enables to control frame rate

fkanehiro · Oct 27, 2014 · aa6a20e · aa6a20e
1 parent c889449
commit aa6a20e
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Showing 4 changed files with 32 additions and 4 deletions.
diff --git a/rtc/CaptureController/CaptureController.cpp b/rtc/CaptureController/CaptureController.cpp
@@ -24,6 +24,8 @@ static const char* capturecontroller_spec[] =
     "language",          "C++",
     "lang_type",         "compile",
     // Configuration variables
+    "conf.default.frameRate",  "1",
+    "conf.default.initialMode", "sleep",
 
     ""
   };
@@ -37,7 +39,6 @@ CaptureController::CaptureController(RTC::Manager* manager)
     m_CameraCaptureServicePort("CameraCaptureService"),
     m_CameraCaptureService(this),
     // </rtc-template>
-    m_mode(SLEEP),
     dummy(0)
 {
 }
@@ -53,6 +54,8 @@ RTC::ReturnCode_t CaptureController::onInitialize()
   std::cout << m_profile.instance_name << ": onInitialize()" << std::endl;
   // <rtc-template block="bind_config">
   // Bind variables and configuration variable
+  bindParameter("frameRate", m_frameRate, "1");
+  bindParameter("initialMode", m_initialMode, "sleep");
 
   // </rtc-template>
 
@@ -105,6 +108,14 @@ RTC::ReturnCode_t CaptureController::onShutdown(RTC::UniqueId ec_id)
 RTC::ReturnCode_t CaptureController::onActivated(RTC::UniqueId ec_id)
 {
   std::cout << m_profile.instance_name<< ": onActivated(" << ec_id << ")" << std::endl;
+  m_tOld = (double)(coil::gettimeofday());
+  if (m_initialMode == "continuous"){
+    m_mode = CONTINUOUS;
+  }else if(m_initialMode == "oneshot"){
+    m_mode = ONESHOT;
+  }else{
+    m_mode = SLEEP;
+  }
   return RTC::RTC_OK;
 }
 
@@ -117,11 +128,13 @@ RTC::ReturnCode_t CaptureController::onDeactivated(RTC::UniqueId ec_id)
 RTC::ReturnCode_t CaptureController::onExecute(RTC::UniqueId ec_id)
 {
   //std::cout << m_profile.instance_name<< ": onExecute(" << ec_id << ")" << m_data.data << std::endl;
-
-  if (m_mode != SLEEP && m_imageIn.isNew()){
+  double tNew = (double)(coil::gettimeofday());
+  double dt = (double)(tNew - m_tOld);
+  if (m_mode != SLEEP && dt > 1.0/m_frameRate && m_imageIn.isNew()){
     m_imageIn.read();
     m_imageOut.write();
     if (m_mode == ONESHOT) m_mode = SLEEP;
+    m_tOld = tNew;
   }
 
   return RTC::RTC_OK;

diff --git a/rtc/CaptureController/CaptureController.h b/rtc/CaptureController/CaptureController.h
@@ -139,6 +139,9 @@ class CaptureController
  private:
   typedef enum {SLEEP, ONESHOT, CONTINUOUS} mode;
   mode m_mode;
+  int m_frameRate;
+  double m_tOld;
+  std::string m_initialMode;
   int dummy;
 };
 

diff --git a/rtc/VideoCapture/VideoCapture.cpp b/rtc/VideoCapture/VideoCapture.cpp
@@ -29,6 +29,7 @@ static const char* videocapture_spec[] =
     "conf.default.devIds", "0",
     "conf.default.width", "640",
     "conf.default.height", "480",
+    "conf.default.frameRate", "1",
 
     ""
   };
@@ -62,6 +63,7 @@ RTC::ReturnCode_t VideoCapture::onInitialize()
   bindParameter("devIds", m_devIds, "0");
   bindParameter("width", m_width, "640");
   bindParameter("height", m_height, "480");
+  bindParameter("frameRate", m_frameRate, "1");
 
   // </rtc-template>
 
@@ -113,6 +115,7 @@ RTC::ReturnCode_t VideoCapture::onShutdown(RTC::UniqueId ec_id)
 RTC::ReturnCode_t VideoCapture::onActivated(RTC::UniqueId ec_id)
 {
   std::cout << m_profile.instance_name<< ": onActivated(" << ec_id << ")" << std::endl;
+  m_tOld = (double)(coil::gettimeofday());
   if (m_initialMode == "continuous"){
     m_mode = CONTINUOUS;
   }else{
@@ -158,6 +161,14 @@ RTC::ReturnCode_t VideoCapture::onExecute(RTC::UniqueId ec_id)
   //std::cout << m_profile.instance_name<< ": onExecute(" << ec_id << ")" << std::endl;
   capture();
 
+  double tNew = (double)(coil::gettimeofday());
+  double dt = (double)(tNew - m_tOld);
+  if (dt > 1.0/m_frameRate){
+    m_tOld = tNew;
+  }else{
+    return RTC::RTC_OK;
+  }
+
   if (m_mode == SLEEP) return RTC::RTC_OK;
 
   if (m_cameras.size() == 1){

diff --git a/rtc/VideoCapture/VideoCapture.h b/rtc/VideoCapture/VideoCapture.h
@@ -145,7 +145,8 @@ class VideoCapture
   std::string m_initialMode;
   std::vector<int> m_devIds;
   std::vector < v4l_capture * > m_cameras;
-  int m_width, m_height;
+  int m_width, m_height, m_frameRate;
+  double m_tOld;
 };