Re: [Playerstage-developers] camerav4l does not work on CVS version

[Richard v. <va...@cs...>]

Patches are *even more* welcome when delivered via the patch  
management system on our sourceforge page! I don't want to seem  
ungrateful, but this really helps.

Richard/

On 17-Oct-07, at 4:03 PM, Paul Osmialowski wrote:

> On Wed, 17 Oct 2007, Toby Collett wrote:
>
>> Patches are always welcome.
>>
>> Toby
>>
> Ok, so here goes the patches. Attached tarball contains only those  
> files that were changed by me. I don't know if and how can I change  
> files in CVS, so someone will have to do that for me. What I did is  
> quite tricky. Problems with using both USB camera and d-link USB  
> WiFi together on the Foxboard (slow etrax/cris SoC 32-bit CPU) are  
> well known and descirbed in newsgroups. I've realised that the only  
> solution is to put bulk data to the network connection as less  
> frequent as possible. Therefore I've added new integer  
> configuration entry called "publish_interval" given in seconds. If  
> set, all packets from camera driver published between given  
> interval have no image and width/height fields of  
> player_camera_data_t structure are set to 0. It cannot be just few  
> second sleep(), since it causes bad side effects. Unfortunately,  
> the idea with no-image packets breaks player API somewhat. The very  
> tricky solution is to rework cameracompress driver a little and put  
> all the image from camera connected to foxboard through  
> cameracompress driver running on some more powerful computer. To  
> achieve this, I've made two changes to cameracompress driver (also  
> in attached tarball):
> 1. If image is already compressed, cameracompress passes it intact  
> (keep in mind that Labtec USB camera offers JPEG compressed stream!)
> 2. If image has no width and no height, publish previously  
> published image (but first check if there was any so far!)
> Also I've prepared new version of videoplayer2 ( http://king.net.pl/ 
> playercontrib/videoplayer/videoplayer2 ) that does not show images  
> with no size (so previously drawn frames aren't destroyed). I've  
> tested it and it works quite well.
> To run Player on Foxboard (which is also the onboard computer for  
> my Roombas), I've used this configuration file:
>
> driver
> (
>     name "camerav4l"
>     provides ["camera:0"]
>     port "/dev/video0"
>     source 0
>     size [640 480]
>     mode "JPEG"
>     norm "ntsc"
>     save 0
>     brightness 32768
>     hue 32768
>     colour 32768
>     contrast 32768
>     read_mode 0
>     publish_interval 3
>     alwayson 0
> )
>
> driver
> (
>     name "roomba"
>     provides ["position2d:0" "power:0" "bumper:0" "ir:0"]
>     port "/dev/ttyS2"
>     safe 1
>     alwayson 0
> )
>
> It must be said that Foxboard offers not enough RAM to run Player  
> with camera interface. The solution is to change  
> PLAYER_CAMERA_IMAGE_WIDTH and PLAYER_CAMERA_IMAGE_HEIGHT  
> definitions in libplayercore/player_interfaces.h header file from  
> 1920x1080 to 640x480.
> I was kinda afraid that something may fail if I do that change only  
> on server side while clients are compiled aganist libraries built  
> with standard values. Fortunately, nothing wrong happend so it is  
> enough to change these values only for Player cross-compiled for  
> etrax/cris (Foxboard CPU).
>
> On some stronger machine that may act as a camera image proxy,  
> configuration file may look like this:
>
> driver
> (
>     name "cameracompress"
>     provides ["camera:0"]
>     requires ["192.168.1.90:6665:camera:0"]
>     alwayson 0
> )
>
> driver
> (
>     name "cmvision"
>     provides ["blobfinder:0"]
>     requires ["camera:0"]
>     colorfile "colors.txt"
>     alwayson 0
> )
>
> Where 192.168.1.90 is the ip of my foxboard in our LAN.
>
> Hope someone will find all of this useful.
>
> Cheers,
> Paul<camera- 
> drivers-20071017.tar.bz2>--------------------------------------------- 
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