Send downsized images for streaming
Added another v4l2 reader using mainpath to send 640x480 images.
Also had to make some config queue size changes to allow us to add
another image channel.
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I5714ea774773e1c37ff2647cb75b3dda07f896fe
diff --git a/frc971/vision/v4l2_reader.cc b/frc971/vision/v4l2_reader.cc
index 2553003..1404ec5 100644
--- a/frc971/vision/v4l2_reader.cc
+++ b/frc971/vision/v4l2_reader.cc
@@ -13,9 +13,11 @@
namespace vision {
V4L2ReaderBase::V4L2ReaderBase(aos::EventLoop *event_loop,
- const std::string &device_name)
- : fd_(open(device_name.c_str(), O_RDWR | O_NONBLOCK)),
- event_loop_(event_loop) {
+ std::string_view device_name,
+ std::string_view image_channel)
+ : fd_(open(device_name.data(), O_RDWR | O_NONBLOCK)),
+ event_loop_(event_loop),
+ image_channel_(image_channel) {
PCHECK(fd_.get() != -1) << " Failed to open device " << device_name;
// Figure out if we are multi-planar or not.
@@ -84,7 +86,7 @@
}
for (size_t i = 0; i < buffers_.size(); ++i) {
- buffers_[i].sender = event_loop_->MakeSender<CameraImage>("/camera");
+ buffers_[i].sender = event_loop_->MakeSender<CameraImage>(image_channel_);
MarkBufferToBeEnqueued(i);
}
int type = multiplanar() ? V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE
@@ -287,9 +289,9 @@
PLOG(FATAL) << "VIDIOC_STREAMOFF failed";
}
-V4L2Reader::V4L2Reader(aos::EventLoop *event_loop,
- const std::string &device_name)
- : V4L2ReaderBase(event_loop, device_name) {
+V4L2Reader::V4L2Reader(aos::EventLoop *event_loop, std::string_view device_name,
+ std::string_view image_channel)
+ : V4L2ReaderBase(event_loop, device_name, image_channel) {
// Don't know why this magic call to SetExposure is required (before the
// camera settings are configured) to make things work on boot of the pi, but
// it seems to be-- without it, the image exposure is wrong (too dark). Note--
@@ -322,11 +324,12 @@
RockchipV4L2Reader::RockchipV4L2Reader(aos::EventLoop *event_loop,
aos::internal::EPoll *epoll,
- const std::string &device_name,
- const std::string &image_sensor_subdev)
- : V4L2ReaderBase(event_loop, device_name),
+ std::string_view device_name,
+ std::string_view image_sensor_subdev,
+ std::string_view image_channel)
+ : V4L2ReaderBase(event_loop, device_name, image_channel),
epoll_(epoll),
- image_sensor_fd_(open(image_sensor_subdev.c_str(), O_RDWR | O_NONBLOCK)),
+ image_sensor_fd_(open(image_sensor_subdev.data(), O_RDWR | O_NONBLOCK)),
buffer_requeuer_([this](int buffer) { EnqueueBuffer(buffer); },
kEnqueueFifoPriority) {
PCHECK(image_sensor_fd_.get() != -1)