void NaoCamera::getCameraParams() {
read_camera_params_.kCameraAutoWhiteBalance = getControlSetting(V4L2_CID_AUTO_WHITE_BALANCE);
read_camera_params_.kCameraExposureAuto = getControlSetting(V4L2_CID_EXPOSURE_AUTO);
read_camera_params_.kCameraBacklightCompensation = getControlSetting(V4L2_CID_BACKLIGHT_COMPENSATION);
read_camera_params_.kCameraBrightness = getControlSetting(V4L2_CID_BRIGHTNESS);
read_camera_params_.kCameraContrast = getControlSetting(V4L2_CID_CONTRAST);
read_camera_params_.kCameraSaturation = getControlSetting(V4L2_CID_SATURATION);
read_camera_params_.kCameraHue = getControlSetting(V4L2_CID_HUE);
read_camera_params_.kCameraExposure = getControlSetting(V4L2_CID_EXPOSURE);
read_camera_params_.kCameraGain = getControlSetting(V4L2_CID_GAIN);
read_camera_params_.kCameraSharpness = getControlSetting(V4L2_CID_SHARPNESS);
}
bool ImageTranscriber::setControlSetting(unsigned int id, int value) {
struct v4l2_control control_s;
control_s.id = id;
control_s.value = value;
int counter = 0;
// Have to make sure the setting "sticks"
while(getControlSetting(id) != value)
{
if (ioctl(fd, VIDIOC_S_CTRL, &control_s) < 0)
{
std::cerr << "CAMERA::Warning::Control setting failed." <<
std::endl;
return false;
}
counter++;
if(counter > 10)
{
std::cerr << "CAMERA::Warning::Timeout while setting a parameter."
<< std::endl;
return false;
}
}
return true;
}
bool NaoCamera::setControlSetting(unsigned int id, int value) {
struct v4l2_queryctrl queryctrl;
queryctrl.id = id;
if(ioctl(videoDeviceFd, VIDIOC_QUERYCTRL, &queryctrl) < 0) {
std::cerr << "NaoCamera: Query failed on " << queryctrl.name << "(" << id << ")\n";
return false;
}
if(queryctrl.flags & V4L2_CTRL_FLAG_DISABLED) {
std::cerr << "NaoCamera: Query disabled on " << queryctrl.name << "(" << id << ")\n";
return false; // not available
}
if(queryctrl.type != V4L2_CTRL_TYPE_BOOLEAN && queryctrl.type != V4L2_CTRL_TYPE_INTEGER && queryctrl.type != V4L2_CTRL_TYPE_MENU) {
std::cerr << "NaoCamera: Query not supported on " << queryctrl.name << "(" << id << ")\n";
return false; // not supported
}
// clip value
int oldval = value;
if(value < queryctrl.minimum)
value = queryctrl.minimum;
if(value > queryctrl.maximum)
value = queryctrl.maximum;
if (value != oldval) {
std::cout << "NaoCamera: Value outside range," << oldval << " on " << queryctrl.name << "(" << id << ") got cropped to " << value << std::endl;
}
struct v4l2_control control_s;
control_s.id = id;
control_s.value = value;
if(ioctl(videoDeviceFd, VIDIOC_S_CTRL, &control_s) < 0) {
std::cerr << "NaoCamera: Error setting " << queryctrl.name << "(" << id << ") to " << value << "\n";
return false;
}
int newvalue = getControlSetting(id);
if(newvalue != value) {
std::cerr << "NaoCamera: " << queryctrl.name << "(" << id << ") requested as " << value << ", but was set to " << newvalue << "\n";
return false;
}
std::cout << "NaoCamera: " << queryctrl.name << "(" << id << ") requested as " << value << " successfully\n";
return true;
}
void NaoCamera::assertCameraSettings()
{
bool allFine = true;
// check frame rate
struct v4l2_streamparm fps;
memset(&fps, 0, sizeof(fps));
fps.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
VERIFY(!ioctl(fd, VIDIOC_G_PARM, &fps));
if(fps.parm.capture.timeperframe.numerator != 1)
{
OUTPUT(idText, text, "fps.parm.capture.timeperframe.numerator is wrong.");
allFine = false;
}
if(fps.parm.capture.timeperframe.denominator != 30)
{
OUTPUT(idText, text, "fps.parm.capture.timeperframe.denominator is wrong.");
allFine = false;
}
// check camera settings
std::list<CameraSettingsBH::V4L2Setting> v4l2settings = settings.getSettings();
std::list<CameraSettingsBH::V4L2Setting>::const_iterator it = v4l2settings.begin();
std::list<CameraSettingsBH::V4L2Setting>::const_iterator end = v4l2settings.end();
for(; it != end; it++)
{
int value = getControlSetting((*it).command);
if(value != (*it).value)
{
OUTPUT(idText, text, "Value for command " << (*it).command << " is " << value << " but should be " << (*it).value << ".");
allFine = false;
}
}
if(allFine)
{
OUTPUT(idText, text, "Camera settings match settings stored in hardware/driver.");
}
}
void ImageTranscriber::assertCameraSettings() {
bool allFine = true;
// check frame rate
struct v4l2_streamparm fps;
memset(&fps, 0, sizeof(fps));
fps.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
verify(ioctl(fd, VIDIOC_G_PARM, &fps),
"Getting settings failed");
if (fps.parm.capture.timeperframe.numerator != 1) {
std::cerr << "CAMERA::fps.parm.capture.timeperframe.numerator is"
<< " wrong." << std::endl;
allFine = false;
}
if (fps.parm.capture.timeperframe.denominator != 30) {
std::cerr << "CAMERA::fps.parm.capture.timeperframe.denominator" <<
" is wrong." << std::endl;
allFine = false;
}
// check camera settings against what the driver has
int hflip = getControlSetting(V4L2_CID_HFLIP);
int vflip = getControlSetting(V4L2_CID_VFLIP);
int brightness = getControlSetting(V4L2_CID_BRIGHTNESS);
int contrast = getControlSetting(V4L2_CID_CONTRAST);
int saturation = getControlSetting(V4L2_CID_SATURATION);
int hue = getControlSetting(V4L2_CID_HUE);
int sharpness = getControlSetting(V4L2_CID_SHARPNESS);
int gain = getControlSetting(V4L2_CID_GAIN);
int exposure = getControlSetting(V4L2_CID_EXPOSURE);
int whitebalance = getControlSetting(V4L2_CID_DO_WHITE_BALANCE);
//std::cerr << "Done checking driver settings" << std::endl;
if (hflip != settings.hflip)
{
std::cerr << "CAMERA::WARNING::Horizontal flip setting is wrong:"
<< std::endl;
std::cerr << " is " << hflip << " not " << settings.hflip <<
std::endl;
allFine = false;
}
if (vflip != settings.vflip)
{
std::cerr << "CAMERA::WARNING::Vertical flip setting is wrong:"
<< std::endl;
std::cerr << " is " << vflip << " not " << settings.vflip <<
std::endl;
allFine = false;
}
if (brightness != settings.brightness)
{
std::cerr << "CAMERA::WARNING::Brightness setting is wrong:"
<< std::endl;
std::cerr << " is " << brightness << " not " << settings.brightness
<< std::endl;
allFine = false;
}
if (contrast != settings.contrast)
{
std::cerr << "CAMERA::WARNING::Contrast setting is wrong:"
<< std::endl;
std::cerr << " is " << contrast << " not " << settings.contrast
<< std::endl;
allFine = false;
}
if (saturation != settings.saturation)
{
std::cerr << "CAMERA::WARNING::Saturation setting is wrong:"
<< std::endl;
std::cerr << " is " << saturation << " not " << settings.saturation
<< std::endl;
allFine = false;
}
if (hue != settings.hue)
{
std::cerr << "CAMERA::WARNING::Hue setting is wrong:"
<< std::endl;
std::cerr << " is " << hue << " not " << settings.hue
<< std::endl;
allFine = false;
}
if (sharpness != settings.sharpness)
{
std::cerr << "CAMERA::WARNING::Sharpness setting is wrong:"
<< std::endl;
std::cerr << " is " << sharpness << " not " << settings.sharpness
<< std::endl;
allFine = false;
}
if (gain != settings.gain)
{
std::cerr << "CAMERA::WARNING::Gain setting is wrong:"
<< std::endl;
std::cerr << " is " << gain << " not " << settings.gain
<< std::endl;
allFine = false;
}
if (exposure != settings.exposure)
{
std::cerr << "CAMERA::WARNING::Exposure setting is wrong:"
<< std::endl;
std::cerr << " is " << exposure << " not " << settings.exposure
<< std::endl;
allFine = false;
}
if (whitebalance != settings.white_balance)
{
std::cerr << "CAMERA::WARNING::Whitebalance setting is wrong:"
<< std::endl;
std::cerr << " is " << whitebalance << " not " << settings.white_balance
<< std::endl;
allFine = false;
}
if (allFine) {
std::cerr << "CAMERA::";
if(cameraType == Camera::BOTTOM)
std::cerr << "Bottom camera settings were set correctly." <<
std::endl;
else std::cerr << "Top camera settings were set correctly." <<
std::endl;
}
}
