#include <cam_config.h>

Classes
struct	CamCtrl

Public Member Functions
	CamConfig (std::string const &device)

	~CamConfig ()

int	getFd ()

void	readCapability ()

void	listCapabilities ()

std::string	getCapabilityDriver ()

std::string	getCapabilityCard ()

std::string	getCapabilityBusInfo ()

std::string	getCapabilityVersion ()

bool	hasCapability (uint32_t capability_field)

void	readControl ()

void	readControl (struct v4l2_queryctrl &queryctrl_tmp)

int32_t	readControlValue (uint32_t const id)

void	writeControlValue (uint32_t const id, int32_t value, bool just_write=false)

std::vector< uint32_t >	getControlValidIDs ()

std::vector< struct CamConfig::CamCtrl >	getControlList ()

void	listControls ()

bool	isControlIdValid (uint32_t const id) const

bool	isControlIdWritable (uint32_t const id) const

bool	getControlValue (uint32_t const id, int32_t *value)

bool	getControlType (uint32_t const id, uint32_t *type)

bool	getControlName (uint32_t const id, std::string *name)

bool	getControlMinimum (uint32_t const id, int32_t *minimum)

bool	getControlMaximum (uint32_t const id, int32_t *maximum)

bool	getControlStep (uint32_t const id, int32_t *step)

bool	getControlDefaultValue (uint32_t const id, int32_t *default_value)

bool	getControlFlag (uint32_t const id, uint32_t const flag, bool *set)

void	setControlValuesToDefault ()

void	readImageFormat ()

void	writeImagePixelFormat (uint32_t const width=0, uint32_t const height=0, uint32_t const pixelformat=0)

void	listImageFormat ()

bool	getImageWidth (uint32_t *width)

bool	getImageHeight (uint32_t *height)

bool	getImagePixelformat (uint32_t *pixelformat)

bool	getImagePixelformatString (std::string *pixelformat_str)

bool	getImageField (uint32_t *field)

bool	getImageBytesperline (uint32_t *bytesperline)

bool	getImageSizeimage (uint32_t *sizeimage)

bool	getImageColorspace (uint32_t *colorspace)

uint32_t	toV4L2ImageFormat (base::samples::frame::frame_mode_t mode)

void	readStreamparm ()

void	writeStreamparm (uint32_t const numerator, uint32_t const denominator)

void	listStreamparm ()

bool	readFPS (float *fps)

void	writeFPS (uint32_t const fps)

bool	getFPS (float *fps)

bool	hasCapabilityStreamparm (uint32_t capability_field)

bool	hasCapturemodeStreamparm (uint32_t capturemode)

void	initRequesting ()

bool	isImageAvailable (int32_t timeout_ms)

bool	getBuffer (std::vector< uint8_t > &buffer, bool blocking_read, int32_t timeout_ms)

void	cleanupRequesting ()

Detailed Description

Using v4l2 to read and set the parameters of the specified camera and to read camera images as well. Important: For newly-connected cameras the device driver may return a wrong image size! Prevent that by calling writeImagePixelFormat() without any parameters during initialization.

Constructor & Destructor Documentation

camera::CamConfig::CamConfig ( std::string const & device )

Opens the device and reads all camera informations. Throws std::runtime_error if the device could not be opened or an io-error occurred. TODO Remove read...() from constructor, so its up to the user to read the required informations?

camera::CamConfig::~CamConfig ( )

Member Function Documentation

void camera::CamConfig::cleanupRequesting ( )

bool camera::CamConfig::getBuffer	(	std::vector< uint8_t > &	buffer,
		bool	blocking_read,
		int32_t	timeout_ms
	)

Used http://www.jayrambhia.com/blog/capture-v4l2

Parameters

blocking_read Not used, function always waits timeout_ms milliseconds.

std::string camera::CamConfig::getCapabilityBusInfo ( )

std::string camera::CamConfig::getCapabilityCard ( )

std::string camera::CamConfig::getCapabilityDriver ( )

std::string camera::CamConfig::getCapabilityVersion ( )

bool camera::CamConfig::getControlDefaultValue	(	uint32_t const	id,
		int32_t *	default_value
	)

bool camera::CamConfig::getControlFlag	(	uint32_t const	id,
		uint32_t const	flag,
		bool *	set
	)

Checks whether the passed control flag is set within the control. Valid flags are: V4L2_CTRL_FLAG_DISABLED, V4L2_CTRL_FLAG_GRABBED, V4L2_CTRL_FLAG_READ_ONLY, V4L2_CTRL_FLAG_UPDATE, V4L2_CTRL_FLAG_INACTIVE, V4L2_CTRL_FLAG_SLIDER and V4L2_CTRL_FLAG_WRITE_ONLY.

Returns: false if the passed id or flag is unkown.

std::vector< struct CamConfig::CamCtrl > camera::CamConfig::getControlList ( )

Returns a copy of all available controls.

bool camera::CamConfig::getControlMaximum	(	uint32_t const	id,
		int32_t *	maximum
	)

bool camera::CamConfig::getControlMinimum	(	uint32_t const	id,
		int32_t *	minimum
	)

bool camera::CamConfig::getControlName	(	uint32_t const	id,
		std::string *	name
	)

bool camera::CamConfig::getControlStep	(	uint32_t const	id,
		int32_t *	step
	)

bool camera::CamConfig::getControlType	(	uint32_t const	id,
		uint32_t *	type
	)

std::vector< uint32_t > camera::CamConfig::getControlValidIDs ( )

Returns list of valid control IDs.

bool camera::CamConfig::getControlValue	(	uint32_t const	id,
		int32_t *	value
	)

Gets the last set control value, use 'readControl()' if you want to get the current value set on the camera.

int camera::CamConfig::getFd ( )

inline

bool camera::CamConfig::getFPS ( float * fps )

Returns denominator / numerator. If you want to read the current value from the camera use 'readFPS()', but be careful that the device is not busy.

Parameters

fps	Sets fps to 0 if not set.

Returns: Always true.

bool camera::CamConfig::getImageBytesperline ( uint32_t * bytesperline )

For padding, zero if unused.

bool camera::CamConfig::getImageColorspace ( uint32_t * colorspace )

bool camera::CamConfig::getImageField ( uint32_t * field )

Whats this?

bool camera::CamConfig::getImageHeight ( uint32_t * height )

bool camera::CamConfig::getImagePixelformat ( uint32_t * pixelformat )

bool camera::CamConfig::getImagePixelformatString ( std::string * pixelformat_str )

bool camera::CamConfig::getImageSizeimage ( uint32_t * sizeimage )

bool camera::CamConfig::getImageWidth ( uint32_t * width )

bool camera::CamConfig::hasCapability ( uint32_t capability_field )

Parameters

field E.g. V4L2_CAP_VIDEO_CAPTURE or V4L2_CAP_VIDEO_OUTPUT. See include/linux/videodev2.h for details.

bool camera::CamConfig::hasCapabilityStreamparm ( uint32_t capability_field )

Only supported flag: V4L2_CAP_TIMEPERFRAME (is it allowd to change the fps).

bool camera::CamConfig::hasCapturemodeStreamparm ( uint32_t capturemode )

Only supported flag: V4L2_MODE_HIGHQUALITY. Used to get single images in maximal quality.

void camera::CamConfig::initRequesting ( )

bool camera::CamConfig::isControlIdValid ( uint32_t const id ) const

Returns whether this v4l control ID is available on this device

bool camera::CamConfig::isControlIdWritable ( uint32_t const id ) const

Returns whether this v4l control ID is available on this device, and whether it can be written to

bool camera::CamConfig::isImageAvailable ( int32_t timeout_ms )

Uses select() to check if an image is available.

void camera::CamConfig::listCapabilities ( )

void camera::CamConfig::listControls ( )

void camera::CamConfig::listImageFormat ( )

void camera::CamConfig::listStreamparm ( )

void camera::CamConfig::readCapability ( )

void camera::CamConfig::readControl ( )

Generates a list of valid controls requesting all base and private base controls ids. The private base control ids of the e-CAM32 are requested as well (see omap_v4l2.h of the e-CAM32 driver source). readControl(struct v4l2_queryctrl& queryctrl_tmp) doing the main job here.

void camera::CamConfig::readControl ( struct v4l2_queryctrl & queryctrl_tmp )

Stores the supported control ids and their current values.

int32_t camera::CamConfig::readControlValue ( uint32_t const id )

Requests current value from the camera directly.

Parameters

id	control id like V4L2_CID_BRIGHTNESS or V4L2_CID_CONTRAST, see include/linux/videodev2.h for details. Throws runtime_error if the value could not be requested or the passed id is unknown.

Returns: The current value of the control if available.

bool camera::CamConfig::readFPS ( float * fps )

void camera::CamConfig::readImageFormat ( )

void camera::CamConfig::readStreamparm ( )

void camera::CamConfig::setControlValuesToDefault ( )

Sets all control (except V4L2_CID_WHITE_BALANCE_TEMPERATURE) values to their default value.

uint32_t camera::CamConfig::toV4L2ImageFormat ( base::samples::frame::frame_mode_t mode )

Tries to map a rock to a v4l2 mode. Problem is that rock only supports a few image formats and e.g. no YUYV which is a base raw format for most of the cameras. So if RGB is requested but not available YUV will be used and converted to RGB.

void camera::CamConfig::writeControlValue	(	uint32_t const	id,
		int32_t	value,
		bool	just_write = `false`
	)

Changes the control value on the camera and in the internally stored controls. The passed id and value have to be valid, otherwise a runtime_error is thrown. V4L2_CID_WHITE_BALANCE_TEMPERATURE can not be set (at least on the test camera Microsoft LifeCam Cinema(TM), therefore this parameter is ignored at the moment.

Parameters

just_write If set to true, the passed control value will just be written (without any checks and without storing the new value in 'mCamCtrls'). This is used to test whether the control is writeable.

void camera::CamConfig::writeFPS ( uint32_t const fps )

Tries to set the passed fps, just use writeStreamparm(1,fps). Throws std::runtime_error if an io-error occurred.

void camera::CamConfig::writeImagePixelFormat	(	uint32_t const	width = `0`,
		uint32_t const	height = `0`,
		uint32_t const	pixelformat = `0`
	)

Tries to write the requested image size and the pixelformat. Driver will set the most suitable and stores it in mFormat. If you do not want to change a parameter, just pass 0. Requires type V4L2_BUF_TYPE_VIDEO_CAPTURE. E.g. V4L2_PIX_FMT_YUYV, V4L2_PIX_FMT_JPEG, V4L2_PIX_FMT_MJPEG. Pass 0 to use the current pixel format which is set on the camera. See include/linux/videodev2.h for details.

void camera::CamConfig::writeStreamparm	(	uint32_t const	numerator,
		uint32_t const	denominator
	)

Numerator/Denominator, e.g. 1/30. Be aware: Changes to the FPS get lost after closing the device.

The documentation for this class was generated from the following files:

/build/rock-master-18.09-drivers-camera-usb-0.20180212/src/cam_config.h
/build/rock-master-18.09-drivers-camera-usb-0.20180212/src/cam_config.cpp

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation