FloatImg4PythonBinding/v4l2/grabvidseq.c

   /* V4L2 video picture grabber

		Origin :V4L2GRAB.C - patched by tTh

       Copyright (C) 2009 Mauro Carvalho Chehab <mchehab@infradead.org>

       This program is free software; you can redistribute it and/or modify
       it under the terms of the GNU General Public License as published by
       the Free Software Foundation version 2 of the License.

       This program is distributed in the hope that it will be useful,
       but WITHOUT ANY WARRANTY; without even the implied warranty of
       MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
       GNU General Public License for more details.
     */

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <errno.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/time.h>
#include <sys/mman.h>
#include <linux/videodev2.h>
#include <libv4l2.h>

#include "../floatimg.h"
#include  "funcs.h"

/* --------------------------------------------------------------------- */
/*	compilation control */

#define SAVE_AS_CUMUL	1
#define SAVE_AS_PNM	0
#define SAVE_AS_FIMG	0

#define		WIDTH		720
#define		HEIGHT		576

/* --------------------------------------------------------------------- */

#define CLEAR(x) memset(&(x), 0, sizeof(x))

struct buffer {
	void   *start;
	size_t length;
	};

int		verbosity;

/* --------------------------------------------------------------------- */

static void xioctl(int fh, int request, void *arg)
{
int r;

do {
	r = v4l2_ioctl(fh, request, arg);
	} while (r == -1 && ((errno == EINTR) || (errno == EAGAIN)));

if (r == -1) {
	fprintf(stderr, "error %d, %s\n", errno, strerror(errno));
	sleep(1);
	exit(EXIT_FAILURE);
	}
}
/* --------------------------------------------------------------------- */
void help(int v)
{
if (verbosity) {
	printf("compiled %s at %s\n", __DATE__, __TIME__);
	}
puts("options :");
puts("\t-d /dev/?\tselect video device");
puts("\t-n NNN\t\thow many frames ?");
puts("\t-O ./\t\tset Output dir");
puts("\t-o bla\t\tset output filename");
puts("\t-p NNN\t\tperiod in seconds");
puts("\t-v\t\tincrease verbosity");
exit(0);
}
/* --------------------------------------------------------------------- */

int main(int argc, char **argv)
{
struct v4l2_format              fmt;
struct v4l2_buffer              buf;
struct v4l2_requestbuffers      req;
enum v4l2_buf_type              type;
fd_set                          fds;
struct timeval                  tv;
int                             r, fd = -1;
unsigned int                    i, n_buffers;
char                            *dev_name = "/dev/video0";

FILE                            *fout;
struct buffer                   *buffers;

int		foo, bar;
double		period = 10.0;		/* delai entre les captures */
int		nbre_capt = 1;		/* nombre de captures */
int		opt;
double		t_final;
char		*dest_dir = ".";	/* no trailing slash */
char		*outfile = "out.pnm";

#if SAVE_AS_CUMUL
FloatImg	grab, cumul;
#endif

while ((opt = getopt(argc, argv, "d:hn:o:O:p:v")) != -1) {
	switch(opt) {
		case 'd':	dev_name = optarg;		break;
		case 'h':	help(0);			break;
		case 'n':	nbre_capt = atoi(optarg);	break;
		case 'O':	dest_dir = optarg;		break;
		case 'o':	outfile = optarg;		break;
		case 'p':	period = 1e6*atof(optarg);	break;
		case 'v':	verbosity++;			break;
		}
	}

if (verbosity) {
	fprintf(stderr, "running %s  pid=%d\n", argv[0], getpid());
	fprintf(stderr, "period is %.3f microseconds\n", period);
	}

fd = v4l2_open(dev_name, O_RDWR | O_NONBLOCK, 0);
if (fd < 0) {
	perror(dev_name);
	exit(EXIT_FAILURE);
	}

CLEAR(fmt);
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fmt.fmt.pix.width       = WIDTH;
fmt.fmt.pix.height      = HEIGHT;
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_RGB24;
fmt.fmt.pix.field       = V4L2_FIELD_INTERLACED;
xioctl(fd, VIDIOC_S_FMT, &fmt);
if (fmt.fmt.pix.pixelformat != V4L2_PIX_FMT_RGB24) {
	printf("Libv4l didn't accept RGB24 format. Can't proceed.\n");
	exit(EXIT_FAILURE);
	}
if ((fmt.fmt.pix.width != WIDTH) || (fmt.fmt.pix.height != HEIGHT)) {
	printf("Warning: driver is sending image at %dx%d\n",
			    fmt.fmt.pix.width, fmt.fmt.pix.height);
	}

CLEAR(req);
req.count = 2;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_MMAP;
xioctl(fd, VIDIOC_REQBUFS, &req);

buffers = calloc(req.count, sizeof(*buffers));
for (n_buffers = 0; n_buffers < req.count; ++n_buffers) {
	CLEAR(buf);

	buf.type        = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	buf.memory      = V4L2_MEMORY_MMAP;
	buf.index       = n_buffers;

	xioctl(fd, VIDIOC_QUERYBUF, &buf);

	buffers[n_buffers].length = buf.length;
	buffers[n_buffers].start = v4l2_mmap(NULL, buf.length,
				PROT_READ | PROT_WRITE, MAP_SHARED,
				fd, buf.m.offset);

	if (MAP_FAILED == buffers[n_buffers].start) {
		perror("v4l2_mmap");
		exit(EXIT_FAILURE);
		}
	}

(void)fimg_timer_set(0);

for (i = 0; i < n_buffers; ++i) {
	CLEAR(buf);
	buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	buf.memory = V4L2_MEMORY_MMAP;
	buf.index = i;
	xioctl(fd, VIDIOC_QBUF, &buf);
	}

#if SAVE_AS_CUMUL
foo = fimg_create(&grab,
		fmt.fmt.pix.width, fmt.fmt.pix.height,
		FIMG_TYPE_RGB);
foo = fimg_create(&cumul,
		fmt.fmt.pix.width, fmt.fmt.pix.height,
		FIMG_TYPE_RGB);
fimg_clear(&cumul);
cumul.fval = 255.0;
#endif




type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
xioctl(fd, VIDIOC_STREAMON, &type);

if (verbosity)	fprintf(stderr,"pid %d grabbing %d picz...\n",
					getpid(), nbre_capt);

for (i = 0; i < nbre_capt; i++) {
	do	{
		FD_ZERO(&fds);
		FD_SET(fd, &fds);

		/* Timeout. */
		tv.tv_sec = 2;
		tv.tv_usec = 0;

		r = select(fd + 1, &fds, NULL, NULL, &tv);
		} while ((r == -1 && (errno = EINTR)));

	if (r == -1) {
		perror("select");
		return errno;
		}

	if(verbosity > 1) {
		printf("%6d / %6d      %9.3f\n", i, nbre_capt,
						fimg_timer_get(0));
		}


	CLEAR(buf);
	buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	buf.memory = V4L2_MEMORY_MMAP;
	xioctl(fd, VIDIOC_DQBUF, &buf);

#if SAVE_AS_PNM
	/* at this time,we'v got a picture in-memory,
	   so we can blast in on storage */
	sprintf(out_name, "%s/%05d.ppm", dest_dir, i);
	if (verbosity > 1) fprintf(stderr, "--> %s\n", out_name);
	fout = fopen(out_name, "w");
	if (!fout) {
		perror("Cannot open image");
		exit(EXIT_FAILURE);
		}
	fprintf(fout, "P6\n%d %d 255\n",
			    fmt.fmt.pix.width, fmt.fmt.pix.height);
	fwrite(buffers[buf.index].start, buf.bytesused, 1, fout);
	fclose(fout);
#endif

#if SAVE_AS_CUMUL
	/** this is the slow version
	x_rgb2fimg(buffers[buf.index].start,
		fmt.fmt.pix.width, fmt.fmt.pix.height, &grab);
	fimg_add(&grab, &cumul, &cumul);
	**/
	x_add_rgb2fimg(buffers[buf.index].start,
		fmt.fmt.pix.width, fmt.fmt.pix.height, &cumul);
#endif

#if SAVE_AS_FIMG
	sprintf(out_name, "%s/%05d.fimg", dest_dir, i);
	if (verbosity > 1) fprintf(stderr, "--> %s\n", out_name);
	foo = x_rgb2file(buffers[buf.index].start,
			fmt.fmt.pix.width, fmt.fmt.pix.height,
			out_name);
#endif

	if (nbre_capt > 1 && period > 1.0) {
		usleep(period);
		}

	xioctl(fd, VIDIOC_QBUF, &buf);
}

t_final = fimg_timer_get(0);
fprintf(stderr, "pid %d : elapsed time %g s\n", getpid(), t_final);
fprintf(stderr, "\t%.2f fps\n", (double)nbre_capt / t_final);

#if SAVE_AS_CUMUL
	// save cumul to file
foo = fimg_save_as_pnm(&cumul, outfile, 0);
	// free buffers
fimg_destroy(&grab);
fimg_destroy(&cumul);
#endif

type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
xioctl(fd, VIDIOC_STREAMOFF, &type);
for (i = 0; i < n_buffers; ++i) {
	v4l2_munmap(buffers[i].start, buffers[i].length);
	}

v4l2_close(fd);

return 0;
}