mirror of https://github.com/ArduPilot/ardupilot
87 lines
2.8 KiB
C++
87 lines
2.8 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
#pragma once
|
|
|
|
#include "AP_HAL_Linux.h"
|
|
#include <linux/videodev2.h>
|
|
#include <vector>
|
|
|
|
namespace Linux {
|
|
|
|
struct buffer {
|
|
unsigned int size;
|
|
void *mem;
|
|
};
|
|
|
|
class VideoIn {
|
|
public:
|
|
/* This structure implements the fields of the v4l2_pix_format struct
|
|
* that are considered useful for an optical flow application along
|
|
* with the v4l2_buffer fields timestamp and sequence*/
|
|
class Frame {
|
|
friend class VideoIn;
|
|
public:
|
|
uint32_t timestamp;
|
|
uint32_t sequence;
|
|
void *data;
|
|
private:
|
|
uint32_t buf_index;
|
|
};
|
|
|
|
bool get_frame(Frame &frame);
|
|
void put_frame(Frame &frame);
|
|
void set_device_path(const char* path);
|
|
void init();
|
|
bool open_device(const char *device_path, uint32_t memtype);
|
|
bool allocate_buffers(uint32_t nbufs);
|
|
void get_pixel_formats(std::vector<uint32_t> *formats);
|
|
bool set_format(uint32_t *width, uint32_t *height, uint32_t *format,
|
|
uint32_t *bytesperline, uint32_t *sizeimage);
|
|
bool set_crop(uint32_t left, uint32_t top,
|
|
uint32_t width, uint32_t height);
|
|
void prepare_capture();
|
|
|
|
static void shrink_8bpp(uint8_t *buffer, uint8_t *new_buffer,
|
|
uint32_t width, uint32_t height, uint32_t left,
|
|
uint32_t selection_width, uint32_t top,
|
|
uint32_t selection_height, uint32_t fx, uint32_t fy);
|
|
|
|
static void crop_8bpp(uint8_t *buffer, uint8_t *new_buffer,
|
|
uint32_t width, uint32_t left,
|
|
uint32_t crop_width, uint32_t top,
|
|
uint32_t crop_height);
|
|
|
|
static void yuyv_to_grey(uint8_t *buffer, uint32_t buffer_size,
|
|
uint8_t *new_buffer);
|
|
|
|
private:
|
|
void _queue_buffer(int index);
|
|
bool _set_streaming(bool enable);
|
|
bool _dequeue_frame(Frame &frame);
|
|
uint32_t _timeval_to_us(struct timeval& tv);
|
|
int _fd = -1;
|
|
struct buffer *_buffers;
|
|
unsigned int _nbufs;
|
|
bool _streaming;
|
|
uint32_t _width;
|
|
uint32_t _height;
|
|
uint32_t _format;
|
|
uint32_t _bytesperline;
|
|
uint32_t _sizeimage;
|
|
uint32_t _memtype = V4L2_MEMORY_MMAP;
|
|
};
|
|
|
|
}
|