apollo::drivers::camera::UsbCam类 参考

#include <usb_cam.h>

apollo::drivers::camera::UsbCam 的协作图:

Public 成员函数
	UsbCam ()
virtual	~UsbCam ()
virtual bool	init (const std::shared_ptr< apollo::drivers::camera::config::Config > &camera_config)
virtual CameraDeviceState	poll (const CameraImagePtr &raw_image, const CameraImagePtr &sensor_raw_image)
bool	is_capturing ()
bool	wait_for_device (void)

详细描述

在文件 usb_cam.h 第 110 行定义.

构造及析构函数说明

UsbCam()

apollo::drivers::camera::UsbCam::UsbCam

(

)

在文件 usb_cam.cc 第 68 行定义.

               :
        fd_(-1),
#ifdef __aarch64__
        time_compensator_fd_(-1),
#endif
        buffers_(NULL),
        n_buffers_(0),
        is_capturing_(false),
        image_seq_(0),
        device_wait_sec_(2),
        last_nsec_(0),
        frame_drop_interval_(0.0) {
}

~UsbCam()

apollo::drivers::camera::UsbCam::~UsbCam ( )

virtual

在文件 usb_cam.cc 第 82 行定义.

                {
    stop_capturing();
    uninit_device();
    close_device();
#ifdef __aarch64__
    handler_.Destory();
#endif
}

成员函数说明

init()

bool apollo::drivers::camera::UsbCam::init ( const std::shared_ptr< apollo::drivers::camera::config::Config > &  camera_config )

virtual

在文件 usb_cam.cc 第 91 行定义.

                                                           {
    config_ = cameraconfig;
 
    if (config_->pixel_format() == "yuyv") {
        pixel_format_ = V4L2_PIX_FMT_YUYV;
    } else if (config_->pixel_format() == "uyvy") {
        pixel_format_ = V4L2_PIX_FMT_UYVY;
    } else if (config_->pixel_format() == "mjpeg") {
        pixel_format_ = V4L2_PIX_FMT_MJPEG;
    } else if (config_->pixel_format() == "yuvmono10") {
        pixel_format_ = V4L2_PIX_FMT_YUYV;
        config_->set_monochrome(true);
    } else if (config_->pixel_format() == "rgb24") {
        pixel_format_ = V4L2_PIX_FMT_RGB24;
    } else {
        pixel_format_ = V4L2_PIX_FMT_YUYV;
        AERROR << "Wrong pixel fromat:" << config_->pixel_format()
               << ",must be yuyv | uyvy | mjpeg | yuvmono10 | rgb24";
        return false;
    }
    if (pixel_format_ == V4L2_PIX_FMT_MJPEG) {
        init_mjpeg_decoder(config_->width(), config_->height());
    }
 
    // Warning when diff with last > 1.5* interval
    frame_warning_interval_ = static_cast<float>(1.5 / config_->frame_rate());
    // now max fps 30, we use an appox time 0.9 to drop image.
    frame_drop_interval_ = static_cast<float>(0.9 / config_->frame_rate());
    frame_drop_interval_ns_ = static_cast<uint64_t>(frame_drop_interval_ * 1000 * 1000 * 1000);
 
#ifdef __aarch64__
    handler_ = CudaConvertHandler(config_->width(), config_->height());
    if (!handler_.Init()) {
        AERROR << "Init cuda convert handler error";
        return false;
    }
#endif
 
    return true;
}

is_capturing()

bool apollo::drivers::camera::UsbCam::is_capturing

(

)

在文件 usb_cam.cc 第 1087 行定义.

                          {
    return is_capturing_;
}

poll()

CameraDeviceState apollo::drivers::camera::UsbCam::poll ( const CameraImagePtr &  raw_image, const CameraImagePtr &  sensor_raw_image  )

virtual

在文件 usb_cam.cc 第 280 行定义.

                                                                                                      {
    raw_image->is_new = 0;
    // no need to memeset
    // memset(raw_image->image, 0, raw_image->image_size * sizeof(char));
 
    int r = 0;
 
    FD_ZERO(&fds_);
    FD_SET(fd_, &fds_);
 
    /* Timeout. */
    tv_.tv_sec = 2;
    tv_.tv_usec = 0;
 
    r = select(fd_ + 1, &fds_, nullptr, nullptr, &tv_);
 
    if (-1 == r) {
        if (EINTR == errno) {
            return CameraDeviceState::STATE_INTR;
        }
 
        // errno_exit("select");
        reconnect();
    }
 
    if (0 == r) {
        AERROR << "select timeout";
        reconnect();
    }
 
    CameraDeviceState s = read_frame(raw_image, sensor_raw_image);
 
    if (s == CameraDeviceState::STATE_SUCCESS) {
        raw_image->is_new = 1;
    }
    
    return s;
}

wait_for_device()

bool apollo::drivers::camera::UsbCam::wait_for_device

(

void

)

在文件 usb_cam.cc 第 1164 行定义.

                             {
    if (is_capturing_) {
        ADEBUG << "is capturing";
        return true;
    }
    if (!open_device()) {
        return false;
    }
    if (!init_device()) {
        close_device();
        return false;
    }
    if (!start_capturing()) {
        uninit_device();
        close_device();
        return false;
    }
#ifndef __aarch64__
    // will continue when trigger failed for self-trigger camera
    set_adv_trigger();
#endif
    return true;
}

---

该类的文档由以下文件生成:

• modules/drivers/camera/usb_cam.h
• modules/drivers/camera/usb_cam.cc