source: flair-src/trunk/lib/FlairSensorActuator/src/V4LCamera.h@ 347

Last change on this file since 347 was 347, checked in by Sanahuja Guillaume, 2 years ago

modif v4l

File size: 4.3 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5/*!
6 * \file V4LCamera.h
7 * \brief Base class for V4l camera
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/07/17
10 * \version 4.0
11 */
12
13#ifndef V4LCamera_H
14#define V4LCamera_H
15
16#include <Thread.h>
17#include "Camera.h"
18//todo use pimpl and remove this
19#include <linux/videodev2.h>
20#include <libv4l1-videodev.h>
21#define MAX_V4L_BUFFERS 10
22
23namespace flair {
24 namespace core {
25 class Image;
26 }
27 namespace gui {
28 class DoubleSpinBox;
29 class CheckBox;
30 class Label;
31 }
32}
33
34namespace flair {
35namespace sensor {
36/*! \class V4LCamera
37*
38* \brief Base class for V4l camera
39*/
40class V4LCamera : public core::Thread, public Camera {
41public:
42 /*!
43 * \brief Constructor
44 *
45 * Construct a Camera.
46 * It will be child of the FrameworkManager.
47 *
48 * \param name name
49 * \param camera_index camera index
50 * \param width width
51 * \param height height
52 * \param format image format
53 * \param priority priority of the Thread
54 */
55 V4LCamera(std::string name,
56 uint8_t camera_index, uint16_t width, uint16_t height,
57 core::Image::Type::Format format, uint8_t priority);
58
59 /*!
60 * \brief Destructor
61 *
62 */
63 ~V4LCamera();
64
65 //hack for ps3eye in hds uav
66 //TODO: put this in ps3eye class
67 bool HasProblems(void);
68
69protected:
70 /*!
71 * \brief Set Gain
72 *
73 * \param value value between 0 and 1
74 */
75 virtual void SetGain(float value);
76
77 /*!
78 * \brief Set Auto Gain
79 *
80 * \param value value
81 */
82 virtual void SetAutoGain(bool value);
83
84 /*!
85 * \brief Set Exposure
86 *
87 * \param value value between 0 and 1
88 */
89 virtual void SetExposure(float value);
90
91 /*!
92 * \brief Set Auto Exposure
93 *
94 * \param value value
95 */
96 virtual void SetAutoExposure(bool value);
97
98 /*!
99 * \brief Set Brightness
100 *
101 * \param value value between 0 and 1
102 */
103 virtual void SetBrightness(float value);
104
105 /*!
106 * \brief Set Saturation
107 *
108 * \param value value between 0 and 1
109 */
110 virtual void SetSaturation(float value);
111
112 /*!
113 * \brief Set Hue
114 *
115 * \param value value between 0 and 1
116 */
117 virtual void SetHue(float value);
118
119 /*!
120 * \brief Set Contrast
121 *
122 * \param value value between 0 and 1
123 */
124 virtual void SetContrast(float value);
125
126private:
127 /*!
128 * \brief Update using provided datas
129 *
130 * Reimplemented from IODevice.
131 *
132 * \param data data from the parent to process
133 */
134 void UpdateFrom(const core::io_data *data){};
135
136 /*!
137 * \brief Run function
138 *
139 * Reimplemented from Thread.
140 *
141 */
142 void Run(void);
143
144 int device;
145 gui::Tab *sensor_tab;
146 gui::DoubleSpinBox *bright, *exposure, *gain, *contrast, *hue, *sharpness,*sat;
147 gui::CheckBox *autogain, *awb, *autoexposure;
148 gui::Label *fps;
149 bool hasProblems;
150 static int xioctl( int fd, int request, void *arg);
151 void SetProperty(int property,float value);
152 float GetProperty(int property);
153 int GrabFrame(void);
154 int AllocBuffers(void);
155 int QueueBuffer(int index);
156 struct video_mmap *mmaps;
157 int bufferIndex;
158 struct buffer {
159 void * start;
160 size_t length;
161 };
162 buffer buffers[MAX_V4L_BUFFERS];
163 char* frame;
164 int nbBuffers;
165
166 typedef struct CvCaptureCAM_V4L
167{
168 //int deviceHandle;
169 int bufferIndex;
170 struct video_capability capability;
171 struct video_window captureWindow;
172 struct video_picture imageProperties;
173 struct video_mbuf memoryBuffer;
174 struct video_mmap *mmaps;
175 char *memoryMap;
176 //IplImage frame;
177char *imageData;
178int imageSize;
179
180 /* V4L2 variables */
181 buffer buffers[MAX_V4L_BUFFERS + 1];
182 struct v4l2_capability cap;
183 struct v4l2_input inp;
184 struct v4l2_format form;
185 struct v4l2_crop crop;
186 struct v4l2_cropcap cropcap;
187 struct v4l2_requestbuffers req;
188 struct v4l2_jpegcompression compr;
189 struct v4l2_control control;
190 enum v4l2_buf_type type;
191 struct v4l2_queryctrl queryctrl;
192 struct v4l2_querymenu querymenu;
193} CvCaptureCAM_V4L;
194
195CvCaptureCAM_V4L capture;
196int init(int width, int height,unsigned long colorspace);
197int setVideoSize(int width, int height,unsigned long colorspace);
198int cvGrabFrame(void);
199int allocBuffers (void);
200int read_frame_v4l2(CvCaptureCAM_V4L* capture);
201void cvRetrieveRawFrame( CvCaptureCAM_V4L* capture);
202unsigned int n_buffers ;
203};
204} // end namespace sensor
205} // end namespace flair
206#endif // V4LCamera_H
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