/* the single writer thread */
void *cam_thread(void *arg)
{
while (!stop) {
/* grab a frame */
if (uvcGrab(cd.videoIn) < 0) {
fprintf(stderr, "Error grabbing\n");
exit(1);
}
/* copy frame to global buffer */
pthread_mutex_lock(&db);
g_size = cd.videoIn->buf.bytesused;
memcpy(g_buf, cd.videoIn->tmpbuffer, cd.videoIn->buf.bytesused);
/* signal fresh_frame */
pthread_cond_broadcast(&db_update);
pthread_mutex_unlock(&db);
/* only use usleep if the fps is below 5, otherwise the overhead is too long */
if (cd.videoIn->fps < 5) {
usleep(1000 * 1000 / cd.videoIn->fps);
}
}
return NULL;
}
void grabUVC(struct vdIn * v, Ipp8u * p) {
if (uvcGrab(v) < 0) { printf("Error grabbing\n"); exit(1); }
IppiSize roiSize = {v->width,v->height};
int steps[3] = {v->width,v->width/2,v->width/2};
Ipp8u * dest [3] = {p, p + (v->width*v->height), p + (v->width*v->height+v->width*v->height/4)};
ippiYCbCr422ToYCbCr420_8u_C2P3R(v->framebuffer, v->width*2, dest, steps, roiSize);
/*
// copy the gray plane
int k, d = 0;
unsigned char * s = v->framebuffer;
for(k=0; k<(v->width*v->height); k++) {
p[k] = s[d]; d+=2;
}
*/
// captura sin transformación de formato
// memcpy(p, videoIn->framebuffer, videoIn->width * (videoIn->height) * 2);
}
/******************************************************************************
Description.: this thread worker grabs a frame and copies it to the global buffer
Input Value.: unused
Return Value: unused, always NULL
******************************************************************************/
void *cam_thread(void *arg)
{
context_t *pcontext = (context_t *) arg;
input_t *input = pcontext->input;
while (!pcontext->stop)
{
while (!pcontext->stop
&& pcontext->videoIn->streamingState == STREAMING_PAUSED)
{
usleep(100); // maybe not the best way so FIXME
}
if (pcontext->stop)
break;
/* grab a frame */
if (uvcGrab(pcontext->videoIn) < 0)
{
PTRACE(0, "Error grabbing frames");
return NULL;
}
/*
* Workaround for broken, corrupted frames:
* Under low light conditions corrupted frames may get captured.
* The good thing is such frames are quite small compared to the regular pictures.
* For example a VGA (640x480) webcam picture is normally >= 8kByte large,
* corrupted frames are smaller.
*/
if (pcontext->videoIn->buf.bytesused < pcontext->minimum_size)
{
PTRACE(3, "dropping too small frame, assuming it as broken");
continue;
}
if (input->callback)
input->callback(input, pcontext->videoIn->tmpbuffer,
pcontext->videoIn->buf.bytesused, pcontext->videoIn->buf.timestamp);
/* only use usleep if the fps is below 5, otherwise the overhead is too long */
if (pcontext->videoIn->fps < 60)
{
usleep(
1000 * 1000 * pcontext->videoIn->fps_div / pcontext->videoIn->fps
- 5000);
}
else
{
}
}
PTRACE(1, "leaving input thread");
return NULL;
}
/**
* \brief Thread method
*/
void Worker::run()
{
init();
while (!_finished)
{
if( uvcGrab() == false)
qFatal ( "Wroker:run() -> Fatal error: uvcgrab() returned error" );
printFPS();
}
}
IplImage *image_input::capture_uvc_camera() {
#ifdef ENABLE_CAMERA
struct vdIn *videoIn;
char *videodevice = (char*)"/dev/video0";
int format = V4L2_PIX_FMT_YUYV;
int grabmethod = 1;
IplImage* frame;
videoIn = (struct vdIn *) calloc (1, sizeof (struct vdIn));
if (init_videoIn(videoIn, videodevice, camera.width, camera.height, format, grabmethod) < 0) {
puts("init failed");
exit (1);
}
//Reset all camera controls
v4l2ResetControl (videoIn, V4L2_CID_BRIGHTNESS);
v4l2ResetControl (videoIn, V4L2_CID_CONTRAST);
v4l2ResetControl (videoIn, V4L2_CID_SATURATION);
v4l2ResetControl (videoIn, V4L2_CID_GAIN);
//Setup Camera Parameters
v4l2SetControl (videoIn, V4L2_CID_BRIGHTNESS, camera.brightness);
v4l2SetControl (videoIn, V4L2_CID_CONTRAST, camera.contrast);
v4l2SetControl (videoIn, V4L2_CID_SATURATION, camera.saturation);
v4l2SetControl (videoIn, V4L2_CID_GAIN, camera.gain);
if (uvcGrab (videoIn) < 0) {
fprintf(stderr, "Error grabbing\n");
close_v4l2(videoIn);
free(videoIn);
exit(1);
}
// IplImage
frame = cvCreateImage(cvSize(videoIn->width, videoIn->height), IPL_DEPTH_8U, 3);
// convert image format
convert_yuyv_to_rgb(videoIn->framebuffer, (unsigned char*)frame->imageData,
videoIn->width, videoIn->height);
close_v4l2 (videoIn);
free (videoIn);
return frame;
#else // ENABLE_CAMERA
return NULL;
#endif // ENABLE_CAMERA
}
void CameraGrabber::run()
{
int i = 0;
RoboCompCameraSimplePub::TImg img;
img.resize( vd[0].buf.length );
while (true)
{
uvcGrab();
memcpy(&img[0], vd[0].framebuffer, vd[0].buf.length );
// try
// { camera_proxy->putYUVImage( img );}
// catch(const Ice::Exception &ex)
// { std::cout << ex << std::endl; }
i++;
if(i%10 == 0)
printf("publishing %d\n",i);
}
}
void CameraManager2::start_grabbing() {
char outputfile[40];
for (int i = 0; i<11; i++) {
sprintf(outputfile, "snap%i.jpg", i);
std::cout << i << std::endl;
if (uvcGrab() < 0) {
fprintf (stderr, "Error grabbing\n");
}
else {
FILE *file = fopen(outputfile, "wb");
fwrite(vd->tmpbuffer, vd->buf.bytesused + DHT_SIZE, 1, file);
}
}
close_v4l2();
}
/******************************************************************************
Description.: this thread worker grabs a frame and copies it to the global buffer
Input Value.: unused
Return Value: unused, always NULL
******************************************************************************/
void *cam_thread( void *arg ) {
/* set cleanup handler to cleanup allocated ressources */
pthread_cleanup_push(cam_cleanup, NULL);
while( !pglobal->stop ) {
/* grab a frame */
if( uvcGrab(videoIn) < 0 ) {
IPRINT("Error grabbing frames\n");
exit(EXIT_FAILURE);
}
DBG("received frame of size: %d\n", videoIn->buf.bytesused);
/*
* Workaround for broken, corrupted frames:
* Under low light conditions corrupted frames may get captured.
* The good thing is such frames are quite small compared to the regular pictures.
* For example a VGA (640x480) webcam picture is normally >= 8kByte large,
* corrupted frames are smaller.
*/
if ( videoIn->buf.bytesused < minimum_size ) {
DBG("dropping too small frame, assuming it as broken\n");
continue;
}
/* copy JPG picture to global buffer */
pthread_mutex_lock( &pglobal->db );
/*
* If capturing in YUV mode convert to JPEG now.
* This compression requires many CPU cycles, so try to avoid YUV format.
* Getting JPEGs straight from the webcam, is one of the major advantages of
* Linux-UVC compatible devices.
*/
if (videoIn->formatIn != V4L2_PIX_FMT_MJPEG ) {
DBG("compressing frame\n");
pglobal->size = compress_yuyv_to_jpeg(videoIn, pglobal->buf, videoIn->framesizeIn, gquality,videoIn->fmt.fmt.pix.pixelformat);
}
else {
DBG("copying frame\n");
pglobal->size = memcpy_picture(pglobal->buf, videoIn->tmpbuffer, videoIn->buf.bytesused);
}
#if 0
/* motion detection can be done just by comparing the picture size, but it is not very accurate!! */
if ( (prev_size - global->size)*(prev_size - global->size) > 4*1024*1024 ) {
DBG("motion detected (delta: %d kB)\n", (prev_size - global->size) / 1024);
}
prev_size = global->size;
#endif
/* signal fresh_frame */
pthread_cond_broadcast(&pglobal->db_update);
pthread_mutex_unlock( &pglobal->db );
DBG("waiting for next frame\n");
/* only use usleep if the fps is below 5, otherwise the overhead is too long */
if ( videoIn->fps < 5 ) {
usleep(1000*1000/videoIn->fps);
}
}
DBG("leaving input thread, calling cleanup function now\n");
pthread_cleanup_pop(1);
return NULL;
}
int main_loop(void *data)
{
int ret=0;
int i,j,k,l,m,n,o;
unsigned int YUVMacroPix;
unsigned char *pix8 = (unsigned char *)&YUVMacroPix;
Pix *pix2;
char *pix;
if ((pix2= malloc(sizeof(Pix)))==NULL) {
printf("couldn't allocate memory for: pix2\n");
ret=1;
return(ret);
}
//fprintf(stderr,"Thread started...\n");
/*
ImageSurf=SDL_CreateRGBSurface(SDL_SWSURFACE, overlay->w,
overlay->h, 24, 0x00ff0000,0x0000ff00,0x000000ff,0);
*/
while (videoIn->signalquit) {
currtime = SDL_GetTicks();
if (currtime - lasttime > 0) {
frmrate = 1000/(currtime - lasttime);
}
lasttime = currtime;
// sprintf(capt,"Frame Rate: %d",frmrate);
// SDL_WM_SetCaption(capt, NULL);
if (uvcGrab(videoIn) < 0) {
printf("Error grabbing=> Frame Rate is %d\n",frmrate);
videoIn->signalquit=0;
ret = 2;
}
SDL_LockYUVOverlay(overlay);
memcpy(p, videoIn->framebuffer,
videoIn->width * (videoIn->height) * 2);
SDL_UnlockYUVOverlay(overlay);
SDL_DisplayYUVOverlay(overlay, &drect);
/*capture Image*/
if (videoIn->capImage){
if((pim= malloc((pscreen->w)*(pscreen->h)*3))==NULL){/*24 bits -> 3bytes 32 bits ->4 bytes*/
printf("Couldn't allocate memory for: pim\n");
videoIn->signalquit=0;
ret = 3;
}
//char *ppmheader = "P6\n# Generated by guvcview\n320 240\n255\n";
//FILE * out = fopen("Yimage.ppm", "wb"); //saving as ppm
//fprintf(out, ppmheader);
k=overlay->h;
//printf("overlay->h is %i\n",overlay->h);
//printf("and pitches[0] is %i\n",overlay->pitches[0]);
for(j=0;j<(overlay->h);j++){
l=j*overlay->pitches[0];/*must add lines already writen=*/
/*pitches is the overlay number */
/*off bytes in a line (2*width) */
m=(k*3*overlay->pitches[0])>>1;/*must add lines already writen= */
/*for this case (rgb) every pixel */
/*as 3 bytes (3*width=3*pitches/2) */
/* >>1 = (/2) divide by 2 (?faster?)*/
for (i=0;i<((overlay->pitches[0])>>2);i++){ /*>>2 = (/4)*/
/*iterate every 4 bytes (32 bits)*/
/*Y-U-V-Y1 =>2 pixel (4 bytes) */
n=i<<2;/*<<2 = (*4) multiply by 4 (?faster?)*/
pix8[0] = p[n+l];
pix8[1] = p[n+1+l];
pix8[2] = p[n+2+l];
pix8[3] = p[n+3+l];
/*get RGB data*/
pix2=yuv2rgb(YUVMacroPix,0,pix2);
/*In BitMaps lines are upside down and*/
/*pixel format is bgr */
o=i*6;
/*first pixel*/
pim[o+m]=pix2->b;
pim[o+1+m]=pix2->g;
pim[o+2+m]=pix2->r;
/*second pixel*/
pim[o+3+m]=pix2->b1;
pim[o+4+m]=pix2->g1;
pim[o+5+m]=pix2->r1;
}
k--;
}
/* SDL_LockSurface(ImageSurf);
memcpy(pix, pim,(pscreen->w)*(pscreen->h)*3); //24 bits -> 3bytes 32 bits ->4 bytes
SDL_UnlockSurface(ImageSurf);*/
if(SaveBPM(videoIn->ImageFName, width, height, 24, pim)) {
fprintf (stderr,"Error: Couldn't capture Image to %s \n",
videoIn->ImageFName);
}
else {
printf ("Capture Image to %s \n",videoIn->ImageFName);
}
free(pim);
videoIn->capImage=FALSE;
}
/*capture AVI */
if (videoIn->capAVI && videoIn->signalquit){
long framesize;
switch (AVIFormat) {
case 1:
framesize=(pscreen->w)*(pscreen->h)*2; /*YUY2 -> 2 bytes per pixel */
if (AVI_write_frame (AviOut,
p, framesize) < 0)
printf ("write error on avi out \n");
break;
case 2:
framesize=(pscreen->w)*(pscreen->h)*3; /*DIB 24/32 -> 3/4 bytes per pixel*/
if((pim= malloc(framesize))==NULL){
printf("Couldn't allocate memory for: pim\n");
videoIn->signalquit=0;
ret = 4;
}
k=overlay->h;
for(j=0;j<(overlay->h);j++){
l=j*overlay->pitches[0];/*must add lines already writen=*/
/*pitches is the overlay number */
/*off bytes in a line (2*width) */
m=(k*3*overlay->pitches[0])>>1;/*must add lines already writen= */
/*for this case (rgb) every pixel */
/*as 3 bytes (3*width=3*pitches/2) */
/* >>1 = (/2) divide by 2 (?faster?)*/
for (i=0;i<((overlay->pitches[0])>>2);i++){ /*>>2 = (/4)*/
/*iterate every 4 bytes (32 bits)*/
/*Y-U-V-Y1 =>2 pixel (4 bytes) */
n=i<<2;/*<<2 = (*4) multiply by 4 (?faster?)*/
pix8[0] = p[n+l];
pix8[1] = p[n+1+l];
pix8[2] = p[n+2+l];
pix8[3] = p[n+3+l];
/*get RGB data*/
pix2=yuv2rgb(YUVMacroPix,0,pix2);
/*In BitMaps lines are upside down and*/
/*pixel format is bgr */
o=i*6;
/*first pixel*/
pim[o+m]=pix2->b;
pim[o+1+m]=pix2->g;
pim[o+2+m]=pix2->r;
/*second pixel*/
pim[o+3+m]=pix2->b1;
pim[o+4+m]=pix2->g1;
pim[o+5+m]=pix2->r1;
}
k--;
}
if (AVI_write_frame (AviOut,
pim, framesize) < 0)
printf ("write error on avi out \n");
free(pim);
break;
}
framecount++;
}
SDL_Delay(SDL_WAIT_TIME);
}
int main(int argc, char *argv[])
{
#ifndef EMBEDED_X210 //PC platform
const SDL_VideoInfo *info;
char driver[128];
SDL_Surface *pscreen;
SDL_Overlay *overlay;
SDL_Rect drect;
SDL_Event sdlevent;
SDL_Thread *mythread;
SDL_mutex *affmutex;
Uint32 currtime;
Uint32 lasttime;
#endif
int status;
unsigned char *p = NULL;
int hwaccel = 0;
const char *videodevice = NULL;
const char *mode = NULL;
int format = V4L2_PIX_FMT_MJPEG;
int i;
int grabmethod = 1;
int width = 320;
int height = 240;
int fps = 15;
unsigned char frmrate = 0;
char *avifilename = NULL;
int queryformats = 0;
int querycontrols = 0;
int readconfigfile = 0;
char *separateur;
char *sizestring = NULL;
char *fpsstring = NULL;
int enableRawStreamCapture = 0;
int enableRawFrameCapture = 0;
char * pRGBData=NULL;
printf("luvcview version %s \n", version);
for (i = 1; i < argc; i++)
{
/* skip bad arguments */
if (argv[i] == NULL || *argv[i] == 0 || *argv[i] != '-') {
continue;
}
if (strcmp(argv[i], "-d") == 0) {
if (i + 1 >= argc) {
printf("No parameter specified with -d, aborting.\n");
exit(1);
}
videodevice = strdup(argv[i + 1]);
}
if (strcmp(argv[i], "-g") == 0) {
/* Ask for read instead default mmap */
grabmethod = 0;
}
if (strcmp(argv[i], "-w") == 0) {
/* disable hw acceleration */
hwaccel = 1;
}
if (strcmp(argv[i], "-f") == 0) {
if (i + 1 >= argc) {
printf("No parameter specified with -f, aborting.\n");
exit(1);
}
mode = strdup(argv[i + 1]);
if (strncmp(mode, "yuv", 3) == 0) {
format = V4L2_PIX_FMT_YUYV;
} else if (strncmp(mode, "jpg", 3) == 0) {
format = V4L2_PIX_FMT_MJPEG;
} else {
format = V4L2_PIX_FMT_MJPEG;
}
}
if (strcmp(argv[i], "-s") == 0) {
if (i + 1 >= argc) {
printf("No parameter specified with -s, aborting.\n");
exit(1);
}
sizestring = strdup(argv[i + 1]);
width = strtoul(sizestring, &separateur, 10);
if (*separateur != 'x') {
printf("Error in size use -s widthxheight \n");
exit(1);
} else {
++separateur;
height = strtoul(separateur, &separateur, 10);
if (*separateur != 0)
printf("hmm.. dont like that!! trying this height \n");
printf(" size width: %d height: %d \n", width, height);
}
}
if (strcmp(argv[i], "-i") == 0){
if (i + 1 >= argc) {
printf("No parameter specified with -i, aborting. \n");
exit(1);
}
fpsstring = strdup(argv[i + 1]);
fps = strtoul(fpsstring, &separateur, 10);
printf(" interval: %d fps \n", fps);
}
if (strcmp(argv[i], "-S") == 0) {
/* Enable raw stream capture from the start */
enableRawStreamCapture = 1;
}
if (strcmp(argv[i], "-c") == 0) {
/* Enable raw frame capture for the first frame */
enableRawFrameCapture = 1;
}
if (strcmp(argv[i], "-C") == 0) {
/* Enable raw frame stream capture from the start*/
enableRawFrameCapture = 2;
}
if (strcmp(argv[i], "-o") == 0) {
/* set the avi filename */
if (i + 1 >= argc) {
printf("No parameter specified with -o, aborting.\n");
exit(1);
}
avifilename = strdup(argv[i + 1]);
}
if (strcmp(argv[i], "-L") == 0) {
/* query list of valid video formats */
queryformats = 1;
}
if (strcmp(argv[i], "-l") == 0) {
/* query list of valid video formats */
querycontrols = 1;
}
if (strcmp(argv[i], "-r") == 0) {
/* query list of valid video formats */
readconfigfile = 1;
}
if (strcmp(argv[i], "-h") == 0) {
printf("usage: uvcview [-h -d -g -f -s -i -c -o -C -S -L -l -r] \n");
printf("-h print this message \n");
printf("-d /dev/videoX use videoX device\n");
printf("-g use read method for grab instead mmap \n");
printf("-w disable SDL hardware accel. \n");
printf("-f video format default jpg others options are yuv jpg \n");
printf("-i fps use specified frame interval \n");
printf("-s widthxheight use specified input size \n");
printf("-c enable raw frame capturing for the first frame\n");
printf("-C enable raw frame stream capturing from the start\n");
printf("-S enable raw stream capturing from the start\n");
printf("-o avifile create avifile, default video.avi\n");
printf("-L query valid video formats\n");
printf("-l query valid controls and settings\n");
printf("-r read and set control settings from luvcview.cfg\n");
exit(0);
}
}
#ifndef EMBEDED_X210 //PC platform
/************* Test SDL capabilities ************/
if (SDL_Init(SDL_INIT_VIDEO) < 0) {
fprintf(stderr, "Couldn't initialize SDL: %s\n", SDL_GetError());
exit(1);
}
/* For this version, we'll be save and disable hardware acceleration */
if(hwaccel)
{
if ( ! getenv("SDL_VIDEO_YUV_HWACCEL") )
{
putenv("SDL_VIDEO_YUV_HWACCEL=0");
}
}
if (SDL_VideoDriverName(driver, sizeof(driver)))
{
printf("Video driver: %s\n", driver);
}
info = SDL_GetVideoInfo();
if (info->wm_available) {
printf("A window manager is available\n");
}
if (info->hw_available) {
printf("Hardware surfaces are available (%dK video memory)\n",
info->video_mem);
SDL_VIDEO_Flags |= SDL_HWSURFACE;
}
if (info->blit_hw) {
printf("Copy blits between hardware surfaces are accelerated\n");
SDL_VIDEO_Flags |= SDL_ASYNCBLIT;
}
if (info->blit_hw_CC) {
printf
("Colorkey blits between hardware surfaces are accelerated\n");
}
if (info->blit_hw_A) {
printf("Alpha blits between hardware surfaces are accelerated\n");
}
if (info->blit_sw) {
printf
("Copy blits from software surfaces to hardware surfaces are accelerated\n");
}
if (info->blit_sw_CC) {
printf
("Colorkey blits from software surfaces to hardware surfaces are accelerated\n");
}
if (info->blit_sw_A) {
printf
("Alpha blits from software surfaces to hardware surfaces are accelerated\n");
}
if (info->blit_fill) {
printf("Color fills on hardware surfaces are accelerated\n");
}
if (!(SDL_VIDEO_Flags & SDL_HWSURFACE))
SDL_VIDEO_Flags |= SDL_SWSURFACE;
#endif
if (videodevice == NULL || *videodevice == 0) {
videodevice = "/dev/video0";
}
if (avifilename == NULL || *avifilename == 0) {
avifilename = "video.avi";
}
videoIn = (struct vdIn *) calloc(1, sizeof(struct vdIn));
if ( queryformats ) {
/* if we're supposed to list the video formats, do that now and go out */
check_videoIn(videoIn,(char *) videodevice);
free(videoIn);
#ifndef EMBEDED_X210
SDL_Quit();
#endif
exit(1);
}
if (init_videoIn(videoIn, (char *) videodevice, width, height, fps, format, grabmethod, avifilename) < 0)
exit(1);
/* if we're supposed to list the controls, do that now */
if ( querycontrols )
enum_controls(videoIn->fd);
/* if we're supposed to read the control settings from a configfile, do that now */
if ( readconfigfile )
load_controls(videoIn->fd);
#ifdef EMBEDED_X210
#ifdef SOFT_COLOR_CONVERT
init_framebuffer();
#else
x6410_init_Draw(videoIn->width,videoIn->height);
#endif
#else
pscreen = SDL_SetVideoMode(videoIn->width, videoIn->height+30 , 0,SDL_VIDEO_Flags);
overlay =SDL_CreateYUVOverlay(videoIn->width, videoIn->height+30 , SDL_YUY2_OVERLAY, pscreen);
p = (unsigned char *) overlay->pixels[0];
drect.x = 0;
drect.y = 0;
drect.w =pscreen->w;
drect.h = pscreen->h;
#endif
if (enableRawStreamCapture)
{
videoIn->captureFile = fopen("stream.raw", "wb");
if(videoIn->captureFile == NULL) {
perror("Unable to open file for raw stream capturing");
} else {
printf("Starting raw stream capturing to stream.raw ...\n");
}
}
if (enableRawFrameCapture)
videoIn->rawFrameCapture = enableRawFrameCapture;
initLut();
#ifndef EMBEDED_X210
SDL_WM_SetCaption(title_act[A_VIDEO].title, NULL);
lasttime = SDL_GetTicks();
creatButt(videoIn->width, 32);
SDL_LockYUVOverlay(overlay);
memcpy(p + (videoIn->width * (videoIn->height) * 2), YUYVbutt,
videoIn->width * 64);
SDL_UnlockYUVOverlay(overlay);
/* initialize thread data */
ptdata.ptscreen = &pscreen;
ptdata.ptvideoIn = videoIn;
ptdata.ptsdlevent = &sdlevent;
ptdata.drect = &drect;
affmutex = SDL_CreateMutex();
ptdata.affmutex = affmutex;
mythread = SDL_CreateThread(eventThread, (void *) &ptdata);
#endif
pRGBData = (unsigned char *)malloc(videoIn->width*videoIn->width*4*sizeof(char));
if(pRGBData==NULL)
{
return ;
}
/* main big loop */
while (videoIn->signalquit)
{
#ifndef EMBEDED_X210
currtime = SDL_GetTicks();
if (currtime - lasttime > 0) {
frmrate = 1000/(currtime - lasttime);
}
lasttime = currtime;
#endif
if (uvcGrab(videoIn) < 0) {
printf("Error grabbing \n");
break;
}
/* if we're grabbing video, show the frame rate */
if (videoIn->toggleAvi)
printf("\rframe rate: %d ",frmrate);
#ifndef EMBEDED_X210
SDL_LockYUVOverlay(overlay);
memcpy(p, videoIn->framebuffer, videoIn->width * (videoIn->height) * 2);
SDL_UnlockYUVOverlay(overlay);
SDL_DisplayYUVOverlay(overlay, &drect);
#endif
#ifdef EMBEDED_X210
#ifdef SOFT_COLOR_CONVERT
// yuv to rgb565 ,and to frambuffer
process_image(videoIn->framebuffer,fbp,videoIn->width,videoIn->height,vinfo,finfo);
// convertYUYVtoRGB565(videoIn->framebuffer,pRGBData,videoIn->width,videoIn->height);
// Pyuv422torgb24(videoIn->framebuffer, pRGBData, videoIn->width, videoIn->height);
// memcpy(fbp,pRGBData,videoIn->width*videoIn->height*2);
#else //X6410 post processor convert yuv to rgb,X210 not suport now.
/*
memcpy(pInbuffer, videoIn->framebuffer, videoIn->width * (videoIn->height) * 2);
ioctl(dev_fb0, GET_FB_INFO, &fb_info);
pp_param.SrcFrmSt = ioctl(dev_pp, S3C_PP_GET_RESERVED_MEM_ADDR_PHY); //must be physical adress
pp_param.DstFrmSt = fb_info.map_dma_f1; //must be physical adress
ioctl(dev_pp, S3C_PP_SET_PARAMS, &pp_param);
ioctl(dev_pp, S3C_PP_SET_DST_BUF_ADDR_PHY, &pp_param);
ioctl(dev_pp, S3C_PP_SET_SRC_BUF_ADDR_PHY, &pp_param);
ioctl(dev_pp, S3C_PP_START);
*/
#endif
#endif
if (videoIn->getPict)
{
switch(videoIn->formatIn){
case V4L2_PIX_FMT_MJPEG:
get_picture(videoIn->tmpbuffer,videoIn->buf.bytesused);
break;
case V4L2_PIX_FMT_YUYV:
get_pictureYV2(videoIn->framebuffer,videoIn->width,videoIn->height);
break;
default:
break;
}
videoIn->getPict = 0;
printf("get picture !\n");
}
#ifndef EMBEDED_X210
SDL_LockMutex(affmutex);
ptdata.frmrate = frmrate;
SDL_WM_SetCaption(videoIn->status, NULL);
SDL_UnlockMutex(affmutex);
#endif
#ifdef EMBEDED_X210
usleep(10);
#else
SDL_Delay(10);
#endif
}
#ifndef EMBEDED_X210
SDL_WaitThread(mythread, &status);
SDL_DestroyMutex(affmutex);
#endif
/* if avifile is defined, we made a video: compute the exact fps and
set it in the video */
if (videoIn->avifile != NULL) {
float fps=(videoIn->framecount/(videoIn->recordtime/1000));
fprintf(stderr,"setting fps to %f\n",fps);
AVI_set_video(videoIn->avifile, videoIn->width, videoIn->height,
fps, "MJPG");
AVI_close(videoIn->avifile);
}
close_v4l2(videoIn);
#ifdef EMBEDED_X210
#ifdef SOFT_COLOR_CONVERT
close_frambuffer();
#else
x6410_DeInit_Draw();
#endif
#endif
free(pRGBData);
free(videoIn);
destroyButt();
freeLut();
printf(" Clean Up done Quit \n");
#ifndef EMBEDED_X210
SDL_Quit();
#endif
}
/******************************************************************************
Description.: this thread worker grabs a frame and copies it to the global buffer
Input Value.: unused
Return Value: unused, always NULL
******************************************************************************/
void *cam_thread(void *arg) {
g_settings.init();
setCameraExposure();
CVideoFrame* pFrame = NULL;
#ifndef TEST_USE_JPEGS_NOT_CAMERA
int width = VIEW_PIXEL_X_WIDTH;
int height = VIEW_PIXEL_Y_HEIGHT;
IplImage * img = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 3); // obraz OpenCV
#endif
frameGrinder.init();
#ifdef TEST_USE_JPEGS_NOT_CAMERA
std::string sBasePath = "/home/";
sBasePath += HOME_NAME;
std::string sPath = sBasePath;
sPath += "/0243-20150125-22-21-46.jpg";
//sPath += "/0007-20150125-22-36-25.jpg";
cv::Mat frame1 = cv::imread(sPath.c_str(), CV_LOAD_IMAGE_COLOR);
if (frame1.empty()) {
dbgMsg_s("Failed to read image data from a file1\n");
}
sPath = sBasePath;
sPath += "/0243-20150125-22-21-46.jpg";
//sPath += "/0007-20150125-22-36-25.jpg";
cv::Mat frame2 = cv::imread(sPath.c_str(), CV_LOAD_IMAGE_COLOR);
if (frame2.empty()) {
dbgMsg_s("Failed to read image data from a file2\n");
}
bool toggle = false;
#endif
context *pcontext = (context*) arg;
pglobal = pcontext->pglobal;
/* set cleanup handler to cleanup allocated ressources */
pthread_cleanup_push(cam_cleanup, pcontext);
while (!pglobal->stop) {
while (pcontext->videoIn->streamingState == STREAMING_PAUSED) {
usleep(1); // maybe not the best way so FIXME
}
#ifdef TEST_USE_JPEGS_NOT_CAMERA
if (frameGrinder.safeGetFreeFrame(&pFrame)) {
if (toggle) {
pFrame->m_frame = frame1;
} else {
pFrame->m_frame = frame2;
}
toggle = (!toggle);
if (!pFrame->m_frame.empty()) {
frameGrinder.safeAddTail(pFrame, CVideoFrame::FRAME_QUEUE_WAIT_FOR_BLOB_DETECT);
} else {
dbgMsg_s("Frame is empty\n");
frameGrinder.safeAddTail(pFrame, CVideoFrame::FRAME_QUEUE_FREE);
}
frameGrinder.m_testMonitor.m_nTasksDone[CTestMonitor::TASK_DONE_CAMERA]++;
}
#else
/* grab a frame */
if (uvcGrab(pcontext->videoIn) < 0) {
IPRINT("Error grabbing frames\n");
exit(EXIT_FAILURE);
}
DBG("received frame of size: %d from plugin: %d\n", pcontext->videoIn->buf.bytesused, pcontext->id);
/*
* Workaround for broken, corrupted frames:
* Under low light conditions corrupted frames may get captured.
* The good thing is such frames are quite small compared to the regular pictures.
* For example a VGA (640x480) webcam picture is normally >= 8kByte large,
* corrupted frames are smaller.
*/
if (pcontext->videoIn->buf.bytesused < minimum_size) {
DBG("dropping too small frame, assuming it as broken\n");
continue;
}
if (g_settings.isDynamicSettingsEnabled())
{
g_settings.getValueFromFile(CSetting::SETTING_EXPOSURE);
}
if(g_settings.isValueChanged(CSetting::SETTING_EXPOSURE))
{
setCameraExposure();
}
#ifdef NO_CV_JUST_STREAM_THE_CAMERA
/* copy JPG picture to global buffer */
pthread_mutex_lock(&pglobal->in[pcontext->id].db);
/*
* If capturing in YUV mode convert to JPEG now.
* This compression requires many CPU cycles, so try to avoid YUV format.
* Getting JPEGs straight from the webcam, is one of the major advantages of
* Linux-UVC compatible devices.
*/
if (pcontext->videoIn->formatIn == V4L2_PIX_FMT_YUYV) {
DBG("compressing frame from input: %d\n", (int) pcontext->id);
pglobal->in[pcontext->id].size = compress_yuyv_to_jpeg(pcontext->videoIn, pglobal->in[pcontext->id].buf, pcontext->videoIn->framesizeIn, gquality);
} else {
DBG("copying frame from input: %d\n", (int) pcontext->id);
pglobal->in[pcontext->id].size = memcpy_picture(pglobal->in[pcontext->id].buf, pcontext->videoIn->tmpbuffer, pcontext->videoIn->buf.bytesused);
}
/* copy this frame's timestamp to user space */
pglobal->in[pcontext->id].timestamp = pcontext->videoIn->buf.timestamp;
/* signal fresh_frame */
pthread_cond_broadcast(&pglobal->in[pcontext->id].db_update);
pthread_mutex_unlock(&pglobal->in[pcontext->id].db);
#else // #ifndef NO_CV_JUST_STREAM_THE_CAMERA
if (frameGrinder.safeGetFreeFrame(&pFrame)) {
std::vector<uchar> vectordata(pcontext->videoIn->tmpbuffer, pcontext->videoIn->tmpbuffer + (height * width));
cv::Mat data_mat(vectordata, false);
cv::Mat image(cv::imdecode(data_mat, 1)); //put 0 if you want greyscale
pFrame->m_frame = image;
if (!pFrame->m_frame.empty()) {
frameGrinder.safeAddTail(pFrame, CVideoFrame::FRAME_QUEUE_WAIT_FOR_BLOB_DETECT);
} else {
dbgMsg_s("Frame is empty\n");
frameGrinder.safeAddTail(pFrame, CVideoFrame::FRAME_QUEUE_FREE);
}
frameGrinder.m_testMonitor.m_nTasksDone[CTestMonitor::TASK_DONE_CAMERA]++;
}
#endif // #ifndef NO_CV_JUST_STREAM_THE_CAMERA
#endif // TEST_USE_JPEGS_NOT_CAMERA
}
DBG("leaving input thread, calling cleanup function now\n");
pthread_cleanup_pop(1);
return NULL;
}
int main (int argc, char *argv[])
{
char *videodevice = "/dev/video0";
char *outputfile = "snap.jpg";
char *post_capture_command[3];
int format = V4L2_PIX_FMT_MJPEG;
int grabmethod = 1;
int width = 320;
int height = 240;
int brightness = 0, contrast = 0, saturation = 0, gain = 0;
int verbose = 0;
int delay = 0;
int quality = 95;
int post_capture_command_wait = 0;
time_t ref_time;
struct vdIn *videoIn;
FILE *file;
(void) signal (SIGINT, sigcatch);
(void) signal (SIGQUIT, sigcatch);
(void) signal (SIGKILL, sigcatch);
(void) signal (SIGTERM, sigcatch);
(void) signal (SIGABRT, sigcatch);
(void) signal (SIGTRAP, sigcatch);
// set post_capture_command to default values
post_capture_command[0] = NULL;
post_capture_command[1] = NULL;
post_capture_command[2] = NULL;
//Options Parsing (FIXME)
while ((argc > 1) && (argv[1][0] == '-')) {
switch (argv[1][1]) {
case 'v':
verbose++;
break;
case 'o':
outputfile = &argv[1][2];
break;
case 'd':
videodevice = &argv[1][2];
break;
case 'x':
width = atoi (&argv[1][2]);
break;
case 'y':
height = atoi (&argv[1][2]);
break;
case 'r':
grabmethod = 0;
break;
case 'm':
format = V4L2_PIX_FMT_YUYV;
break;
case 't':
delay = atoi (&argv[1][2]);
break;
case 'c':
post_capture_command[0] = &argv[1][2];
break;
case 'w':
post_capture_command_wait = 1;
break;
case 'B':
brightness = atoi (&argv[1][2]);
break;
case 'C':
contrast = atoi (&argv[1][2]);
break;
case 'S':
saturation = atoi (&argv[1][2]);
break;
case 'G':
gain = atoi (&argv[1][2]);
break;
case 'q':
quality = atoi (&argv[1][2]);
break;
case 'h':
usage ();
break;
default:
fprintf (stderr, "Unknown option %s \n", argv[1]);
usage ();
}
++argv;
--argc;
}
if ((width > 960) || (height > 720) || (quality != 95))
format = V4L2_PIX_FMT_YUYV;
if (post_capture_command[0])
post_capture_command[1] = outputfile;
if (verbose >= 1) {
fprintf (stderr, "Using videodevice: %s\n", videodevice);
fprintf (stderr, "Saving images to: %s\n", outputfile);
fprintf (stderr, "Image size: %dx%d\n", width, height);
fprintf (stderr, "Taking snapshot every %d seconds\n", delay);
if (grabmethod == 1)
fprintf (stderr, "Taking images using mmap\n");
else
fprintf (stderr, "Taking images using read\n");
if (post_capture_command[0])
fprintf (stderr, "Executing '%s' after each image capture\n",
post_capture_command[0]);
}
videoIn = (struct vdIn *) calloc (1, sizeof (struct vdIn));
if (init_videoIn
(videoIn, (char *) videodevice, width, height, format, grabmethod) < 0)
exit (1);
//Reset all camera controls
if (verbose >= 1)
fprintf (stderr, "Resetting camera settings\n");
v4l2ResetControl (videoIn, V4L2_CID_BRIGHTNESS);
v4l2ResetControl (videoIn, V4L2_CID_CONTRAST);
v4l2ResetControl (videoIn, V4L2_CID_SATURATION);
v4l2ResetControl (videoIn, V4L2_CID_GAIN);
//Setup Camera Parameters
if (brightness != 0) {
if (verbose >= 1)
fprintf (stderr, "Setting camera brightness to %d\n", brightness);
v4l2SetControl (videoIn, V4L2_CID_BRIGHTNESS, brightness);
} else if (verbose >= 1) {
fprintf (stderr, "Camera brightness level is %d\n",
v4l2GetControl (videoIn, V4L2_CID_BRIGHTNESS));
}
if (contrast != 0) {
if (verbose >= 1)
fprintf (stderr, "Setting camera contrast to %d\n", contrast);
v4l2SetControl (videoIn, V4L2_CID_CONTRAST, contrast);
} else if (verbose >= 1) {
fprintf (stderr, "Camera contrast level is %d\n",
v4l2GetControl (videoIn, V4L2_CID_CONTRAST));
}
if (saturation != 0) {
if (verbose >= 1)
fprintf (stderr, "Setting camera saturation to %d\n", saturation);
v4l2SetControl (videoIn, V4L2_CID_SATURATION, saturation);
} else if (verbose >= 1) {
fprintf (stderr, "Camera saturation level is %d\n",
v4l2GetControl (videoIn, V4L2_CID_SATURATION));
}
if (gain != 0) {
if (verbose >= 1)
fprintf (stderr, "Setting camera gain to %d\n", gain);
v4l2SetControl (videoIn, V4L2_CID_GAIN, gain);
} else if (verbose >= 1) {
fprintf (stderr, "Camera gain level is %d\n",
v4l2GetControl (videoIn, V4L2_CID_GAIN));
}
ref_time = time (NULL);
while (run) {
if (verbose >= 2)
fprintf (stderr, "Grabbing frame\n");
if (uvcGrab (videoIn) < 0) {
fprintf (stderr, "Error grabbing\n");
close_v4l2 (videoIn);
free (videoIn);
exit (1);
}
if ((difftime (time (NULL), ref_time) > delay) || delay == 0) {
if (verbose >= 1)
fprintf (stderr, "Saving image to: %s\n", outputfile);
file = fopen (outputfile, "wb");
if (file != NULL) {
switch (videoIn->formatIn) {
case V4L2_PIX_FMT_YUYV:
compress_yuyv_to_jpeg (videoIn, file, quality);
break;
default:
fwrite (videoIn->tmpbuffer, videoIn->buf.bytesused + DHT_SIZE, 1,
file);
break;
}
fclose (file);
videoIn->getPict = 0;
}
if (post_capture_command[0]) {
if (verbose >= 1)
fprintf (stderr, "Executing '%s %s'\n", post_capture_command[0],
post_capture_command[1]);
if (spawn (post_capture_command, post_capture_command_wait, verbose)) {
fprintf (stderr, "Command exited with error\n");
close_v4l2 (videoIn);
free (videoIn);
exit (1);
}
}
ref_time = time (NULL);
}
if (delay == 0)
break;
}
close_v4l2 (videoIn);
free (videoIn);
return 0;
}
void startVideoSrvr()
{
pthread_t videoSocketThread;
/* alloc mameory for the videoIn struct & initialize */
videoIn = (struct vdIn *) calloc (1, sizeof (struct vdIn));
if (init_videoIn
(videoIn, (char *) videodevice, width, height, format, grabmethod) < 0)
exit (1);
/* alloc memory for the control struct & video out array & initialize */
ctrlStruct ctrl, *pc;
if ((ctrl.imgArray = malloc(3 * width * height)) < 0) // enough space for rgb
exit(-1);
ctrl.doCapture = 0;
//Reset all camera controls
if (verbose >= 1)
fprintf (stderr, "Resetting camera settings\n");
v4l2ResetControl (videoIn, V4L2_CID_BRIGHTNESS);
v4l2ResetControl (videoIn, V4L2_CID_CONTRAST);
v4l2ResetControl (videoIn, V4L2_CID_SATURATION);
v4l2ResetControl (videoIn, V4L2_CID_GAIN);
//Setup Camera Parameters
if (brightness != 0) {
if (verbose >= 1)
fprintf (stderr, "Setting camera brightness to %d\n", brightness);
v4l2SetControl (videoIn, V4L2_CID_BRIGHTNESS, brightness);
} else if (verbose >= 1) {
fprintf (stderr, "Camera brightness level is %d\n",
v4l2GetControl (videoIn, V4L2_CID_BRIGHTNESS));
}
if (contrast != 0) {
if (verbose >= 1)
fprintf (stderr, "Setting camera contrast to %d\n", contrast);
v4l2SetControl (videoIn, V4L2_CID_CONTRAST, contrast);
} else if (verbose >= 1) {
fprintf (stderr, "Camera contrast level is %d\n",
v4l2GetControl (videoIn, V4L2_CID_CONTRAST));
}
if (saturation != 0) {
if (verbose >= 1)
fprintf (stderr, "Setting camera saturation to %d\n", saturation);
v4l2SetControl (videoIn, V4L2_CID_SATURATION, saturation);
} else if (verbose >= 1) {
fprintf (stderr, "Camera saturation level is %d\n",
v4l2GetControl (videoIn, V4L2_CID_SATURATION));
}
if (gain != 0) {
if (verbose >= 1)
fprintf (stderr, "Setting camera gain to %d\n", gain);
v4l2SetControl (videoIn, V4L2_CID_GAIN, gain);
} else if (verbose >= 1) {
fprintf (stderr, "Camera gain level is %d\n",
v4l2GetControl (videoIn, V4L2_CID_GAIN));
}
// wait for a video client to connect before proceeding
fprintf (stderr, "waiting for video client connection on port %d\n", port);
if ((ctrl.videoSocket = wait4client(port)) <= 0) {
fprintf (stderr, "error connecting to client: %d\n", ctrl.videoSocket);
exit(-1);
}
// start the thread that handles the video client requests
pthread_create(&videoSocketThread, NULL, (void *)cmdHandler, (void *)&ctrl);
while (run) {
if (verbose >= 2)
fprintf (stderr, ".");
if (uvcGrab (videoIn) < 0) {
fprintf (stderr, "Error grabbing\n");
close_v4l2 (videoIn);
free (videoIn);
exit (1);
}
if (ctrl.doCapture == 1) {
if (verbose >= 1) {
fprintf (stderr, "captured %d byte image at 0x%x %dx%d\n", videoIn->framesizeIn,
videoIn->framebuffer, videoIn->width, videoIn->height);
} else {
fprintf (stderr, ".");
}
if (outputType == 0)
yuyv2Y(videoIn, &ctrl);
else
yuyv2rgb(videoIn, &ctrl);
if (verbose >=1)
fprintf (stderr, "converted image to luminance in buffer at 0x%x\n", ctrl.imgArray);
videoIn->getPict = 0;
ctrl.doCapture = 0;
}
}
close_v4l2 (videoIn);
free (videoIn);
return;
}
int main(int argc, char *argv[]) {
char driver[128];
int status;
//Uint32 currtime;
//Uint32 lasttime;
unsigned char *p = NULL;
int hwaccel = 0;
const char *videodevice = NULL;
const char *mode = NULL;
int format = V4L2_PIX_FMT_MJPEG;
int i;
int grabmethod = 1;
int width = 320;
int height = 240;
int fps = 15;
unsigned char frmrate = 0;
char *avifilename = NULL;
int queryformats = 0;
int querycontrols = 0;
int readconfigfile = 0;
char *separateur;
char *sizestring = NULL;
char *fpsstring = NULL;
int enableRawStreamCapture = 0;
int enableRawFrameCapture = 0;
printf("luvcview version %s \n", version);
for (i = 1; i < argc; i++) {
/* skip bad arguments */
if (argv[i] == NULL || *argv[i] == 0 || *argv[i] != '-') {
continue;
}
if (strcmp(argv[i], "-d") == 0) {
if (i + 1 >= argc) {
printf("No parameter specified with -d, aborting.\n");
exit(1);
}
videodevice = strdup(argv[i + 1]);
}
if (strcmp(argv[i], "-g") == 0) {
/* Ask for read instead default mmap */
grabmethod = 0;
}
if (strcmp(argv[i], "-w") == 0) {
/* disable hw acceleration */
hwaccel = 1;
}
if (strcmp(argv[i], "-f") == 0) {
if (i + 1 >= argc) {
printf("No parameter specified with -f, aborting.\n");
exit(1);
}
mode = strdup(argv[i + 1]);
if (strncmp(mode, "yuv", 3) == 0) {
format = V4L2_PIX_FMT_YUYV;
} else if (strncmp(mode, "jpg", 3) == 0) {
format = V4L2_PIX_FMT_MJPEG;
} else {
format = V4L2_PIX_FMT_JPEG;
}
}
if (strcmp(argv[i], "-s") == 0) {
if (i + 1 >= argc) {
printf("No parameter specified with -s, aborting.\n");
exit(1);
}
sizestring = strdup(argv[i + 1]);
width = strtoul(sizestring, &separateur, 10);
if (*separateur != 'x') {
printf("Error in size use -s widthxheight \n");
exit(1);
} else {
++separateur;
height = strtoul(separateur, &separateur, 10);
if (*separateur != 0)
printf("hmm.. dont like that!! trying this height \n");
printf(" size width: %d height: %d \n", width, height);
}
}
if (strcmp(argv[i], "-i") == 0) {
if (i + 1 >= argc) {
printf("No parameter specified with -i, aborting. \n");
exit(1);
}
fpsstring = strdup(argv[i + 1]);
fps = strtoul(fpsstring, &separateur, 10);
printf(" interval: %d fps \n", fps);
}
if (strcmp(argv[i], "-S") == 0) {
/* Enable raw stream capture from the start */
enableRawStreamCapture = 1;
}
if (strcmp(argv[i], "-c") == 0) {
/* Enable raw frame capture for the first frame */
enableRawFrameCapture = 1;
}
if (strcmp(argv[i], "-C") == 0) {
/* Enable raw frame stream capture from the start*/
enableRawFrameCapture = 2;
}
if (strcmp(argv[i], "-o") == 0) {
/* set the avi filename */
if (i + 1 >= argc) {
printf("No parameter specified with -o, aborting.\n");
exit(1);
}
avifilename = strdup(argv[i + 1]);
}
if (strcmp(argv[i], "-L") == 0) {
/* query list of valid video formats */
queryformats = 1;
}
if (strcmp(argv[i], "-l") == 0) {
/* query list of valid video formats */
querycontrols = 1;
}
if (strcmp(argv[i], "-r") == 0) {
/* query list of valid video formats */
readconfigfile = 1;
}
if (strcmp(argv[i], "-O") == 0) {
/* get picture */
getpictureflag = 1;
}
if (strcmp(argv[i], "-h") == 0) {
printf(
"usage: uvcview [-h -d -g -f -s -i -c -o -C -S -L -l -r] \n");
printf("-h print this message \n");
printf("-d /dev/videoX use videoX device\n");
printf("-g use read method for grab instead mmap \n");
printf("-w disable SDL hardware accel. \n");
printf(
"-f video format default jpg others options are yuv jpg \n");
printf("-i fps use specified frame interval \n");
printf("-s widthxheight use specified input size \n");
printf("-c enable raw frame capturing for the first frame\n");
printf("-C enable raw frame stream capturing from the start\n");
printf("-S enable raw stream capturing from the start\n");
printf("-o avifile create avifile, default video.avi\n");
printf("-L query valid video formats\n");
printf("-l query valid controls and settings\n");
printf("-r read and set control settings from luvcview.cfg\n");
printf("-O get picture.\n");
exit(0);
}
}
if (videodevice == NULL || *videodevice == 0) {
videodevice = "/dev/video0";
}
if (avifilename == NULL || *avifilename == 0) {
avifilename = "video.avi";
}
videoIn = (struct vdIn *) calloc(1, sizeof(struct vdIn));
if (queryformats) {
/* if we're supposed to list the video formats, do that now and go out */
check_videoIn(videoIn, (char *) videodevice);
free(videoIn);
exit(1);
}
if (init_videoIn(videoIn, (char *) videodevice, width, height, fps, format,
grabmethod, avifilename) < 0)
exit(1);
/* if we're supposed to list the controls, do that now */
if (querycontrols)
enum_controls(videoIn->fd);
/* if we're supposed to read the control settings from a configfile, do that now */
if (readconfigfile)
load_controls(videoIn->fd);
printf("Enable Raw Stream Capture\n");
if (enableRawStreamCapture) {
videoIn->captureFile = fopen("stream.raw", "wb");
if (videoIn->captureFile == NULL) {
perror("Unable to open file for raw stream capturing");
} else {
printf("Starting raw stream capturing to stream.raw ...\n");
}
}
if (enableRawFrameCapture)
videoIn->rawFrameCapture = enableRawFrameCapture;
initLut();
printf("Begin main big loop\n");
int loopNum = 0;
/* main big loop */
while (videoIn->signalquit) {
//
if (uvcGrab(videoIn) < 0) {
printf("Error grabbing \n");
break;
}
//
/* if we're grabbing video, show the frame rate */
if (videoIn->toggleAvi)
printf("\rframe rate: %d ", frmrate);
//
if (getpictureflag) {
//if (videoIn->getPict) {
switch (videoIn->formatIn) {
case V4L2_PIX_FMT_MJPEG:
get_picture(videoIn->tmpbuffer, videoIn->buf.bytesused);
break;
case V4L2_PIX_FMT_YUYV:
printf("get picture yuv...\n");
get_pictureYV2(videoIn->framebuffer, videoIn->width,
videoIn->height);
break;
default:
break;
}
videoIn->getPict = 0;
printf("get picture !\n");
}
printf("loop number %d\n",loopNum);
loopNum ++;
}
/* if avifile is defined, we made a video: compute the exact fps and
set it in the video */
if (videoIn->avifile != NULL) {
float fps = (videoIn->framecount / (videoIn->recordtime / 1000));
fprintf(stderr, "setting fps to %f\n", fps);
AVI_set_video(videoIn->avifile, videoIn->width, videoIn->height, fps,
"MJPG");
AVI_close(videoIn->avifile);
}
close_v4l2(videoIn);
free(videoIn);
freeLut();
printf(" Clean Up done Quit \n");
}
int luvcview()
{
const SDL_VideoInfo *info;
char driver[128];
SDL_Surface *pscreen;
SDL_Surface *pparent;
SDL_Overlay *overlay;
SDL_Rect drect;
int status;
Uint32 currtime;
Uint32 lasttime;
unsigned char *p = NULL;
int hwaccel = 0;
const char *videodevice = NULL;
const char *mode = NULL;
int format = V4L2_PIX_FMT_MJPEG;
int i;
int grabmethod = 1;
int width = 320;
int height = 240;
int fps = 15;
unsigned char frmrate = 0;
char *avifilename = NULL;
int queryformats = 0;
int querycontrols = 0;
int readconfigfile = 0;
char *separateur;
char *sizestring = NULL;
char *fpsstring = NULL;
int enableRawStreamCapture = 0;
int enableRawFrameCapture = 0;
format = V4L2_PIX_FMT_YUYV;
videodevice = "/dev/video0";
printf("luvcview version %s \n", version);
if (SDL_VideoDriverName(driver, sizeof(driver))) {
printf("Video driver: %s\n", driver);
}
info = SDL_GetVideoInfo();
if (info->wm_available) {
printf("A window manager is available\n");
}
if (info->hw_available) {
printf("Hardware surfaces are available (%dK video memory)\n",
info->video_mem);
SDL_VIDEO_Flags |= SDL_HWSURFACE;
}
if (info->blit_hw) {
printf("Copy blits between hardware surfaces are accelerated\n");
SDL_VIDEO_Flags |= SDL_ASYNCBLIT;
}
if (info->blit_hw_CC) {
printf
("Colorkey blits between hardware surfaces are accelerated\n");
}
if (info->blit_hw_A) {
printf("Alpha blits between hardware surfaces are accelerated\n");
}
if (info->blit_sw) {
printf
("Copy blits from software surfaces to hardware surfaces are accelerated\n");
}
if (info->blit_sw_CC) {
printf
("Colorkey blits from software surfaces to hardware surfaces are accelerated\n");
}
if (info->blit_sw_A) {
printf
("Alpha blits from software surfaces to hardware surfaces are accelerated\n");
}
if (info->blit_fill) {
printf("Color fills on hardware surfaces are accelerated\n");
}
if (!(SDL_VIDEO_Flags & SDL_HWSURFACE))
SDL_VIDEO_Flags |= SDL_SWSURFACE;
if (avifilename == NULL || *avifilename == 0) {
avifilename = "video.avi";
}
videoIn = (struct vdIn *) calloc(1, sizeof(struct vdIn));
if (init_videoIn
(videoIn, (char *) videodevice, width, height, fps, format,
grabmethod, avifilename) < 0)
exit(1);
pscreen = SDL_GetVideoSurface();
overlay =
SDL_CreateYUVOverlay(videoIn->width, videoIn->height ,
SDL_YUY2_OVERLAY, pscreen);
p = (unsigned char *) overlay->pixels[0];
drect.x = 0;
drect.y = 0;
drect.w = pscreen->w;
drect.h = pscreen->h;
initLut();
lasttime = SDL_GetTicks();
int loop = 0;
/* main big loop */
while (videoIn->signalquit) {
currtime = SDL_GetTicks();
if (currtime - lasttime > 0) {
frmrate = 1000/(currtime - lasttime);
}
lasttime = currtime;
if (uvcGrab(videoIn) < 0) {
printf("Error grabbing \n");
break;
}
SDL_LockYUVOverlay(overlay);
memcpy(p, videoIn->framebuffer,
videoIn->width * (videoIn->height) * 2);
SDL_UnlockYUVOverlay(overlay);
SDL_DisplayYUVOverlay(overlay, &drect);
if (loop > 35)
{
printf( "loop: %d\n", loop);
break;
}
++loop;
SDL_Delay(10);
}
close_v4l2(videoIn);
free(videoIn);
freeLut();
printf(" Clean Up done Quit \n");
}
/******************************************************************************
Description.: this thread worker grabs a frame and copies it to the global buffer
Input Value.: unused
Return Value: unused, always NULL
******************************************************************************/
void *cam_thread(void *arg)
{
context *pcontext = arg;
pglobal = pcontext->pglobal;
/* set cleanup handler to cleanup allocated ressources */
pthread_cleanup_push(cam_cleanup, pcontext);
while(!pglobal->stop) {
while(pcontext->videoIn->streamingState == STREAMING_PAUSED) {
usleep(1); // maybe not the best way so FIXME
}
if(stop_camera == 1)
{
/* check active outputs */
pthread_mutex_lock(&pglobal->in[pcontext->id].out);
if(pglobal->in[pcontext->id].num_outs == 0)
{
/* stop camera */
uvcStopGrab(pcontext->videoIn);
/* wait for active outputs */
pthread_cond_wait(&pglobal->in[pcontext->id].out_update, &pglobal->in[pcontext->id].out);
}
/* allow others to access the global buffer again */
pthread_mutex_unlock(&pglobal->in[pcontext->id].out);
}
/* grab a frame */
if(uvcGrab(pcontext->videoIn) < 0) {
IPRINT("Error grabbing frames\n");
exit(EXIT_FAILURE);
}
DBG("received frame of size: %d from plugin: %d\n", pcontext->videoIn->buf.bytesused, pcontext->id);
/*
* Workaround for broken, corrupted frames:
* Under low light conditions corrupted frames may get captured.
* The good thing is such frames are quite small compared to the regular pictures.
* For example a VGA (640x480) webcam picture is normally >= 8kByte large,
* corrupted frames are smaller.
*/
if(pcontext->videoIn->buf.bytesused < minimum_size) {
DBG("dropping too small frame, assuming it as broken\n");
continue;
}
/* copy JPG picture to global buffer */
pthread_mutex_lock(&pglobal->in[pcontext->id].db);
/*
* If capturing in YUV mode convert to JPEG now.
* This compression requires many CPU cycles, so try to avoid YUV format.
* Getting JPEGs straight from the webcam, is one of the major advantages of
* Linux-UVC compatible devices.
*/
if(pcontext->videoIn->formatIn == V4L2_PIX_FMT_YUYV) {
DBG("compressing frame from input: %d\n", (int)pcontext->id);
pglobal->in[pcontext->id].size = compress_yuyv_to_jpeg(pcontext->videoIn, pglobal->in[pcontext->id].buf, pcontext->videoIn->framesizeIn, gquality);
} else {
DBG("copying frame from input: %d\n", (int)pcontext->id);
pglobal->in[pcontext->id].size = memcpy_picture(pglobal->in[pcontext->id].buf, pcontext->videoIn->tmpbuffer, pcontext->videoIn->buf.bytesused);
}
#if 0
/* motion detection can be done just by comparing the picture size, but it is not very accurate!! */
if((prev_size - global->size)*(prev_size - global->size) > 4 * 1024 * 1024) {
DBG("motion detected (delta: %d kB)\n", (prev_size - global->size) / 1024);
}
prev_size = global->size;
#endif
/* copy this frame's timestamp to user space */
pglobal->in[pcontext->id].timestamp = pcontext->videoIn->buf.timestamp;
/* signal fresh_frame */
pthread_cond_broadcast(&pglobal->in[pcontext->id].db_update);
pthread_mutex_unlock(&pglobal->in[pcontext->id].db);
/* only use usleep if the fps is below 5, otherwise the overhead is too long */
if(pcontext->videoIn->fps < 5) {
DBG("waiting for next frame for %d us\n", 1000 * 1000 / pcontext->videoIn->fps);
usleep(1000 * 1000 / pcontext->videoIn->fps);
} else {
DBG("waiting for next frame\n");
}
}
DBG("leaving input thread, calling cleanup function now\n");
pthread_cleanup_pop(1);
return NULL;
}
/******************************************************************************
Description.: this thread worker grabs a frame and copies it to the global buffer
Input Value.: unused
Return Value: unused, always NULL
******************************************************************************/
void *cam_thread(void *arg)
{
int cid = 0, id = (int)arg;
context *activecam, *pcontext = &cams[id];
pglobal = pcontext->pglobal;
activecam = pcontext;
/* set cleanup handler to cleanup allocated ressources */
pthread_cleanup_push(cam_cleanup, pcontext);
while(!pglobal->stop) {
if(cid != camera) {
video_pause(activecam->videoIn);
cid = camera;
activecam = &cams[id + cid];
IPRINT("Switch to camera..: %s\n", mdev[cid]);
video_unpause(activecam->videoIn);
}
while(activecam->videoIn->streamingState == STREAMING_PAUSED) {
usleep(1); // maybe not the best way so FIXME
}
/* grab a frame */
if(uvcGrab(activecam->videoIn) < 0) {
IPRINT("Error grabbing frames\n");
exit(EXIT_FAILURE);
}
DBG("received frame of size: %d from plugin: %d\n",
activecam->videoIn->buf.bytesused, activecam->id);
/*
* Workaround for broken, corrupted frames:
* Under low light conditions corrupted frames may get captured.
* The good thing is such frames are quite small compared to the regular pictures.
* For example a VGA (640x480) webcam picture is normally >= 8kByte large,
* corrupted frames are smaller.
*/
if(activecam->videoIn->buf.bytesused < minimum_size) {
DBG("dropping too small frame, assuming it as broken\n");
continue;
}
/* copy JPG picture to global buffer */
pthread_mutex_lock(&pglobal->in[pcontext->id].db);
/*
* If capturing in YUV mode convert to JPEG now.
* This compression requires many CPU cycles, so try to avoid YUV format.
* Getting JPEGs straight from the webcam, is one of the major advantages of
* Linux-UVC compatible devices.
*/
if(activecam->videoIn->formatIn == V4L2_PIX_FMT_YUYV) {
DBG("compressing frame from input: %d\n", (int)activecam->id);
pglobal->in[pcontext->id].size =
compress_yuyv_to_jpeg(activecam->videoIn,
pglobal->in[pcontext->id].buf,
activecam->videoIn->framesizeIn, gquality);
} else {
DBG("copying frame from input: %d\n", (int)activecam->id);
pglobal->in[pcontext->id].size =
memcpy_picture(pglobal->in[pcontext->id].buf,
activecam->videoIn->tmpbuffer,
activecam->videoIn->buf.bytesused);
}
/* copy this frame's timestamp to user space */
pglobal->in[pcontext->id].timestamp = activecam->videoIn->buf.timestamp;
/* signal fresh_frame */
pthread_cond_broadcast(&pglobal->in[pcontext->id].db_update);
pthread_mutex_unlock(&pglobal->in[pcontext->id].db);
/* only use usleep if the fps is below 5, otherwise the overhead is too long */
if(activecam->videoIn->fps < 5) {
DBG("waiting for next frame for %d us\n", 1000 * 1000 / activecam->videoIn->fps);
usleep(1000 * 1000 / activecam->videoIn->fps);
} else {
DBG("waiting for next frame\n");
}
}
DBG("leaving input thread, calling cleanup function now\n");
pthread_cleanup_pop(1);
return NULL;
}
/* run in a thread (SDL overlay)*/
void *main_loop(void *data)
{
struct ALL_DATA *all_data = (struct ALL_DATA *) data;
struct VidState *s = all_data->s;
struct paRecordData *pdata = all_data->pdata;
struct GLOBAL *global = all_data->global;
struct focusData *AFdata = all_data->AFdata;
struct vdIn *videoIn = all_data->videoIn;
struct particle* particles = NULL; //for the particles video effect
SDL_Event event;
/*the main SDL surface*/
SDL_Surface *pscreen = NULL;
SDL_Overlay *overlay = NULL;
SDL_Rect drect;
int width = global->width;
int height = global->height;
int format = global->format;
SAMPLE vuPeak[2]; // The maximum vuLevel seen recently
int vuPeakFreeze[2]; // The vuPeak values will be frozen for this many frames.
vuPeak[0] = vuPeak[1] = 0;
vuPeakFreeze[0] = vuPeakFreeze[1] = 0;
BYTE *p = NULL;
Control *focus_control = NULL;
int last_focus = 0;
if (global->AFcontrol)
{
focus_control = get_ctrl_by_id(s->control_list, AFdata->id);
get_ctrl(videoIn->fd, s->control_list, AFdata->id, all_data);
last_focus = focus_control->value;
/*make sure we wait for focus to settle on first check*/
if (last_focus < 0) last_focus = AFdata->f_max;
}
gboolean capVid = FALSE;
gboolean signalquit = FALSE;
/*------------------------------ SDL init video ---------------------*/
if(!global->no_display)
{
overlay = video_init(data, &(pscreen));
if(overlay == NULL)
{
g_print("FATAL: Couldn't create yuv overlay - please disable hardware accelaration\n");
signalquit = TRUE; /*exit video thread*/
}
else
{
p = (unsigned char *) overlay->pixels[0];
drect.x = 0;
drect.y = 0;
drect.w = pscreen->w;
drect.h = pscreen->h;
}
}
while (!signalquit)
{
__LOCK_MUTEX(__VMUTEX);
capVid = videoIn->capVid;
signalquit = videoIn->signalquit;
__UNLOCK_MUTEX(__VMUTEX);
/*-------------------------- Grab Frame ----------------------------------*/
if (uvcGrab(videoIn, format, width, height, &global->fps, &global->fps_num) < 0)
{
g_printerr("Error grabbing image \n");
continue;
}
else
{
if(!videoIn->timestamp)
{
global->skip_n++; //skip this frame
}
if(capVid)
{
if(global->framecount < 1)
{
/*reset video start time to first frame capture time */
global->Vidstarttime = videoIn->timestamp;
/** set current time for audio ts(0) reference (MONOTONIC)
* only used if we have no audio capture before video
*/
__LOCK_MUTEX(__AMUTEX);
pdata->ts_ref = ns_time_monotonic();
__UNLOCK_MUTEX(__AMUTEX);
//printf("video ts ref: %llu audio ts_ ref: %llu\n",global->Vidstarttime, pdata->ts_ref);
global->v_ts = 0;
}
else
{
global->v_ts = videoIn->timestamp - global->Vidstarttime;
/*always use the last frame time stamp for video stop time*/
global->Vidstoptime = videoIn->timestamp;
}
}
if (global->FpsCount && !global->no_display)
{/* sets fps count in window title bar */
global->frmCount++;
if (global->DispFps>0)
{ /*set every 2 sec*/
g_snprintf(global->WVcaption,24,"GUVCVideo - %3.2f fps",global->DispFps);
SDL_WM_SetCaption(global->WVcaption, NULL);
global->frmCount=0;/*resets*/
global->DispFps=0;
}
}
/*---------------- autofocus control ------------------*/
if (global->AFcontrol && (global->autofocus || AFdata->setFocus))
{ /*AFdata = NULL if no focus control*/
if (AFdata->focus < 0)
{
/*starting autofocus*/
AFdata->focus = AFdata->left; /*start left*/
focus_control->value = AFdata->focus;
if (set_ctrl (videoIn->fd, s->control_list, AFdata->id) != 0)
g_printerr("ERROR: couldn't set focus to %d\n", AFdata->focus);
/*number of frames until focus is stable*/
/*1.4 ms focus time - every 1 step*/
AFdata->focus_wait = (int) abs(AFdata->focus-last_focus)*1.4/(1000/global->fps)+1;
last_focus = AFdata->focus;
}
else
{
if (AFdata->focus_wait == 0)
{
AFdata->sharpness=getSharpness (videoIn->framebuffer, width, height, 5);
if (global->debug)
g_print("sharp=%d focus_sharp=%d foc=%d right=%d left=%d ind=%d flag=%d\n",
AFdata->sharpness,AFdata->focus_sharpness,
AFdata->focus, AFdata->right, AFdata->left,
AFdata->ind, AFdata->flag);
AFdata->focus=getFocusVal (AFdata);
if ((AFdata->focus != last_focus))
{
focus_control->value = AFdata->focus;
if (set_ctrl (videoIn->fd, s->control_list, AFdata->id) != 0)
g_printerr("ERROR: couldn't set focus to %d\n",
AFdata->focus);
/*number of frames until focus is stable*/
/*1.4 ms focus time - every 1 step*/
AFdata->focus_wait = (int) abs(AFdata->focus-last_focus)*1.4/(1000/global->fps)+1;
}
last_focus = AFdata->focus;
}
else
{
AFdata->focus_wait--;
if (global->debug) g_print("Wait Frame: %d\n",AFdata->focus_wait);
}
}
}
}
/*------------------------- Filter Frame ---------------------------------*/
__LOCK_MUTEX(__GMUTEX);
if(global->Frame_Flags>0)
{
if((global->Frame_Flags & YUV_PARTICLES)==YUV_PARTICLES)
particles = particles_effect(videoIn->framebuffer, width, height, 20, 4, particles);
if((global->Frame_Flags & YUV_MIRROR)==YUV_MIRROR)
yuyv_mirror(videoIn->framebuffer, width, height);
if((global->Frame_Flags & YUV_UPTURN)==YUV_UPTURN)
yuyv_upturn(videoIn->framebuffer, width, height);
if((global->Frame_Flags & YUV_NEGATE)==YUV_NEGATE)
yuyv_negative (videoIn->framebuffer, width, height);
if((global->Frame_Flags & YUV_MONOCR)==YUV_MONOCR)
yuyv_monochrome (videoIn->framebuffer, width, height);
if((global->Frame_Flags & YUV_PIECES)==YUV_PIECES)
pieces (videoIn->framebuffer, width, height, 16 );
}
__UNLOCK_MUTEX(__GMUTEX);
/*-------------------------capture Image----------------------------------*/
if (videoIn->capImage)
{
/*
* format and resolution can change(enabled) while capturing the frame
* but you would need to be speedy gonzalez to press two buttons
* at almost the same time :D
*/
int ret = 0;
if((ret=store_picture(all_data)) < 0)
g_printerr("saved image to:%s ...Failed \n",videoIn->ImageFName);
else if (!ret && global->debug) g_print("saved image to:%s ...OK \n",videoIn->ImageFName);
videoIn->capImage=FALSE;
}
/*---------------------------capture Video---------------------------------*/
if (capVid && !(global->skip_n))
{
__LOCK_MUTEX(__VMUTEX);
if(videoIn->VidCapStop) videoIn->VidCapStop = FALSE;
__UNLOCK_MUTEX(__VMUTEX);
int res=0;
/* format and resolution don't change(disabled) while capturing video
* store_video_frame may sleep if needed to avoid buffer overrun
*/
if((res=store_video_frame(all_data))<0) g_printerr("WARNING: droped frame (%i)\n",res);
} /*video and audio capture have stopped */
else
{
__LOCK_MUTEX(__VMUTEX);
if(!(videoIn->VidCapStop)) videoIn->VidCapStop=TRUE;
__UNLOCK_MUTEX(__VMUTEX);
}
/* decrease skip frame count */
if (global->skip_n > 0)
{
if (global->debug && capVid) g_print("skiping frame %d...\n", global->skip_n);
global->skip_n--;
}
__LOCK_MUTEX( __AMUTEX );
if (global->Sound_enable && capVid) pdata->skip_n = global->skip_n;
__UNLOCK_MUTEX( __AMUTEX );
/*------------------------- Display Frame --------------------------------*/
if(!global->no_display)
{
if (global->osdFlags && pdata->audio_buff[0])
{
draw_vu_meter(width, height, vuPeak, vuPeakFreeze, data);
}
SDL_LockYUVOverlay(overlay);
memcpy(p, videoIn->framebuffer, width * height * 2);
SDL_UnlockYUVOverlay(overlay);
SDL_DisplayYUVOverlay(overlay, &drect);
/*------------------------- Read Key events ------------------------------*/
/* Poll for events */
while( SDL_PollEvent(&event) )
{
//printf("event type:%i event key:%i\n", event.type, event.key.keysym.scancode);
if(event.type==SDL_KEYDOWN)
{
if (videoIn->PanTilt)
{
switch( event.key.keysym.sym )
{
/* Keyboard event */
/* Pass the event data onto PrintKeyInfo() */
case SDLK_DOWN:
/*Tilt Down*/
uvcPanTilt (videoIn->fd, s->control_list, 0, 1);
break;
case SDLK_UP:
/*Tilt UP*/
uvcPanTilt (videoIn->fd, s->control_list, 0, -1);
break;
case SDLK_LEFT:
/*Pan Left*/
uvcPanTilt (videoIn->fd, s->control_list, 1, 1);
break;
case SDLK_RIGHT:
/*Pan Right*/
uvcPanTilt (videoIn->fd, s->control_list, 1, -1);
break;
default:
break;
}
}
switch( event.key.keysym.scancode )
{
case 220: /*webcam button*/
//gdk_threads_enter();
if (all_data->global->default_action == 0)
g_main_context_invoke(NULL, image_capture_callback, (gpointer) all_data);
else
g_main_context_invoke(NULL, video_capture_callback, (gpointer) all_data);
break;
}
switch( event.key.keysym.sym )
{
case SDLK_q:
//shutDown
g_timeout_add(200, shutd_timer, all_data);
g_print("q pressed - Quiting...\n");
break;
case SDLK_SPACE:
{
if(global->AFcontrol > 0)
setfocus_clicked(NULL, all_data);
}
break;
case SDLK_i:
g_main_context_invoke(NULL, image_capture_callback, (gpointer) all_data);
break;
case SDLK_v:
g_main_context_invoke(NULL, video_capture_callback, (gpointer) all_data);
break;
default:
break;
}
}
if(event.type==SDL_VIDEORESIZE)
{
pscreen =
SDL_SetVideoMode(event.resize.w,
event.resize.h,
global->bpp,
SDL_VIDEO_Flags);
drect.w = event.resize.w;
drect.h = event.resize.h;
}
if(event.type==SDL_QUIT)
{
//shutDown
g_timeout_add(200, shutd_timer, all_data);
}
}
}
/* if set make the thread sleep - default no sleep (full throttle)*/
if(global->vid_sleep) sleep_ms(global->vid_sleep);
/*------------------------------------------*/
/* restart video (new resolution/format) */
/*------------------------------------------*/
if (global->change_res)
{
g_print("setting new resolution (%d x %d)\n", global->width, global->height);
/*clean up */
if(particles) g_free(particles);
particles = NULL;
if (global->debug) g_print("cleaning buffer allocations\n");
fflush(NULL);//flush all output buffers
if(!global->no_display)
{
SDL_FreeYUVOverlay(overlay);
overlay = NULL;
}
/*init device*/
restart_v4l2(videoIn, global);
/*set new resolution for video thread*/
width = global->width;
height = global->height;
format = global->format;
/* restart SDL with new values*/
if(!global->no_display)
{
overlay = video_init(data, &(pscreen));
if(overlay == NULL)
{
g_print("FATAL: Couldn't create yuv overlay - please disable hardware accelaration\n");
signalquit = TRUE; /*exit video thread*/
}
else
{
if (global->debug) g_print("yuv overlay created (%ix%i).\n", overlay->w, overlay->h);
p = (unsigned char *) overlay->pixels[0];
drect.x = 0;
drect.y = 0;
drect.w = pscreen->w;
drect.h = pscreen->h;
global->change_res = FALSE;
}
}
else global->change_res = FALSE;
}
}/*loop end*/
__LOCK_MUTEX(__VMUTEX);
capVid = videoIn->capVid;
__UNLOCK_MUTEX(__VMUTEX);
/*check if thread exited while in Video capture mode*/
if (capVid)
{
/*stop capture*/
if (global->debug) g_print("stoping Video capture\n");
//global->Vidstoptime = ns_time_monotonic(); /*this is set in IO thread*/
videoIn->VidCapStop=TRUE;
capVid = FALSE;
__LOCK_MUTEX(__VMUTEX);
videoIn->capVid = capVid;
__UNLOCK_MUTEX(__VMUTEX);
__LOCK_MUTEX(__AMUTEX);
pdata->capVid = capVid;
__UNLOCK_MUTEX(__AMUTEX);
/*join IO thread*/
if (global->debug) g_print("Shuting Down IO Thread\n");
__THREAD_JOIN( all_data->IO_thread );
if (global->debug) g_print("IO Thread finished\n");
}
if (global->debug) g_print("Thread terminated...\n");
p = NULL;
if(particles) g_free(particles);
particles=NULL;
if (global->debug) g_print("cleaning Thread allocations: 100%%\n");
fflush(NULL);//flush all output buffers
if(!global->no_display)
{
if(overlay)
SDL_FreeYUVOverlay(overlay);
//SDL_FreeSurface(pscreen);
SDL_Quit();
}
if (global->debug) g_print("Video thread completed\n");
global = NULL;
AFdata = NULL;
videoIn = NULL;
return ((void *) 0);
}
/******************************************************************************
Description.: this thread worker grabs a frame and copies it to the global buffer
Input Value.: unused
Return Value: unused, always NULL
******************************************************************************/
void *cam_thread(void *arg)
{
input *in = (input*)arg;
context *pcontext = in->context;
unsigned int every_count = 0;
DBG("Enter\n");
/* set cleanup handler to cleanup allocated resources */
pthread_cleanup_push(cam_cleanup, in);
while(!stop) {
while(pcontext->videoIn->streamingState == STREAMING_PAUSED) {
usleep(1); // maybe not the best way so FIXME
}
/* grab a frame */
if(uvcGrab(pcontext->videoIn) < 0) {
LOG("Error grabbing frames\n");
exit(EXIT_FAILURE);
}
if ( every_count < every - 1 ) {
DBG("dropping %d frame for every=%d\n", every_count + 1, every);
++every_count;
continue;
} else {
every_count = 0;
}
/*
* Workaround for broken, corrupted frames:
* Under low light conditions corrupted frames may get captured.
* The good thing is such frames are quite small compared to the regular pictures.
* For example a VGA (640x480) webcam picture is normally >= 8kByte large,
* corrupted frames are smaller.
*/
if(pcontext->videoIn->tmpbytesused < minimum_size) {
DBG("dropping too small frame, assuming it as broken\n");
continue;
}
// use software frame dropping on low fps
if (pcontext->videoIn->soft_framedrop == 1) {
unsigned long last = in->timestamp.tv_sec * 1000 +
(in->timestamp.tv_usec/1000); // convert to ms
unsigned long current = pcontext->videoIn->buf.timestamp.tv_sec * 1000 +
pcontext->videoIn->buf.timestamp.tv_usec/1000; // convert to ms
// if the requested time did not esplashed skip the frame
if ((current - last) < pcontext->videoIn->frame_period_time) {
//DBG("Last frame taken %d ms ago so drop it\n", (current - last));
continue;
}
DBG("Lagg: %ld\n", (current - last) - pcontext->videoIn->frame_period_time);
}
/* copy JPG picture to global buffer */
pthread_mutex_lock(&in->db);
/*
* If capturing in YUV mode convert to JPEG now.
* This compression requires many CPU cycles, so try to avoid YUV format.
* Getting JPEGs straight from the webcam, is one of the major advantages of
* Linux-UVC compatible devices.
*/
DBG("copying frame from input:\n");
in->size = memcpy_picture(in->buf, pcontext->videoIn->tmpbuffer, pcontext->videoIn->tmpbytesused);
/* copy this frame's timestamp to user space */
in->timestamp = pcontext->videoIn->tmptimestamp;
/* signal fresh_frame */
pthread_cond_broadcast(&in->db_update);
pthread_mutex_unlock(&in->db);
}
DBG("leaving input thread, calling cleanup function now\n");
pthread_cleanup_pop(1);
return NULL;
}