[讨论] 友善之臂的CMOS摄像头测试程序

wuquan-1230 2010-4-18 10:27 楼主

%:include
%:include
%:include
%:include
%:include
%:include
%:include
%:include
%:include
%:include
%:include
%:include

class TError <%
public:
TError(const char *msg) <%
this->msg = msg;
%>
TError(const TError bitand e) <%
msg = e.msg;
%>
void Output() <%
std::cerr << msg << std::endl;
%>
virtual ~TError() <%%>
protected:
TError bitand operator=(const TError bitand);
private:
const char *msg;
%>;

// Linear memory based image
class TRect <%
public:
TRect():  Addr(0), Size(0), Width(0), Height(0), LineLen(0), BPP(16) <%
%>
virtual ~TRect() <%
%>
bool DrawRect(const TRect bitand SrcRect, int x, int y) const <%
if (BPP not_eq 16 or SrcRect.BPP not_eq 16) <%
// don't support that yet
throw TError("does not support other than 16 BPP yet");
%>

// clip
int x0, y0, x1, y1;
x0 = x;
y0 = y;
x1 = x0 + SrcRect.Width - 1;
y1 = y0 + SrcRect.Height - 1;
if (x0 < 0) <%
x0 = 0;
%>
if (x0 > Width - 1) <%
return true;
%>
if( x1 < 0) <%
return true;
%>
if (x1 > Width - 1) <%
x1 = Width - 1;
%>
if (y0 < 0) <%
y0 = 0;
%>
if (y0 > Height - 1) <%
return true;
%>
if (y1 < 0) <%
return true;
%>
if (y1 > Height - 1) <%
y1 = Height -1;
%>

//copy
int copyLineLen = (x1 + 1 - x0) * BPP / 8;
unsigned char *DstPtr = Addr + LineLen * y0 + x0 * BPP / 8;
const unsigned char *SrcPtr = SrcRect.Addr + SrcRect.LineLen *(y0 - y) + (x0 - x) * SrcRect.BPP / 8;

for (int i = y0; i <= y1; i++) <%
memcpy(DstPtr, SrcPtr, copyLineLen);
DstPtr += LineLen;
SrcPtr += SrcRect.LineLen;
%>

return true;
%>

bool DrawRect(const TRect bitand rect) const <% // default is Center
return DrawRect(rect, (Width - rect.Width) / 2, (Height - rect.Height) / 2);
%>

bool Clear() const <%
int i;
unsigned char *ptr;
for (i = 0, ptr = Addr; i < Height; i++, ptr += LineLen) <%
memset(ptr, 0, Width * BPP / 8);
%>
return true;
%>

protected:
TRect(const TRect bitand);
TRect bitand operator=( const TRect bitand);

protected:
unsigned char *Addr;
int Size;
int Width, Height, LineLen;
unsigned BPP;
%>;

class TFrameBuffer: public TRect <%
public:
TFrameBuffer(const char *DeviceName = "/dev/fb0"): TRect(), fd(-1) <%
Addr = (unsigned char *)MAP_FAILED;

        fd = open(DeviceName, O_RDWR);
if (fd < 0) <%
throw TError("cannot open frame buffer");
%>

        struct fb_fix_screeninfo Fix;
        struct fb_var_screeninfo Var;
if (ioctl(fd, FBIOGET_FSCREENINFO, bitand Fix) < 0 or ioctl(fd, FBIOGET_VSCREENINFO, bitand Var) < 0) <%
throw TError("cannot get frame buffer information");
%>

BPP = Var.bits_per_pixel;
         if (BPP not_eq 16) <%
throw TError("support 16BPP frame buffer only");
%>

        Width  = Var.xres;
        Height = Var.yres;
        LineLen = Fix.line_length;
      Size = LineLen * Height;

int PageSize = getpagesize();
Size = (Size + PageSize - 1) / PageSize * PageSize ;
         Addr = (unsigned char *)mmap(NULL, Size, PROT_READ|PROT_WRITE,MAP_SHARED, fd, 0);
if (Addr == (unsigned char *)MAP_FAILED) <%
throw TError("map frame buffer failed");
return;
%>
::close(fd);
fd = -1;

Clear();
%>

virtual ~TFrameBuffer() <%
::munmap(Addr, Size);
Addr = (unsigned char *)MAP_FAILED;

::close(fd);
fd = -1;
%>

protected:
TFrameBuffer(const TFrameBuffer bitand);
TFrameBuffer bitand operator=( const TFrameBuffer bitand);
private:
int fd;
%>;

class TVideo : public TRect <%
public:
TVideo(const char *DeviceName = "/dev/camera"): TRect(), fd(-1) <%
Addr = 0;
fd = ::open(DeviceName, O_RDONLY);
if (fd < 0) <%
throw TError("cannot open video device");
%>
Width = 640;
Height = 512;
BPP = 16;
LineLen = Width * BPP / 8;
Size = LineLen * Height;
Addr = new unsigned char<:Size:>;

Clear();
%>

bool FetchPicture() const <%
int count = ::read(fd, Addr, Size);
if (count not_eq Size) <%
throw TError("error in fetching picture from video");
%>
return true;
%>

virtual ~TVideo() <%
::close(fd);
fd = -1;
delete<::> Addr;
Addr = 0;
%>

protected:
TVideo(const TVideo bitand);
TVideo bitand operator=(const TVideo bitand);

private:
int fd;
%>;

int main(int argc, char **argv)
<%
try <%
TFrameBuffer FrameBuffer;
TVideo Video;
for (;;) <%
Video.FetchPicture();
FrameBuffer.DrawRect(Video);
%>
%> catch (TError bitand e) <%
e.Output();
return 1;
%>

return 0;
%>

这是友善之臂的CMOS摄像头的测试程序，是用C++实现的，
测试成功了，不过对于程序的原理还是不明白，比如在读取图像信息的时候需要设置哪些信息，
需要读取的缓冲区在哪等，希望高手指点，帮忙注视一下这个程序也行。谢谢！

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