| 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 | /*!
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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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| 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 |
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| 22 | #define DEFAULT_V4L_BUFFERS 4
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| 23 |
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| 24 | namespace flair {
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| 25 | namespace core {
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| 26 | class Image;
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| 27 | }
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| 28 | namespace gui {
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| 29 | class DoubleSpinBox;
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| 30 | class CheckBox;
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| 31 | class Label;
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| 32 | }
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| 33 | }
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| 34 |
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| 35 | namespace flair {
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| 36 | namespace sensor {
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| 37 | /*! \class V4LCamera
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| 38 | *
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| 39 | * \brief Base class for V4l camera
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| 40 | */
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| 41 | class V4LCamera : public core::Thread, public Camera {
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| 42 | public:
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| 43 | /*!
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| 44 | * \brief Constructor
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| 45 | *
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| 46 | * Construct a Camera.
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| 47 | * It will be child of the FrameworkManager.
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| 48 | *
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| 49 | * \param name name
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| 50 | * \param camera_index camera index
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| 51 | * \param width width
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| 52 | * \param height height
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| 53 | * \param format image format
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| 54 | * \param priority priority of the Thread
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| 55 | */
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| 56 | V4LCamera(std::string name,
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| 57 | uint8_t camera_index, uint16_t width, uint16_t height,
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| 58 | core::Image::Type::Format format, uint8_t priority);
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| 59 |
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| 60 | /*!
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| 61 | * \brief Destructor
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| 62 | *
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| 63 | */
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| 64 | ~V4LCamera();
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| 65 |
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| 66 | //hack for ps3eye in hds uav
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| 67 | //TODO: put this in ps3eye class
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| 68 | bool HasProblems(void);
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| 69 |
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| 70 | protected:
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| 71 | /*!
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| 72 | * \brief Set Gain
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| 73 | *
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| 74 | * \param value value between 0 and 1
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| 75 | */
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| 76 | virtual void SetGain(float value);
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| 77 |
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| 78 | /*!
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| 79 | * \brief Set Auto Gain
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| 80 | *
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| 81 | * \param value value
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| 82 | */
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| 83 | virtual void SetAutoGain(bool value);
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| 84 |
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| 85 | /*!
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| 86 | * \brief Set Exposure
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| 87 | *
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| 88 | * \param value value between 0 and 1
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| 89 | */
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| 90 | virtual void SetExposure(float value);
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| 91 |
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| 92 | /*!
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| 93 | * \brief Set Auto Exposure
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| 94 | *
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| 95 | * \param value value
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| 96 | */
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| 97 | virtual void SetAutoExposure(bool value);
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| 98 |
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| 99 | /*!
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| 100 | * \brief Set Brightness
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| 101 | *
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| 102 | * \param value value between 0 and 1
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| 103 | */
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| 104 | virtual void SetBrightness(float value);
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| 105 |
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| 106 | /*!
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| 107 | * \brief Set Saturation
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| 108 | *
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| 109 | * \param value value between 0 and 1
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| 110 | */
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| 111 | virtual void SetSaturation(float value);
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| 112 |
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| 113 | /*!
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| 114 | * \brief Set Hue
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| 115 | *
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| 116 | * \param value value between 0 and 1
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| 117 | */
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| 118 | virtual void SetHue(float value);
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| 119 |
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| 120 | /*!
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| 121 | * \brief Set Contrast
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| 122 | *
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| 123 | * \param value value between 0 and 1
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| 124 | */
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| 125 | virtual void SetContrast(float value);
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| 126 |
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| 127 | private:
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| 128 | /*!
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| 129 | * \brief Update using provided datas
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| 130 | *
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| 131 | * Reimplemented from IODevice.
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| 132 | *
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| 133 | * \param data data from the parent to process
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| 134 | */
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| 135 | void UpdateFrom(const core::io_data *data){};
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| 136 |
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| 137 | /*!
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| 138 | * \brief Run function
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| 139 | *
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| 140 | * Reimplemented from Thread.
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| 141 | *
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| 142 | */
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| 143 | void Run(void);
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| 144 |
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| 145 | gui::Tab *sensor_tab;
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| 146 | gui::DoubleSpinBox *bright, *exposure, *gain, *contrast, *hue, *sharpness,*sat;
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| 147 | gui::CheckBox *autogain, *awb, *autoexposure;
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| 148 | gui::Label *fps;
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| 149 |
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| 150 | int device;
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| 151 | bool hasProblems;
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| 152 | void* buffers[DEFAULT_V4L_BUFFERS];
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| 153 | int nbBuffers;
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| 154 | int bufferIndex;
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| 155 | char *imageData;
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| 156 |
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| 157 | int init(int width, int height,unsigned long colorspace);
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| 158 | static int xioctl( int fd, int request, void *arg);
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| 159 | void SetProperty(int property,float value);
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| 160 | float GetProperty(int property);
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| 161 | int GrabFrame(void);
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| 162 | int AllocBuffers(void);
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| 163 | int allocBuffers (void);
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| 164 | int QueueBuffer(int index);
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| 165 |
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| 166 |
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| 167 | int cvGrabFrame(void);
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| 168 | int read_frame_v4l2(void);
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| 169 | void cvRetrieveRawFrame(void);
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| 170 |
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| 171 |
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| 172 | };
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| 173 | } // end namespace sensor
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| 174 | } // end namespace flair
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| 175 | #endif // V4LCamera_H
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