#ifndef video4linux_hh #define video4linux_hh // video4linux.hh // robert - programme du robot 2005. {{{ // // Copyright (C) 2005 Nicolas Schodet // Modified by Olivier Gaillard // // Robot APB Team/Efrei 2005. // Web: http://assos.efrei.fr/robot/ // Email: robot AT efrei DOT fr // // This program 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. // // This program is distributed in the hope that it will be useful, // but WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the // GNU General Public License for more details. // // You should have received a copy of the GNU General Public License // along with this program; if not, write to the Free Software // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. // // }}} #include "image/image_reader.hh" #include #define VIDIOCQCSADAPTIVE _IOWR('v',227, int) /// Classe d'accés à Video4Linux. C'est un ImageReader. class Video4Linux : public ImageReader { private: int width_, height_; int fd_; unsigned bufSize_; Image::PixelFormat pixelFormat_; bool rgb_; int brightness_, contrast_; double bpp_; void *map_; video_mmap mmap_; public: /// Constructeur. Video4Linux (const char *dev, int width, int height, Image::PixelFormat pixelFormat, int brightness = 58000); /// Destructeur. ~Video4Linux (void); /// Récupère les paramètres de l'image. void getParam (int &width, int &height, Image::PixelFormat &pixelFormat) { width = width_; height = height_; pixelFormat = pixelFormat_; } /// Lit une image, lance une exception en cas d'erreur. void read (uint8_t *buf, unsigned size); /// Calibre la caméra. void calibrate (void); /// Attend qu'une image soit disponible, retourne true si oui. bool wait (int timeout = -1); /// Active/désactive la calibration automatique de la luminosité //void setAdaptive (int a); protected: /// Ouvre le périphérique. void open (const char *dev); /// Ferme le périphérique. void close (void); }; #endif // video4linux_hh