WebSVN - AndroidProjects - Blame - Rev 204 - /ARToolKit/lib/SRC/VideoLinuxV4L/video.c

Rev	Author	Line No.	Line
204	chris	1	/*
		2	* Revision: 5.2 Date: 2000/08/25
		3	* Video capture subrutine for Linux/Video4Linux devices
		4	* author: Nakazawa,Atsushi ( nakazawa@inolab.sys.es.osaka-u.ac.jp )
		5	* Hirokazu Kato ( kato@sys.im.hiroshima-cu.ac.jp )
		6	*
		7	* Modified by Wayne Piekarski (wayne@tinmith.net) - 2005/03/29
		8	* Added support to automatically adjust camera parameters if needed
		9	*
		10	* Revision: 5.3 Date: 2004/11/18
		11	* Rev Date Who Changes
		12	* 5.3 2004-11-18 RG -adding patch done by Uwe Woessner for YUV support on V4L.
		13	* (Thanks a lot for this contribution !!)
		14	* -modify default video options
		15	* (no overhead if define externally)
		16	* -adding full V4L options support
		17	* -adding eyetoy support
		18	*
		19	*/
		20	#include <sys/ioctl.h>
		21	#include <sys/types.h>
		22	#include <sys/stat.h>
		23	#include <sys/mman.h>
		24	#include <fcntl.h>
		25	#include <unistd.h>
		26	#include <stdio.h>
		27	#include <stdlib.h>
		28	#include <string.h>
		29	#include <linux/types.h>
		30	#include <linux/videodev.h>
		31	#include <AR/config.h>
		32	#include <AR/ar.h>
		33	#include <AR/video.h>
		34	#include "ccvt.h"
		35	#ifdef USE_EYETOY
		36	#include "jpegtorgb.h"
		37	#endif
		38
		39	#define MAXCHANNEL 10
		40
		41	static AR2VideoParamT *gVid = NULL;
		42
		43	int arVideoDispOption( void )
		44	{
		45	return ar2VideoDispOption();
		46	}
		47
		48	int arVideoOpen( char *config )
		49	{
		50	if( gVid != NULL ) {
		51	printf("Device has been opened!!\n");
		52	return -1;
		53	}
		54	gVid = ar2VideoOpen( config );
		55	if( gVid == NULL ) return -1;
		56
		57	return 0;
		58	}
		59
		60	int arVideoClose( void )
		61	{
		62	int result;
		63
		64	if( gVid == NULL ) return -1;
		65
		66	result = ar2VideoClose(gVid);
		67	gVid = NULL;
		68	return (result);
		69	}
		70
		71	int arVideoInqSize( int x, int y )
		72	{
		73	if( gVid == NULL ) return -1;
		74
		75	return ar2VideoInqSize( gVid, x, y );
		76	}
		77
		78	ARUint8 *arVideoGetImage( void )
		79	{
		80	if( gVid == NULL ) return NULL;
		81
		82	return ar2VideoGetImage( gVid );
		83	}
		84
		85	int arVideoCapStart( void )
		86	{
		87	if( gVid == NULL ) return -1;
		88
		89	return ar2VideoCapStart( gVid );
		90	}
		91
		92	int arVideoCapStop( void )
		93	{
		94	if( gVid == NULL ) return -1;
		95
		96	return ar2VideoCapStop( gVid );
		97	}
		98
		99	int arVideoCapNext( void )
		100	{
		101	if( gVid == NULL ) return -1;
		102
		103	return ar2VideoCapNext( gVid );
		104	}
		105
		106	/-------------------------------------------/
		107
		108	int ar2VideoDispOption( void )
		109	{
		110	printf("ARVideo may be configured using one or more of the following options,\n");
		111	printf("separated by a space:\n\n");
		112	printf("DEVICE CONTROLS:\n");
		113	printf(" -dev=filepath\n");
		114	printf(" specifies device file.\n");
		115	printf(" -channel=N\n");
		116	printf(" specifies source channel.\n");
		117	printf(" -noadjust\n");
		118	printf(" prevent adjusting the width/height/channel if not suitable.\n");
		119	printf(" -width=N\n");
		120	printf(" specifies expected width of image.\n");
		121	printf(" -height=N\n");
		122	printf(" specifies expected height of image.\n");
		123	printf(" -palette=[RGB\|YUV420P]\n");
		124	printf(" specifies the camera palette (WARNING:all are not supported on each camera !!).\n");
		125	printf("IMAGE CONTROLS (WARNING: every options are not supported by all camera !!):\n");
		126	printf(" -brightness=N\n");
		127	printf(" specifies brightness. (0.0 <-> 1.0)\n");
		128	printf(" -contrast=N\n");
		129	printf(" specifies contrast. (0.0 <-> 1.0)\n");
		130	printf(" -saturation=N\n");
		131	printf(" specifies saturation (color). (0.0 <-> 1.0) (for color camera only)\n");
		132	printf(" -hue=N\n");
		133	printf(" specifies hue. (0.0 <-> 1.0) (for color camera only)\n");
		134	printf(" -whiteness=N\n");
		135	printf(" specifies whiteness. (0.0 <-> 1.0) (REMARK: gamma for some drivers, otherwise for greyscale camera only)\n");
		136	printf(" -color=N\n");
		137	printf(" specifies saturation (color). (0.0 <-> 1.0) (REMARK: obsolete !! use saturation control)\n\n");
		138	printf("OPTION CONTROLS:\n");
		139	printf(" -mode=[PAL\|NTSC\|SECAM]\n");
		140	printf(" specifies TV signal mode (for tv/capture card).\n");
		141	printf("\n");
		142
		143	return 0;
		144	}
		145
		146	AR2VideoParamT ar2VideoOpen( char config_in )
		147	{
		148	AR2VideoParamT *vid;
		149	struct video_capability vd;
		150	struct video_channel vc[MAXCHANNEL];
		151	struct video_picture vp;
		152	char config, a, line[256];
		153	int i;
		154	int adjust = 1;
		155
		156
		157	/* If no config string is supplied, we should use the environment variable, otherwise set a sane default */
		158	if (!config_in \|\| !(config_in[0])) {
		159	/* None suppplied, lets see if the user supplied one from the shell */
		160	char *envconf = getenv ("ARTOOLKIT_CONFIG");
		161	if (envconf && envconf[0]) {
		162	config = envconf;
		163	printf ("Using config string from environment [%s].\n", envconf);
		164	} else {
		165	config = NULL;
		166	printf ("No video config string supplied, using defaults.\n");
		167	}
		168	} else {
		169	config = config_in;
		170	printf ("Using supplied video config string [%s].\n", config_in);
		171	}
		172
		173	arMalloc( vid, AR2VideoParamT, 1 );
		174	strcpy( vid->dev, DEFAULT_VIDEO_DEVICE );
		175	vid->channel = DEFAULT_VIDEO_CHANNEL;
		176	vid->width = DEFAULT_VIDEO_WIDTH;
		177	vid->height = DEFAULT_VIDEO_HEIGHT;
		178	#if (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGRA)
		179	vid->palette = VIDEO_PALETTE_RGB32; /* palette format */
		180	#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGR) \|\| (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGB)
		181	vid->palette = VIDEO_PALETTE_RGB24; /* palette format */
		182	#endif
		183	vid->contrast = -1.;
		184	vid->brightness = -1.;
		185	vid->saturation = -1.;
		186	vid->hue = -1.;
		187	vid->whiteness = -1.;
		188	vid->mode = DEFAULT_VIDEO_MODE;
		189	vid->debug = 0;
		190	vid->videoBuffer=NULL;
		191
		192	a = config;
		193	if( a != NULL) {
		194	for(;;) {
		195	while( a == ' ' \|\| a == '\t' ) a++;
		196	if( *a == '\0' ) break;
		197	if( strncmp( a, "-dev=", 5 ) == 0 ) {
		198	sscanf( a, "%s", line );
		199	if( sscanf( &line[5], "%s", vid->dev ) == 0 ) {
		200	ar2VideoDispOption();
		201	free( vid );
		202	return 0;
		203	}
		204	}
		205	else if( strncmp( a, "-channel=", 9 ) == 0 ) {
		206	sscanf( a, "%s", line );
		207	if( sscanf( &line[9], "%d", &vid->channel ) == 0 ) {
		208	ar2VideoDispOption();
		209	free( vid );
		210	return 0;
		211	}
		212	}
		213	else if( strncmp( a, "-width=", 7 ) == 0 ) {
		214	sscanf( a, "%s", line );
		215	if( sscanf( &line[7], "%d", &vid->width ) == 0 ) {
		216	ar2VideoDispOption();
		217	free( vid );
		218	return 0;
		219	}
		220	}
		221	else if( strncmp( a, "-height=", 8 ) == 0 ) {
		222	sscanf( a, "%s", line );
		223	if( sscanf( &line[8], "%d", &vid->height ) == 0 ) {
		224	ar2VideoDispOption();
		225	free( vid );
		226	return 0;
		227	}
		228	}
		229	else if( strncmp( a, "-palette=", 9 ) == 0 ) {
		230	if( strncmp( &a[9], "RGB", 3) == 0 ) {
		231	#if (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGRA)
		232	vid->palette = VIDEO_PALETTE_RGB32; /* palette format */
		233	#elif (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGR)\|\| (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGB)
		234	vid->palette = VIDEO_PALETTE_RGB24; /* palette format */
		235	#endif
		236	}
		237	else if( strncmp( &a[9], "YUV420P", 7 ) == 0 ) {
		238	vid->palette = VIDEO_PALETTE_YUV420P;
		239	}
		240	}
		241	else if( strncmp ( a, "-noadjust", 9 ) == 0 ) {
		242	adjust = 0;
		243	}
		244	else if( strncmp( a, "-contrast=", 10 ) == 0 ) {
		245	sscanf( a, "%s", line );
		246	if( sscanf( &line[10], "%lf", &vid->contrast ) == 0 ) {
		247	ar2VideoDispOption();
		248	free( vid );
		249	return 0;
		250	}
		251	}
		252	else if( strncmp( a, "-brightness=", 12 ) == 0 ) {
		253	sscanf( a, "%s", line );
		254	if( sscanf( &line[12], "%lf", &vid->brightness ) == 0 ) {
		255	ar2VideoDispOption();
		256	free( vid );
		257	return 0;
		258	}
		259	}
		260	else if( strncmp( a, "-saturation=", 12 ) == 0 ) {
		261	sscanf( a, "%s", line );
		262	if( sscanf( &line[12], "%lf", &vid->saturation ) == 0 ) {
		263	ar2VideoDispOption();
		264	free( vid );
		265	return 0;
		266	}
		267	}
		268	else if( strncmp( a, "-hue=", 5 ) == 0 ) {
		269	sscanf( a, "%s", line );
		270	if( sscanf( &line[5], "%lf", &vid->hue ) == 0 ) {
		271	ar2VideoDispOption();
		272	free( vid );
		273	return 0;
		274	}
		275	}
		276	else if( strncmp( a, "-whiteness=", 11 ) == 0 ) {
		277	sscanf( a, "%s", line );
		278	if( sscanf( &line[11], "%lf", &vid->whiteness ) == 0 ) {
		279	ar2VideoDispOption();
		280	free( vid );
		281	return 0;
		282	}
		283	}
		284	else if( strncmp( a, "-color=", 7 ) == 0 ) {
		285	sscanf( a, "%s", line );
		286	if( sscanf( &line[7], "%lf", &vid->saturation ) == 0 ) {
		287	ar2VideoDispOption();
		288	free( vid );
		289	return 0;
		290	}
		291	}
		292	else if( strncmp( a, "-mode=", 6 ) == 0 ) {
		293	if( strncmp( &a[6], "PAL", 3 ) == 0 ) vid->mode = VIDEO_MODE_PAL;
		294	else if( strncmp( &a[6], "NTSC", 4 ) == 0 ) vid->mode = VIDEO_MODE_NTSC;
		295	else if( strncmp( &a[6], "SECAM", 5 ) == 0 ) vid->mode = VIDEO_MODE_SECAM;
		296	else {
		297	ar2VideoDispOption();
		298	free( vid );
		299	return 0;
		300	}
		301	}
		302	else if( strncmp( a, "-debug", 6 ) == 0 ) {
		303	vid->debug = 1;
		304	}
		305	else {
		306	ar2VideoDispOption();
		307	free( vid );
		308	return 0;
		309	}
		310
		311	while( a != ' ' && a != '\t' && *a != '\0') a++;
		312	}
		313	}
		314
		315	vid->fd = open(vid->dev, O_RDWR);// O_RDONLY ?
		316	if(vid->fd < 0){
		317	printf("video device (%s) open failed\n",vid->dev);
		318	free( vid );
		319	return 0;
		320	}
		321
		322	if(ioctl(vid->fd,VIDIOCGCAP,&vd) < 0){
		323	printf("ioctl failed\n");
		324	free( vid );
		325	return 0;
		326	}
		327
		328	if( vid->debug ) {
		329	printf("=== debug info ===\n");
		330	printf(" vd.name = %s\n",vd.name);
		331	printf(" vd.channels = %d\n",vd.channels);
		332	printf(" vd.maxwidth = %d\n",vd.maxwidth);
		333	printf(" vd.maxheight = %d\n",vd.maxheight);
		334	printf(" vd.minwidth = %d\n",vd.minwidth);
		335	printf(" vd.minheight = %d\n",vd.minheight);
		336	}
		337
		338	/* adjust capture size if needed */
		339	if (adjust)
		340	{
		341	if (vid->width >= vd.maxwidth)
		342	vid->width = vd.maxwidth;
		343	if (vid->height >= vd.maxheight)
		344	vid->height = vd.maxheight;
		345	if (vid->debug)
		346	printf ("arVideoOpen: width/height adjusted to (%d, %d)\n", vid->width, vid->height);
		347	}
		348
		349	/* check capture size */
		350	if(vd.maxwidth < vid->width \|\| vid->width < vd.minwidth \|\|
		351	vd.maxheight < vid->height \|\| vid->height < vd.minheight ) {
		352	printf("arVideoOpen: width or height oversize \n");
		353	free( vid );
		354	return 0;
		355	}
		356
		357	/* adjust channel if needed */
		358	if (adjust)
		359	{
		360	if (vid->channel >= vd.channels)
		361	vid->channel = 0;
		362	if (vid->debug)
		363	printf ("arVideoOpen: channel adjusted to 0\n");
		364	}
		365
		366	/* check channel */
		367	if(vid->channel < 0 \|\| vid->channel >= vd.channels){
		368	printf("arVideoOpen: channel# is not valid. \n");
		369	free( vid );
		370	return 0;
		371	}
		372
		373	if( vid->debug ) {
		374	printf("==== capture device channel info ===\n");
		375	}
		376
		377	for(i = 0;i < vd.channels && i < MAXCHANNEL; i++){
		378	vc[i].channel = i;
		379	if(ioctl(vid->fd,VIDIOCGCHAN,&vc[i]) < 0){
		380	printf("error: acquireing channel(%d) info\n",i);
		381	free( vid );
		382	return 0;
		383	}
		384
		385	if( vid->debug ) {
		386	printf(" channel = %d\n", vc[i].channel);
		387	printf(" name = %s\n", vc[i].name);
		388	printf(" tuners = %d", vc[i].tuners);
		389
		390	printf(" flag = 0x%08x",vc[i].flags);
		391	if(vc[i].flags & VIDEO_VC_TUNER)
		392	printf(" TUNER");
		393	if(vc[i].flags & VIDEO_VC_AUDIO)
		394	printf(" AUDIO");
		395	printf("\n");
		396
		397	printf(" vc[%d].type = 0x%08x", i, vc[i].type);
		398	if(vc[i].type & VIDEO_TYPE_TV)
		399	printf(" TV");
		400	if(vc[i].type & VIDEO_TYPE_CAMERA)
		401	printf(" CAMERA");
		402	printf("\n");
		403	}
		404	}
		405
		406	/* select channel */
		407	vc[vid->channel].norm = vid->mode; /* 0: PAL 1: NTSC 2:SECAM 3:AUTO */
		408	if(ioctl(vid->fd, VIDIOCSCHAN, &vc[vid->channel]) < 0){
		409	printf("error: selecting channel %d\n", vid->channel);
		410	free( vid );
		411	return 0;
		412	}
		413
		414	if(ioctl(vid->fd, VIDIOCGPICT, &vp)) {
		415	printf("error: getting palette\n");
		416	free( vid );
		417	return 0;
		418	}
		419
		420	if( vid->debug ) {
		421	printf("=== debug info ===\n");
		422	printf(" vp.brightness= %d\n",vp.brightness);
		423	printf(" vp.hue = %d\n",vp.hue);
		424	printf(" vp.colour = %d\n",vp.colour);
		425	printf(" vp.contrast = %d\n",vp.contrast);
		426	printf(" vp.whiteness = %d\n",vp.whiteness);
		427	printf(" vp.depth = %d\n",vp.depth);
		428	printf(" vp.palette = %d\n",vp.palette);
		429	}
		430
		431	/* set video picture */
		432	if ((vid->brightness+1.)>0.001)
		433	vp.brightness = 32767 * 2.0 *vid->brightness;
		434	if ((vid->contrast+1.)>0.001)
		435	vp.contrast = 32767 * 2.0 *vid->contrast;
		436	if ((vid->hue+1.)>0.001)
		437	vp.hue = 32767 * 2.0 *vid->hue;
		438	if ((vid->whiteness+1.)>0.001)
		439	vp.whiteness = 32767 * 2.0 *vid->whiteness;
		440	if ((vid->saturation+1.)>0.001)
		441	vp.colour = 32767 * 2.0 *vid->saturation;
		442	vp.depth = 24;
		443	vp.palette = vid->palette;
		444
		445	if(ioctl(vid->fd, VIDIOCSPICT, &vp)) {
		446	printf("error: setting configuration !! bad palette mode..\n TIPS:try other palette mode (or with new failure contact ARToolKit Developer)\n");
		447	free( vid );
		448	return 0;
		449	}
		450	if (vid->palette==VIDEO_PALETTE_YUV420P)
		451	arMalloc( vid->videoBuffer, ARUint8, vid->widthvid->height3 );
		452
		453	if( vid->debug ) {
		454	if(ioctl(vid->fd, VIDIOCGPICT, &vp)) {
		455	printf("error: getting palette\n");
		456	free( vid );
		457	return 0;
		458	}
		459	printf("=== debug info ===\n");
		460	printf(" vp.brightness= %d\n",vp.brightness);
		461	printf(" vp.hue = %d\n",vp.hue);
		462	printf(" vp.colour = %d\n",vp.colour);
		463	printf(" vp.contrast = %d\n",vp.contrast);
		464	printf(" vp.whiteness = %d\n",vp.whiteness);
		465	printf(" vp.depth = %d\n",vp.depth);
		466	printf(" vp.palette = %d\n",vp.palette);
		467	}
		468
		469	/* get mmap info */
		470	if(ioctl(vid->fd,VIDIOCGMBUF,&vid->vm) < 0){
		471	printf("error: videocgmbuf\n");
		472	free( vid );
		473	return 0;
		474	}
		475
		476	if( vid->debug ) {
		477	printf("===== Image Buffer Info =====\n");
		478	printf(" size = %d[bytes]\n", vid->vm.size);
		479	printf(" frames = %d\n", vid->vm.frames);
		480	}
		481	if(vid->vm.frames < 2){
		482	printf("this device can not be supported by libARvideo.\n");
		483	printf("(vm.frames < 2)\n");
		484	free( vid );
		485	return 0;
		486	}
		487
		488
		489	/* get memory mapped io */
		490	if((vid->map = (ARUint8 *)mmap(0, vid->vm.size, PROT_READ\|PROT_WRITE, MAP_SHARED, vid->fd, 0)) < 0){
		491	printf("error: mmap\n");
		492	free( vid );
		493	return 0;
		494	}
		495
		496	/* setup for vmm */
		497	vid->vmm.frame = 0;
		498	vid->vmm.width = vid->width;
		499	vid->vmm.height = vid->height;
		500	vid->vmm.format= vid->palette;
		501
		502	vid->video_cont_num = -1;
		503
		504	#ifdef USE_EYETOY
		505	JPEGToRGBInit(vid->width,vid->height);
		506	#endif
		507	return vid;
		508	}
		509
		510	int ar2VideoClose( AR2VideoParamT *vid )
		511	{
		512	if(vid->video_cont_num >= 0){
		513	ar2VideoCapStop( vid );
		514	}
		515	close(vid->fd);
		516	if(vid->videoBuffer!=NULL)
		517	free(vid->videoBuffer);
		518	free( vid );
		519
		520	return 0;
		521	}
		522
		523
		524	int ar2VideoCapStart( AR2VideoParamT *vid )
		525	{
		526	if(vid->video_cont_num >= 0){
		527	printf("arVideoCapStart has already been called.\n");
		528	return -1;
		529	}
		530
		531	vid->video_cont_num = 0;
		532	vid->vmm.frame = vid->video_cont_num;
		533	if(ioctl(vid->fd, VIDIOCMCAPTURE, &vid->vmm) < 0) {
		534	return -1;
		535	}
		536	vid->vmm.frame = 1 - vid->vmm.frame;
		537	if( ioctl(vid->fd, VIDIOCMCAPTURE, &vid->vmm) < 0) {
		538	return -1;
		539	}
		540
		541	return 0;
		542	}
		543
		544	int ar2VideoCapNext( AR2VideoParamT *vid )
		545	{
		546	if(vid->video_cont_num < 0){
		547	printf("arVideoCapStart has never been called.\n");
		548	return -1;
		549	}
		550
		551	vid->vmm.frame = 1 - vid->vmm.frame;
		552	ioctl(vid->fd, VIDIOCMCAPTURE, &vid->vmm);
		553
		554	return 0;
		555	}
		556
		557	int ar2VideoCapStop( AR2VideoParamT *vid )
		558	{
		559	if(vid->video_cont_num < 0){
		560	printf("arVideoCapStart has never been called.\n");
		561	return -1;
		562	}
		563	if(ioctl(vid->fd, VIDIOCSYNC, &vid->video_cont_num) < 0){
		564	printf("error: videosync\n");
		565	return -1;
		566	}
		567	vid->video_cont_num = -1;
		568
		569	return 0;
		570	}
		571
		572
		573	ARUint8 ar2VideoGetImage( AR2VideoParamT vid )
		574	{
		575	ARUint8 *buf;
		576
		577	if(vid->video_cont_num < 0){
		578	printf("arVideoCapStart has never been called.\n");
		579	return NULL;
		580	}
		581
		582	if(ioctl(vid->fd, VIDIOCSYNC, &vid->video_cont_num) < 0){
		583	printf("error: videosync\n");
		584	return NULL;
		585	}
		586	vid->video_cont_num = 1 - vid->video_cont_num;
		587
		588	if(vid->video_cont_num == 0)
		589	buf=(vid->map + vid->vm.offsets[1]);
		590	else
		591	buf=(vid->map + vid->vm.offsets[0]);
		592
		593	if(vid->palette == VIDEO_PALETTE_YUV420P)
		594	{
		595
		596	ccvt_420p_bgr24(vid->width, vid->height, buf, buf+(vid->width*vid->height),
		597	buf+(vid->widthvid->height)+(vid->widthvid->height)/4,
		598	vid->videoBuffer);
		599	return vid->videoBuffer;
		600	}
		601	#ifdef USE_EYETOY
		602	buf=JPEGToRGB(buf,vid->width, vid->height);
		603	#endif
		604
		605	return buf;
		606
		607	}
		608
		609	int ar2VideoInqSize(AR2VideoParamT vid, int x,int *y)
		610	{
		611	*x = vid->vmm.width;
		612	*y = vid->vmm.height;
		613
		614	return 0;
		615	}

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(root)/ARToolKit/lib/SRC/VideoLinuxV4L/video.c - Rev 204