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path: root/src/camera/veyeimx287m.cpp
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Diffstat (limited to 'src/camera/veyeimx287m.cpp')
-rw-r--r--src/camera/veyeimx287m.cpp189
1 files changed, 90 insertions, 99 deletions
diff --git a/src/camera/veyeimx287m.cpp b/src/camera/veyeimx287m.cpp
index a97297d..1301c66 100644
--- a/src/camera/veyeimx287m.cpp
+++ b/src/camera/veyeimx287m.cpp
@@ -221,7 +221,7 @@ VeyeIMX287m::~VeyeIMX287m()
std::cout << "cannot stop stream" << std::endl;
}
- for (const auto &buffer : m_buffers) {
+ for (const auto &buffer : m_rawBuffers) {
if (munmap(buffer.mem, radxa_raw_img_size) < 0) {
DBG("Munmap failed!!.");
}
@@ -514,7 +514,7 @@ bool VeyeIMX287m::initCam()
return false;
}
- m_buffers.resize(rb.count);
+ m_rawBuffers.resize(rb.count);
std::cout << "query buffers" << std::endl;
@@ -548,9 +548,9 @@ bool VeyeIMX287m::initCam()
const auto length = buf.m.planes[0].length;
const auto offset = buf.m.planes[0].m.mem_offset;
- m_buffers[i].mem = mmap(0, length, PROT_READ | PROT_WRITE, MAP_SHARED, m_cam_fd, offset);
+ m_rawBuffers[i].mem = mmap(0, length, PROT_READ | PROT_WRITE, MAP_SHARED, m_cam_fd, offset);
- if (m_buffers[i].mem == MAP_FAILED) {
+ if (m_rawBuffers[i].mem == MAP_FAILED) {
std::cerr << "mmap() failed: " << errno << " (" << strerror(errno)
<< ")" << std::endl;
std::cerr << "length: " << length << std::endl;
@@ -559,7 +559,7 @@ bool VeyeIMX287m::initCam()
return false;
}
- printf("Buffer mapped at address %p.\n", m_buffers[i].mem);
+ printf("Buffer mapped at address %p.\n", m_rawBuffers[i].mem);
ret = ioctl(m_cam_fd, VIDIOC_QBUF, &buf);
@@ -594,77 +594,54 @@ void VeyeIMX287m::getFrameLoop(std::stop_token stopToken)
continue;
}
- const auto &image = m_buffers[bufferIdx].image;
+ // const auto &image = m_rawBuffers[bufferIdx].image;
{
t.start();
- auto &src = *(Image::radxa_data_t *) m_buffers[bufferIdx].mem;
+ auto &src = *(Image::radxa_data_t *) m_rawBuffers[bufferIdx].mem;
+ const auto image = std::make_shared<Image>();
auto &dst = image->data;
Image::copy(dst, src);
// image->rotate();
// const auto pixels = image->sharedPixels();
get_elapsed_ns += t.nsecsElapsed();
+ m_sync.rawSemQueue.enqueue(image);
}
++processedCounter;
- m_sync.rawSemQueue.enqueue(bufferIdx);
- // m_sync.freeRawBuffers.acquire();
- // // TODO: check that queue cannot contain duplicate indices due to ioctl
- // // TODO: separate copied images from raw buffers
- // {
- // std::lock_guard l{m_sync.rawBufferMtx};
- // m_sync.rawBufferIndices.enqueue(bufferIdx);
- // }
- // m_sync.usedRawBuffers.release();
-
- // image->rotate();
- // const auto pixels = image->sharedPixels();
+ // m_sync.rawSemQueue.enqueue(bufferIdx);
}
}
void VeyeIMX287m::rotateFrameLoop(std::stop_token stopToken)
{
while (!stopToken.stop_requested()) {
- // std::cout << __func__ << std::endl;
-
- // m_sync.usedRawBuffers.acquire();
- // size_t idx = std::numeric_limits<size_t>::max();
- // {
- // std::lock_guard l{m_sync.rawBufferMtx};
- // idx = m_sync.rawBufferIndices.dequeue();
- // }
- const auto idx = m_sync.rawSemQueue.dequeue();
- const auto &image = m_buffers[idx].image;
+ // const auto idx = m_sync.rawSemQueue.dequeue();
+ // const auto &image = m_rawBuffers[idx].image;
+ const auto image = m_sync.rawSemQueue.dequeue();
image->rotate();
- // const auto pixels = image->sharedPixels();
- m_lastProcessedIdx = idx;
- // m_sync.freeRawBuffers.release();
- m_sync.rotSemQueue.enqueue(idx);
- // m_sync.freeRotatedBuffers.acquire();
- // {
- // std::lock_guard l{m_sync.rotatedBufferMtx};
- // m_sync.rotatedBufferIndices.enqueue(idx);
- // }
- // m_sync.usedRotatedBuffers.release();
+ // m_lastProcessedImage = idx;
+ // m_lastProcessedImage = image;
+
+ // m_sync.rotSemQueue.enqueue(idx);
+ m_sync.rotSemQueue.enqueue(image);
}
}
void VeyeIMX287m::calcPixelsLoop(std::stop_token stopToken)
{
while (!stopToken.stop_requested()) {
- // m_sync.usedRotatedBuffers.acquire();
- // size_t idx{std::numeric_limits<size_t>::max()};
- // {
- // std::lock_guard l{m_sync.rotatedBufferMtx};
- // idx = m_sync.rotatedBufferIndices.dequeue();
- // }
- const auto idx = m_sync.rotSemQueue.dequeue();
- const auto &image = m_buffers[idx].image;
+ // const auto idx = m_sync.rotSemQueue.dequeue();
+ const auto image = m_sync.rotSemQueue.dequeue();
+ // const auto &image = m_rawBuffers[idx].image;
const auto pixels = image->sharedPixels();
- // m_sync.freeRotatedBuffers.release();
+ {
+ std::lock_guard l{m_lastImageMtx};
+ m_lastProcessedImage = image;
+ }
}
}
@@ -749,17 +726,17 @@ bool VeyeIMX287m::dequeueImageBuffer(size_t &imageIndex)
imageIndex = buf.index;
- const auto &image = m_buffers[buf.index].image;
- image->height = img_height;
- image->width = img_width;
- // TODO: fill
- // image.counters.encoderPosition = RotaryEncoder::instance()->position();
- image->counters.measurementCounter = buf.sequence;
+ // const auto &image = m_rawBuffers[buf.index].image;
+ // image->height = img_height;
+ // image->width = img_width;
+ // // TODO: fill
+ // // image.counters.encoderPosition = RotaryEncoder::instance()->position();
+ // image->counters.measurementCounter = buf.sequence;
dropped_count += buf.sequence - m_previousFrameCounter.value_or(buf.sequence) - 1;
m_previousFrameCounter = buf.sequence;
- image->counters.timestampUs = buf.timestamp.tv_sec * 1000 * 1000 + buf.timestamp.tv_usec;
+ // image->counters.timestampUs = buf.timestamp.tv_sec * 1000 * 1000 + buf.timestamp.tv_usec;
{
std::lock_guard<std::mutex> lock(m_camMtx);
@@ -778,66 +755,80 @@ bool VeyeIMX287m::dequeueImageBuffer(size_t &imageIndex)
bool VeyeIMX287m::getImage(Image *image)
{
return false;
- if (!image) {
- std::cerr << __func__ << ": image is nullptr" << std::endl;
+ // if (!image) {
+ // std::cerr << __func__ << ": image is nullptr" << std::endl;
- return false;
- }
+ // return false;
+ // }
- size_t bufferIdx{};
+ // size_t bufferIdx{};
- if (!dequeueImageBuffer(bufferIdx)) {
- return false;
- }
+ // if (!dequeueImageBuffer(bufferIdx)) {
+ // return false;
+ // }
- // TODO: remove this bullshit. return ptr to image or copy image metainfo
- // only, then copy data
- // *image = std::move(m_images[bufferIdx]);
- *image = std::move(*m_buffers[bufferIdx].image);
- {
- QElapsedTimer t;
- t.start();
- std::lock_guard lock{m_imageMutexes[bufferIdx]};
+ // // TODO: remove this bullshit. return ptr to image or copy image metainfo
+ // // only, then copy data
+ // // *image = std::move(m_images[bufferIdx]);
+ // *image = std::move(*m_rawBuffers[bufferIdx].image);
+ // {
+ // QElapsedTimer t;
+ // t.start();
+ // std::lock_guard lock{m_imageMutexes[bufferIdx]};
- auto &src = *(Image::radxa_data_t *) m_buffers[bufferIdx].mem;
- auto &dst = image->data;
- Image::copy(dst, src);
- get_elapsed_ns += t.nsecsElapsed();
- }
+ // auto &src = *(Image::radxa_data_t *) m_rawBuffers[bufferIdx].mem;
+ // auto &dst = image->data;
+ // Image::copy(dst, src);
+ // get_elapsed_ns += t.nsecsElapsed();
+ // }
- return true;
+ // return true;
}
std::shared_ptr<Image> VeyeIMX287m::getImage()
{
std::shared_ptr<Image> result;
+ // std::shared_ptr<Image> result = std::make_shared<Image>();
+
+ // if (m_lastProcessedImage != std::numeric_limits<size_t>::max()) {
+ // if (m_lastProcessedImage) {
+ // return m_rawBuffers[m_lastProcessedImage].image;
+ // }
- if (m_lastProcessedIdx != std::numeric_limits<size_t>::max()) {
- return m_buffers[m_lastProcessedIdx].image;
+ {
+ std::lock_guard l{m_lastImageMtx};
+ result = m_lastProcessedImage;
+ // std::swap(result, m_lastProcessedImage);
}
+ // return {};
+ // {
+ // return m_lastProcessedImage;
+ // result = m_lastProcessedImage;
+ // }
+ return result;
- return {};
+ // size_t bufferIdx{};
- size_t bufferIdx{};
+ // if (!dequeueImageBuffer(bufferIdx)) {
+ // std::cerr << "cannot dequeue" << std::endl;
+ // return {};
+ // }
- if (!dequeueImageBuffer(bufferIdx)) {
- return {};
- }
+ // // TODO: remove this bullshit. return ptr to image or copy image metainfo
+ // // only, then copy data
+ // // *image = std::move(m_images[bufferIdx]);
+ // // result = m_rawBuffers[bufferIdx].image;
+ // {
+ // QElapsedTimer t;
+ // t.start();
+ // std::lock_guard lock{m_imageMutexes[bufferIdx]};
- // TODO: remove this bullshit. return ptr to image or copy image metainfo
- // only, then copy data
- // *image = std::move(m_images[bufferIdx]);
- result = m_buffers[bufferIdx].image;
- {
- QElapsedTimer t;
- t.start();
- std::lock_guard lock{m_imageMutexes[bufferIdx]};
+ // auto &src = *(Image::radxa_data_t *) m_rawBuffers[bufferIdx].mem;
+ // auto &dst = result->data;
+ // Image::copy(dst, src);
+ // get_elapsed_ns += t.nsecsElapsed();
+ // }
+ // // std::cerr << "ok" << std::endl;
- auto &src = *(Image::radxa_data_t *) m_buffers[bufferIdx].mem;
- auto &dst = result->data;
- Image::copy(dst, src);
- get_elapsed_ns += t.nsecsElapsed();
- }
-
- return result;
+ // return result;
}
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