void CameraHandler::applyProperties(CameraHandler** ppcameraHandler)
{
LOGD("CameraHandler::applyProperties()");
if (NULL == ppcameraHandler)
{
LOGE("applyProperties: Passed NULL ppcameraHandler");
return;
}
if (NULL == *ppcameraHandler)
{
LOGE("applyProperties: Passed null *ppcameraHandler");
return;
}
LOGD("CameraHandler::applyProperties()");
#if !defined(ANDROID_r2_2_0)
LOGD("Reconnect camera");
(*ppcameraHandler)->camera->reconnect();
(*ppcameraHandler)->params = (*ppcameraHandler)->camera->getParameters();
#else
CameraHandler* previousCameraHandler = *ppcameraHandler;
CameraParameters curCameraParameters(previousCameraHandler->params.flatten());
CameraCallback cameraCallback = previousCameraHandler->cameraCallback;
void* userData = previousCameraHandler->userData;
int cameraId = previousCameraHandler->cameraId;
LOGD("CameraHandler::applyProperties(): before previousCameraHandler->closeCameraConnect");
previousCameraHandler->closeCameraConnect();
LOGD("CameraHandler::applyProperties(): after previousCameraHandler->closeCameraConnect");
LOGD("CameraHandler::applyProperties(): before initCameraConnect");
CameraHandler* handler = initCameraConnect(cameraCallback, cameraId, userData, &curCameraParameters);
LOGD("CameraHandler::applyProperties(): after initCameraConnect, handler=0x%x", (int)handler);
if (handler == NULL) {
LOGE("ERROR in applyProperties --- cannot reinit camera");
handler = initCameraConnect(cameraCallback, cameraId, userData, NULL);
LOGD("CameraHandler::applyProperties(): repeate initCameraConnect after ERROR, handler=0x%x", (int)handler);
if (handler == NULL) {
LOGE("ERROR in applyProperties --- cannot reinit camera AGAIN --- cannot do anything else");
}
}
(*ppcameraHandler) = handler;
#endif
}
CameraHandler* CameraHandler::initCameraConnect(const CameraCallback& callback, int cameraId, void* userData, CameraParameters* prevCameraParameters)
{
typedef sp<Camera> (*Android22ConnectFuncType)();
typedef sp<Camera> (*Android23ConnectFuncType)(int);
typedef sp<Camera> (*Android3DConnectFuncType)(int, int);
enum {
CAMERA_SUPPORT_MODE_2D = 0x01, /* Camera Sensor supports 2D mode. */
CAMERA_SUPPORT_MODE_3D = 0x02, /* Camera Sensor supports 3D mode. */
CAMERA_SUPPORT_MODE_NONZSL = 0x04, /* Camera Sensor in NON-ZSL mode. */
CAMERA_SUPPORT_MODE_ZSL = 0x08 /* Camera Sensor supports ZSL mode. */
};
const char Android22ConnectName[] = "_ZN7android6Camera7connectEv";
const char Android23ConnectName[] = "_ZN7android6Camera7connectEi";
const char Android3DConnectName[] = "_ZN7android6Camera7connectEii";
LOGD("CameraHandler::initCameraConnect(%p, %d, %p, %p)", callback, cameraId, userData, prevCameraParameters);
sp<Camera> camera = 0;
void* CameraHALHandle = dlopen("libcamera_client.so", RTLD_LAZY);
if (!CameraHALHandle)
{
LOGE("Cannot link to \"libcamera_client.so\"");
return NULL;
}
// reset errors
dlerror();
if (Android22ConnectFuncType Android22Connect = (Android22ConnectFuncType)dlsym(CameraHALHandle, Android22ConnectName))
{
LOGD("Connecting to CameraService v 2.2");
camera = Android22Connect();
LOGD("Connection to CameraService v 2.2 established");
}
else if (Android23ConnectFuncType Android23Connect = (Android23ConnectFuncType)dlsym(CameraHALHandle, Android23ConnectName))
{
LOGD("Connecting to CameraService v 2.3");
camera = Android23Connect(cameraId);
LOGD("Connection to CameraService v 2.3 established");
}
else if (Android3DConnectFuncType Android3DConnect = (Android3DConnectFuncType)dlsym(CameraHALHandle, Android3DConnectName))
{
LOGD("Connecting to CameraService v 3D");
camera = Android3DConnect(cameraId, CAMERA_SUPPORT_MODE_2D);
LOGD("Connection to CameraService v 3D established");
}
else
{
dlclose(CameraHALHandle);
LOGE("Cannot connect to CameraService. Connect method was not found!");
return NULL;
}
dlclose(CameraHALHandle);
if ( NULL == camera.get() )
{
LOGE("initCameraConnect: Unable to connect to CameraService\n");
return 0;
}
LOGD("Creating camera handler");
CameraHandler* handler = new CameraHandler(callback, userData);
LOGD("Setting camera listener");
camera->setListener(handler);
LOGD("Updating camera handler");
handler->camera = camera;
handler->cameraId = cameraId;
LOGD("Checking previous camera parameters");
if (NULL != prevCameraParameters)
{
LOGI("initCameraConnect: Setting paramers from previous camera handler");
camera->setParameters(prevCameraParameters->flatten());
handler->params.unflatten(prevCameraParameters->flatten());
}
else
{
android::String8 params_str = camera->getParameters();
LOGI("initCameraConnect: [%s]", params_str.string());
handler->params.unflatten(params_str);
LOGD("Supported Cameras: %s", handler->params.get("camera-indexes"));
LOGD("Supported Picture Sizes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_PICTURE_SIZES));
LOGD("Supported Picture Formats: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_PICTURE_FORMATS));
LOGD("Supported Preview Sizes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_PREVIEW_SIZES));
LOGD("Supported Preview Formats: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_PREVIEW_FORMATS));
LOGD("Supported Preview Frame Rates: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_PREVIEW_FRAME_RATES));
LOGD("Supported Thumbnail Sizes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_JPEG_THUMBNAIL_SIZES));
LOGD("Supported Whitebalance Modes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_WHITE_BALANCE));
LOGD("Supported Effects: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_EFFECTS));
LOGD("Supported Scene Modes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_SCENE_MODES));
LOGD("Supported Focus Modes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_FOCUS_MODES));
LOGD("Supported Antibanding Options: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_ANTIBANDING));
LOGD("Supported Flash Modes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_FLASH_MODES));
#if !defined(ANDROID_r2_2_0)
// Set focus mode to continuous-video if supported
const char* available_focus_modes = handler->params.get(CameraParameters::KEY_SUPPORTED_FOCUS_MODES);
if (NULL != available_focus_modes)
{
if (strstr(available_focus_modes, "continuous-video") != NULL)
{
handler->params.set(CameraParameters::KEY_FOCUS_MODE, CameraParameters::FOCUS_MODE_CONTINUOUS_VIDEO);
status_t resParams = handler->camera->setParameters(handler->params.flatten());
if (0 != resParams)
{
LOGE("initCameraConnect: failed to set autofocus mode to \"continuous-video\"");
}
else
{
LOGD("initCameraConnect: autofocus is set to mode \"continuous-video\"");
}
}
}
#endif
//check if yuv420sp format available. Set this format as preview format.
const char* available_formats = handler->params.get(CameraParameters::KEY_SUPPORTED_PREVIEW_FORMATS);
if (available_formats != 0)
{
const char* format_to_set = 0;
const char* pos = available_formats;
const char* ptr = pos;
while(true)
{
while(*ptr != 0 && *ptr != ',') ++ptr;
if (ptr != pos)
{
if (0 == strncmp(pos, "yuv420sp", ptr - pos))
{
format_to_set = "yuv420sp";
break;
}
if (0 == strncmp(pos, "yvu420sp", ptr - pos))
format_to_set = "yvu420sp";
}
if (*ptr == 0)
break;
pos = ++ptr;
}
if (0 != format_to_set)
{
handler->params.setPreviewFormat(format_to_set);
status_t resParams = handler->camera->setParameters(handler->params.flatten());
if (resParams != 0)
LOGE("initCameraConnect: failed to set preview format to %s", format_to_set);
else
LOGD("initCameraConnect: preview format is set to %s", format_to_set);
}
}
}
status_t pdstatus;
#if defined(ANDROID_r2_2_0)
pdstatus = camera->setPreviewDisplay(sp<ISurface>(0 /*new DummySurface*/));
if (pdstatus != 0)
LOGE("initCameraConnect: failed setPreviewDisplay(0) call; camera migth not work correctly on some devices");
#elif defined(ANDROID_r2_3_3)
/* Do nothing in case of 2.3 for now */
#elif defined(ANDROID_r3_0_1) || defined(ANDROID_r4_0_0) || defined(ANDROID_r4_0_3)
sp<SurfaceTexture> surfaceTexture = new SurfaceTexture(MAGIC_OPENCV_TEXTURE_ID);
pdstatus = camera->setPreviewTexture(surfaceTexture);
if (pdstatus != 0)
LOGE("initCameraConnect: failed setPreviewTexture call; camera migth not work correctly");
#elif defined(ANDROID_r4_1_1)
sp<BufferQueue> bufferQueue = new BufferQueue();
sp<BufferQueue::ConsumerListener> queueListener = new ConsumerListenerStub();
bufferQueue->consumerConnect(queueListener);
pdstatus = camera->setPreviewTexture(bufferQueue);
if (pdstatus != 0)
LOGE("initCameraConnect: failed setPreviewTexture call; camera migth not work correctly");
#endif
#if (defined(ANDROID_r2_2_0) || defined(ANDROID_r2_3_3) || defined(ANDROID_r3_0_1))
# if 1
////ATTENTION: switching between two versions: with and without copying memory inside Android OS
//// see the method CameraService::Client::copyFrameAndPostCopiedFrame and where it is used
camera->setPreviewCallbackFlags( FRAME_CALLBACK_FLAG_ENABLE_MASK | FRAME_CALLBACK_FLAG_COPY_OUT_MASK);//with copy
# else
camera->setPreviewCallbackFlags( FRAME_CALLBACK_FLAG_ENABLE_MASK );//without copy
# endif
#else
camera->setPreviewCallbackFlags( CAMERA_FRAME_CALLBACK_FLAG_ENABLE_MASK | CAMERA_FRAME_CALLBACK_FLAG_COPY_OUT_MASK);//with copy
#endif //!(defined(ANDROID_r4_0_0) || defined(ANDROID_r4_0_3))
LOGD("Starting preview");
status_t resStart = camera->startPreview();
if (resStart != 0)
{
LOGE("initCameraConnect: startPreview() fails. Closing camera connection...");
handler->closeCameraConnect();
handler = 0;
}
else
{
LOGD("Preview started successfully");
}
return handler;
}
int main(int argc, char** argv)
{
// camera
CameraHandler camera;
// getopt
getopt_t* gopt = getopt_create();
getopt_add_string(gopt, 'f', "file", "", "Use static camera image");
if (!getopt_parse(gopt, argc, argv, 1)) {
getopt_do_usage(gopt);
exit(1);
}
const char* fileName = getopt_get_string(gopt, "file");
if (strncmp(fileName, "", 1)) {
// if fileName is not empty
camera.setStaticImage(fileName);
}
getopt_destroy(gopt);
// initialize with first image
image_u32_t* tempIm = camera.getImage();
CalibrationHandler::instance()->calibrateImageSize(tempIm->height, tempIm->width, true);
image_u32_destroy(tempIm);
// lcm
LcmHandler::instance()->launchThreads();
// vx
VxHandler vx(1024, 768);
vx.launchThreads();
while (1) {
CalibrationInfo calibrationInfo =
CalibrationHandler::instance()->getCalibration();
RenderInfo render;
render.im = camera.getImage();
CalibrationHandler::instance()->clipImage(render.im);
// std::array<float, 2> pos;
// if (Arm::instance()->forwardKinematics(pos)) {
// printf("pos: %f, %f\n", pos[0], pos[1]);
// }
if (buttonStates.blobDetect) {
std::vector<BlobDetector::Blob> blobs =
BlobDetector::findBlobs(render.im, calibrationInfo, blobMinPixels);
for (const auto& blob : blobs) {
std::array<int, 2> imageCoords{{blob.x, blob.y}};
std::array<float, 2> screenCoords =
CoordinateConverter::imageToScreen(imageCoords);
switch (blob.type) {
case REDBALL:
render.redBlobs.push_back(screenCoords);
break;
case GREENBALL:
render.greenBlobs.push_back(screenCoords);
break;
case BLUESQUARE:
render.blueBlobs.push_back(screenCoords);
break;
default:
break;
}
}
}
VxButtonStates buttonStates = vx.getButtonStates();
if (buttonStates.colorMask) {
maskWithColors(render.im, calibrationInfo);
}
vx.changeRenderInfo(render);
usleep(1e3);
}
}
CameraHandler* CameraHandler::initCameraConnect(const CameraCallback& callback, int cameraId, void* userData, CameraParameters* prevCameraParameters)
{
LOGD("CameraHandler::initCameraConnect(%p, %d, %p, %p)", callback, cameraId, userData, prevCameraParameters);
sp<Camera> camera = 0;
#ifdef ANDROID_r2_2_2
camera = Camera::connect();
#endif
#ifdef ANDROID_r2_3_3
camera = Camera::connect(cameraId);
#endif
if ( 0 == camera.get() )
{
LOGE("initCameraConnect: Unable to connect to CameraService\n");
return 0;
}
CameraHandler* handler = new CameraHandler(callback, userData);
camera->setListener(handler);
handler->camera = camera;
handler->cameraId = cameraId;
if (prevCameraParameters != 0)
{
LOGI("initCameraConnect: Setting paramers from previous camera handler");
camera->setParameters(prevCameraParameters->flatten());
handler->params.unflatten(prevCameraParameters->flatten());
}
else
{
android::String8 params_str = camera->getParameters();
LOGI("initCameraConnect: [%s]", params_str.string());
handler->params.unflatten(params_str);
LOGD("Supported Cameras: %s", handler->params.get("camera-indexes"));
LOGD("Supported Picture Sizes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_PICTURE_SIZES));
LOGD("Supported Picture Formats: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_PICTURE_FORMATS));
LOGD("Supported Preview Sizes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_PREVIEW_SIZES));
LOGD("Supported Preview Formats: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_PREVIEW_FORMATS));
LOGD("Supported Preview Frame Rates: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_PREVIEW_FRAME_RATES));
LOGD("Supported Thumbnail Sizes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_JPEG_THUMBNAIL_SIZES));
LOGD("Supported Whitebalance Modes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_WHITE_BALANCE));
LOGD("Supported Effects: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_EFFECTS));
LOGD("Supported Scene Modes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_SCENE_MODES));
LOGD("Supported Focus Modes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_FOCUS_MODES));
LOGD("Supported Antibanding Options: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_ANTIBANDING));
LOGD("Supported Flash Modes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_FLASH_MODES));
//check if yuv420sp format available. Set this format as preview format.
const char* available_formats = handler->params.get(CameraParameters::KEY_SUPPORTED_PREVIEW_FORMATS);
if (available_formats != 0)
{
const char* format_to_set = 0;
const char* pos = available_formats;
const char* ptr = pos;
while(true)
{
while(*ptr != 0 && *ptr != ',') ++ptr;
if (ptr != pos)
{
if (0 == strncmp(pos, "yuv420sp", ptr - pos))
{
format_to_set = "yuv420sp";
break;
}
if (0 == strncmp(pos, "yuv420i", ptr - pos))
format_to_set = "yuv420i";
}
if (*ptr == 0)
break;
pos = ++ptr;
}
if (0 != format_to_set)
{
handler->params.setPreviewFormat(format_to_set);
status_t resParams = handler->camera->setParameters(handler->params.flatten());
if (resParams != 0)
LOGE("initCameraConnect: failed to set preview format to %s", format_to_set);
else
LOGD("initCameraConnect: preview format is set to %s", format_to_set);
}
}
}
#ifdef ANDROID_r2_2_2
status_t pdstatus = camera->setPreviewDisplay(sp<ISurface>(0 /*new DummySurface*/));
if (pdstatus != 0)
LOGE("initCameraConnect: failed setPreviewDisplay(0) call; camera migth not work correcttly on some devices");
#endif
////ATTENTION: switching between two versions: with and without copying memory inside Android OS
//// see the method CameraService::Client::copyFrameAndPostCopiedFrame and where it is used
#if 1
camera->setPreviewCallbackFlags( FRAME_CALLBACK_FLAG_ENABLE_MASK | FRAME_CALLBACK_FLAG_COPY_OUT_MASK);//with copy
#else
camera->setPreviewCallbackFlags( FRAME_CALLBACK_FLAG_ENABLE_MASK );//without copy
#endif
status_t resStart = camera->startPreview();
if (resStart != 0)
{
LOGE("initCameraConnect: startPreview() fails. Closing camera connection...");
handler->closeCameraConnect();
handler = 0;
}
return handler;
}
CameraHandler* CameraHandler::initCameraConnect(const CameraCallback& callback, int cameraId, void* userData, CameraParameters* prevCameraParameters)
{
typedef sp<Camera> (*Android22ConnectFuncType)();
typedef sp<Camera> (*Android23ConnectFuncType)(int);
typedef sp<Camera> (*Android3DConnectFuncType)(int, int);
typedef sp<Camera> (*Android43ConnectFuncType)(int, const String16&, int);
const int ANY_CAMERA_INDEX = -1;
const int BACK_CAMERA_INDEX = 99;
const int FRONT_CAMERA_INDEX = 98;
enum {
CAMERA_SUPPORT_MODE_2D = 0x01, /* Camera Sensor supports 2D mode. */
CAMERA_SUPPORT_MODE_3D = 0x02, /* Camera Sensor supports 3D mode. */
CAMERA_SUPPORT_MODE_NONZSL = 0x04, /* Camera Sensor in NON-ZSL mode. */
CAMERA_SUPPORT_MODE_ZSL = 0x08 /* Camera Sensor supports ZSL mode. */
};
// used for Android 4.3
enum {
USE_CALLING_UID = -1
};
const char Android22ConnectName[] = "_ZN7android6Camera7connectEv";
const char Android23ConnectName[] = "_ZN7android6Camera7connectEi";
const char Android3DConnectName[] = "_ZN7android6Camera7connectEii";
const char Android43ConnectName[] = "_ZN7android6Camera7connectEiRKNS_8String16Ei";
int localCameraIndex = cameraId;
if (cameraId == ANY_CAMERA_INDEX)
{
localCameraIndex = 0;
}
#if !defined(ANDROID_r2_2_0)
else if (cameraId == BACK_CAMERA_INDEX)
{
LOGD("Back camera selected");
for (int i = 0; i < Camera::getNumberOfCameras(); i++)
{
CameraInfo info;
Camera::getCameraInfo(i, &info);
if (info.facing == CAMERA_FACING_BACK)
{
localCameraIndex = i;
break;
}
}
}
else if (cameraId == FRONT_CAMERA_INDEX)
{
LOGD("Front camera selected");
for (int i = 0; i < Camera::getNumberOfCameras(); i++)
{
CameraInfo info;
Camera::getCameraInfo(i, &info);
if (info.facing == CAMERA_FACING_FRONT)
{
localCameraIndex = i;
break;
}
}
}
if (localCameraIndex == BACK_CAMERA_INDEX)
{
LOGE("Back camera not found!");
return NULL;
}
else if (localCameraIndex == FRONT_CAMERA_INDEX)
{
LOGE("Front camera not found!");
return NULL;
}
#endif
LOGD("CameraHandler::initCameraConnect(%p, %d, %p, %p)", callback, localCameraIndex, userData, prevCameraParameters);
sp<Camera> camera = 0;
void* CameraHALHandle = dlopen("libcamera_client.so", RTLD_LAZY);
if (!CameraHALHandle)
{
LOGE("Cannot link to \"libcamera_client.so\"");
return NULL;
}
// reset errors
dlerror();
if (Android22ConnectFuncType Android22Connect = (Android22ConnectFuncType)dlsym(CameraHALHandle, Android22ConnectName))
{
LOGD("Connecting to CameraService v 2.2");
camera = Android22Connect();
}
else if (Android23ConnectFuncType Android23Connect = (Android23ConnectFuncType)dlsym(CameraHALHandle, Android23ConnectName))
{
LOGD("Connecting to CameraService v 2.3");
camera = Android23Connect(localCameraIndex);
}
else if (Android3DConnectFuncType Android3DConnect = (Android3DConnectFuncType)dlsym(CameraHALHandle, Android3DConnectName))
{
LOGD("Connecting to CameraService v 3D");
camera = Android3DConnect(localCameraIndex, CAMERA_SUPPORT_MODE_2D);
}
else if (Android43ConnectFuncType Android43Connect = (Android43ConnectFuncType)dlsym(CameraHALHandle, Android43ConnectName))
{
std::string currentProcName = getProcessName();
LOGD("Current process name for camera init: %s", currentProcName.c_str());
camera = Android43Connect(localCameraIndex, String16(currentProcName.c_str()), USE_CALLING_UID);
}
else
{
dlclose(CameraHALHandle);
LOGE("Cannot connect to CameraService. Connect method was not found!");
return NULL;
}
dlclose(CameraHALHandle);
if ( 0 == camera.get() )
{
LOGE("initCameraConnect: Unable to connect to CameraService\n");
return 0;
}
CameraHandler* handler = new CameraHandler(callback, userData);
camera->setListener(handler);
handler->camera = camera;
handler->cameraId = localCameraIndex;
if (prevCameraParameters != NULL)
{
LOGI("initCameraConnect: Setting paramers from previous camera handler");
camera->setParameters(prevCameraParameters->flatten());
handler->params->unflatten(prevCameraParameters->flatten());
}
else
{
android::String8 params_str = camera->getParameters();
LOGI("initCameraConnect: [%s]", params_str.string());
handler->params->unflatten(params_str);
LOGD("Supported Cameras: %s", handler->params->get("camera-indexes"));
LOGD("Supported Picture Sizes: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_PICTURE_SIZES));
LOGD("Supported Picture Formats: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_PICTURE_FORMATS));
LOGD("Supported Preview Sizes: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_PREVIEW_SIZES));
LOGD("Supported Preview Formats: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_PREVIEW_FORMATS));
LOGD("Supported Preview Frame Rates: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_PREVIEW_FRAME_RATES));
LOGD("Supported Thumbnail Sizes: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_JPEG_THUMBNAIL_SIZES));
LOGD("Supported Whitebalance Modes: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_WHITE_BALANCE));
LOGD("Supported Effects: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_EFFECTS));
LOGD("Supported Scene Modes: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_SCENE_MODES));
LOGD("Supported Focus Modes: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_FOCUS_MODES));
LOGD("Supported Antibanding Options: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_ANTIBANDING));
LOGD("Supported Flash Modes: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_FLASH_MODES));
#if !defined(ANDROID_r2_2_0)
// Set focus mode to continuous-video if supported
const char* available_focus_modes = handler->params->get(CameraParameters::KEY_SUPPORTED_FOCUS_MODES);
if (available_focus_modes != 0)
{
if (strstr(available_focus_modes, "continuous-video") != NULL)
{
handler->params->set(CameraParameters::KEY_FOCUS_MODE, CameraParameters::FOCUS_MODE_CONTINUOUS_VIDEO);
status_t resParams = handler->camera->setParameters(handler->params->flatten());
if (resParams != 0)
{
LOGE("initCameraConnect: failed to set autofocus mode to \"continuous-video\"");
}
else
{
LOGD("initCameraConnect: autofocus is set to mode \"continuous-video\"");
}
}
}
#endif
//check if yuv420sp format available. Set this format as preview format.
const char* available_formats = handler->params->get(CameraParameters::KEY_SUPPORTED_PREVIEW_FORMATS);
if (available_formats != 0)
{
const char* format_to_set = 0;
const char* pos = available_formats;
const char* ptr = pos;
while(true)
{
while(*ptr != 0 && *ptr != ',') ++ptr;
if (ptr != pos)
{
if (0 == strncmp(pos, "yuv420sp", ptr - pos))
{
format_to_set = "yuv420sp";
break;
}
if (0 == strncmp(pos, "yvu420sp", ptr - pos))
format_to_set = "yvu420sp";
}
if (*ptr == 0)
break;
pos = ++ptr;
}
if (0 != format_to_set)
{
handler->params->setPreviewFormat(format_to_set);
status_t resParams = handler->camera->setParameters(handler->params->flatten());
if (resParams != 0)
LOGE("initCameraConnect: failed to set preview format to %s", format_to_set);
else
LOGD("initCameraConnect: preview format is set to %s", format_to_set);
}
}
handler->params->setPreviewSize(640, 480);
status_t resParams = handler->camera->setParameters(handler->params->flatten());
if (resParams != 0)
LOGE("initCameraConnect: failed to set preview resolution to 640x480");
else
LOGD("initCameraConnect: preview format is set to 640x480");
}
status_t bufferStatus;
#if defined(ANDROID_r2_2_0)
bufferStatus = camera->setPreviewDisplay(sp<ISurface>(0 /*new DummySurface*/));
if (bufferStatus != 0)
LOGE("initCameraConnect: failed setPreviewDisplay(0) call (status %d); camera might not work correctly on some devices", bufferStatus);
#elif defined(ANDROID_r2_3_3)
/* Do nothing in case of 2.3 for now */
#elif defined(ANDROID_r3_0_1) || defined(ANDROID_r4_0_0) || defined(ANDROID_r4_0_3)
void* surface_texture_obj = operator new(sizeof(SurfaceTexture) + MAGIC_TAIL);
handler->surface = new(surface_texture_obj) SurfaceTexture(MAGIC_OPENCV_TEXTURE_ID);
bufferStatus = camera->setPreviewTexture(handler->surface);
if (bufferStatus != 0)
LOGE("initCameraConnect: failed setPreviewTexture call (status %d); camera might not work correctly", bufferStatus);
#elif defined(ANDROID_r4_1_1) || defined(ANDROID_r4_2_0) || defined(ANDROID_r4_3_0)
void* buffer_queue_obj = operator new(sizeof(BufferQueue) + MAGIC_TAIL);
handler->queue = new(buffer_queue_obj) BufferQueue();
void* consumer_listener_obj = operator new(sizeof(ConsumerListenerStub) + MAGIC_TAIL);
handler->listener = new(consumer_listener_obj) ConsumerListenerStub();
handler->queue->consumerConnect(handler->listener);
bufferStatus = camera->setPreviewTexture(handler->queue);
if (bufferStatus != 0)
LOGE("initCameraConnect: failed setPreviewTexture call; camera might not work correctly");
# elif defined(ANDROID_r4_4_0)
void* buffer_queue_obj = operator new(sizeof(BufferQueue) + MAGIC_TAIL);
handler->queue = new(buffer_queue_obj) BufferQueue();
handler->queue->setConsumerUsageBits(GraphicBuffer::USAGE_HW_TEXTURE);
void* consumer_listener_obj = operator new(sizeof(ConsumerListenerStub) + MAGIC_TAIL);
handler->listener = new(consumer_listener_obj) ConsumerListenerStub();
handler->queue->consumerConnect(handler->listener, true);
bufferStatus = handler->camera->setPreviewTarget(handler->queue);
if (bufferStatus != 0)
LOGE("applyProperties: failed setPreviewTexture call; camera might not work correctly");
# endif
#if (defined(ANDROID_r2_2_0) || defined(ANDROID_r2_3_3) || defined(ANDROID_r3_0_1))
# if 1
////ATTENTION: switching between two versions: with and without copying memory inside Android OS
//// see the method CameraService::Client::copyFrameAndPostCopiedFrame and where it is used
camera->setPreviewCallbackFlags( FRAME_CALLBACK_FLAG_ENABLE_MASK | FRAME_CALLBACK_FLAG_COPY_OUT_MASK);//with copy
# else
camera->setPreviewCallbackFlags( FRAME_CALLBACK_FLAG_ENABLE_MASK );//without copy
# endif
#else
camera->setPreviewCallbackFlags( CAMERA_FRAME_CALLBACK_FLAG_ENABLE_MASK | CAMERA_FRAME_CALLBACK_FLAG_COPY_OUT_MASK);//with copy
#endif //!(defined(ANDROID_r4_0_0) || defined(ANDROID_r4_0_3))
LOGD("Starting preview");
status_t previewStatus = camera->startPreview();
if (previewStatus != 0)
{
LOGE("initCameraConnect: startPreview() fails. Closing camera connection...");
handler->closeCameraConnect();
handler = 0;
}
else
{
LOGD("Preview started successfully");
}
return handler;
}
