129 lines
3.6 KiB
C++
Executable File
129 lines
3.6 KiB
C++
Executable File
/* This file is part of the Pangolin Project.
|
|
* http://github.com/stevenlovegrove/Pangolin
|
|
*
|
|
* Copyright (c) 2011 Steven Lovegrove
|
|
*
|
|
* Permission is hereby granted, free of charge, to any person
|
|
* obtaining a copy of this software and associated documentation
|
|
* files (the "Software"), to deal in the Software without
|
|
* restriction, including without limitation the rights to use,
|
|
* copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
* copies of the Software, and to permit persons to whom the
|
|
* Software is furnished to do so, subject to the following
|
|
* conditions:
|
|
*
|
|
* The above copyright notice and this permission notice shall be
|
|
* included in all copies or substantial portions of the Software.
|
|
*
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
|
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
|
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
|
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
|
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
|
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
|
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
|
* OTHER DEALINGS IN THE SOFTWARE.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <pangolin/pangolin.h>
|
|
#include <pangolin/video/video.h>
|
|
|
|
#include <asm/types.h>
|
|
#include <linux/videodev2.h>
|
|
|
|
namespace pangolin
|
|
{
|
|
|
|
typedef enum {
|
|
IO_METHOD_READ,
|
|
IO_METHOD_MMAP,
|
|
IO_METHOD_USERPTR,
|
|
} io_method;
|
|
|
|
struct buffer {
|
|
void* start;
|
|
size_t length;
|
|
};
|
|
|
|
class PANGOLIN_EXPORT V4lVideo : public VideoInterface, public VideoUvcInterface, public VideoPropertiesInterface
|
|
{
|
|
public:
|
|
V4lVideo(const char* dev_name, io_method io = IO_METHOD_MMAP, unsigned iwidth=0, unsigned iheight=0);
|
|
~V4lVideo();
|
|
|
|
//! Implement VideoInput::Start()
|
|
void Start();
|
|
|
|
//! Implement VideoInput::Stop()
|
|
void Stop();
|
|
|
|
//! Implement VideoInput::SizeBytes()
|
|
size_t SizeBytes() const;
|
|
|
|
//! Implement VideoInput::Streams()
|
|
const std::vector<StreamInfo>& Streams() const;
|
|
|
|
//! Implement VideoInput::GrabNext()
|
|
bool GrabNext( unsigned char* image, bool wait = true );
|
|
|
|
//! Implement VideoInput::GrabNewest()
|
|
bool GrabNewest( unsigned char* image, bool wait = true );
|
|
|
|
//! Implement VideoUvcInterface::IoCtrl()
|
|
int IoCtrl(uint8_t unit, uint8_t ctrl, unsigned char* data, int len, UvcRequestCode req_code);
|
|
|
|
bool GetExposure(int& exp_us);
|
|
|
|
bool SetExposure(int exp_us);
|
|
|
|
bool GetGain(float& gain);
|
|
|
|
bool SetGain(float gain);
|
|
|
|
int GetFileDescriptor() const{
|
|
return fd;
|
|
}
|
|
|
|
//! Access JSON properties of device
|
|
const picojson::value& DeviceProperties() const;
|
|
|
|
//! Access JSON properties of most recently captured frame
|
|
const picojson::value& FrameProperties() const;
|
|
|
|
protected:
|
|
void InitPangoDeviceProperties();
|
|
|
|
|
|
int ReadFrame(unsigned char* image);
|
|
void Mainloop();
|
|
|
|
void init_read(unsigned int buffer_size);
|
|
void init_mmap(const char* dev_name);
|
|
void init_userp(const char* dev_name, unsigned int buffer_size);
|
|
|
|
void init_device(const char* dev_name, unsigned iwidth, unsigned iheight, unsigned ifps, unsigned v4l_format = V4L2_PIX_FMT_YUYV, v4l2_field field = V4L2_FIELD_INTERLACED);
|
|
void uninit_device();
|
|
|
|
void open_device(const char* dev_name);
|
|
void close_device();
|
|
|
|
std::vector<StreamInfo> streams;
|
|
|
|
io_method io;
|
|
int fd;
|
|
buffer* buffers;
|
|
unsigned int n_buffers;
|
|
bool running;
|
|
unsigned width;
|
|
unsigned height;
|
|
float fps;
|
|
size_t image_size;
|
|
|
|
picojson::value device_properties;
|
|
picojson::value frame_properties;
|
|
};
|
|
|
|
}
|