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 "V4LCamera_impl.h"
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20 | #include <Image.h>
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21 | #include <FrameworkManager.h>
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22 |
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23 | using std::string;
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24 | using namespace flair::core;
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25 |
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26 | namespace flair {
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27 | namespace sensor {
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28 |
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29 | V4LCamera::V4LCamera(string name,uint8_t camera_index, uint16_t width, uint16_t height,
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30 | Image::Type::Format format, uint8_t priority)
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31 | : Thread(getFrameworkManager(), name, priority),
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32 | Camera(name, width, height, format) {
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33 |
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34 | pimpl_=new V4LCamera_impl(this,name,camera_index,width,height,format);
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35 | }
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36 |
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37 | V4LCamera::~V4LCamera() {
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38 | SafeStop();
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39 | Join();
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40 | delete pimpl_;
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41 | }
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42 |
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43 | void V4LCamera::Run(void) {
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44 | pimpl_->Run();
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45 | /*
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46 | Time cam_time, new_time, fpsNow, fpsPrev;
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47 | int fpsCounter = 0;
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48 |
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49 | cam_time = GetTime();
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50 | fpsPrev = cam_time;
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51 |
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52 | while (!ToBeStopped()) {
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53 | // fps counter
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54 | fpsCounter++;
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55 | if (fpsCounter == 100) {
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56 | fpsNow = GetTime();
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57 | fps->SetText("fps: %.1f",
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58 | fpsCounter / ((float)(fpsNow - fpsPrev) / 1000000000.));
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59 | fpsCounter = 0;
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60 | fpsPrev = fpsNow;
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61 | }
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62 |
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63 | // cam properties
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64 | if (gain->ValueChanged() == true && autogain->Value() == false)
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65 | SetGain(gain->Value());
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66 | if (exposure->ValueChanged() == true && autoexposure->Value() == false)
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67 | SetExposure(exposure->Value());
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68 | if (bright->ValueChanged() == true)
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69 | SetBrightness(bright->Value());
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70 | if (sat->ValueChanged() == true)
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71 | SetSaturation(sat->Value());
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72 | if (contrast->ValueChanged() == true)
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73 | SetContrast(contrast->Value());
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74 | if (hue->ValueChanged() == true)
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75 | SetHue(hue->Value());
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76 | //if (sharpness->ValueChanged() == true)
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77 | // cvSetCaptureProperty(capture, CV_CAP_PROP_SHARPNESS, sharpness->Value());
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78 | if (autogain->ValueChanged() == true) {
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79 | if (autogain->Value() == true) {
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80 | gain->setEnabled(false);
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81 | } else {
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82 | gain->setEnabled(true);
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83 | SetGain(gain->Value());
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84 | }
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85 | SetAutoGain(autogain->Value());
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86 | }
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87 | if (autoexposure->ValueChanged() == true) {
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88 | if (autoexposure->Value() == true) {
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89 | exposure->setEnabled(false);
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90 | } else {
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91 | exposure->setEnabled(true);
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92 | SetExposure(exposure->Value());
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93 | }
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94 | SetAutoExposure(autoexposure->Value());
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95 | }
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96 | //if (awb->ValueChanged() == true)
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97 | // cvSetCaptureProperty(capture, CV_CAP_PROP_AWB, awb->Value());
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98 |
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99 | // cam pictures
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100 | if (!GrabFrame()) {
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101 | Printf("Could not grab a frame\n");
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102 | }
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103 |
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104 | //check for ps3eye deconnection in hds uav
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105 | new_time = GetTime();
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106 | if(new_time-cam_time>100*1000*1000) {
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107 | Thread::Warn("delta t trop grand\n");
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108 | hasProblems=true;
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109 | }
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110 |
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111 | //select buffer
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112 | if(useMemoryUsrPtr) {//buffers are already in CMEM
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113 | imageData=(char*)buffers[dQueuedBuffer.index];
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114 | //dequeue it latter (buffer used by ProcessUpdate)
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115 | } else {//copy to CMEM allocated buffer
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116 | memcpy(imageData,(char *)buffers[dQueuedBuffer.index],output->GetDataType().GetSize());
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117 | QueueBuffer(&dQueuedBuffer);//we can do it right now
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118 | }
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119 |
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120 | output->GetMutex();
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121 | output->buffer=imageData;
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122 | output->ReleaseMutex();
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123 |
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124 | output->SetDataTime(cam_time);
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125 | ProcessUpdate(output);
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126 | cam_time = new_time;
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127 |
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128 | if(useMemoryUsrPtr) {
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129 | QueueBuffer(&dQueuedBuffer);//now it is possible to dequeue
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130 | }
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131 | }
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132 | */
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133 | }
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134 |
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135 | bool V4LCamera::HasProblems(void) {
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136 | return pimpl_->hasProblems;
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137 | }
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138 |
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139 | void V4LCamera::SetAutoGain(bool value) {
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140 | pimpl_->SetAutoGain(value);
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141 | }
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142 |
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143 | void V4LCamera::SetAutoExposure(bool value) {
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144 | Thread::Warn("not implemented\n");
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145 | }
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146 |
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147 | void V4LCamera::SetGain(float value) {
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148 | pimpl_->SetGain(value);
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149 | }
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150 |
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151 | void V4LCamera::SetExposure(float value) {
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152 | pimpl_->SetExposure(value);
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153 | }
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154 |
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155 | void V4LCamera::SetBrightness(float value) {
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156 | pimpl_->SetBrightness(value);
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157 | }
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158 |
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159 | void V4LCamera::SetSaturation(float value) {
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160 | pimpl_->SetSaturation(value);
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161 | }
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162 |
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163 | void V4LCamera::SetHue(float value) {
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164 | pimpl_->SetHue(value);
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165 | }
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166 |
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167 | void V4LCamera::SetContrast(float value) {
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168 | pimpl_->SetContrast(value);
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169 | }
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170 |
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171 | } // end namespace sensor
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172 | } // end namespace flair
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