[3] | 1 | // %flair:license{
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[15] | 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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[3] | 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file V4LCamera.h
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| 7 | * \brief Base class for V4l camera
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2014/07/17
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef V4LCamera_H
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| 14 | #define V4LCamera_H
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| 15 |
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| 16 | #include <Thread.h>
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| 17 | #include "Camera.h"
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[330] | 18 | //todo use pimpl and remove this
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| 19 | #include <linux/videodev2.h>
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| 20 | #include <libv4l1-videodev.h>
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| 21 | #define MAX_V4L_BUFFERS 10
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[3] | 22 |
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[15] | 23 | namespace flair {
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| 24 | namespace core {
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[338] | 25 | class Image;
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[3] | 26 | }
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[15] | 27 | namespace gui {
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| 28 | class DoubleSpinBox;
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| 29 | class CheckBox;
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| 30 | class Label;
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| 31 | }
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| 32 | }
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[3] | 33 |
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[15] | 34 | namespace flair {
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| 35 | namespace sensor {
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| 36 | /*! \class V4LCamera
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| 37 | *
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| 38 | * \brief Base class for V4l camera
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| 39 | */
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| 40 | class V4LCamera : public core::Thread, public Camera {
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| 41 | public:
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| 42 | /*!
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| 43 | * \brief Constructor
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| 44 | *
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| 45 | * Construct a Camera.
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[137] | 46 | * It will be child of the FrameworkManager.
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[15] | 47 | *
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| 48 | * \param name name
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| 49 | * \param camera_index camera index
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| 50 | * \param width width
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| 51 | * \param height height
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| 52 | * \param format image format
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| 53 | * \param priority priority of the Thread
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| 54 | */
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[137] | 55 | V4LCamera(std::string name,
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[15] | 56 | uint8_t camera_index, uint16_t width, uint16_t height,
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[338] | 57 | core::Image::Type::Format format, uint8_t priority);
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[3] | 58 |
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[15] | 59 | /*!
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| 60 | * \brief Destructor
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| 61 | *
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| 62 | */
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| 63 | ~V4LCamera();
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[165] | 64 |
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| 65 | //hack for ps3eye in hds uav
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| 66 | //TODO: put this in ps3eye class
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| 67 | bool HasProblems(void);
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[3] | 68 |
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[15] | 69 | protected:
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| 70 | /*!
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| 71 | * \brief Set Gain
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| 72 | *
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| 73 | * \param value value between 0 and 1
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| 74 | */
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| 75 | virtual void SetGain(float value);
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[3] | 76 |
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[15] | 77 | /*!
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| 78 | * \brief Set Auto Gain
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| 79 | *
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| 80 | * \param value value
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| 81 | */
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| 82 | virtual void SetAutoGain(bool value);
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[3] | 83 |
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[15] | 84 | /*!
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| 85 | * \brief Set Exposure
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| 86 | *
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| 87 | * \param value value between 0 and 1
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| 88 | */
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| 89 | virtual void SetExposure(float value);
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[3] | 90 |
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[15] | 91 | /*!
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| 92 | * \brief Set Auto Exposure
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| 93 | *
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| 94 | * \param value value
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| 95 | */
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| 96 | virtual void SetAutoExposure(bool value);
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[3] | 97 |
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[15] | 98 | /*!
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| 99 | * \brief Set Brightness
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| 100 | *
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| 101 | * \param value value between 0 and 1
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| 102 | */
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| 103 | virtual void SetBrightness(float value);
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[3] | 104 |
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[15] | 105 | /*!
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| 106 | * \brief Set Saturation
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| 107 | *
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| 108 | * \param value value between 0 and 1
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| 109 | */
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| 110 | virtual void SetSaturation(float value);
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[3] | 111 |
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[15] | 112 | /*!
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| 113 | * \brief Set Hue
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| 114 | *
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| 115 | * \param value value between 0 and 1
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| 116 | */
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| 117 | virtual void SetHue(float value);
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[3] | 118 |
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[15] | 119 | /*!
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| 120 | * \brief Set Contrast
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| 121 | *
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| 122 | * \param value value between 0 and 1
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| 123 | */
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| 124 | virtual void SetContrast(float value);
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[165] | 125 |
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[15] | 126 | private:
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| 127 | /*!
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| 128 | * \brief Update using provided datas
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| 129 | *
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| 130 | * Reimplemented from IODevice.
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| 131 | *
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| 132 | * \param data data from the parent to process
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| 133 | */
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| 134 | void UpdateFrom(const core::io_data *data){};
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[3] | 135 |
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[15] | 136 | /*!
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| 137 | * \brief Run function
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| 138 | *
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| 139 | * Reimplemented from Thread.
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| 140 | *
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| 141 | */
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| 142 | void Run(void);
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[330] | 143 |
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| 144 | int device;
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[15] | 145 | gui::Tab *sensor_tab;
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[165] | 146 | gui::DoubleSpinBox *bright, *exposure, *gain, *contrast, *hue, *sharpness,*sat;
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[15] | 147 | gui::CheckBox *autogain, *awb, *autoexposure;
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| 148 | gui::Label *fps;
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[165] | 149 | bool hasProblems;
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[330] | 150 | static int xioctl( int fd, int request, void *arg);
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| 151 | void SetProperty(int property,float value);
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| 152 | float GetProperty(int property);
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[338] | 153 | int GrabFrame(void);
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[330] | 154 | int AllocBuffers(void);
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[338] | 155 | int QueueBuffer(int index);
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[330] | 156 | struct video_mmap *mmaps;
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| 157 | int bufferIndex;
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| 158 | struct buffer {
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| 159 | void * start;
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| 160 | size_t length;
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| 161 | };
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[338] | 162 | buffer buffers[MAX_V4L_BUFFERS];
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[330] | 163 | char* frame;
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[338] | 164 | int nbBuffers;
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[340] | 165 |
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| 166 | typedef struct CvCaptureCAM_V4L
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| 167 | {
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| 168 | int deviceHandle;
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| 169 | int bufferIndex;
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| 170 | int FirstCapture;
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| 171 | struct video_capability capability;
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| 172 | struct video_window captureWindow;
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| 173 | struct video_picture imageProperties;
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| 174 | struct video_mbuf memoryBuffer;
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| 175 | struct video_mmap *mmaps;
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| 176 | char *memoryMap;
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| 177 | //IplImage frame;
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| 178 | char *imageData;
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| 179 | int imageSize;
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| 180 |
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| 181 | /* V4L2 variables */
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| 182 | buffer buffers[MAX_V4L_BUFFERS + 1];
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| 183 | struct v4l2_capability cap;
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| 184 | struct v4l2_input inp;
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| 185 | struct v4l2_format form;
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| 186 | struct v4l2_crop crop;
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| 187 | struct v4l2_cropcap cropcap;
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| 188 | struct v4l2_requestbuffers req;
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| 189 | struct v4l2_jpegcompression compr;
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| 190 | struct v4l2_control control;
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| 191 | enum v4l2_buf_type type;
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| 192 | struct v4l2_queryctrl queryctrl;
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| 193 | struct v4l2_querymenu querymenu;
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| 194 |
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| 195 | /* V4L2 control variables */
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| 196 | int v4l2_brightness, v4l2_brightness_min, v4l2_brightness_max;
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| 197 | int v4l2_contrast, v4l2_contrast_min, v4l2_contrast_max;
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| 198 | int v4l2_saturation, v4l2_saturation_min, v4l2_saturation_max;
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| 199 | int v4l2_sharpness, v4l2_sharpness_min, v4l2_sharpness_max;
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| 200 | int v4l2_exposure, v4l2_exposure_min, v4l2_exposure_max;
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| 201 | int v4l2_hue, v4l2_hue_min, v4l2_hue_max;
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| 202 | int v4l2_gain, v4l2_gain_min, v4l2_gain_max;
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| 203 | int v4l2_autogain, v4l2_autogain_min, v4l2_autogain_max;
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| 204 | int v4l2_awb, v4l2_awb_min, v4l2_awb_max;
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| 205 |
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| 206 |
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| 207 |
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| 208 | } CvCaptureCAM_V4L;
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| 209 |
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| 210 | CvCaptureCAM_V4L capture;
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| 211 | int _capture_V4L2 (CvCaptureCAM_V4L *capture);
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| 212 | int try_init_v4l2(CvCaptureCAM_V4L* capture);
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| 213 | int autosetup_capture_mode_v4l2(CvCaptureCAM_V4L* capture);
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| 214 | int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h);
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| 215 | int try_palette_v4l2(CvCaptureCAM_V4L* capture, unsigned long colorspace);
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| 216 | int PALETTE_YUYV,PALETTE_UYVY;
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| 217 | int icvSetPropertyCAM_V4L( CvCaptureCAM_V4L* capture,int property_id, double value );
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| 218 | int icvSetControl (CvCaptureCAM_V4L* capture,int property_id, double value) ;
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| 219 | int cvGrabFrame(CvCaptureCAM_V4L* capture);
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| 220 | int v4l2_alloc_buffers (CvCaptureCAM_V4L *capture, char *deviceName);
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| 221 | void mainloop_v4l2(CvCaptureCAM_V4L* capture);
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| 222 | int read_frame_v4l2(CvCaptureCAM_V4L* capture);
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| 223 | void cvRetrieveRawFrame( CvCaptureCAM_V4L* capture);
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| 224 | unsigned int n_buffers ;
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[15] | 225 | };
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[3] | 226 | } // end namespace sensor
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| 227 | } // end namespace flair
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| 228 | #endif // V4LCamera_H
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