mirror of
https://github.com/ArduPilot/ardupilot
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8aded390e7
Most cameras do not support NV12 or GREY formats, we are adding in this commit a conversion from YUYV format, that seems pretty common in cameras, to GREY format (since we do not use Cb and Cr data on OpticalFlow). Also we are adding a software crop for 8bpp images, such as GREY format. For the same reason, most cameras do not have support for overlaying (crop, resize and so on). These functions are being added in order to be used in the next commits, where we will add support for OpticalFlow on MinnowBoardMax.
78 lines
2.5 KiB
C++
78 lines
2.5 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "AP_HAL_Linux.h"
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#include <linux/videodev2.h>
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#include <vector>
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struct buffer {
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unsigned int size;
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void *mem;
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};
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class Linux::VideoIn {
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public:
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/* This structure implements the fields of the v4l2_pix_format struct
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* that are considered useful for an optical flow application along
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* with the v4l2_buffer fields timestamp and sequence*/
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class Frame {
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friend class VideoIn;
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public:
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uint32_t timestamp;
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uint32_t sequence;
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void *data;
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private:
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uint32_t buf_index;
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};
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bool get_frame(Frame &frame);
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void put_frame(Frame &frame);
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void set_device_path(const char* path);
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void init();
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bool open_device(const char *device_path, uint32_t memtype);
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bool allocate_buffers(uint32_t nbufs);
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void get_pixel_formats(std::vector<uint32_t> *formats);
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bool set_format(uint32_t *width, uint32_t *height, uint32_t *format,
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uint32_t *bytesperline, uint32_t *sizeimage);
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bool set_crop(uint32_t left, uint32_t top,
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uint32_t width, uint32_t height);
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void prepare_capture();
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static void crop_8bpp(uint8_t *buffer, uint8_t *new_buffer,
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uint32_t width, uint32_t left,
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uint32_t crop_width, uint32_t top,
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uint32_t crop_height);
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static void yuyv_to_grey(uint8_t *buffer, uint32_t buffer_size,
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uint8_t *new_buffer);
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private:
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void _queue_buffer(int index);
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bool _set_streaming(bool enable);
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bool _dequeue_frame(Frame &frame);
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uint32_t _timeval_to_us(struct timeval& tv);
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int _fd = -1;
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struct buffer *_buffers;
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unsigned int _nbufs;
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bool _streaming;
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uint32_t _width;
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uint32_t _height;
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uint32_t _format;
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uint32_t _bytesperline;
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uint32_t _sizeimage;
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uint32_t _memtype = V4L2_MEMORY_MMAP;
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};
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