video_thread_nps.c File Reference

#include "video_thread_nps.h"
#include "video_thread.h"
#include "cv.h"
#include "lib/vision/image.h"
#include "modules/computer_vision/lib/v4l/v4l2.h"
#include "peripherals/video_device.h"
#include <stdio.h>

Include dependency graph for video_thread_nps.c:

Go to the source code of this file.

Functions
void	video_thread_init (void)
	Initialize the view video. More...
void	video_thread_periodic (void)
	A dummy for now. More...
void	video_thread_start (void)
	Starts the streaming of a all cameras. More...
void	video_thread_stop (void)
	Stops the streaming of all cameras This could take some time, because the thread is stopped asynchronous. More...
bool	add_video_device (struct video_config_t *device)
	Keep track of video devices added by modules. More...

Variables
struct video_config_t	front_camera
	Video thread dummy for simulation. More...
struct video_config_t	bottom_camera
struct video_config_t *	cameras [VIDEO_THREAD_MAX_CAMERAS] = { NULL }

Function Documentation

bool add_video_device

(

struct video_config_t *

device

)

Keep track of video devices added by modules.

Definition at line 105 of file video_thread_nps.c.

References video_config_t::dev_name, and VIDEO_THREAD_MAX_CAMERAS.

Referenced by cv_add_to_device().

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void video_thread_init

(

void

)

Initialize the view video.

Definition at line 87 of file video_thread_nps.c.

References VIDEO_THREAD_MAX_CAMERAS.

void video_thread_periodic

(

void

)

A dummy for now.

Definition at line 90 of file video_thread_nps.c.

void video_thread_start

(

void

)

Starts the streaming of a all cameras.

Definition at line 95 of file video_thread_nps.c.

References start_video_thread(), and VIDEO_THREAD_MAX_CAMERAS.

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void video_thread_stop

(

void

)

Stops the streaming of all cameras This could take some time, because the thread is stopped asynchronous.

Definition at line 98 of file video_thread_nps.c.

References stop_video_thread(), and VIDEO_THREAD_MAX_CAMERAS.

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Variable Documentation

struct video_config_t bottom_camera

Initial value:

= {
  .output_size = { .w = 240, .h = 240 },
  .sensor_size = { .w = 320, .h = 240 },
  .crop = { .x = 40, .y = 0, .w = 240, .h = 240 },
  .dev_name = "bottom_camera",
  .subdev_name = NULL,
  .format = V4L2_PIX_FMT_UYVY,
  .buf_cnt = 10,
  .filters = 0,
  .cv_listener = NULL,
  .fps = 0,
  .camera_intrinsics = {
    .focal_x = 350,
    .focal_y = 350,
    .center_x = 240 / 2,
    .center_y = 240 / 2,
    .Dhane_k = 1
  }
}

Definition at line 63 of file video_thread_nps.c.

struct video_config_t* cameras[VIDEO_THREAD_MAX_CAMERAS] = { NULL }

Definition at line 84 of file video_thread_nps.c.

struct video_config_t front_camera

Initial value:

= {
  .output_size = { .w = 1280, .h = 720 },
  .sensor_size = { .w = 1280, .h = 720 },
  .crop = { .x = 0, .y = 0, .w = 1280, .h = 720 },
  .dev_name = "front_camera",
  .subdev_name = NULL,
  .format = V4L2_PIX_FMT_UYVY,
  .buf_cnt = 10,
  .filters = 0,
  .cv_listener = NULL,
  .fps = 0,
  .camera_intrinsics = {
    .focal_x = 300,
    .focal_y = 300,
    .center_x = 1280 / 2,
    .center_y = 720 / 2,
    .Dhane_k = 1
  }
}

Video thread dummy for simulation.

• Keeps track of added devices, which can be referenced by simulation code such as in simulator/nps/fdm_gazebo.c.

Definition at line 43 of file video_thread_nps.c.