autoexposure->ValueChanged() == true) {
|
---|
601 | if (autoexposure->Value() == true) {
|
---|
602 | exposure->setEnabled(false);
|
---|
603 | } else {
|
---|
604 | exposure->setEnabled(true);
|
---|
605 | SetExposure(exposure->Value());
|
---|
606 | }
|
---|
607 | SetAutoExposure(autoexposure->Value());
|
---|
608 | }
|
---|
609 | //if (awb->ValueChanged() == true)
|
---|
610 | // cvSetCaptureProperty(capture, CV_CAP_PROP_AWB, awb->Value());
|
---|
611 |
|
---|
612 | // cam pictures
|
---|
613 | cvRetrieveRawFrame(&capture);
|
---|
614 | if (!cvGrabFrame()) {
|
---|
615 | Printf("Could not grab a frame\n");
|
---|
616 | }
|
---|
617 | new_time = GetTime();
|
---|
618 |
|
---|
619 | //check for ps3eye deconnection in hds uav
|
---|
620 | if(new_time-cam_time>100*1000*1000) {
|
---|
621 | Thread::Warn("delta trop grand\n");
|
---|
622 | hasProblems=true;
|
---|
623 | }
|
---|
624 |
|
---|
625 | output->GetMutex();
|
---|
626 |
|
---|
627 | output->buffer=capture.imageData;
|
---|
628 | output->ReleaseMutex();
|
---|
629 |
|
---|
630 | output->SetDataTime(cam_time);
|
---|
631 | ProcessUpdate(output);
|
---|
632 | cam_time = new_time;
|
---|
633 | }
|
---|
634 |
|
---|
635 | //cvReleaseCapture(&capture);
|
---|
636 | }
|
---|
637 |
|
---|
638 | void V4LCamera::cvRetrieveRawFrame( CvCaptureCAM_V4L* capture) {
|
---|
639 |
|
---|
640 |
|
---|
641 |
|
---|
642 |
|
---|
643 | /* Now get what has already been captured as a IplImage return */
|
---|
644 |
|
---|
645 | /* First, reallocate imageData if the frame size changed */
|
---|
646 |
|
---|
647 |
|
---|
648 | /*
|
---|
649 | if(((unsigned long)capture->frame.width != capture->form.fmt.pix.width)
|
---|
650 | || ((unsigned long)capture->frame.height != capture->form.fmt.pix.height)) {
|
---|
651 | if (PALETTE_YUYV == 1 || PALETTE_UYVY == 1)
|
---|
652 | {
|
---|
653 | cvFree(&capture->frame.imageData);
|
---|
654 | cvInitImageHeader( &capture->frame,
|
---|
655 | cvSize( capture->form.fmt.pix.width,
|
---|
656 | capture->form.fmt.pix.height ),
|
---|
657 | IPL_DEPTH_8U,2, IPL_ORIGIN_TL, 4 );
|
---|
658 | capture->frame.imageData = (char *)cvAlloc(capture->frame.imageSize);
|
---|
659 | }else
|
---|
660 | {
|
---|
661 | fprintf( stderr,
|
---|
662 | "HIGHGUI ERROR: V4L: raw output not supported for this palette\n");
|
---|
663 | }
|
---|
664 |
|
---|
665 | }
|
---|
666 |
|
---|
667 | */
|
---|
668 |
|
---|
669 |
|
---|
670 |
|
---|
671 | memcpy((char *)capture->imageData,(char *)capture->buffers[capture->bufferIndex].start,capture->imageSize);
|
---|
672 |
|
---|
673 |
|
---|
674 |
|
---|
675 |
|
---|
676 | }
|
---|
677 | int V4LCamera::QueueBuffer(int index) {
|
---|
678 | struct v4l2_buffer buf;
|
---|
679 | if(index>=0 && index<nbBuffers) {
|
---|
680 | memset(&buf, 0, sizeof (v4l2_buffer));
|
---|
681 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
682 | buf.memory = V4L2_MEMORY_USERPTR;//V4L2_MEMORY_MMAP;
|
---|
683 | buf.index = (unsigned long)index;
|
---|
684 | buf.m.userptr=(unsigned long)(buffers[index].start);
|
---|
685 | buf.length=buffers[index].length;
|
---|
686 |
|
---|
687 | int ret=xioctl (device, VIDIOC_QBUF, &buf);
|
---|
688 | if (ret==-1) {
|
---|
689 | Thread::Err("VIDIOC_QBUF xioctl %s\n",strerror(-ret));
|
---|
690 | return -1;
|
---|
691 | }
|
---|
692 | }
|
---|
693 | return 0;
|
---|
694 | }
|
---|
695 |
|
---|
696 | int V4LCamera::GrabFrame(void) {
|
---|
697 | //queue previous buffer
|
---|
698 | if(QueueBuffer(bufferIndex)<0) return -1;
|
---|
699 |
|
---|
700 | fd_set fds;
|
---|
701 | struct timeval tv;
|
---|
702 | FD_ZERO (&fds);
|
---|
703 | FD_SET (device, &fds);
|
---|
704 |
|
---|
705 | tv.tv_sec = 0;
|
---|
706 | tv.tv_usec = 100000;
|
---|
707 |
|
---|
708 | int r = select (device+1, &fds, NULL, NULL, &tv);
|
---|
709 |
|
---|
710 | if (-1 == r) {
|
---|
711 | char errorMsg[256];
|
---|
712 | Thread::Err("select (%s)\n", strerror_r(-r, errorMsg, sizeof(errorMsg)));
|
---|
713 | return -1;
|
---|
714 | }
|
---|
715 |
|
---|
716 | if (0 == r) {
|
---|
717 | Thread::Err("select timeout\n");
|
---|
718 | return -1;
|
---|
719 | }
|
---|
720 |
|
---|
721 | struct v4l2_buffer buf;
|
---|
722 | memset(&buf, 0, sizeof (v4l2_buffer));
|
---|
723 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
724 | buf.memory = V4L2_MEMORY_USERPTR;//V4L2_MEMORY_MMAP;
|
---|
725 |
|
---|
726 | //get last captured image
|
---|
727 | int prevDQbuf=-1;
|
---|
728 | for(int i=0;i<4;i++) {
|
---|
729 | if (xioctl (device, VIDIOC_DQBUF, &buf)==-1) {
|
---|
730 | if (errno==EAGAIN) {
|
---|
731 | break;
|
---|
732 | } else {
|
---|
733 | Thread::Err("VIDIOC_DQBUF xioctl\n");
|
---|
734 | return -1;
|
---|
735 | }
|
---|
736 | } else {
|
---|
737 | if(prevDQbuf!=-1) {
|
---|
738 | QueueBuffer(prevDQbuf);
|
---|
739 | }
|
---|
740 | for (int n_buffers = 0; n_buffers < nbBuffers; n_buffers++) {
|
---|
741 | if((void*)(buf.m.userptr)==buffers[n_buffers].start) {
|
---|
742 | prevDQbuf=n_buffers;
|
---|
743 | bufferIndex=n_buffers;
|
---|
744 | break;
|
---|
745 | }
|
---|
746 | }
|
---|
747 | }
|
---|
748 | }
|
---|
749 |
|
---|
750 | return 1;
|
---|
751 | }
|
---|
752 |
|
---|
753 | int V4LCamera::AllocBuffers(void) {
|
---|
754 | struct v4l2_requestbuffers requestbuffers;
|
---|
755 | memset(&requestbuffers, 0, sizeof (v4l2_requestbuffers));
|
---|
756 |
|
---|
757 | unsigned int buffer_number = DEFAULT_V4L_BUFFERS;
|
---|
758 |
|
---|
759 | try_again:
|
---|
760 |
|
---|
761 | requestbuffers.count = buffer_number;
|
---|
762 | requestbuffers.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
763 | requestbuffers.memory = V4L2_MEMORY_USERPTR;//V4L2_MEMORY_MMAP;
|
---|
764 |
|
---|
765 | if (xioctl (device, VIDIOC_REQBUFS, &requestbuffers)==-1) {
|
---|
766 | if (errno==EINVAL) {
|
---|
767 | Thread::Err("VIDIOC_REQBUFS user memory not supported\n");
|
---|
768 | } else {
|
---|
769 | Thread::Err ("VIDIOC_REQBUFS xioctl\n");
|
---|
770 | }
|
---|
771 | return -1;
|
---|
772 | }
|
---|
773 |
|
---|
774 | nbBuffers=DEFAULT_V4L_BUFFERS;
|
---|
775 | for (int n_buffers = 0; n_buffers < nbBuffers; n_buffers++) {
|
---|
776 | buffers[n_buffers].length = output->GetDataType().GetSize();
|
---|
777 | buffers[n_buffers].start =AllocFunction(output->GetDataType().GetSize());
|
---|
778 | }
|
---|
779 |
|
---|
780 | return 1;
|
---|
781 | };
|
---|
782 |
|
---|
783 | bool V4LCamera::HasProblems(void) {
|
---|
784 | return hasProblems;
|
---|
785 | }
|
---|
786 |
|
---|
787 | void V4LCamera::SetAutoGain(bool value) {
|
---|
788 | SetProperty(V4L2_CID_AUTOGAIN, value);
|
---|
789 | }
|
---|
790 |
|
---|
791 | void V4LCamera::SetAutoExposure(bool value) {
|
---|
792 | Thread::Warn("not implemented\n");
|
---|
793 | }
|
---|
794 |
|
---|
795 | void V4LCamera::SetGain(float value) {
|
---|
796 | SetProperty(V4L2_CID_GAIN, value);
|
---|
797 | }
|
---|
798 |
|
---|
799 | void V4LCamera::SetExposure(float value) {
|
---|
800 | SetProperty(V4L2_CID_EXPOSURE, value);
|
---|
801 | }
|
---|
802 |
|
---|
803 | void V4LCamera::SetBrightness(float value) {
|
---|
804 | SetProperty(V4L2_CID_BRIGHTNESS, value);
|
---|
805 | }
|
---|
806 |
|
---|
807 | void V4LCamera::SetSaturation(float value) {
|
---|
808 | SetProperty(V4L2_CID_SATURATION, value);
|
---|
809 | }
|
---|
810 |
|
---|
811 | void V4LCamera::SetHue(float value) {
|
---|
812 | SetProperty(V4L2_CID_HUE, value);
|
---|
813 | }
|
---|
814 |
|
---|
815 | void V4LCamera::SetContrast(float value) {
|
---|
816 | SetProperty(V4L2_CID_CONTRAST, value);
|
---|
817 | }
|
---|
818 |
|
---|
819 | float V4LCamera::GetProperty(int property) {
|
---|
820 | //get min and max value
|
---|
821 | struct v4l2_queryctrl queryctrl;
|
---|
822 | queryctrl.id = property;
|
---|
823 | if(xioctl (device, VIDIOC_QUERYCTRL,&queryctrl)==-1) return -1;
|
---|
824 | int min = queryctrl.minimum;
|
---|
825 | int max = queryctrl.maximum;
|
---|
826 |
|
---|
827 | //set value
|
---|
828 | struct v4l2_control control;
|
---|
829 | memset (&control, 0, sizeof (v4l2_control));
|
---|
830 | control.id = property;
|
---|
831 | if(xioctl (device,VIDIOC_G_CTRL, &control)==-1) return -1;
|
---|
832 |
|
---|
833 | return ((float)control.value - min + 1) / (max - min);
|
---|
834 | }
|
---|
835 |
|
---|
836 | void V4LCamera::SetProperty(int property,float value) {
|
---|
837 | //get min and max value
|
---|
838 | struct v4l2_queryctrl queryctrl;
|
---|
839 | queryctrl.id = property;
|
---|
840 | if(xioctl (device, VIDIOC_QUERYCTRL,&queryctrl)==-1) {
|
---|
841 | Thread::Warn("prop %x, VIDIOC_QUERYCTRL failed\n",property);
|
---|
842 | }
|
---|
843 | int min = queryctrl.minimum;
|
---|
844 | int max = queryctrl.maximum;
|
---|
845 |
|
---|
846 | //set value
|
---|
847 | struct v4l2_control control;
|
---|
848 | memset (&control, 0, sizeof (v4l2_control));
|
---|
849 | control.id = property;
|
---|
850 | control.value = (int)(value * (max - min) + min);
|
---|
851 | if(xioctl (device,VIDIOC_S_CTRL, &control)==-1) {
|
---|
852 | Thread::Warn("prop %x, VIDIOC_S_CTRL failed\n",property);
|
---|
853 | }
|
---|
854 | }
|
---|
855 |
|
---|
856 | int V4LCamera::xioctl( int fd, int request, void *arg) {
|
---|
857 | int r;
|
---|
858 |
|
---|
859 | do r = ioctl (fd, request, arg);
|
---|
860 | while (-1 == r && EINTR == errno);
|
---|
861 |
|
---|
862 | return r;
|
---|
863 | }
|
---|
864 |
|
---|
865 | } // end namespace sensor
|
---|
866 | } // end namespace flair
|
---|