ardupilot/libraries/AP_HAL_Linux/VideoIn.h

83 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>
struct buffer {
unsigned int size;
void *mem;
};
class Linux::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;
};