[352] | 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_impl.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_impl.h"
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| 19 | #include "V4LCamera.h"
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| 20 | #include <GroupBox.h>
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| 21 | #include <DoubleSpinBox.h>
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| 22 | #include <CheckBox.h>
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| 23 | #include <Label.h>
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| 24 | #include <Image.h>
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| 25 | #include <FrameworkManager.h>
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| 26 | #include <fcntl.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 |
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| 32 | using std::string;
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| 33 | using namespace flair::core;
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| 34 | using namespace flair::gui;
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| 35 | using namespace flair::sensor;
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| 36 |
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| 37 |
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| 38 | V4LCamera_impl::V4LCamera_impl(V4LCamera *self,string name,uint8_t camera_index, uint16_t width, uint16_t height,
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[403] | 39 | Image::Type::Format format,bool useMemoryUsrPtr) {
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[352] | 40 | this->self=self;
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| 41 |
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| 42 | string deviceName="/dev/video"+std::to_string(camera_index);
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| 43 | device = open(deviceName.c_str(), O_RDWR | O_NONBLOCK);
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| 44 | if (device == -1) {
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| 45 | ((Thread*)self)->Err("Cannot open %s\n",deviceName.c_str());
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| 46 | } else {
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| 47 | Printf("V4LCamera %s, opened %s\n",name.c_str(),deviceName.c_str());
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| 48 | }
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| 49 |
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| 50 | if(format == Image::Type::Format::UYVY) {
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| 51 | if(Init(width,height,V4L2_PIX_FMT_UYVY) == -1) {
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| 52 | ((Thread*)self)->Err("initialisation failed\n");
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| 53 | }
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| 54 | } else if (format == Image::Type::Format::YUYV) {
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| 55 | if(Init(width,height,V4L2_PIX_FMT_YUYV) == -1) {
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| 56 | ((Thread*)self)->Err("initialisation failed\n");
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| 57 | }
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| 58 | } else {
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| 59 | ((Thread*)self)->Err("format not supported\n");
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| 60 | }
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| 61 |
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[403] | 62 | //todo: in run, copy from v4l to cmem is not necessary if not using cmem. (!useMemoryUsrPtr)
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| 63 | this->useMemoryUsrPtr=useMemoryUsrPtr;
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| 64 |
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[352] | 65 | if(useMemoryUsrPtr) {
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| 66 | AllocUserBuffers();
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| 67 | } else {
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| 68 | AllocV4LBuffers();
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| 69 | }
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| 70 |
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| 71 | for (int i=0;i < nbBuffers;i++) {
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| 72 | QueueBuffer(i);
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| 73 | }
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| 74 |
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| 75 | /* enable the streaming */
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| 76 | v4l2_buf_type type;
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| 77 | type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 78 | if (-1 == xioctl (device, VIDIOC_STREAMON,&type)) {
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| 79 | ((Thread*)self)->Err("VIDIOC_STREAMON error\n");
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| 80 | }
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| 81 |
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| 82 | // ground station
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| 83 | gain = new DoubleSpinBox(self->GetGroupBox()->NewRow(), "gain:", 0, 1, 0.1);
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| 84 | exposure = new DoubleSpinBox(self->GetGroupBox()->LastRowLastCol(), "exposure:", 0,1, 0.1);
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| 85 | bright = new DoubleSpinBox(self->GetGroupBox()->LastRowLastCol(), "bright:", 0, 1, 0.1);
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| 86 | contrast = new DoubleSpinBox(self->GetGroupBox()->LastRowLastCol(), "contrast:", 0,1, 0.1);
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| 87 | hue = new DoubleSpinBox(self->GetGroupBox()->LastRowLastCol(), "hue:", 0, 1, 0.1);
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| 88 | sharpness = new DoubleSpinBox(self->GetGroupBox()->LastRowLastCol(), "sharpness:", 0, 1, 0.1);
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| 89 | sat = new DoubleSpinBox(self->GetGroupBox()->LastRowLastCol(), "saturation:", 0, 1,0.1);
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| 90 | autogain = new CheckBox(self->GetGroupBox()->NewRow(), "autogain:");
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| 91 | autoexposure = new CheckBox(self->GetGroupBox()->LastRowLastCol(), "autoexposure:");
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| 92 | awb = new CheckBox(self->GetGroupBox()->LastRowLastCol(), "awb:");
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| 93 | fps = new Label(self->GetGroupBox()->NewRow(), "fps");
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| 94 |
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| 95 | hasProblems=false;
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| 96 | }
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| 97 |
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| 98 | V4LCamera_impl::~V4LCamera_impl() {
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| 99 | if(useMemoryUsrPtr) {
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| 100 | for (int i = 0; i < nbBuffers; i++) {
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[401] | 101 | Image::FreeFunction((char*)buffers[i]);
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[352] | 102 | }
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| 103 | } else {
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[401] | 104 | Image::FreeFunction(imageData);
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[352] | 105 | }
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| 106 | close(device);
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| 107 | }
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| 108 |
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| 109 | int V4LCamera_impl::Init(int width, int height,unsigned long colorspace) {
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| 110 | struct v4l2_capability cap;
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| 111 | memset(&cap, 0, sizeof (v4l2_capability));
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| 112 |
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| 113 | if(-1 == xioctl(device, VIDIOC_QUERYCAP, &cap)) {
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| 114 | return -1;
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| 115 | }
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| 116 |
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| 117 | if ((cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
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| 118 | ((Thread*)self)->Err("device is unable to capture video memory.\n");
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| 119 | return -1;
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| 120 | }
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| 121 |
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| 122 | struct v4l2_format form;
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| 123 | memset(&form, 0, sizeof (v4l2_format));
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| 124 | form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 125 |
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| 126 | /* read the current setting */
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| 127 | if(-1 == xioctl(device, VIDIOC_G_FMT, &form)) {
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| 128 | ((Thread*)self)->Err("Could not obtain specifics of capture window.\n");
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| 129 | return -1;
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| 130 | }
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| 131 |
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| 132 | /* set the values we want to change */
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| 133 | form.fmt.pix.width = width;
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| 134 | form.fmt.pix.height = height;
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| 135 | form.fmt.win.chromakey = 0;
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| 136 | form.fmt.win.field = V4L2_FIELD_ANY;
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| 137 | form.fmt.win.clips = 0;
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| 138 | form.fmt.win.clipcount = 0;
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| 139 | form.fmt.pix.field = V4L2_FIELD_ANY;
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| 140 | form.fmt.pix.pixelformat = colorspace;
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| 141 |
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| 142 | /* ask the device to change the size*/
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| 143 | if(-1 == xioctl (device, VIDIOC_S_FMT, &form)) {
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| 144 | ((Thread*)self)->Err("Could not set specifics of capture window.\n");
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| 145 | return -1;
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| 146 | }
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| 147 |
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| 148 | return 0;
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| 149 | }
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| 150 |
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| 151 | int V4LCamera_impl::AllocV4LBuffers() {
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| 152 | struct v4l2_requestbuffers req;
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| 153 | memset(&req, 0, sizeof (v4l2_requestbuffers));
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| 154 | nbBuffers=DEFAULT_V4L_BUFFERS;
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| 155 |
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| 156 | try_again:
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| 157 |
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| 158 | req.count = nbBuffers;
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| 159 | req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 160 | req.memory = V4L2_MEMORY_MMAP;
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| 161 |
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| 162 | if(-1 == xioctl(device, VIDIOC_REQBUFS, &req)) {
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| 163 | if (EINVAL == errno) {
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| 164 | ((Thread*)self)->Err("camera does not support memory mapping\n");
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| 165 | } else {
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| 166 | ((Thread*)self)->Err("VIDIOC_REQBUFS failed\n");
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| 167 | }
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| 168 | return -1;
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| 169 | }
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| 170 |
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| 171 | if(req.count < nbBuffers) {
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| 172 | if (nbBuffers == 1) {
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| 173 | ((Thread*)self)->Err("Insufficient buffer memory\n");
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| 174 | return -1;
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| 175 | } else {
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| 176 | nbBuffers--;
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| 177 | ((Thread*)self)->Warn("Insufficient buffer memory -- decreaseing buffers to %i\n",nbBuffers);
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| 178 | goto try_again;
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| 179 | }
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| 180 | }
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| 181 |
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| 182 | for(int i=0; i<req.count; i++) {
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| 183 | struct v4l2_buffer buf;
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| 184 | memset(&buf, 0, sizeof (v4l2_buffer));
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| 185 |
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| 186 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 187 | buf.memory = V4L2_MEMORY_MMAP;
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| 188 | buf.index = i;
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| 189 |
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| 190 | if(-1 == xioctl(device, VIDIOC_QUERYBUF, &buf)) {
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| 191 | ((Thread*)self)->Err("VIDIOC_QUERYBUF error\n");
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| 192 | return -1;
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| 193 | }
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| 194 |
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| 195 | if(self->output->GetDataType().GetSize()!=buf.length) {
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| 196 | ((Thread*)self)->Err("buf size is not as exepcted %i/%i\n",buf.length,self->output->GetDataType().GetSize());
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| 197 | return -1;
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| 198 | }
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| 199 |
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| 200 | buffers[i]=mmap(NULL,buf.length,PROT_READ | PROT_WRITE,MAP_SHARED,device, buf.m.offset);
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| 201 |
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| 202 | if(MAP_FAILED == buffers[i]) {
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| 203 | ((Thread*)self)->Err("mmap error\n");
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| 204 | return -1;
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| 205 | }
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| 206 | }
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| 207 |
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| 208 | //allocate output data
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[401] | 209 | imageData = Image::AllocFunction(self->output->GetDataType().GetSize());
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[352] | 210 | //Printf("cmem allocated %i at %x\n",output->GetDataType().GetSize(),imageData);
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| 211 |
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| 212 | return 1;
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| 213 | };
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| 214 |
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| 215 | int V4LCamera_impl::AllocUserBuffers(void) {
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| 216 | struct v4l2_requestbuffers req;
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| 217 | memset(&req, 0, sizeof (v4l2_requestbuffers));
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| 218 | nbBuffers=DEFAULT_V4L_BUFFERS;
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| 219 |
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| 220 | req.count = nbBuffers;
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| 221 | req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 222 | req.memory = V4L2_MEMORY_USERPTR;
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| 223 |
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| 224 | if (xioctl (device, VIDIOC_REQBUFS, &req)==-1) {
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| 225 | if (errno==EINVAL) {
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| 226 | ((Thread*)self)->Err("VIDIOC_REQBUFS user memory not supported\n");
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| 227 | } else {
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| 228 | ((Thread*)self)->Err ("VIDIOC_REQBUFS xioctl\n");
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| 229 | }
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| 230 | return -1;
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| 231 | }
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| 232 |
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| 233 | for (int i=0; i<nbBuffers; i++) {
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[401] | 234 | buffers[i] =Image::AllocFunction(self->output->GetDataType().GetSize());
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[352] | 235 | }
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| 236 |
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| 237 | return 1;
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| 238 | };
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| 239 |
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| 240 | int V4LCamera_impl::GrabFrame(void) {
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| 241 | fd_set fds;
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| 242 | struct timeval tv;
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| 243 | FD_ZERO (&fds);
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| 244 | FD_SET (device, &fds);
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| 245 |
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| 246 | tv.tv_sec = 0;
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| 247 | tv.tv_usec = 100000;
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| 248 |
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| 249 | int r=select(device+1, &fds, NULL, NULL, &tv);
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| 250 |
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| 251 | if (r==-1) {
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| 252 | char errorMsg[256];
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| 253 | ((Thread*)self)->Err("select (%s)\n", strerror_r(-r, errorMsg, sizeof(errorMsg)));
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| 254 | return -1;
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| 255 | }
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| 256 |
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| 257 | if (r==0) {
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| 258 | ((Thread*)self)->Err("select timeout\n");
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| 259 | return -1;
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| 260 | }
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| 261 |
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| 262 | struct v4l2_buffer buf;
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| 263 | memset(&buf, 0, sizeof (v4l2_buffer));
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| 264 | buf.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 265 | if(useMemoryUsrPtr) {
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| 266 | buf.memory=V4L2_MEMORY_USERPTR;
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| 267 | } else {
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| 268 | buf.memory=V4L2_MEMORY_MMAP;
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| 269 | }
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| 270 |
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| 271 | //get last captured buffer
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| 272 | dQueuedBuffer.index=-1;
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| 273 | for(int i=0;i<nbBuffers;i++) {
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| 274 | if (xioctl (device, VIDIOC_DQBUF, &buf)==-1) {
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| 275 | if (errno==EAGAIN) {//when no new buffer is available for reading (non blocking)
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| 276 | //Printf("%s eagain\n",((Thread*)self)->ObjectName().c_str());
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| 277 | break;
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| 278 | } else {
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| 279 | ((Thread*)self)->Err("VIDIOC_DQBUF xioctl\n");
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| 280 | return -1;
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| 281 | }
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| 282 | } else {
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| 283 | //Printf("%s %i dqueued\n",((Thread*)self)->ObjectName().c_str(),buf.index);
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| 284 | //Printf("%i %x %i %i\n",buf.bytesused,buf.flags,buf.field,buf.sequence);
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| 285 | if(dQueuedBuffer.index!=-1) {
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| 286 | //Printf("%s %i queued\n",((Thread*)self)->ObjectName().c_str(),dQueuedBuffer.index);
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| 287 | QueueBuffer(&dQueuedBuffer);
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| 288 | }
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| 289 | dQueuedBuffer=buf;
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| 290 | }
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| 291 | }
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| 292 | //Printf("%s %i\n",((Thread*)self)->ObjectName().c_str(),dQueuedBuffer.index);
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| 293 |
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| 294 | return 1;
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| 295 | }
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| 296 |
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| 297 | void V4LCamera_impl::Run(void) {
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| 298 | Time cam_time, new_time, fpsNow, fpsPrev;
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| 299 | int fpsCounter = 0;
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| 300 |
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| 301 | cam_time = GetTime();
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| 302 | fpsPrev = cam_time;
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| 303 |
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| 304 | while (!self->ToBeStopped()) {
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| 305 | // fps counter
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| 306 | fpsCounter++;
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| 307 | if (fpsCounter == 100) {
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| 308 | fpsNow = GetTime();
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| 309 | fps->SetText("fps: %.1f",
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| 310 | fpsCounter / ((float)(fpsNow - fpsPrev) / 1000000000.));
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| 311 | fpsCounter = 0;
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| 312 | fpsPrev = fpsNow;
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| 313 | }
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| 314 |
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| 315 | // cam properties
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| 316 | if (gain->ValueChanged() == true && autogain->Value() == false)
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| 317 | self->SetGain(gain->Value());
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| 318 | if (exposure->ValueChanged() == true && autoexposure->Value() == false)
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| 319 | self->SetExposure(exposure->Value());
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| 320 | if (bright->ValueChanged() == true)
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| 321 | self->SetBrightness(bright->Value());
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| 322 | if (sat->ValueChanged() == true)
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| 323 | self->SetSaturation(sat->Value());
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| 324 | if (contrast->ValueChanged() == true)
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| 325 | self->SetContrast(contrast->Value());
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| 326 | if (hue->ValueChanged() == true)
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| 327 | self->SetHue(hue->Value());
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| 328 | //if (sharpness->ValueChanged() == true)
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| 329 | // cvSetCaptureProperty(capture, CV_CAP_PROP_SHARPNESS, sharpness->Value());
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| 330 | if (autogain->ValueChanged() == true) {
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| 331 | self->SetAutoGain(autogain->Value());
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| 332 | if (autogain->Value() == true) {
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| 333 | gain->setEnabled(false);
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| 334 | } else {
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| 335 | gain->setEnabled(true);
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| 336 | self->SetGain(gain->Value());
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| 337 | }
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| 338 | }
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| 339 | if (autoexposure->ValueChanged() == true) {
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| 340 | self->SetAutoExposure(autoexposure->Value());
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| 341 | if (autoexposure->Value() == true) {
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| 342 | exposure->setEnabled(false);
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| 343 | } else {
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| 344 | exposure->setEnabled(true);
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| 345 | self->SetExposure(exposure->Value());
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| 346 | }
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| 347 | }
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| 348 | //if (awb->ValueChanged() == true)
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| 349 | // cvSetCaptureProperty(capture, CV_CAP_PROP_AWB, awb->Value());
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| 350 |
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| 351 | // cam pictures
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| 352 | if (!GrabFrame()) {
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| 353 | Printf("Could not grab a frame\n");
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| 354 | }
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| 355 |
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| 356 | //check for ps3eye deconnection in hds uav
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| 357 | new_time = GetTime();
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| 358 | if(new_time-cam_time>100*1000*1000) {
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| 359 | ((Thread*)self)->Warn("delta t trop grand\n");
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| 360 | hasProblems=true;
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| 361 | }/*
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| 362 | if(hasProblems==false) {
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| 363 | struct v4l2_format form;
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| 364 | form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 365 | xioctl(device, VIDIOC_G_FMT,&form);
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| 366 | if(xioctl (device, VIDIOC_G_FMT,&form)<0) {
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| 367 | ((Thread*)self)->Warn("camera disconnected\n");
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| 368 | hasProblems=true;
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| 369 | }
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| 370 | }*/
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| 371 |
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| 372 | //select buffer
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| 373 | if(useMemoryUsrPtr) {//buffers are already in CMEM
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| 374 | imageData=(char*)buffers[dQueuedBuffer.index];
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| 375 | //dequeue it latter (buffer used by ProcessUpdate)
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| 376 | } else {//copy to CMEM allocated buffer
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| 377 | memcpy(imageData,(char *)buffers[dQueuedBuffer.index],self->output->GetDataType().GetSize());
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| 378 | QueueBuffer(&dQueuedBuffer);//we can do it right now
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| 379 | }
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| 380 |
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| 381 | self->output->GetMutex();
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| 382 | self->output->buffer=imageData;
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| 383 | self->output->ReleaseMutex();
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| 384 |
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| 385 | self->output->SetDataTime(cam_time);
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| 386 | self->ProcessUpdate(self->output);
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| 387 | cam_time = new_time;
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| 388 |
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| 389 | if(useMemoryUsrPtr) {
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| 390 | QueueBuffer(&dQueuedBuffer);//now it is possible to dequeue
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| 391 | }
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| 392 | }
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| 393 | }
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| 394 |
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| 395 | int V4LCamera_impl::QueueBuffer(struct v4l2_buffer *buf) {
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| 396 | if(buf->index>=0 && buf->index<nbBuffers) {
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| 397 | int ret=xioctl (device, VIDIOC_QBUF,buf);
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| 398 | if (ret==-1) {
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| 399 | ((Thread*)self)->Err("VIDIOC_QBUF xioctl %s\n",strerror(-ret));
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| 400 | return -1;
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| 401 | }
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| 402 | }
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| 403 | return 0;
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| 404 | }
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| 405 |
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| 406 | int V4LCamera_impl::QueueBuffer(int index) {
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| 407 | struct v4l2_buffer buf;
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| 408 | memset(&buf, 0, sizeof (v4l2_buffer));
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| 409 |
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| 410 | buf.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 411 | buf.index=(unsigned long)index;
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| 412 | if(useMemoryUsrPtr) {
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| 413 | buf.memory=V4L2_MEMORY_USERPTR;
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| 414 | buf.m.userptr=(unsigned long)(buffers[index]);
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| 415 | buf.length=self->output->GetDataType().GetSize();
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| 416 | } else {
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| 417 | buf.memory=V4L2_MEMORY_MMAP;
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| 418 | }
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| 419 | return QueueBuffer(&buf);
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| 420 | }
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| 421 |
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| 422 | void V4LCamera_impl::SetAutoGain(bool value) {
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| 423 | SetProperty(V4L2_CID_AUTOGAIN, value);
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| 424 | }
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| 425 |
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| 426 | void V4LCamera_impl::SetAutoExposure(bool value) {
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| 427 | ((Thread*)self)->Warn("not implemented\n");
|
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| 428 | }
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| 429 |
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| 430 | void V4LCamera_impl::SetGain(float value) {
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| 431 | SetProperty(V4L2_CID_GAIN, value);
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| 432 | }
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| 433 |
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| 434 | void V4LCamera_impl::SetExposure(float value) {
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| 435 | SetProperty(V4L2_CID_EXPOSURE, value);
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| 436 | }
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| 437 |
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| 438 | void V4LCamera_impl::SetBrightness(float value) {
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| 439 | SetProperty(V4L2_CID_BRIGHTNESS, value);
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| 440 | }
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| 441 |
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| 442 | void V4LCamera_impl::SetSaturation(float value) {
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| 443 | SetProperty(V4L2_CID_SATURATION, value);
|
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| 444 | }
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| 445 |
|
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| 446 | void V4LCamera_impl::SetHue(float value) {
|
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| 447 | SetProperty(V4L2_CID_HUE, value);
|
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| 448 | }
|
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| 449 |
|
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| 450 | void V4LCamera_impl::SetContrast(float value) {
|
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| 451 | SetProperty(V4L2_CID_CONTRAST, value);
|
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| 452 | }
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| 453 |
|
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| 454 | float V4LCamera_impl::GetProperty(int property) {
|
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| 455 | //get min and max value
|
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| 456 | struct v4l2_queryctrl queryctrl;
|
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| 457 | queryctrl.id = property;
|
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| 458 | if(xioctl (device, VIDIOC_QUERYCTRL,&queryctrl)==-1) return -1;
|
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| 459 | int min = queryctrl.minimum;
|
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| 460 | int max = queryctrl.maximum;
|
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| 461 |
|
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| 462 | //set value
|
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| 463 | struct v4l2_control control;
|
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| 464 | memset (&control, 0, sizeof (v4l2_control));
|
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| 465 | control.id = property;
|
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| 466 | if(xioctl (device,VIDIOC_G_CTRL, &control)==-1) return -1;
|
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| 467 |
|
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| 468 | return ((float)control.value - min + 1) / (max - min);
|
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| 469 | }
|
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| 470 |
|
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| 471 | void V4LCamera_impl::SetProperty(int property,float value) {
|
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| 472 | //get min and max value
|
---|
| 473 | struct v4l2_queryctrl queryctrl;
|
---|
| 474 | queryctrl.id = property;
|
---|
| 475 | if(xioctl (device, VIDIOC_QUERYCTRL,&queryctrl)==-1) {
|
---|
| 476 | ((Thread*)self)->Warn("prop %x, VIDIOC_QUERYCTRL failed\n",property);
|
---|
| 477 | }
|
---|
| 478 | int min = queryctrl.minimum;
|
---|
| 479 | int max = queryctrl.maximum;
|
---|
| 480 |
|
---|
| 481 | //set value
|
---|
| 482 | struct v4l2_control control;
|
---|
| 483 | memset (&control, 0, sizeof (v4l2_control));
|
---|
| 484 | control.id = property;
|
---|
| 485 | control.value = (int)(value * (max - min) + min);
|
---|
| 486 | if(xioctl (device,VIDIOC_S_CTRL, &control)==-1) {
|
---|
| 487 | ((Thread*)self)->Warn("prop %x, VIDIOC_S_CTRL failed\n",property);
|
---|
| 488 | }
|
---|
| 489 | }
|
---|
| 490 |
|
---|
| 491 | int V4LCamera_impl::xioctl( int fd, int request, void *arg) {
|
---|
| 492 | int r;
|
---|
| 493 |
|
---|
| 494 | do r = ioctl (fd, request, arg);
|
---|
| 495 | while (-1 == r && EINTR == errno);
|
---|
| 496 |
|
---|
| 497 | return r;
|
---|
[400] | 498 | }
|
---|