mirror of https://github.com/ArduPilot/ardupilot
83 lines
2.8 KiB
C++
83 lines
2.8 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 shrink_8bpp(uint8_t *buffer, uint8_t *new_buffer,
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uint32_t width, uint32_t height, uint32_t left,
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uint32_t selection_width, uint32_t top,
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uint32_t selection_height, uint32_t fx, uint32_t fy);
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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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