vpV4l2Grabber.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software 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; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Video for linux two framegrabber.
 */

 
#ifndef vpV4l2Grabber_hh
#define vpV4l2Grabber_hh
 
#include <visp3/core/vpConfig.h>
 
#ifdef VISP_HAVE_V4L2
 
#include <libv4l2.h>         // Video For Linux Two interface
#include <linux/videodev2.h> // Video For Linux Two interface
#include <string>
 
#include <visp3/core/vpFrameGrabber.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpRGBa.h>
#include <visp3/core/vpRect.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpV4l2Grabber : public vpFrameGrabber
{
public:
  static const unsigned int DEFAULT_INPUT;
  static const unsigned int DEFAULT_SCALE;
  static const __u32 MAX_INPUTS;
  static const __u32 MAX_NORM;
  static const __u32 MAX_FORMAT;
  static const unsigned int MAX_CTRL;
  static const unsigned int MAX_BUFFERS;
  static const unsigned int FRAME_SIZE;

  typedef enum
  {
    framerate_50fps, 
    framerate_25fps  
  } vpV4l2FramerateType;

  typedef enum
  {
    V4L2_FRAME_FORMAT, 
    V4L2_IMAGE_FORMAT  
  } vpV4l2FrameFormatType;

  typedef enum
  {
    V4L2_GREY_FORMAT,  
    V4L2_RGB24_FORMAT, 
    V4L2_RGB32_FORMAT, 
    V4L2_BGR24_FORMAT, 
    V4L2_YUYV_FORMAT,  
    V4L2_MAX_FORMAT
  } vpV4l2PixelFormatType;
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
  struct ng_video_fmt
  {
    unsigned int pixelformat; /* VIDEO_* */
    unsigned int width;
    unsigned int height;
    unsigned int bytesperline; /* zero for compressed formats */
  };
 
  struct ng_video_buf
  {
    struct ng_video_fmt fmt;
    size_t size;
    unsigned char *data;
    int refcount;
  };
#endif
 
  // private:
  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
  //  vpV4l2Grabber(const vpV4l2Grabber &)
  //    : fd(-1), device(), cap(), streamparm(), inp(nullptr), std(nullptr),
  //    fmt(nullptr), ctl(nullptr),
  //      fmt_v4l2(), fmt_me(), reqbufs(), buf_v4l2(nullptr), buf_me(nullptr),
  //      queue(0), waiton_cpt(0), index_buffer(0), m_verbose(false),
  //      m_nbuffers(3), field(0), streaming(false),
  //      m_input(vpV4l2Grabber::DEFAULT_INPUT),
  //      m_framerate(vpV4l2Grabber::framerate_25fps),
  //      m_frameformat(vpV4l2Grabber::V4L2_FRAME_FORMAT),
  //      m_pixelformat(vpV4l2Grabber::V4L2_YUYV_FORMAT)
  //  {
  //    throw vpException(vpException::functionNotImplementedError,"Not
  //    implemented!");
  //  }
  //  vpV4l2Grabber &operator=(const vpV4l2Grabber &){
  //    throw vpException(vpException::functionNotImplementedError,"Not
  //    implemented!"); return *this;
  //  }
  //#endif
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpV4l2Grabber(const vpV4l2Grabber &) = delete; // non construction-copyable
  vpV4l2Grabber &operator=(const vpV4l2Grabber &) = delete; // non copyable
#endif
 
public:
  vpV4l2Grabber();
  VP_EXPLICIT vpV4l2Grabber(bool verbose);
  vpV4l2Grabber(unsigned input, unsigned scale = vpV4l2Grabber::DEFAULT_SCALE);
  vpV4l2Grabber(vpImage<unsigned char> &I, unsigned input, unsigned scale = vpV4l2Grabber::DEFAULT_SCALE);
  vpV4l2Grabber(vpImage<vpRGBa> &I, unsigned input, unsigned scale = vpV4l2Grabber::DEFAULT_SCALE);
  virtual ~vpV4l2Grabber();
 
public:
  void open(vpImage<unsigned char> &I);
  void open(vpImage<vpRGBa> &I);
 
  void acquire(vpImage<unsigned char> &I);
  void acquire(vpImage<unsigned char> &I, const vpRect &roi);
  void acquire(vpImage<unsigned char> &I, struct timeval &timestamp, const vpRect &roi = vpRect());
  void acquire(vpImage<vpRGBa> &I);
  void acquire(vpImage<vpRGBa> &I, const vpRect &roi);
  void acquire(vpImage<vpRGBa> &I, struct timeval &timestamp, const vpRect &roi = vpRect());
  bool getField();
  vpV4l2FramerateType getFramerate();
  inline vpV4l2PixelFormatType getPixelFormat() { return (this->m_pixelformat); }
 
  vpV4l2Grabber &operator>>(vpImage<unsigned char> &I);
  vpV4l2Grabber &operator>>(vpImage<vpRGBa> &I);

  void setVerboseMode(bool verbose) { this->m_verbose = verbose; }
  void setFramerate(vpV4l2FramerateType framerate);
 
  void setInput(unsigned input = vpV4l2Grabber::DEFAULT_INPUT);

  inline void setWidth(unsigned w) { this->width = w; }
  inline void setHeight(unsigned h) { this->height = h; }
 
  void setScale(unsigned scale = vpV4l2Grabber::DEFAULT_SCALE);

  inline void setNBuffers(unsigned nbuffers) { this->m_nbuffers = nbuffers; }

  inline void setDevice(const std::string &devname) { device = devname; }
  inline void setPixelFormat(vpV4l2PixelFormatType pixelformat)
  {
    this->m_pixelformat = pixelformat;
    if (this->m_pixelformat >= V4L2_MAX_FORMAT)
      this->m_pixelformat = V4L2_RGB24_FORMAT;
  }
 
  void close();
 
private:
  void setFormat();
  inline void setFrameFormat(vpV4l2FrameFormatType frameformat) { this->m_frameformat = frameformat; }
  void open();
  void getCapabilities();
  void startStreaming();
  void stopStreaming();
  unsigned char *waiton(__u32 &index, struct timeval &timestamp);
  int queueBuffer();
  void queueAll();
  void printBufInfo(struct v4l2_buffer buf);
 
  int fd;
  std::string device;
  /* device descriptions */
  struct v4l2_capability cap;
  struct v4l2_streamparm streamparm;
  struct v4l2_input *inp;     //[vpV4l2Grabber::MAX_INPUTS];
  struct v4l2_standard *std;  //[vpV4l2Grabber::MAX_NORM];
  struct v4l2_fmtdesc *fmt;   //[vpV4l2Grabber::MAX_FORMAT];
  struct v4l2_queryctrl *ctl; //[vpV4l2Grabber::MAX_CTRL*2];
 
  /* capture */
  struct v4l2_format fmt_v4l2;
  struct ng_video_fmt fmt_me;
  struct v4l2_requestbuffers reqbufs;
  struct v4l2_buffer *buf_v4l2; //[vpV4l2Grabber::MAX_BUFFERS];
  struct ng_video_buf *buf_me;  //[vpV4l2Grabber::MAX_BUFFERS];
  unsigned int queue;
  unsigned int waiton_cpt;
  __u32 index_buffer; 
 
  bool m_verbose;
  unsigned m_nbuffers;
  unsigned int field;
  bool streaming;
 
  unsigned m_input;
  vpV4l2FramerateType m_framerate;
  vpV4l2FrameFormatType m_frameformat;
  vpV4l2PixelFormatType m_pixelformat;
};
END_VISP_NAMESPACE
#endif
#endif