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FloatImg4PythonBinding/v4l2/grabvidseq.c
tth 85c6e943f3 version UDAMA
2019-10-30 20:09:32 +01:00

344 lines
8.2 KiB
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/* 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 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-g\t\tconvert to gray");
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 NN.N\t\tperiod in seconds");
puts("\t-s WxH\t\tsize of capture");
puts("\t-u\t\ttry upscaling...");
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;
int width = 640;
int height = 480;
double t_final;
int to_gray = 0;
int upscaling = 0;
char *dest_dir = "."; /* no trailing slash */
char *outfile = "out.pnm";
#if SAVE_AS_CUMUL
FloatImg cumul;
#endif
while ((opt = getopt(argc, argv, "d:ghn:o:O:p:s:uv")) != -1) {
switch(opt) {
case 'd': dev_name = optarg; break;
case 'g': to_gray = 1; 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': foo = parse_double(optarg, &period);
if (foo<0) {
fprintf(stderr,
"error parsing -p arg '%s'\n",
optarg);
exit(1);
}
period *= 1e6;
break;
case 's': parse_WxH(optarg, &width, &height);
break;
case 'u': upscaling = 1; break;
case 'v': verbosity++; break;
}
}
if (verbosity) {
fprintf(stderr, "running %s pid=%d\n", argv[0], getpid());
fprintf(stderr, "period is %.3f milliseconds\n", period/1e3);
fprintf(stderr, "framesize is %dx%d\n", width, height);
fprintf(stderr, "upscaling is %s\n", upscaling ? "on" : "off");
}
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) {
/* are others formats usable ? */
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
if (upscaling) {
foo = fimg_create(&cumul,
fmt.fmt.pix.width*2, fmt.fmt.pix.height*2,
FIMG_TYPE_RGB);
}
else {
foo = fimg_create(&cumul,
fmt.fmt.pix.width, fmt.fmt.pix.height,
FIMG_TYPE_RGB);
}
fimg_clear(&cumul);
cumul.fval = 255.0;
cumul.count = 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\r", 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
if (upscaling) {
x_upscaler_0(buffers[buf.index].start,
fmt.fmt.pix.width, fmt.fmt.pix.height, &cumul);
}
else {
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);
}
puts(""); fflush(stdout);
if (verbosity) {
t_final = fimg_timer_get(0);
fprintf(stderr, "pid %d : elapsed %g s -> %.2f fps\n", getpid(),
t_final, (double)nbre_capt / t_final);
}
if (to_gray) {
if (verbosity) fputs("converting to gray\n", stderr);
foo = fimg_to_gray(&cumul);
}
#if SAVE_AS_CUMUL
// save cumul to file
if (verbosity) fprintf(stderr, "saving cumul to '%s'\n", outfile);
foo = format_from_extension(outfile);
switch (foo) {
case FILE_TYPE_FIMG:
foo = fimg_dump_to_file(&cumul, outfile, 0);
break;
case FILE_TYPE_PNM:
foo = fimg_save_as_pnm(&cumul, outfile, 1);
break;
}
// free buffers
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);
}
// free(buffers); /* atomic bombing */
v4l2_close(fd);
return 0;
}
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