video_device.h

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/*
 * Copyright (C) 2015
 *
 * This file is part of Paparazzi.
 *
 * Paparazzi 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, or (at your option)
 * any later version.
 *
 * Paparazzi 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 paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 *
 */
 
#ifndef VIDEO_DEVICE_H
#define VIDEO_DEVICE_H
 
#include <stdbool.h>
#include <inttypes.h>
#include "modules/computer_vision/lib/vision/image.h"
 
/* Different video filters */
#define VIDEO_FILTER_DEBAYER  (0x1 << 0)  
#define VIDEO_FILTER_ISP      (0x1 << 1)  
 
// Main video_thread structure
struct video_thread_t {
  volatile bool is_running;       
  struct v4l2_device *dev;        
};
 
// camera intrinsics: capture lens properties that determine how world points are projected to image points
// These properties can be obtained with a camera calibration (as done in openCV)
// The Dhane (un)distortion parameter is normally tuned by hand, for example with the undistortion module in Paparazzi
struct camera_intrinsics_t {
  float focal_x;  
  float focal_y;  
  float center_x; 
  float center_y; 
  float Dhane_k;  
};
 
struct video_config_t {
  struct img_size_t output_size;    
  struct img_size_t sensor_size;    
  struct crop_t crop;           
  char *dev_name;           
  char *subdev_name;        
  uint32_t format;          
  uint32_t subdev_format;   
  uint8_t buf_cnt;          
  uint8_t filters;          
  struct video_thread_t thread; 
  struct video_listener *cv_listener; 
  int fps;                  
  struct camera_intrinsics_t
    camera_intrinsics; 
};
extern struct video_config_t dummy_camera;
 
#endif