Skip to content

O
opencv
Commit f7981a8a authored by Pavel Rojtberg's avatar Pavel Rojtberg Committed by Pavel Rojtberg
Browse files
Options

support setting focus and autofocus with V4L2 

also refactor property range handling and opencv property to V4L2
translation.
parent 484c68cb
Show whitespace changes
Inline Side-by-side
Showing with 122 additions and 317 deletions
modules/videoio/include/opencv2/videoio.hpp
View file @ f7981a8a
......@@ -133,7 +133,9 @@ enum { CAP_PROP_POS_MSEC =0,
CAP_PROP_TILT =34,
CAP_PROP_ROLL =35,
CAP_PROP_IRIS =36,
CAP_PROP_SETTINGS =37
CAP_PROP_SETTINGS =37,
CAP_PROP_BUFFERSIZE =38,
CAP_PROP_AUTOFOCUS =39
};
......
modules/videoio/include/opencv2/videoio/videoio_c.h
View file @ f7981a8a
......@@ -189,6 +189,7 @@ enum
CV_CAP_PROP_IRIS =36,
CV_CAP_PROP_SETTINGS =37,
CV_CAP_PROP_BUFFERSIZE =38,
CV_CAP_PROP_AUTOFOCUS =39,
CV_CAP_PROP_AUTOGRAB =1024, // property for videoio class CvCapture_Android only
CV_CAP_PROP_SUPPORTED_PREVIEW_SIZES_STRING=1025, // readonly, tricky property, returns cpnst char* indeed
......
modules/videoio/src/cap_v4l.cpp
View file @ f7981a8a
......@@ -330,13 +330,30 @@ typedef struct CvCaptureCAM_V4L
struct timeval timestamp;
/* V4L2 control variables */
int v4l2_brightness, v4l2_brightness_min, v4l2_brightness_max;
int v4l2_contrast, v4l2_contrast_min, v4l2_contrast_max;
int v4l2_saturation, v4l2_saturation_min, v4l2_saturation_max;
int v4l2_hue, v4l2_hue_min, v4l2_hue_max;
int v4l2_gain, v4l2_gain_min, v4l2_gain_max;
int v4l2_exposure, v4l2_exposure_min, v4l2_exposure_max;
cv::Range focus, brightness, contrast, saturation, hue, gain, exposure;
cv::Range getRange(int property_id) {
switch (property_id) {
case CV_CAP_PROP_BRIGHTNESS:
return brightness;
case CV_CAP_PROP_CONTRAST:
return contrast;
case CV_CAP_PROP_SATURATION:
return saturation;
case CV_CAP_PROP_HUE:
return hue;
case CV_CAP_PROP_GAIN:
return gain;
case CV_CAP_PROP_EXPOSURE:
return exposure;
case CV_CAP_PROP_FOCUS:
return focus;
case CV_CAP_PROP_AUTOFOCUS:
return cv::Range(0, 1);
default:
return cv::Range(0, 255);
}
}
#endif /* HAVE_CAMV4L2 */
}
......@@ -645,158 +662,72 @@ static int autosetup_capture_mode_v4l(CvCaptureCAM_V4L* capture)
#ifdef HAVE_CAMV4L2
static void v4l2_scan_controls(CvCaptureCAM_V4L* capture)
static void v4l2_control_range(CvCaptureCAM_V4L* cap, __u32 id)
{
CLEAR (cap->queryctrl);
cap->queryctrl.id = id;
__u32 ctrl_id;
for (ctrl_id = V4L2_CID_BASE;
ctrl_id < V4L2_CID_LASTP1;
ctrl_id++)
{
/* set the id we will query now */
CLEAR (capture->queryctrl);
capture->queryctrl.id = ctrl_id;
if (0 == ioctl (capture->deviceHandle, VIDIOC_QUERYCTRL,
&capture->queryctrl))
{
if (capture->queryctrl.flags & V4L2_CTRL_FLAG_DISABLED)
continue;
if (capture->queryctrl.id == V4L2_CID_BRIGHTNESS)
{
capture->v4l2_brightness = 1;
capture->v4l2_brightness_min = capture->queryctrl.minimum;
capture->v4l2_brightness_max = capture->queryctrl.maximum;
}
if (capture->queryctrl.id == V4L2_CID_CONTRAST)
{
capture->v4l2_contrast = 1;
capture->v4l2_contrast_min = capture->queryctrl.minimum;
capture->v4l2_contrast_max = capture->queryctrl.maximum;
}
if (capture->queryctrl.id == V4L2_CID_SATURATION)
if(0 != ioctl(cap->deviceHandle, VIDIOC_QUERYCTRL, &cap->queryctrl))
{
capture->v4l2_saturation = 1;
capture->v4l2_saturation_min = capture->queryctrl.minimum;
capture->v4l2_saturation_max = capture->queryctrl.maximum;
}
if (capture->queryctrl.id == V4L2_CID_HUE)
{
capture->v4l2_hue = 1;
capture->v4l2_hue_min = capture->queryctrl.minimum;
capture->v4l2_hue_max = capture->queryctrl.maximum;
}
if (capture->queryctrl.id == V4L2_CID_GAIN)
{
capture->v4l2_gain = 1;
capture->v4l2_gain_min = capture->queryctrl.minimum;
capture->v4l2_gain_max = capture->queryctrl.maximum;
}
if (capture->queryctrl.id == V4L2_CID_EXPOSURE)
{
capture->v4l2_exposure = 1;
capture->v4l2_exposure_min = capture->queryctrl.minimum;
capture->v4l2_exposure_max = capture->queryctrl.maximum;
}
} else {
if (errno == EINVAL)
continue;
if (errno != EINVAL)
perror ("VIDIOC_QUERYCTRL");
}
return;
}
for (ctrl_id = V4L2_CID_PRIVATE_BASE;;ctrl_id++)
{
/* set the id we will query now */
CLEAR (capture->queryctrl);
capture->queryctrl.id = ctrl_id;
if (0 == ioctl (capture->deviceHandle, VIDIOC_QUERYCTRL,
&capture->queryctrl))
{
if (capture->queryctrl.flags & V4L2_CTRL_FLAG_DISABLED)
continue;
if (cap->queryctrl.flags & V4L2_CTRL_FLAG_DISABLED)
return;
if (capture->queryctrl.id == V4L2_CID_BRIGHTNESS)
{
capture->v4l2_brightness = 1;
capture->v4l2_brightness_min = capture->queryctrl.minimum;
capture->v4l2_brightness_max = capture->queryctrl.maximum;
}
cv::Range range(cap->queryctrl.minimum, cap->queryctrl.maximum);
if (capture->queryctrl.id == V4L2_CID_CONTRAST)
{
capture->v4l2_contrast = 1;
capture->v4l2_contrast_min = capture->queryctrl.minimum;
capture->v4l2_contrast_max = capture->queryctrl.maximum;
switch(cap->queryctrl.id) {
case V4L2_CID_BRIGHTNESS:
cap->brightness = range;
break;
case V4L2_CID_CONTRAST:
cap->contrast = range;
break;
case V4L2_CID_SATURATION:
cap->saturation = range;
break;
case V4L2_CID_HUE:
cap->hue = range;
break;
case V4L2_CID_GAIN:
cap->gain = range;
break;
case V4L2_CID_EXPOSURE:
cap->exposure = range;
break;
case V4L2_CID_FOCUS_ABSOLUTE:
cap->focus = range;
break;
}
}
if (capture->queryctrl.id == V4L2_CID_SATURATION)
{
capture->v4l2_saturation = 1;
capture->v4l2_saturation_min = capture->queryctrl.minimum;
capture->v4l2_saturation_max = capture->queryctrl.maximum;
}
static void v4l2_scan_controls(CvCaptureCAM_V4L* capture)
{
if (capture->queryctrl.id == V4L2_CID_HUE)
{
capture->v4l2_hue = 1;
capture->v4l2_hue_min = capture->queryctrl.minimum;
capture->v4l2_hue_max = capture->queryctrl.maximum;
}
__u32 ctrl_id;
if (capture->queryctrl.id == V4L2_CID_GAIN)
for (ctrl_id = V4L2_CID_BASE; ctrl_id < V4L2_CID_LASTP1; ctrl_id++)
{
capture->v4l2_gain = 1;
capture->v4l2_gain_min = capture->queryctrl.minimum;
capture->v4l2_gain_max = capture->queryctrl.maximum;
v4l2_control_range(capture, ctrl_id);
}
if (capture->queryctrl.id == V4L2_CID_EXPOSURE)
for (ctrl_id = V4L2_CID_PRIVATE_BASE;;ctrl_id++)
{
capture->v4l2_exposure = 1;
capture->v4l2_exposure_min = capture->queryctrl.minimum;
capture->v4l2_exposure_max = capture->queryctrl.maximum;
}
} else {
v4l2_control_range(capture, ctrl_id);
if (errno == EINVAL)
break;
perror ("VIDIOC_QUERYCTRL");
}
}
v4l2_control_range(capture, V4L2_CID_FOCUS_ABSOLUTE);
}
static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
{
int detect_v4l2 = 0;
detect_v4l2 = try_init_v4l2(capture, deviceName);
if (detect_v4l2 != 1) {
if (try_init_v4l2(capture, deviceName) != 1) {
/* init of the v4l2 device is not OK */
return -1;
}
......@@ -804,30 +735,7 @@ static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
/* starting from here, we assume we are in V4L2 mode */
V4L2_SUPPORT = 1;
/* Init V4L2 control variables */
capture->v4l2_brightness = 0;
capture->v4l2_contrast = 0;
capture->v4l2_saturation = 0;
capture->v4l2_hue = 0;
capture->v4l2_gain = 0;
capture->v4l2_exposure = 0;
capture->v4l2_brightness_min = 0;
capture->v4l2_contrast_min = 0;
capture->v4l2_saturation_min = 0;
capture->v4l2_hue_min = 0;
capture->v4l2_gain_min = 0;
capture->v4l2_exposure_min = 0;
capture->v4l2_brightness_max = 0;
capture->v4l2_contrast_max = 0;
capture->v4l2_saturation_max = 0;
capture->v4l2_hue_max = 0;
capture->v4l2_gain_max = 0;
capture->v4l2_exposure_max = 0;
capture->timestamp.tv_sec = 0;
capture->timestamp.tv_usec = 0;
/* V4L2 control variables are zero (memset above) */
/* Scan V4L2 controls */
v4l2_scan_controls(capture);
......@@ -2290,6 +2198,31 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
return(&capture->frame);
}
static inline __u32 capPropertyToV4L2(int prop) {
switch (prop) {
#ifdef HAVE_CAMV4L2
case CV_CAP_PROP_BRIGHTNESS:
return V4L2_CID_BRIGHTNESS;
case CV_CAP_PROP_CONTRAST:
return V4L2_CID_CONTRAST;
case CV_CAP_PROP_SATURATION:
return V4L2_CID_SATURATION;
case CV_CAP_PROP_HUE:
return V4L2_CID_HUE;
case CV_CAP_PROP_GAIN:
return V4L2_CID_GAIN;
case CV_CAP_PROP_EXPOSURE:
return V4L2_CID_EXPOSURE;
case CV_CAP_PROP_AUTOFOCUS:
return V4L2_CID_FOCUS_AUTO;
case CV_CAP_PROP_FOCUS:
return V4L2_CID_FOCUS_ABSOLUTE;
#endif
default:
return -1;
}
}
static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
int property_id ) {
......@@ -2299,11 +2232,6 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
if (V4L2_SUPPORT == 1)
#endif
{
/* default value for min and max */
int v4l2_min = 0;
int v4l2_max = 255;
CLEAR (capture->form);
capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == ioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form)) {
......@@ -2321,39 +2249,25 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
/* initialize the control structure */
switch (property_id) {
case CV_CAP_PROP_POS_MSEC:
if(property_id == CV_CAP_PROP_POS_MSEC) {
if (capture->FirstCapture) {
return 0;
} else {
return 1000 * capture->timestamp.tv_sec + ((double) capture->timestamp.tv_usec) / 1000;
}
break;
case CV_CAP_PROP_BRIGHTNESS:
capture->control.id = V4L2_CID_BRIGHTNESS;
break;
case CV_CAP_PROP_CONTRAST:
capture->control.id = V4L2_CID_CONTRAST;
break;
case CV_CAP_PROP_SATURATION:
capture->control.id = V4L2_CID_SATURATION;
break;
case CV_CAP_PROP_HUE:
capture->control.id = V4L2_CID_HUE;
break;
case CV_CAP_PROP_GAIN:
capture->control.id = V4L2_CID_GAIN;
break;
case CV_CAP_PROP_EXPOSURE:
capture->control.id = V4L2_CID_EXPOSURE;
break;
default:
}
__u32 v4l2id = capPropertyToV4L2(property_id);
if(v4l2id == __u32(-1)) {
fprintf(stderr,
"VIDEOIO ERROR: V4L2: getting property #%d is not supported\n",
property_id);
return -1;
}
capture->control.id = v4l2id;
if (-1 == ioctl (capture->deviceHandle, VIDIOC_G_CTRL,
&capture->control)) {
......@@ -2377,43 +2291,27 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
case CV_CAP_PROP_EXPOSURE:
fprintf (stderr, "Exposure");
break;
case CV_CAP_PROP_AUTOFOCUS:
fprintf (stderr, "Autofocus");
break;
case CV_CAP_PROP_FOCUS:
fprintf (stderr, "Focus");
break;
}
fprintf (stderr, " is not supported by your device\n");
return -1;
}
/* get the min/max values */
switch (property_id) {
case CV_CAP_PROP_BRIGHTNESS:
v4l2_min = capture->v4l2_brightness_min;
v4l2_max = capture->v4l2_brightness_max;
break;
case CV_CAP_PROP_CONTRAST:
v4l2_min = capture->v4l2_contrast_min;
v4l2_max = capture->v4l2_contrast_max;
break;
case CV_CAP_PROP_SATURATION:
v4l2_min = capture->v4l2_saturation_min;
v4l2_max = capture->v4l2_saturation_max;
break;
case CV_CAP_PROP_HUE:
v4l2_min = capture->v4l2_hue_min;
v4l2_max = capture->v4l2_hue_max;
break;
case CV_CAP_PROP_GAIN:
v4l2_min = capture->v4l2_gain_min;
v4l2_max = capture->v4l2_gain_max;
break;
case CV_CAP_PROP_EXPOSURE:
v4l2_min = capture->v4l2_exposure_min;
v4l2_max = capture->v4l2_exposure_max;
break;
if(property_id == CV_CAP_PROP_AUTOFOCUS) {
return (double)capture->control.value;
}
/* get the min/max values */
cv::Range range = capture->getRange(property_id);
/* all was OK, so convert to 0.0 - 1.0 range, and return the value */
return ((float)capture->control.value - v4l2_min + 1) / (v4l2_max - v4l2_min);
return ((float)capture->control.value - range.start + 1) / range.size();
}
#endif /* HAVE_CAMV4L2 */
......@@ -2603,111 +2501,24 @@ static int icvSetControl (CvCaptureCAM_V4L* capture,
if (V4L2_SUPPORT == 1)
{
/* default value for min and max */
int v4l2_min = 0;
int v4l2_max = 255;
/* initialisations */
CLEAR (capture->control);
__u32 v4l2id = capPropertyToV4L2(property_id);
/* set which control we want to set */
switch (property_id) {
case CV_CAP_PROP_BRIGHTNESS:
capture->control.id = V4L2_CID_BRIGHTNESS;
break;
case CV_CAP_PROP_CONTRAST:
capture->control.id = V4L2_CID_CONTRAST;
break;
case CV_CAP_PROP_SATURATION:
capture->control.id = V4L2_CID_SATURATION;
break;
case CV_CAP_PROP_HUE:
capture->control.id = V4L2_CID_HUE;
break;
case CV_CAP_PROP_GAIN:
capture->control.id = V4L2_CID_GAIN;
break;
case CV_CAP_PROP_EXPOSURE:
capture->control.id = V4L2_CID_EXPOSURE;
break;
default:
if(v4l2id == __u32(-1)) {
fprintf(stderr,
"VIDEOIO ERROR: V4L2: setting property #%d is not supported\n",
property_id);
return -1;
}
/* get the min and max values */
if (-1 == ioctl (capture->deviceHandle,
VIDIOC_G_CTRL, &capture->control)) {
// perror ("VIDIOC_G_CTRL for getting min/max values");
return -1;
}
/* get the min/max values */
switch (property_id) {
case CV_CAP_PROP_BRIGHTNESS:
v4l2_min = capture->v4l2_brightness_min;
v4l2_max = capture->v4l2_brightness_max;
break;
case CV_CAP_PROP_CONTRAST:
v4l2_min = capture->v4l2_contrast_min;
v4l2_max = capture->v4l2_contrast_max;
break;
case CV_CAP_PROP_SATURATION:
v4l2_min = capture->v4l2_saturation_min;
v4l2_max = capture->v4l2_saturation_max;
break;
case CV_CAP_PROP_HUE:
v4l2_min = capture->v4l2_hue_min;
v4l2_max = capture->v4l2_hue_max;
break;
case CV_CAP_PROP_GAIN:
v4l2_min = capture->v4l2_gain_min;
v4l2_max = capture->v4l2_gain_max;
break;
case CV_CAP_PROP_EXPOSURE:
v4l2_min = capture->v4l2_exposure_min;
v4l2_max = capture->v4l2_exposure_max;
break;
}
/* initialisations */
CLEAR (capture->control);
/* set which control we want to set */
switch (property_id) {
CLEAR (capture->control);
capture->control.id = v4l2id;
case CV_CAP_PROP_BRIGHTNESS:
capture->control.id = V4L2_CID_BRIGHTNESS;
break;
case CV_CAP_PROP_CONTRAST:
capture->control.id = V4L2_CID_CONTRAST;
break;
case CV_CAP_PROP_SATURATION:
capture->control.id = V4L2_CID_SATURATION;
break;
case CV_CAP_PROP_HUE:
capture->control.id = V4L2_CID_HUE;
break;
case CV_CAP_PROP_GAIN:
capture->control.id = V4L2_CID_GAIN;
break;
case CV_CAP_PROP_EXPOSURE:
capture->control.id = V4L2_CID_EXPOSURE;
break;
default:
fprintf(stderr,
"VIDEOIO ERROR: V4L2: setting property #%d is not supported\n",
property_id);
return -1;
}
/* get the min/max values */
cv::Range range = capture->getRange(property_id);
/* set the value we want to set to the scaled the value */
capture->control.value = (int)(value * (v4l2_max - v4l2_min) + v4l2_min);
capture->control.value = (int)(value * range.size() + range.start);
/* The driver may clamp the value or return ERANGE, ignored here */
if (-1 == ioctl (capture->deviceHandle,
......@@ -2799,18 +2610,9 @@ static int icvSetPropertyCAM_V4L( CvCaptureCAM_V4L* capture,
width = height = 0;
}
break;
case CV_CAP_PROP_BRIGHTNESS:
case CV_CAP_PROP_CONTRAST:
case CV_CAP_PROP_SATURATION:
case CV_CAP_PROP_HUE:
case CV_CAP_PROP_GAIN:
case CV_CAP_PROP_EXPOSURE:
default:
retval = icvSetControl(capture, property_id, value);
break;
default:
fprintf(stderr,
"VIDEOIO ERROR: V4L: setting property #%d is not supported\n",
property_id);
}
/* return the the status */
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment