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support setting focus and autofocus with V4L2

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also refactor property range handling and opencv property to V4L2
translation.
This commit is contained in:
Pavel Rojtberg 2015-10-08 16:56:18 +02:00 committed by Pavel Rojtberg
parent 484c68cbb8
commit f7981a8ae8
3 changed files with 131 additions and 326 deletions
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4
modules/videoio/include/opencv2/videoio.hpp
View File

@ -133,7 +133,9 @@ enum { CAP_PROP_POS_MSEC =0,
CAP_PROP_TILT =34, CAP_PROP_TILT =34,
CAP_PROP_ROLL =35, CAP_PROP_ROLL =35,
CAP_PROP_IRIS =36, CAP_PROP_IRIS =36,
CAP_PROP_SETTINGS =37 CAP_PROP_SETTINGS =37,
CAP_PROP_BUFFERSIZE =38,
CAP_PROP_AUTOFOCUS =39
}; };

1
modules/videoio/include/opencv2/videoio/videoio_c.h
View File

@ -189,6 +189,7 @@ enum
CV_CAP_PROP_IRIS =36, CV_CAP_PROP_IRIS =36,
CV_CAP_PROP_SETTINGS =37, CV_CAP_PROP_SETTINGS =37,
CV_CAP_PROP_BUFFERSIZE =38, 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_AUTOGRAB =1024, // property for videoio class CvCapture_Android only
CV_CAP_PROP_SUPPORTED_PREVIEW_SIZES_STRING=1025, // readonly, tricky property, returns cpnst char* indeed CV_CAP_PROP_SUPPORTED_PREVIEW_SIZES_STRING=1025, // readonly, tricky property, returns cpnst char* indeed

452
modules/videoio/src/cap_v4l.cpp
View File

@ -330,13 +330,30 @@ typedef struct CvCaptureCAM_V4L
struct timeval timestamp; struct timeval timestamp;
/* V4L2 control variables */ /* V4L2 control variables */
int v4l2_brightness, v4l2_brightness_min, v4l2_brightness_max; cv::Range focus, brightness, contrast, saturation, hue, gain, exposure;
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 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 */ #endif /* HAVE_CAMV4L2 */
} }
@ -645,158 +662,72 @@ static int autosetup_capture_mode_v4l(CvCaptureCAM_V4L* capture)
#ifdef HAVE_CAMV4L2 #ifdef HAVE_CAMV4L2
static void v4l2_control_range(CvCaptureCAM_V4L* cap, __u32 id)
{
CLEAR (cap->queryctrl);
cap->queryctrl.id = id;
if(0 != ioctl(cap->deviceHandle, VIDIOC_QUERYCTRL, &cap->queryctrl))
{
if (errno != EINVAL)
perror ("VIDIOC_QUERYCTRL");
return;
}
if (cap->queryctrl.flags & V4L2_CTRL_FLAG_DISABLED)
return;
cv::Range range(cap->queryctrl.minimum, cap->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;
}
}
static void v4l2_scan_controls(CvCaptureCAM_V4L* capture) static void v4l2_scan_controls(CvCaptureCAM_V4L* capture)
{ {
__u32 ctrl_id; __u32 ctrl_id;
for (ctrl_id = V4L2_CID_BASE; for (ctrl_id = V4L2_CID_BASE; ctrl_id < V4L2_CID_LASTP1; ctrl_id++)
ctrl_id < V4L2_CID_LASTP1;
ctrl_id++)
{ {
v4l2_control_range(capture, 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)
{
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;
perror ("VIDIOC_QUERYCTRL");
}
} }
for (ctrl_id = V4L2_CID_PRIVATE_BASE;;ctrl_id++) for (ctrl_id = V4L2_CID_PRIVATE_BASE;;ctrl_id++)
{ {
v4l2_control_range(capture, 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)
{
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) if (errno == EINVAL)
break; break;
perror ("VIDIOC_QUERYCTRL");
}
} }
v4l2_control_range(capture, V4L2_CID_FOCUS_ABSOLUTE);
} }
static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName) static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
{ {
int detect_v4l2 = 0; if (try_init_v4l2(capture, deviceName) != 1) {
detect_v4l2 = try_init_v4l2(capture, deviceName);
if (detect_v4l2 != 1) {
/* init of the v4l2 device is not OK */ /* init of the v4l2 device is not OK */
return -1; 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 */ /* starting from here, we assume we are in V4L2 mode */
V4L2_SUPPORT = 1; V4L2_SUPPORT = 1;
/* Init V4L2 control variables */ /* V4L2 control variables are zero (memset above) */
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;
/* Scan V4L2 controls */ /* Scan V4L2 controls */
v4l2_scan_controls(capture); v4l2_scan_controls(capture);
@ -2290,6 +2198,31 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
return(&capture->frame); 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, static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
int property_id ) { int property_id ) {
@ -2299,11 +2232,6 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
if (V4L2_SUPPORT == 1) if (V4L2_SUPPORT == 1)
#endif #endif
{ {
/* default value for min and max */
int v4l2_min = 0;
int v4l2_max = 255;
CLEAR (capture->form); CLEAR (capture->form);
capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == ioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form)) { 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 */ /* initialize the control structure */
switch (property_id) { if(property_id == CV_CAP_PROP_POS_MSEC) {
case CV_CAP_PROP_POS_MSEC:
if (capture->FirstCapture) { if (capture->FirstCapture) {
return 0; return 0;
} else { } else {
return 1000 * capture->timestamp.tv_sec + ((double) capture->timestamp.tv_usec) / 1000; 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:
fprintf(stderr,
"VIDEOIO ERROR: V4L2: getting property #%d is not supported\n",
property_id);
return -1;
} }
__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, if (-1 == ioctl (capture->deviceHandle, VIDIOC_G_CTRL,
&capture->control)) { &capture->control)) {
@ -2377,43 +2291,27 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
case CV_CAP_PROP_EXPOSURE: case CV_CAP_PROP_EXPOSURE:
fprintf (stderr, "Exposure"); fprintf (stderr, "Exposure");
break; 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"); fprintf (stderr, " is not supported by your device\n");
return -1; return -1;
} }
/* get the min/max values */ if(property_id == CV_CAP_PROP_AUTOFOCUS) {
switch (property_id) { return (double)capture->control.value;
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;
} }
/* 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 */ /* 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 */ #endif /* HAVE_CAMV4L2 */
@ -2603,111 +2501,24 @@ static int icvSetControl (CvCaptureCAM_V4L* capture,
if (V4L2_SUPPORT == 1) if (V4L2_SUPPORT == 1)
{ {
/* default value for min and max */
int v4l2_min = 0;
int v4l2_max = 255;
/* initialisations */ /* initialisations */
CLEAR (capture->control); __u32 v4l2id = capPropertyToV4L2(property_id);
/* set which control we want to set */ if(v4l2id == __u32(-1)) {
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:
fprintf(stderr, fprintf(stderr,
"VIDEOIO ERROR: V4L2: setting property #%d is not supported\n", "VIDEOIO ERROR: V4L2: setting property #%d is not supported\n",
property_id); property_id);
return -1; return -1;
} }
/* set which control we want to set */
/* get the min and max values */ CLEAR (capture->control);
if (-1 == ioctl (capture->deviceHandle, capture->control.id = v4l2id;
VIDIOC_G_CTRL, &capture->control)) {
// perror ("VIDIOC_G_CTRL for getting min/max values");
return -1;
}
/* get the min/max values */ /* get the min/max values */
switch (property_id) { cv::Range range = capture->getRange(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) {
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;
}
/* set the value we want to set to the scaled the value */ /* 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 */ /* The driver may clamp the value or return ERANGE, ignored here */
if (-1 == ioctl (capture->deviceHandle, if (-1 == ioctl (capture->deviceHandle,
@ -2799,18 +2610,9 @@ static int icvSetPropertyCAM_V4L( CvCaptureCAM_V4L* capture,
width = height = 0; width = height = 0;
} }
break; break;
case CV_CAP_PROP_BRIGHTNESS: default:
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:
retval = icvSetControl(capture, property_id, value); retval = icvSetControl(capture, property_id, value);
break; break;
default:
fprintf(stderr,
"VIDEOIO ERROR: V4L: setting property #%d is not supported\n",
property_id);
} }
/* return the the status */ /* return the the status */