Mission planner: Added feature to select video capture resolution (Allows to

capture PAL-format video)

Tools/ArdupilotMegaPlanner/Capture.cs

@@ -61,25 +61,43 @@ namespace WebCamService
 
         #endregion
 
-        /// <summary> Use capture device zero, default frame rate and size</summary>
         public Capture()
         {
-            //_Capture(0, 0, 0, 0);
         }
-        /// <summary> Use specified capture device, default frame rate and size</summary>
+
-        public Capture(int iDeviceNum)
+        /// <summary> Use capture with selected media caps</summary>
+        public Capture(int iDeviceNum, AMMediaType media)
         {
-            _Capture(iDeviceNum, 0, 0, 0);
+            DsDevice[] capDevices;
-        }
+
-        /// <summary> Use specified capture device, specified frame rate and default size</summary>
+            // Get the collection of video devices
-        public Capture(int iDeviceNum, int iFrameRate)
+            capDevices = DsDevice.GetDevicesOfCat(FilterCategory.VideoInputDevice);
-        {
+
-            _Capture(iDeviceNum, iFrameRate, 0, 0);
+            if (iDeviceNum + 1 > capDevices.Length)
-        }
+            {
-        /// <summary> Use specified capture device, specified frame rate and size</summary>
+                throw new Exception("No video capture devices found at that index!");
-        public Capture(int iDeviceNum, int iFrameRate, int iWidth, int iHeight)
+            }
-        {
+
-            _Capture(iDeviceNum, iFrameRate, iWidth, iHeight);
+            try
+            {
+                // Set up the capture graph
+                SetupGraph(capDevices[iDeviceNum], media);
+
+                // tell the callback to ignore new images
+                m_PictureReady = new ManualResetEvent(false);
+                m_bGotOne = true;
+                m_bRunning = false;
+
+                timer1.Interval = 1000 / 15; // 15 fps
+                timer1.Tick += new EventHandler(timer1_Tick);
+                timer1.Start();
+
+            }
+            catch
+            {
+                Dispose();
+                throw;
+            }
         }
         /// <summary> release everything. </summary>
         public void Dispose()
@@ -195,41 +213,6 @@ namespace WebCamService
             return list;
         }
 
-        // Internal capture
-        private void _Capture(int iDeviceNum, int iFrameRate, int iWidth, int iHeight)
-        {
-            DsDevice[] capDevices;
-
-            // Get the collection of video devices
-            capDevices = DsDevice.GetDevicesOfCat( FilterCategory.VideoInputDevice );
-
-            if (iDeviceNum + 1 > capDevices.Length)
-            {
-                throw new Exception("No video capture devices found at that index!");
-            }
-
-            try
-            {
-                // Set up the capture graph
-                SetupGraph( capDevices[iDeviceNum], iFrameRate, iWidth, iHeight);
-
-                // tell the callback to ignore new images
-                m_PictureReady = new ManualResetEvent(false);
-                m_bGotOne = true;
-                m_bRunning = false;
-
-                timer1.Interval = 1000 / 15; // 15 fps
-                timer1.Tick += new EventHandler(timer1_Tick);
-                timer1.Start();
-                
-            }
-            catch
-            {
-                Dispose();
-                throw;
-            }
-        }
-
         public bool showhud = true;
 
         void timer1_Tick(object sender, EventArgs e)
@@ -248,7 +231,7 @@ namespace WebCamService
         }
 
         /// <summary> build the capture graph for grabber. </summary>
-        private void SetupGraph(DsDevice dev, int iFrameRate, int iWidth, int iHeight)
+        private void SetupGraph(DsDevice dev, AMMediaType media)
         {
             int hr;
 
@@ -328,11 +311,7 @@ namespace WebCamService
                 hr = m_FilterGraph.AddFilter( baseGrabFlt, "Ds.NET Grabber" );
                 DsError.ThrowExceptionForHR( hr );
 
-                // If any of the default config items are set
+                SetConfigParms(capGraph, capFilter, media);
-                if (iFrameRate + iHeight + iWidth > 0)
-                {
-                    SetConfigParms(capGraph, capFilter, iFrameRate, iWidth, iHeight);
-                }
 
                 hr = capGraph.RenderStream(PinCategory.Capture, MediaType.Video, capFilter, pAVIDecompressor, baseGrabFlt);
                 if (hr < 0)
@@ -409,11 +388,10 @@ namespace WebCamService
         }
 
         // Set the Framerate, and video size
-        private void SetConfigParms(ICaptureGraphBuilder2 capGraph, IBaseFilter capFilter, int iFrameRate, int iWidth, int iHeight)
+        private void SetConfigParms(ICaptureGraphBuilder2 capGraph, IBaseFilter capFilter, AMMediaType media)
         {
             int hr;
             object o;
-            AMMediaType media;
 
             // Find the stream config interface
             hr = capGraph.FindInterface(
@@ -423,36 +401,7 @@ namespace WebCamService
             if (videoStreamConfig == null)
             {
                 throw new Exception("Failed to get IAMStreamConfig");
-            }
+            }           
-
-            // Get the existing format block
-            hr = videoStreamConfig.GetFormat( out media);
-            DsError.ThrowExceptionForHR( hr );
-
-            // copy out the videoinfoheader
-            VideoInfoHeader v = new VideoInfoHeader();
-            Marshal.PtrToStructure( media.formatPtr, v );
-
-            // if overriding the framerate, set the frame rate
-            if (iFrameRate > 0)
-            {
-                v.AvgTimePerFrame = 10000000 / iFrameRate;
-            }
-
-            // if overriding the width, set the width
-            if (iWidth > 0)
-            {
-                v.BmiHeader.Width = iWidth;
-            }
-
-            // if overriding the Height, set the Height
-            if (iHeight > 0)
-            {
-                v.BmiHeader.Height = iHeight;
-            }
-
-            // Copy the media structure back
-            Marshal.StructureToPtr( v, media.formatPtr, false );
 
             // Set the new format
             hr = videoStreamConfig.SetFormat( media );

Tools/ArdupilotMegaPlanner/GCSViews/Configuration.Designer.cs

@@ -141,6 +141,12 @@
             this.RLL2SRV_P = new System.Windows.Forms.DomainUpDown();
             this.label52 = new System.Windows.Forms.Label();
             this.TabAC2 = new System.Windows.Forms.TabPage();
+            this.groupBox5 = new System.Windows.Forms.GroupBox();
+            this.THR_RATE_IMAX = new System.Windows.Forms.DomainUpDown();
+            this.THR_RATE_I = new System.Windows.Forms.DomainUpDown();
+            this.label20 = new System.Windows.Forms.Label();
+            this.THR_RATE_P = new System.Windows.Forms.DomainUpDown();
+            this.label25 = new System.Windows.Forms.Label();
             this.CHK_lockrollpitch = new System.Windows.Forms.CheckBox();
             this.groupBox4 = new System.Windows.Forms.GroupBox();
             this.WP_SPEED_MAX = new System.Windows.Forms.DomainUpDown();
@@ -217,6 +223,7 @@
             this.RATE_RLL_P = new System.Windows.Forms.DomainUpDown();
             this.label91 = new System.Windows.Forms.Label();
             this.TabPlanner = new System.Windows.Forms.TabPage();
+            this.CMB_videoresolutions = new System.Windows.Forms.ComboBox();
             this.label12 = new System.Windows.Forms.Label();
             this.CHK_GDIPlus = new System.Windows.Forms.CheckBox();
             this.label24 = new System.Windows.Forms.Label();
@@ -259,19 +266,15 @@
             this.BUT_videostop = new ArdupilotMega.MyButton();
             this.BUT_videostart = new ArdupilotMega.MyButton();
             this.TabSetup = new System.Windows.Forms.TabPage();
+            this.label109 = new System.Windows.Forms.Label();
             this.BUT_rerequestparams = new ArdupilotMega.MyButton();
             this.BUT_writePIDS = new ArdupilotMega.MyButton();
             this.BUT_save = new ArdupilotMega.MyButton();
             this.BUT_load = new ArdupilotMega.MyButton();
             this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
             this.BUT_compare = new ArdupilotMega.MyButton();
-            this.groupBox5 = new System.Windows.Forms.GroupBox();
-            this.THR_RATE_IMAX = new System.Windows.Forms.DomainUpDown();
             this.label14 = new System.Windows.Forms.Label();
-            this.THR_RATE_I = new System.Windows.Forms.DomainUpDown();
+            this.label26 = new System.Windows.Forms.Label();
-            this.label20 = new System.Windows.Forms.Label();
-            this.THR_RATE_P = new System.Windows.Forms.DomainUpDown();
-            this.label25 = new System.Windows.Forms.Label();
             ((System.ComponentModel.ISupportInitialize)(this.Params)).BeginInit();
             this.ConfigTabs.SuspendLayout();
             this.TabAPM2.SuspendLayout();
@@ -288,6 +291,7 @@
             this.groupBox9.SuspendLayout();
             this.groupBox8.SuspendLayout();
             this.TabAC2.SuspendLayout();
+            this.groupBox5.SuspendLayout();
             this.groupBox4.SuspendLayout();
             this.groupBox6.SuspendLayout();
             this.groupBox7.SuspendLayout();
@@ -300,7 +304,6 @@
             this.groupBox25.SuspendLayout();
             this.TabPlanner.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.NUM_tracklength)).BeginInit();
-            this.groupBox5.SuspendLayout();
             this.SuspendLayout();
             // 
             // Params
@@ -1007,6 +1010,43 @@
             resources.ApplyResources(this.TabAC2, "TabAC2");
             this.TabAC2.Name = "TabAC2";
             // 
+            // groupBox5
+            // 
+            this.groupBox5.Controls.Add(this.label14);
+            this.groupBox5.Controls.Add(this.THR_RATE_IMAX);
+            this.groupBox5.Controls.Add(this.THR_RATE_I);
+            this.groupBox5.Controls.Add(this.label20);
+            this.groupBox5.Controls.Add(this.THR_RATE_P);
+            this.groupBox5.Controls.Add(this.label25);
+            resources.ApplyResources(this.groupBox5, "groupBox5");
+            this.groupBox5.Name = "groupBox5";
+            this.groupBox5.TabStop = false;
+            // 
+            // THR_RATE_IMAX
+            // 
+            resources.ApplyResources(this.THR_RATE_IMAX, "THR_RATE_IMAX");
+            this.THR_RATE_IMAX.Name = "THR_RATE_IMAX";
+            // 
+            // THR_RATE_I
+            // 
+            resources.ApplyResources(this.THR_RATE_I, "THR_RATE_I");
+            this.THR_RATE_I.Name = "THR_RATE_I";
+            // 
+            // label20
+            // 
+            resources.ApplyResources(this.label20, "label20");
+            this.label20.Name = "label20";
+            // 
+            // THR_RATE_P
+            // 
+            resources.ApplyResources(this.THR_RATE_P, "THR_RATE_P");
+            this.THR_RATE_P.Name = "THR_RATE_P";
+            // 
+            // label25
+            // 
+            resources.ApplyResources(this.label25, "label25");
+            this.label25.Name = "label25";
+            // 
             // CHK_lockrollpitch
             // 
             resources.ApplyResources(this.CHK_lockrollpitch, "CHK_lockrollpitch");
@@ -1459,6 +1499,8 @@
             // 
             // TabPlanner
             // 
+            this.TabPlanner.Controls.Add(this.label26);
+            this.TabPlanner.Controls.Add(this.CMB_videoresolutions);
             this.TabPlanner.Controls.Add(this.label12);
             this.TabPlanner.Controls.Add(this.CHK_GDIPlus);
             this.TabPlanner.Controls.Add(this.label24);
@@ -1503,6 +1545,13 @@
             resources.ApplyResources(this.TabPlanner, "TabPlanner");
             this.TabPlanner.Name = "TabPlanner";
             // 
+            // CMB_videoresolutions
+            // 
+            this.CMB_videoresolutions.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.CMB_videoresolutions.FormattingEnabled = true;
+            resources.ApplyResources(this.CMB_videoresolutions, "CMB_videoresolutions");
+            this.CMB_videoresolutions.Name = "CMB_videoresolutions";
+            // 
             // label12
             // 
             resources.ApplyResources(this.label12, "label12");
@@ -1788,6 +1837,7 @@
             this.CMB_videosources.FormattingEnabled = true;
             resources.ApplyResources(this.CMB_videosources, "CMB_videosources");
             this.CMB_videosources.Name = "CMB_videosources";
+            this.CMB_videosources.SelectedIndexChanged += new System.EventHandler(this.CMB_videosources_SelectedIndexChanged);
             this.CMB_videosources.MouseClick += new System.Windows.Forms.MouseEventHandler(this.CMB_videosources_MouseClick);
             // 
             // BUT_Joystick
@@ -1817,6 +1867,11 @@
             this.TabSetup.Name = "TabSetup";
             this.TabSetup.UseVisualStyleBackColor = true;
             // 
+            // label109
+            // 
+            resources.ApplyResources(this.label109, "label109");
+            this.label109.Name = "label109";
+            // 
             // BUT_rerequestparams
             // 
             resources.ApplyResources(this.BUT_rerequestparams, "BUT_rerequestparams");
@@ -1856,47 +1911,15 @@
             this.BUT_compare.UseVisualStyleBackColor = true;
             this.BUT_compare.Click += new System.EventHandler(this.BUT_compare_Click);
             // 
-            // groupBox5
-            // 
-            this.groupBox5.Controls.Add(this.THR_RATE_IMAX);
-            this.groupBox5.Controls.Add(this.label14);
-            this.groupBox5.Controls.Add(this.THR_RATE_I);
-            this.groupBox5.Controls.Add(this.label20);
-            this.groupBox5.Controls.Add(this.THR_RATE_P);
-            this.groupBox5.Controls.Add(this.label25);
-            resources.ApplyResources(this.groupBox5, "groupBox5");
-            this.groupBox5.Name = "groupBox5";
-            this.groupBox5.TabStop = false;
-            // 
-            // THR_RATE_IMAX
-            // 
-            resources.ApplyResources(this.THR_RATE_IMAX, "THR_RATE_IMAX");
-            this.THR_RATE_IMAX.Name = "THR_RATE_IMAX";
-            // 
             // label14
             // 
             resources.ApplyResources(this.label14, "label14");
             this.label14.Name = "label14";
             // 
-            // THR_RATE_I
+            // label26
             // 
-            resources.ApplyResources(this.THR_RATE_I, "THR_RATE_I");
+            resources.ApplyResources(this.label26, "label26");
-            this.THR_RATE_I.Name = "THR_RATE_I";
+            this.label26.Name = "label26";
-            // 
-            // label20
-            // 
-            resources.ApplyResources(this.label20, "label20");
-            this.label20.Name = "label20";
-            // 
-            // THR_RATE_P
-            // 
-            resources.ApplyResources(this.THR_RATE_P, "THR_RATE_P");
-            this.THR_RATE_P.Name = "THR_RATE_P";
-            // 
-            // label25
-            // 
-            resources.ApplyResources(this.label25, "label25");
-            this.label25.Name = "label25";
             // 
             // Configuration
             // 
@@ -1929,6 +1952,7 @@
             this.groupBox8.ResumeLayout(false);
             this.TabAC2.ResumeLayout(false);
             this.TabAC2.PerformLayout();
+            this.groupBox5.ResumeLayout(false);
             this.groupBox4.ResumeLayout(false);
             this.groupBox6.ResumeLayout(false);
             this.groupBox7.ResumeLayout(false);
@@ -1941,7 +1965,6 @@
             this.groupBox25.ResumeLayout(false);
             this.TabPlanner.ResumeLayout(false);
             ((System.ComponentModel.ISupportInitialize)(this.NUM_tracklength)).EndInit();
-            this.groupBox5.ResumeLayout(false);
             this.ResumeLayout(false);
 
         }
@@ -2183,10 +2206,13 @@
         private System.Windows.Forms.CheckBox CHK_GDIPlus;
         private System.Windows.Forms.GroupBox groupBox5;
         private System.Windows.Forms.DomainUpDown THR_RATE_IMAX;
-        private System.Windows.Forms.Label label14;
         private System.Windows.Forms.DomainUpDown THR_RATE_I;
         private System.Windows.Forms.Label label20;
         private System.Windows.Forms.DomainUpDown THR_RATE_P;
         private System.Windows.Forms.Label label25;
+        private System.Windows.Forms.ComboBox CMB_videoresolutions;
+        private System.Windows.Forms.Label label109;
+        private System.Windows.Forms.Label label14;
+        private System.Windows.Forms.Label label26;
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs

@@ -11,6 +11,8 @@ using System.Text.RegularExpressions;
 using System.Collections;
 using System.Globalization;
 using System.Threading;
+using DirectShowLib;
+using System.Runtime.InteropServices;
 
 namespace ArdupilotMega.GCSViews
 {
@@ -22,6 +24,29 @@ namespace ArdupilotMega.GCSViews
         internal bool startup = true;
         List<CultureInfo> languages = new List<CultureInfo>();
 
+        public class GCSBitmapInfo
+        {
+            public int Width { get; set; }
+            public int Height { get; set; }
+            public long Fps { get; set; }
+            public string Standard { get; set; }
+            public AMMediaType Media { get; set; }
+
+            public GCSBitmapInfo(int width, int height, long fps, string standard, AMMediaType media)
+            {
+                Width = width;
+                Height = height;
+                Fps = fps;
+                Standard = standard;
+                Media = media;
+            }
+
+            public override string ToString()
+            {
+                return Width.ToString() + " x " + Height.ToString() + String.Format(" {0:0.00} fps ", 10000000.0 / Fps) + Standard;
+            }
+        }
+
         public struct paramsettings // hk's
         {
             public string name;
@@ -202,6 +227,7 @@ namespace ArdupilotMega.GCSViews
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Configuration));
 
             string data = resources.GetString("MAVParam");
+
             string[] tips = data.Split(new char[] { '\r', '\n' }, StringSplitOptions.RemoveEmptyEntries);
 
             foreach (var tip in tips)
@@ -630,9 +656,11 @@ namespace ArdupilotMega.GCSViews
             // stop first
             BUT_videostop_Click(sender, e);
 
+            GCSBitmapInfo bmp = (GCSBitmapInfo)CMB_videoresolutions.SelectedItem;
+
             try
             {
-                MainV2.cam = new WebCamService.Capture(CMB_videosources.SelectedIndex, 0, 0, 0);
+                MainV2.cam = new WebCamService.Capture(CMB_videosources.SelectedIndex, bmp.Media);
 
                 MainV2.cam.showhud = CHK_hudshow.Checked;
 
@@ -666,6 +694,58 @@ namespace ArdupilotMega.GCSViews
             capt.Dispose();
         }
 
+        private void CMB_videosources_SelectedIndexChanged(object sender, EventArgs e)
+        {
+            int hr;
+            int count;
+            int size;
+            object o;
+            IBaseFilter capFilter = null;
+            ICaptureGraphBuilder2 capGraph = null;
+            AMMediaType media = null;
+            VideoInfoHeader v;
+            VideoStreamConfigCaps c;
+            List<GCSBitmapInfo> modes = new List<GCSBitmapInfo>();
+
+            // Get the ICaptureGraphBuilder2
+            capGraph = (ICaptureGraphBuilder2)new CaptureGraphBuilder2();
+            IFilterGraph2 m_FilterGraph = (IFilterGraph2)new FilterGraph();
+
+            DsDevice[] capDevices;
+            capDevices = DsDevice.GetDevicesOfCat(FilterCategory.VideoInputDevice);
+
+            // Add the video device
+            hr = m_FilterGraph.AddSourceFilterForMoniker(capDevices[CMB_videosources.SelectedIndex].Mon, null, "Video input", out capFilter);
+            DsError.ThrowExceptionForHR(hr);
+
+            // Find the stream config interface
+            hr = capGraph.FindInterface(PinCategory.Capture, MediaType.Video, capFilter, typeof(IAMStreamConfig).GUID, out o);
+            DsError.ThrowExceptionForHR(hr);
+
+            IAMStreamConfig videoStreamConfig = o as IAMStreamConfig;
+            if (videoStreamConfig == null)
+            {
+                throw new Exception("Failed to get IAMStreamConfig");
+            }
+
+            hr = videoStreamConfig.GetNumberOfCapabilities(out count, out size);
+            DsError.ThrowExceptionForHR(hr);
+            IntPtr TaskMemPointer = Marshal.AllocCoTaskMem(size);
+            for (int i = 0; i < count; i++)
+            {
+                IntPtr ptr = IntPtr.Zero;
+
+                hr = videoStreamConfig.GetStreamCaps(i, out media, TaskMemPointer);
+                v = (VideoInfoHeader)Marshal.PtrToStructure(media.formatPtr, typeof(VideoInfoHeader));
+                c = (VideoStreamConfigCaps)Marshal.PtrToStructure(TaskMemPointer, typeof(VideoStreamConfigCaps));
+                modes.Add(new GCSBitmapInfo(v.BmiHeader.Width, v.BmiHeader.Height, c.MaxFrameInterval, c.VideoStandard.ToString(), media));
+            }
+            Marshal.FreeCoTaskMem(TaskMemPointer);
+            DsUtils.FreeAMMediaType(media);
+
+            CMB_videoresolutions.DataSource = modes;
+        }
+
         private void CHK_hudshow_CheckedChanged(object sender, EventArgs e)
         {
             GCSViews.FlightData.myhud.hudon = CHK_hudshow.Checked;