Changeset 328 in flair-src for branches/sanscv/lib/FlairSensorActuator/src/V4LCamera.cpp

Timestamp:

09/04/19 15:11:26 (5 years ago)

Author:

Sanahuja Guillaume

Message:

add imagesize to iplimage

File:

• branches/sanscv/lib/FlairSensorActuator/src/V4LCamera.cpp (modified) (8 diffs)

branches/sanscv/lib/FlairSensorActuator/src/V4LCamera.cpp

@@ -29 +29 @@
 #include <cstring>
 #include <sys/mman.h>
+#include <VisionFilter.h>
 
 #define DEFAULT_V4L_BUFFERS 4
@@ -104 +105 @@
         QueueBuffer(bufferIndex);
     }
+    
+    //alloc img buf
+    Printf("TODO: alloc bufs in cmem and uses it for v4l\n");
+    output->buffer=AllocFunction(width*height*2);
     
     // enable the streaming
@@ -133 +138 @@
 
 V4LCamera::~V4LCamera() {
+    FreeFunction(output->buffer);
     SafeStop();
     Join();
@@ -139 +145 @@
 void V4LCamera::Run(void) {
   Time cam_time, new_time, fpsNow, fpsPrev;
-  char* buffer; // raw image
   int fpsCounter = 0;
 
@@ -215 +220 @@
       hasProblems=true;
     }
-Printf("todo allocate 1 frame and copy here\n");
+//Printf("todo allocate 1 frame and copy here\n");
     output->GetMutex();
-    output->buffer = buffer;
+    memcpy(output->buffer,buffers[bufferIndex].start,buffers[bufferIndex].length);
     output->ReleaseMutex();
 
@@ -280 +285 @@
         //Printf("%lld ioctl\n",GetTimeMS());
         if (xioctl (device, VIDIOC_DQBUF, &buf)==-1) {
-           // Printf("iter %i err %i\n",i,errno);
+            //Printf("iter %i err %i\n",i,errno);
             if (errno==EAGAIN) {
                 //Printf("exit buf %i\n",buf.index);
@@ -362 +367 @@
                MAP_SHARED /* recommended */,
                device, buf.m.offset);
-Printf("buffer %i start %x length %i\n",n_buffers,buffers[n_buffers].start,buffers[n_buffers].length);
+//Printf("buffer %i start %x length %i\n",n_buffers,buffers[n_buffers].start,buffers[n_buffers].length);
        if (MAP_FAILED == buffers[n_buffers].start) {
            Thread::Err("mmap\n");
@@ -369 +374 @@
    }
    nbBuffers=requestbuffers.count;
-Printf("allocated %i buffers\n",nbBuffers);
+//Printf("allocated %i buffers\n",nbBuffers);
    return 1;
 };