#endif
/* Defaults - If your board can do better, set it here. Set for the most common type inputs. */
-#define DEFAULT_V4L_WIDTH 640
-#define DEFAULT_V4L_HEIGHT 480
+#define DEFAULT_V4L_WIDTH 320
+#define DEFAULT_V4L_HEIGHT 240
#define CHANNEL_NUMBER 1
#define MAX_CAMERAS 8
typedef struct CvCaptureCAM_V4L
{
- CvCaptureVTable* vtable;
int deviceHandle;
int bufferIndex;
int FirstCapture;
static int numCameras = 0;
static int indexList = 0;
-CvCaptureVTable captureCAM_V4L_vtable =
-{
- 6,
- (CvCaptureCloseFunc)icvCloseCAM_V4L,
- (CvCaptureGrabFrameFunc)icvGrabFrameCAM_V4L,
- (CvCaptureRetrieveFrameFunc)icvRetrieveFrameCAM_V4L,
- (CvCaptureGetPropertyFunc)icvGetPropertyCAM_V4L,
- (CvCaptureSetPropertyFunc)icvSetPropertyCAM_V4L,
- (CvCaptureGetDescriptionFunc)0
-};
#ifdef HAVE_CAMV4L2
If it fails on the first attempt of /dev/video0, then check if /dev/video is valid.
Returns the global numCameras with the correct value (we hope) */
-void icvInitCapture_V4L() {
+static void icvInitCapture_V4L() {
int deviceHandle;
int CameraNumber;
char deviceName[MAX_DEVICE_DRIVER_NAME];
}; /* End icvInitCapture_V4L */
-int
+static int
try_palette(int fd,
struct video_picture *cam_pic,
int pal,
#ifdef HAVE_CAMV4L2
-int try_palette_v4l2(CvCaptureCAM_V4L* capture, unsigned long colorspace)
+static int try_palette_v4l2(CvCaptureCAM_V4L* capture, unsigned long colorspace)
{
CLEAR (capture->form);
#endif /* HAVE_CAMV4L2 */
-int try_init_v4l(CvCaptureCAM_V4L* capture, char *deviceName)
+static int try_init_v4l(CvCaptureCAM_V4L* capture, char *deviceName)
{
// if detect = -1 then unable to open device
#ifdef HAVE_CAMV4L2
-int try_init_v4l2(CvCaptureCAM_V4L* capture, char *deviceName)
+static int try_init_v4l2(CvCaptureCAM_V4L* capture, char *deviceName)
{
// if detect = -1 then unable to open device
}
-int autosetup_capture_mode_v4l2(CvCaptureCAM_V4L* capture)
+static int autosetup_capture_mode_v4l2(CvCaptureCAM_V4L* capture)
{
if (try_palette_v4l2(capture, V4L2_PIX_FMT_BGR24) == 0)
{
#endif /* HAVE_CAMV4L2 */
-int autosetup_capture_mode_v4l(CvCaptureCAM_V4L* capture)
+static int autosetup_capture_mode_v4l(CvCaptureCAM_V4L* capture)
{
if(ioctl(capture->deviceHandle, VIDIOCGPICT, &capture->imageProperties) < 0) {
#ifdef HAVE_CAMV4L2
-void v4l2_scan_controls_enumerate_menu(CvCaptureCAM_V4L* capture)
+static void v4l2_scan_controls_enumerate_menu(CvCaptureCAM_V4L* capture)
{
// printf (" Menu items:\n");
CLEAR (capture->querymenu);
}
}
-void v4l2_scan_controls(CvCaptureCAM_V4L* capture)
+static void v4l2_scan_controls(CvCaptureCAM_V4L* capture)
{
__u32 ctrl_id;
if (autosetup_capture_mode_v4l2(capture) == -1)
return -1;
- icvSetVideoSize(capture, DEFAULT_V4L_WIDTH, DEFAULT_V4L_HEIGHT);
+ /* default capture size is already set */
+// icvSetVideoSize(capture, DEFAULT_V4L_WIDTH, DEFAULT_V4L_HEIGHT);
unsigned int min;
capture->form.fmt.pix.sizeimage = min;
CLEAR (capture->req);
+
+ unsigned int buffer_number = 4;
- capture->req.count = 4;
- capture->req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
- capture->req.memory = V4L2_MEMORY_MMAP;
+ try_again:
+
+ capture->req.count = buffer_number;
+ capture->req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+ capture->req.memory = V4L2_MEMORY_MMAP;
if (-1 == xioctl (capture->deviceHandle, VIDIOC_REQBUFS, &capture->req))
{
return -1;
}
- if (capture->req.count < 4)
+ if (capture->req.count < buffer_number)
{
- fprintf (stderr, "Insufficient buffer memory on %s\n", deviceName);
+ if (buffer_number == 1)
+ {
+ fprintf (stderr, "Insufficient buffer memory on %s\n", deviceName);
- /* free capture, and returns an error code */
- icvCloseCAM_V4L (capture);
- return -1;
+ /* free capture, and returns an error code */
+ icvCloseCAM_V4L (capture);
+ return -1;
+ } else {
+ buffer_number--;
+
+ goto try_again;
+ }
}
for (n_buffers = 0; n_buffers < capture->req.count; ++n_buffers)
return 1;
}; /* End _capture_V4L */
-CvCapture * cvCaptureFromCAM_V4L (int index)
+static CvCaptureCAM_V4L * icvCaptureFromCAM_V4L (int index)
{
static int autoindex=0;
memset(capture,0,sizeof(CvCaptureCAM_V4L));
/* Present the routines needed for V4L funtionality. They are inserted as part of
the standard set of cv calls promoting transparency. "Vector Table" insertion. */
- capture->vtable = &captureCAM_V4L_vtable;
capture->FirstCapture = 1;
#ifdef HAVE_CAMV4L2
}
#endif /* HAVE_CAMV4L2 */
- return (CvCapture *)capture;
+ return capture;
}; /* End icvOpenCAM_V4L */
#ifdef HAVE_CAMV4L2
{
/* [FD] this really belongs here */
- if (ioctl(capture->deviceHandle, VIDIOCSYNC, &capture->mmaps[capture->bufferIndex]) == -1) {
+ if (ioctl(capture->deviceHandle, VIDIOCSYNC, &capture->mmaps[capture->bufferIndex].frame) == -1) {
fprintf( stderr, "HIGHGUI ERROR: V4L: Could not SYNC to video stream. %s\n", strerror(errno));
}
/* Now get what has already been captured as a IplImage return */
- /* First, reallocate imageData if the frame sized changed */
+ /* First, reallocate imageData if the frame size changed */
#ifdef HAVE_CAMV4L2
/* Get window info again, to get the real value */
if (-1 == xioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form))
{
- fprintf(stderr, "HIGHGUI ERROR: V4L/V4L2: Could not obtain specifics of capture window.\n\n");
+ fprintf(stderr, "HIGHGUI WARNING: V4L/V4L2: Could not obtain specifics of capture window.\n\n");
- icvCloseCAM_V4L(capture);
+// icvCloseCAM_V4L(capture);
return 0;
}
}
};
+
+class CvCaptureCAM_V4L_CPP : CvCapture
+{
+public:
+ CvCaptureCAM_V4L_CPP() { captureV4L = 0; }
+ virtual ~CvCaptureCAM_V4L_CPP() { close(); }
+
+ virtual bool open( int index );
+ virtual void close();
+
+ virtual double getProperty(int);
+ virtual bool setProperty(int, double);
+ virtual bool grabFrame();
+ virtual IplImage* retrieveFrame();
+protected:
+
+ CvCaptureCAM_V4L* captureV4L;
+};
+
+bool CvCaptureCAM_V4L_CPP::open( int index )
+{
+ close();
+ captureV4L = icvCaptureFromCAM_V4L(index);
+ return captureV4L != 0;
+}
+
+void CvCaptureCAM_V4L_CPP::close()
+{
+ if( captureV4L )
+ {
+ icvCloseCAM_V4L( captureV4L );
+ cvFree( &captureV4L );
+ }
+}
+
+bool CvCaptureCAM_V4L_CPP::grabFrame()
+{
+ return captureV4L ? icvGrabFrameCAM_V4L( captureV4L ) != 0 : false;
+}
+
+IplImage* CvCaptureCAM_V4L_CPP::retrieveFrame()
+{
+ return captureV4L ? icvRetrieveFrameCAM_V4L( captureV4L ) : 0;
+}
+
+double CvCaptureCAM_V4L_CPP::getProperty( int propId )
+{
+ return captureV4L ? icvGetPropertyCAM_V4L( captureV4L, propId ) : 0.0;
+}
+
+bool CvCaptureCAM_V4L_CPP::setProperty( int propId, double value )
+{
+ return captureV4L ? icvSetPropertyCAM_V4L( captureV4L, propId, value ) != 0 : false;
+}
+
+CvCapture* cvCreateCameraCapture_V4L( int index )
+{
+ CvCaptureCAM_V4L_CPP* capture = new CvCaptureCAM_V4L_CPP;
+
+ if( capture->open( index ))
+ return (CvCapture*)capture;
+
+ delete capture;
+ return 0;
+}
+
#endif
projects / opencv / blobdiff