/*

* File name: CCamera.cpp

* Date: 2010

* Author: Tom Krajnik

*/

#include "CCamera.h"

#include <stdio.h>

#include <stdlib.h>

extern "C" {

#include "utils.h"

#include "color.h"

}

//-----------------------------------------------------------------------------

CCamera::CCamera()

{

cameraType = CT_UNKNOWN;

autoexposure = true;

gain = exposition = 0;

width = height = 0;

exposition = 0;

fileNum = 0;

videoIn = (struct vdIn*) calloc(1,sizeof(struct vdIn));

globalTimer.reset();

globalTimer.start();

return;

}

CCamera::~CCamera()

{

close_v4l2(videoIn);

free(videoIn);

videoIn = NULL;

freeLut();

}

int CCamera::initFileLoader(const char *deviceName,int *wi,int *he)

{

char fileName[1000];

strcpy(directory,deviceName);

sprintf(fileName,"%s/0000.bmp",directory);

fprintf(stdout,"Camera type: dummy camera\n");

FILE* file = fopen(fileName,"r");

if (file == NULL){

fprintf(stderr,"File %s not found.\n",fileName);

return -1;

}else{

fclose(file);

CRawImage *image = new CRawImage(*wi,*he);

image->loadBmp(fileName);

*wi = image->width;

*he = image->height;

delete image;

}

return 0;

}

int CCamera::init(const char *deviceName,int *wi,int *he,bool saveI)

{

save = saveI;

format = V4L2_PIX_FMT_YUYV;

//format = V4L2_PIX_FMT_MJPEG;

if (save) videoIn->toggleAvi = 1; else videoIn->toggleAvi = 0;

const float fps = 5.0;

const int grabemethod = 1;

time_t timeNow;

time(&timeNow);

char timeStr[100];

strftime(timeStr, sizeof(timeStr), "%Y-%m-%d_%H:%M:%S",localtime(&timeNow));

sprintf(avifilename,"output/%s.avi",timeStr);

if (strncmp(deviceName,"/dev/",5)==0) cameraType = CT_WEBCAM; else cameraType = CT_FILELOADER;

if (cameraType == CT_WEBCAM){

int ret = init_videoIn(videoIn,(char *)deviceName, wi,he,fps,format,grabemethod,avifilename);

if (ret < 0) {

fprintf(stderr,"Cannot init camera device %s.\n",deviceName);

return -1;

} else {

fprintf(stderr,"Camera %s initialized.\n",deviceName);

}

initLut();

// gets camera parameters

gain = getDeviceGain();

exposition = getDeviceExposition();

brightness = getDeviceBrightness();

int min,max,def;

min=max=def=0;

width = *wi;

height = *he;

getParamInfo(V4L2_CID_GAIN,min,max,def);

fprintf(stderr,"Gain parameter: min=%d max=%d default=%d\n",min,max,def);

getParamInfo(V4L2_CID_BRIGHTNESS,min,max,def);

fprintf(stderr,"Brightness parameter: min=%d max=%d default=%d\n",min,max,def);

getParamInfo(V4L2_CID_EXPOSURE_ABSOLUTE,min,max,def);

fprintf(stderr,"Exposure parameter: min=%d max=%d default=%d\n",min,max,def);

getParamInfo(V4L2_CID_EXPOSURE_AUTO,min,max,def);

fprintf(stderr,"Exposure auto parameter: min=%d max=%d default=%d\n",min,max,def);

getParamInfo(V4L2_CID_WHITE_BALANCE_TEMPERATURE,min,max,def);

fprintf(stderr,"White temperature balance: min=%d max=%d default=%d\n",min,max,def);

getParamInfo(V4L2_CID_AUTO_WHITE_BALANCE,min,max,def);

fprintf(stderr,"White auto balance: min=%d max=%d default=%d\n",min,max,def);

setDeviceAutoExposure(0);

setDeviceWhiteBalanceAuto(1);

fprintf(stderr,"Camera gain = %d\n",gain);

fprintf(stderr,"Camera exposition = %d\n",exposition);

fprintf(stderr,"Camera brightness = %d\n",brightness);

}

if (cameraType == CT_FILELOADER){

if (initFileLoader(deviceName,wi,he)==0){

printf("Images will be loaded from directory %s.\n",deviceName);

}else{

printf("Camera initialization failed.\n");

}

}

return -1;

}

int CCamera::renewImage(CRawImage* image,bool move)

{

if (cameraType == CT_WEBCAM){

if (move){

int ret = uvcGrab(videoIn);

if (ret < 0) {

fprintf(stderr,"Cannot grab a frame from a camera!\n");

return ret;

}

}

Pyuv422torgb24(videoIn->framebuffer,image->data,videoIn->width,videoIn->height);

if (save && format == V4L2_PIX_FMT_YUYV){

char a[100];

char b[100];

time_t timeNow;

time(&timeNow);

strftime(a, sizeof(a), "%Y-%m-%d_%H:%M:%S",localtime(&timeNow));

sprintf(b,"output/%s-%08i.bmp",a,globalTimer.getTime());

image->saveBmp(b);

}

return 0;

}

if (cameraType == CT_FILELOADER){

char fileName[1000];

if (move) fileNum++;

sprintf(fileName,"%s/%04i.bmp",directory,fileNum);

if (image->loadBmp(fileName)==false){

fileNum=0;

sprintf(fileName,"%s/%04i.bmp",directory,fileNum);

image->loadBmp(fileName);

return -1;

}

return 0;

}

return -1;

}

int CCamera::getGain()

{

gain = getDeviceGain();

return gain;

}

int CCamera::getContrast()

{

contrast = getDeviceGain();

return contrast;

}

int CCamera::getExposition()

{

exposition = getDeviceExposition();

return exposition;

}

int CCamera::getBrightness()

{

brightness = getDeviceBrightness();

return brightness;

}

void CCamera::setGain(int value)

{

gain = value;

setDeviceGain(value);

}

void CCamera::setContrast(int value)

{

contrast = value;

setDeviceContrast(contrast);

}

void CCamera::changeBrightness(int brt)

{

setBrightness(brightness+brt);

}

void CCamera::changeExposition(int exp)

{

setExposition(exposition+exp);

}

void CCamera::changeGain(int exp)

{

setGain(gain+exp);

}

void CCamera::changeContrast(int expc)

{

setContrast(contrast+expc);

}

void CCamera::setExposition(int exp)

{

exposition = exp;

setDeviceExposition(exp);

fprintf(stdout,"Exposure is set to %i\n",v4l2GetControl(videoIn,V4L2_CID_EXPOSURE_ABSOLUTE));

}

void CCamera::setBrightness(int val)

{

brightness = val;

setDeviceBrightness(val);

}

int CCamera::getDeviceGain() {

return v4l2GetControl(videoIn,V4L2_CID_GAIN);

}

int CCamera::getDeviceContrast() {

return v4l2GetControl(videoIn,V4L2_CID_CONTRAST);

}

int CCamera::getDeviceBrightness() {

fprintf(stdout,"Brightness is set to %i\n",v4l2GetControl(videoIn,V4L2_CID_BRIGHTNESS));

return v4l2GetControl(videoIn,V4L2_CID_BRIGHTNESS);

}

int CCamera::getDeviceExposition() {

int rawValue = v4l2GetControl(videoIn,V4L2_CID_EXPOSURE_ABSOLUTE);

int value = (int)log2(rawValue);

fprintf(stdout,"Exposition is set to %i-%i\n",value,rawValue);

return value;

}

int CCamera::setDeviceExposition(int value) {

if (autoexposure){

autoexposure = false;

setDeviceAutoExposure(1);

}

value = exp2(value);

return v4l2SetControl(videoIn,V4L2_CID_EXPOSURE_ABSOLUTE,value);

}

int CCamera::getDeviceSharpness() {

return v4l2GetControl(videoIn,V4L2_CID_BASE+27);

}

int CCamera::setDeviceSharpness(const int value) {

return v4l2SetControl(videoIn,V4L2_CID_BASE+27,value);

}

int CCamera::setDeviceGain(const int value) {

fprintf(stdout,"Gain is set to %i\n",v4l2GetControl(videoIn,V4L2_CID_GAIN));

return v4l2SetControl(videoIn,V4L2_CID_GAIN,value);

}

int CCamera::setDeviceContrast(const int value) {

fprintf(stdout,"Contrast is set to %i\n",v4l2GetControl(videoIn,V4L2_CID_CONTRAST));

return v4l2SetControl(videoIn,V4L2_CID_CONTRAST,value);

}

int CCamera::setDeviceBrightness(const int value) {

fprintf(stdout,"Brightness is set to %i\n",v4l2GetControl(videoIn,V4L2_CID_BRIGHTNESS));

return v4l2SetControl(videoIn,V4L2_CID_BRIGHTNESS,value);

}

int CCamera::setDeviceWhiteTemperature(const int value) {

return v4l2SetControl(videoIn,V4L2_CID_WHITE_BALANCE_TEMPERATURE,value);

}

int CCamera::getDeviceWhiteTemperature() {

fprintf(stderr,"Camera white temperature = %d\n",v4l2GetControl(videoIn,V4L2_CID_WHITE_BALANCE_TEMPERATURE));

return v4l2GetControl(videoIn,V4L2_CID_WHITE_BALANCE_TEMPERATURE);

}

int CCamera::getParamInfo(const int paramType, int &min, int &max, int &default_val)

{

struct v4l2_queryctrl queryctrl;

if (isv4l2Control(videoIn,paramType,&queryctrl) < 0) {

fprintf(stderr,"Error getting camera info.\n");

return -1;

}

min = queryctrl.minimum;

max = queryctrl.maximum;

default_val = queryctrl.default_value;

return 0;

}

int CCamera::setDeviceAutoExposure(const int val) {

struct v4l2_control control;

control.id = V4L2_CID_EXPOSURE_AUTO;

control.value =(int)val;

int ret;

if ((ret = ioctl(videoIn->fd, VIDIOC_S_CTRL, &control)) < 0) {

printf("Set Auto Exposure on error\n");

} else {

printf("Auto Exposure set to %d\n", control.value);

}

return 0;

}

int CCamera::setDeviceWhiteBalanceAuto(const int val) {

struct v4l2_control control;

control.id = V4L2_CID_AUTO_WHITE_BALANCE;

control.value =(int)val;

int ret;

if ((ret = ioctl(videoIn->fd, VIDIOC_S_CTRL, &control)) < 0) {

printf("Set Auto white balance on error\n");

} else {

printf("Auto white balance set to %d\n", control.value);

}

return 0;

}