// This method is the main workhorse, and is run by the camera thread.
static void *FCamAppThread(void *ptr) {
FCAM_INTERFACE_DATA *tdata = (FCAM_INTERFACE_DATA *)ptr;
Timer timer;
JNIEnv *env;
tdata->javaVM->AttachCurrentThread(&env, 0);
writer = 0; // Initialized on the first PARAM_OUTPUT_DIRECTORY set request.
// Initialize FCam devices.
FCam::Tegra::Sensor sensor;
FCam::Tegra::Lens lens;
FCam::Tegra::Flash flash;
sensor.attach(&lens);
sensor.attach(&flash);
MyAutoFocus autofocus(&lens);
MyFaceDetector faceDetector("/data/fcam/face.xml");
FCam::Image previewImage(PREVIEW_IMAGE_WIDTH, PREVIEW_IMAGE_HEIGHT, FCam::YUV420p);
FCam::Tegra::Shot shot;
// Initialize FPS stat calculation.
tdata->captureFps = 30; // assuming 30hz
double fpsUpdateTime = timer.get();
int frameCount = 0;
// Local task queue that processes messages from the Android application.
std::queue<ParamSetRequest> taskQueue;
ParamSetRequest task;
for (;;) {
FCAM_SHOT_PARAMS *currentShot = &tdata->currentShot;
FCAM_SHOT_PARAMS *previousShot = &tdata->previousShot;
// Copy tasks to local queue
sAppData->requestQueue.consumeAll(taskQueue);
// Parse all tasks from the Android applications.
while (!taskQueue.empty()) {
task = taskQueue.front();
taskQueue.pop();
bool prevValue;
int taskId = task.getId() & 0xffff;
int *taskData = (int *)task.getData();
int pictureId = task.getId() >> 16;
switch (taskId) {
case PARAM_SHOT:
// Note: Exposure is bounded below at 1/1000 (FCam bug?)
currentShot->captureSet[pictureId].exposure = taskData[SHOT_PARAM_EXPOSURE] < 1000 ? 1000 : taskData[SHOT_PARAM_EXPOSURE];
currentShot->captureSet[pictureId].focus = taskData[SHOT_PARAM_FOCUS];
currentShot->captureSet[pictureId].gain = taskData[SHOT_PARAM_GAIN];
currentShot->captureSet[pictureId].wb = taskData[SHOT_PARAM_WB];
currentShot->captureSet[pictureId].flashOn = taskData[SHOT_PARAM_FLASH];
break;
case PARAM_PREVIEW_EXPOSURE:
currentShot->preview.user.exposure = taskData[0];
break;
case PARAM_PREVIEW_FOCUS:
currentShot->preview.user.focus = taskData[0];
break;
case PARAM_PREVIEW_GAIN:
currentShot->preview.user.gain = taskData[0];
break;
case PARAM_PREVIEW_WB:
currentShot->preview.user.wb = taskData[0];
break;
case PARAM_PREVIEW_AUTO_EXPOSURE_ON:
prevValue = currentShot->preview.autoExposure;
currentShot->preview.autoExposure = taskData[0] != 0;
if (!prevValue && prevValue ^ currentShot->preview.autoExposure != 0) {
previousShot->preview.evaluated.exposure = currentShot->preview.user.exposure;
} else {
currentShot->preview.user.exposure = previousShot->preview.evaluated.exposure;
}
break;
case PARAM_PREVIEW_AUTO_FOCUS_ON:
prevValue = currentShot->preview.autoFocus;
currentShot->preview.autoFocus = taskData[0] != 0;
if (!prevValue && prevValue ^ currentShot->preview.autoFocus != 0) {
previousShot->preview.evaluated.focus = currentShot->preview.user.focus;
} else {
currentShot->preview.user.focus = previousShot->preview.evaluated.focus;
}
break;
case PARAM_PREVIEW_AUTO_GAIN_ON:
prevValue = currentShot->preview.autoGain;
currentShot->preview.autoGain = taskData[0] != 0;
if (!prevValue && prevValue ^ currentShot->preview.autoGain != 0) {
previousShot->preview.evaluated.gain = currentShot->preview.user.gain;
} else {
currentShot->preview.user.gain = previousShot->preview.evaluated.gain;
}
break;
case PARAM_PREVIEW_AUTO_WB_ON:
prevValue = currentShot->preview.autoWB;
currentShot->preview.autoWB = taskData[0] != 0;
if (!prevValue && prevValue ^ currentShot->preview.autoWB != 0) {
previousShot->preview.evaluated.wb = currentShot->preview.user.wb;
} else {
currentShot->preview.user.wb = previousShot->preview.evaluated.wb;
}
break;
case PARAM_RESOLUTION:
break;
case PARAM_BURST_SIZE:
currentShot->burstSize = taskData[0];
break;
case PARAM_OUTPUT_FORMAT:
break;
case PARAM_VIEWER_ACTIVE:
tdata->isViewerActive = taskData[0] != 0;
break;
case PARAM_OUTPUT_DIRECTORY:
if (writer == 0) {
writer = new AsyncImageWriter((char *)task.getData());
writer->setOnFileSystemChangedCallback(OnFileSystemChanged);
}
break;
case PARAM_OUTPUT_FILE_ID:
AsyncImageWriter::SetFreeFileId(taskData[0]);
break;
case PARAM_TAKE_PICTURE:
if (writer != 0 && task.getDataAsInt() != 0) { // Don't take picture if we can't write out.
// capture begin
tdata->isCapturing = true;
// notify capture start
env->CallVoidMethod(tdata->fcamInstanceRef, tdata->notifyCaptureStart);
OnCapture(tdata, writer, sensor, flash, lens);
// capture done
tdata->isCapturing = false;
// notify capture completion
env->CallVoidMethod(tdata->fcamInstanceRef, tdata->notifyCaptureComplete);
}
break;
case PARAM_PRIV_FS_CHANGED:
if (taskData[0] != 0) {
// notify fs change
env->CallVoidMethod(tdata->fcamInstanceRef, tdata->notifyFileSystemChange);
}
break;
/* [CS478]
* You will probably want extra cases here, to handle messages
* that request autofocus to be activated. Define any new
* message types in ParamSetRequestion.h.
*/
case PARAM_AUTO_FOCUS_LOCAL_REG:
//LOG("MYFOCUS local focus switch\n");
autofocus.state = AUTO_FOCUS_FOCUS;
autofocus.setRect(taskData[0] - RECT_EDGE_LEN / 2, taskData[1] - RECT_EDGE_LEN / 2);//hack TODO
autofocus.startSweep();
break;
case PARAM_AUTO_FOCUS_GLOBAL:
//LOG("MYFOCUS global focus switch\n");
autofocus.state = AUTO_FOCUS_FOCUS;
autofocus.setRect(0, 0, PREVIEW_IMAGE_WIDTH, PREVIEW_IMAGE_HEIGHT);
autofocus.startSweep();
break;
/* [CS478] Assignment #2
* You will probably yet another extra case here to handle face-
* based autofocus. Recall that it might be useful to add a new
* message type in ParamSetRequest.h
*/
case PARAM_AUTO_FOCUS_FACE:
LOG("MYFOCUS face focus switch\n");
autofocus.state = AUTO_FOCUS_FACE_DETECT;
autofocus.fdWait();
//autofocus.startFaceDetect();
break;
// TODO TODO TODO
default:
ERROR("TaskDispatch(): received unsupported task id (%i)!", taskId);
}
}
if (!tdata->isViewerActive) continue; // Viewer is inactive, so skip capture.
// Setup preview shot parameters.
shot.exposure = currentShot->preview.autoExposure ? previousShot->preview.evaluated.exposure : currentShot->preview.user.exposure;
shot.gain = currentShot->preview.autoGain ? previousShot->preview.evaluated.gain : currentShot->preview.user.gain;
shot.whiteBalance = currentShot->preview.autoWB ? previousShot->preview.evaluated.wb : currentShot->preview.user.wb;
shot.image = previewImage;
shot.histogram.enabled = true;
shot.histogram.region = FCam::Rect(0, 0, PREVIEW_IMAGE_WIDTH, PREVIEW_IMAGE_HEIGHT);
shot.sharpness.enabled = currentShot->preview.autoFocus;
shot.sharpness.size = FCam::Size(16, 12);
shot.fastMode = true;
shot.clearActions();
// If in manual focus mode, and the lens is not at the right place, add an action to move it.
if (!currentShot->preview.autoFocus && previousShot->preview.user.focus != currentShot->preview.user.focus) {
shot.clearActions();
FCam::Lens::FocusAction focusAction(&lens);
focusAction.time = 0;
focusAction.focus = currentShot->preview.user.focus;
shot.addAction(focusAction);
}
// Send the shot request to FCam.
sensor.stream(shot);
// Fetch the incoming frame from FCam.
FCam::Frame frame = sensor.getFrame();
// Process the incoming frame. If autoExposure or autoGain is enabled, update parameters based on the frame.
if (currentShot->preview.autoExposure || currentShot->preview.autoGain) {
FCam::autoExpose(&shot, frame, sensor.maxGain(), sensor.maxExposure(), sensor.minExposure(), 0.3);
currentShot->preview.evaluated.exposure = shot.exposure;
currentShot->preview.evaluated.gain = shot.gain;
}
// Process the incoming frame. If autoWB is enabled, update parameters based on the frame.
if (currentShot->preview.autoWB) {
FCam::autoWhiteBalance(&shot, frame);
currentShot->preview.evaluated.wb = shot.whiteBalance;
}
if (autofocus.state == AUTO_FOCUS_FACE_DETECT) {
std::vector<cv::Rect> facesFound = faceDetector.detectFace(frame.image());
for (unsigned int i = 0; i < facesFound.size(); i++) {
cv::Rect r = facesFound[i];
for (int x = 0; x < r.width; x++) {
frame.image()(r.x + x, r.y)[0] = 254u;
frame.image()(r.x + x, r.y + r.height)[0] = 254u;
}
for (int y = 0; y < r.height; y++) {
frame.image()(r.x, r.y + y)[0] = 254u;
frame.image()(r.x + r.width, r.y + y)[0] = 254u;
}
}
if (facesFound.size() != 0)
autofocus.setRects(facesFound);
autofocus.fdWait();
}
/* [CS478] Assignment #2
* Above, facesFound contains the list of detected faces, for the given frame.
* If applicable, you may pass these values to the MyAutoFocus instance.
*
* e.g. autofocus.setTarget(facesFound);
* Note that MyAutoFocus currently has no setTarget method. You'd have
* to write the appropriate interface.
*
* You should also only run faceDetector.detectFace(...) if it
* is necessary (to save compute), so change "true" above to something else
* appropriate.
*/
// TODO TODO TODO
/* [CS478] Assignment #1
* You should process the incoming frame for autofocus, if necessary.
* Your autofocus (MyAutoFocus.h) has a function called update(...).
*/
if(autofocus.state == AUTO_FOCUS_FOCUS)
{
autofocus.update(frame);
//LOG("MYFOCUS update called\n");
}
if(currentShot->preview.autoFocus)
{
currentShot->preview.evaluated.focus = (float) frame["lens.focus"];
}
// TODO TODO TODO
// Update histogram data
const FCam::Histogram &histogram = frame.histogram();
int maxBinValue = 1;
for (int i = 0; i < 64; i++) {
int currBinValue = histogram(i);
maxBinValue = (currBinValue > maxBinValue) ? currBinValue : maxBinValue;
currentShot->histogramData[i * 4] = currBinValue;
}
float norm = 1.0f / maxBinValue;
for (int i = 0; i < 64; i++) {
currentShot->histogramData[i * 4] *= norm;
currentShot->histogramData[i * 4 + 1] = 0.0f;
currentShot->histogramData[i * 4 + 2] = 0.0f;
currentShot->histogramData[i * 4 + 3] = 0.0f;
}
// Update the frame buffer.
uchar *src = (uchar *)frame.image()(0, 0);
FCam::Tegra::Hal::SharedBuffer *captureBuffer = tdata->tripleBuffer->getBackBuffer();
uchar *dest = (uchar *)captureBuffer->lock();
// Note: why do we need to shuffle U and V channels? It seems to be a bug.
memcpy(dest, src, PI_PLANE_SIZE);
memcpy(dest + PI_U_OFFSET, src + PI_V_OFFSET, PI_PLANE_SIZE >> 2);
memcpy(dest + PI_V_OFFSET, src + PI_U_OFFSET, PI_PLANE_SIZE >> 2);
captureBuffer->unlock();
tdata->tripleBuffer->swapBackBuffer();
// Frame capture complete, copy current shot data to previous one
pthread_mutex_lock(&tdata->currentShotLock);
memcpy(&tdata->previousShot, &tdata->currentShot, sizeof(FCAM_SHOT_PARAMS));
pthread_mutex_unlock(&tdata->currentShotLock);
frameCount++;
// Update FPS
double time = timer.get();
double dt = time - fpsUpdateTime;
if (dt > FPS_UPDATE_PERIOD) {
float fps = frameCount * (1000.0 / dt);
fpsUpdateTime = time;
frameCount = 0;
tdata->captureFps = fps;
}
}
tdata->javaVM->DetachCurrentThread();
// delete instance ref
env->DeleteGlobalRef(tdata->fcamInstanceRef);
return 0;
}
int main() {
initialise_termination_handler();
int deviceDescriptor = open ("/dev/video0", O_RDWR /* required */ | O_NONBLOCK, 0);
if (deviceDescriptor == -1) {
std::cout << "Unable to open device\n";
return 1;
}
bool isAutofocusAvailable = isLogitechAutofocusModeSupported(deviceDescriptor);
if (isAutofocusAvailable) {
}
int announce_socket;
in_addr iaddr;
memset(&iaddr, 0, sizeof(struct in_addr));
announce_socket = socket(AF_INET, SOCK_DGRAM, 0);
if ( announce_socket < 0 ) {
perror("Error creating socket");
exit(0);
}
int one = 1;
int ret = setsockopt(announce_socket, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
if (ret < 0) {
perror("setsockopt");
return 1;
}
sockaddr_in saddr;
memset(&saddr, 0, sizeof(struct sockaddr_in));
saddr.sin_family = AF_INET;
saddr.sin_port = htons(CAMERA_ANNOUNCE_PORT);
saddr.sin_addr.s_addr = INADDR_ANY; // bind socket to any interface
int status = bind(announce_socket, (struct sockaddr *)&saddr, sizeof(sockaddr_in));
if ( status < 0 )
perror("Error binding socket to interface"), exit(0);
ip_mreq mreq;
memset(&mreq,0,sizeof(mreq));
mreq.imr_multiaddr.s_addr=inet_addr(CAMERA_ANNOUNCE_GROUP);
mreq.imr_interface.s_addr=INADDR_ANY;
if (setsockopt(announce_socket,IPPROTO_IP,IP_ADD_MEMBERSHIP,&mreq,sizeof(mreq)) < 0) {
perror("setsockopt");
exit(1);
}
Autofocus autofocus(deviceDescriptor);
while (running == 1 && !autofocus.isFocusComplete()) {
BufferReference readyBuffer;
memset(&readyBuffer,0,sizeof(readyBuffer));
msghdr socket_message;
memset(&socket_message,0,sizeof(socket_message));
int result;
std::vector<char> data(1024);
result = recvfrom(announce_socket,data.data(),data.size(),0,NULL,NULL);
if (result <= 0) {
perror("recvfrom");
break;
}
timespec tp;
clock_gettime(CLOCK_MONOTONIC,&tp);
void* input_pointer = &readyBuffer;
ber_decode(0,&asn_DEF_BufferReference,&input_pointer,data.data(),result);
// timeval capture_time{readyBuffer.timestamp_seconds,readyBuffer.timestamp_microseconds};
std::string buffer_name = "/" + get_name_of_buffer(readyBuffer.sequence);
int buffer_descriptor = shm_open(buffer_name.c_str(), O_RDONLY, 0);
if (buffer_descriptor == -1) {
std::cout << "Can not open shared buffer file " << buffer_name << std::endl;
continue;
}
size_t buffer_length = readyBuffer.width*readyBuffer.height*2;
void* pointer = mmap(NULL,buffer_length, PROT_READ,MAP_PRIVATE,buffer_descriptor,0);
close(buffer_descriptor);
if (pointer == MAP_FAILED) {
std::cout << "Can not map shared buffer " << buffer_name << std::endl;
continue;
}
timeval frame_timestamp {readyBuffer.timestamp_seconds,readyBuffer.timestamp_microseconds};
yuy2::view_t frame = boost::gil::interleaved_view(readyBuffer.width,readyBuffer.height,static_cast<yuy2::ptr_t>(pointer),readyBuffer.width*2);
autofocus.submitFrame(frame_timestamp, frame);
munmap(pointer,buffer_length);
}
close(announce_socket);
return 0;
}