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v4l2camthread.cpp
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v4l2camthread.cpp
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/*
* v4l2 camera implementation of visualdatainterface for libvisualdata
* Copyright (c) 2012-2014, Intel Corporation.
*
* This program is free software; you can redistribute it and/or modify it
* under the terms and conditions of the GNU Lesser General Public License,
* version 2.1, as published by the Free Software Foundation.
*
* This program is distributed in the hope it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public
* License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St - Fifth Floor, Boston, MA 02110-1301 USA.
*
*/
#include "v4l2camthread.hpp"
using boost::thread;
using boost::bind;
const static double C910MAXFHDFPS = 15.0;
v4l2camthread::v4l2camthread(const uint width, const uint height,
const bool undistort,
const uint fps,
const std::string undistortionparameters,
boost::function<void(cv::Mat&)> callback)
: undistort_(undistort), capture_(false),
emptyframes_(0) {
visualdatainterface::framesize_ = cv::Size(width, height);
if (undistort_) {
readundistortionparameters(undistortionparameters);
}
visualdatainterface::callback_ = callback;
opencamera(); // v4l2 devices for OpenCV run with highest available fps
// to skip frames because we can undistort only a few frames per second
fpsmodulo_ = static_cast<int>(C910MAXFHDFPS / fps);
visualdatainterface::fps_ = fps;
startcapturethread();
}
void v4l2camthread::readundistortionparameters(const std::string undistparams) {
try {
cv::FileStorage fs(undistparams, cv::FileStorage::READ);
fs["camera_matrix"] >> cameramatrix_;
fs["distortion_coefficients"] >> distcoeffs_;
fs.release();
} catch(...) {
throw std::runtime_error("v4l2camthread - cannot read undistort params");
}
cv::Mat optimalmap = cv::getOptimalNewCameraMatrix(cameramatrix_,
distcoeffs_,
framesize_, 1,
framesize_);
cv::Mat map1, map2;
cv::initUndistortRectifyMap(cameramatrix_, distcoeffs_, cv::Mat(),
optimalmap, framesize_, CV_16SC2, map1, map2);
}
v4l2camthread::~v4l2camthread() {
stopcapturethread();
}
inline void v4l2camthread::opencamera() {
capturedev_.open(0);
if (capturedev_.isOpened()) {
capturedev_.set(CV_CAP_PROP_FRAME_HEIGHT, framesize_.height);
capturedev_.set(CV_CAP_PROP_FRAME_WIDTH, framesize_.width);
return;
} else {
throw std::runtime_error("v4l2camthread - V4L2 device cannot be opened");
}
}
inline void v4l2camthread::detach() {
capturethread_->detach();
}
inline void v4l2camthread::operator()() {
capture();
}
void v4l2camthread::startcapturethread() {
if (capturedev_.isOpened()) {
capture_ = true;
capturethread_ = new thread(bind(&v4l2camthread::capture, this));
} else {
capture_ = false;
}
return;
}
void v4l2camthread::stopcapturethread() {
capture_ = false;
capturethread_->join();
delete capturethread_;
capturethread_ = NULL;
}
inline void v4l2camthread::capture() {
while (capture_) {
capturedev_ >> frame_;
framecounter_++;
if (!(framecounter_ % fpsmodulo_) && !frame_.empty()) {
processimage();
callback_(processframe_);
} else {
emptyframes_++;
}
// else we do not sleep frame interval because processing every nth
// frame takes enough time
}
}
void v4l2camthread::processimage() {
if (undistort_) {
cv::undistort(frame_, processframe_, cameramatrix_, distcoeffs_);
} else { // we get raw, undistorted frame
processframe_ = frame_;
}
}