diff --git a/components/rgbd-sources/src/sources/stereovideo/local.cpp b/components/rgbd-sources/src/sources/stereovideo/local.cpp
index dd1b10138ff5c003b01ad12d760da58223007c16..89eeca114786f77c32bf863d92388a4fef7798eb 100644
--- a/components/rgbd-sources/src/sources/stereovideo/local.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/local.cpp
@@ -17,6 +17,19 @@
#include <ftl/timer.hpp>
+#ifndef WIN32
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <linux/videodev2.h>
+#else
+#include <mfapi.h>
+#include <mfidl.h>
+#pragma comment(lib, "mf.lib")
+#pragma comment(lib, "mfplat.lib")
+#pragma comment(lib, "mfuuid.lib")
+#endif
+
using ftl::rgbd::detail::LocalSource;
using ftl::rgbd::detail::Calibrate;
using cv::Mat;
@@ -32,16 +45,50 @@ using std::this_thread::sleep_for;
LocalSource::LocalSource(nlohmann::json &config)
: Configurable(config), timestamp_(0.0) {
+ std::vector<ftl::rgbd::detail::DeviceDetails> devices = _selectDevices();
+
+ int device_left = 0;
+ int device_right = -1;
+
+ LOG(INFO) << "Found " << devices.size() << " cameras";
+
+ if (Configurable::get<std::string>("device_left")) {
+ for (auto &d : devices) {
+ if (d.name.find(*Configurable::get<std::string>("device_left")) != std::string::npos) {
+ device_left = d.id;
+ LOG(INFO) << "Device left = " << device_left;
+ break;
+ }
+ }
+ } else {
+ device_left = value("device_left", (devices.size() > 0) ? devices[0].id : 0);
+ }
+
+ if (Configurable::get<std::string>("device_right")) {
+ for (auto &d : devices) {
+ if (d.name.find(*Configurable::get<std::string>("device_right")) != std::string::npos) {
+ if (d.id == device_left) continue;
+ device_right = d.id;
+ break;
+ }
+ }
+ } else {
+ device_right = value("device_right", (devices.size() > 1) ? devices[1].id : 1);
+ }
+
nostereo_ = value("nostereo", false);
- int device_left = value("device_left", 0);
- int device_right = value("device_right", 1);
+
+ if (device_left < 0) {
+ LOG(ERROR) << "No available cameras";
+ return;
+ }
// Use cameras
camera_a_ = new VideoCapture;
LOG(INFO) << "Cameras check... ";
camera_a_->open(device_left);
- if (!nostereo_) {
+ if (!nostereo_ && device_right >= 0) {
camera_b_ = new VideoCapture(device_right);
} else {
camera_b_ = nullptr;
@@ -100,6 +147,153 @@ LocalSource::LocalSource(nlohmann::json &config, const string &vid)
LOG(FATAL) << "Stereo video file sources no longer supported";
}
+std::vector<ftl::rgbd::detail::DeviceDetails> LocalSource::_selectDevices() {
+ std::vector<ftl::rgbd::detail::DeviceDetails> devices;
+
+#ifdef WIN32
+ UINT32 count = 0;
+
+ IMFAttributes *pConfig = NULL;
+ IMFActivate **ppDevices = NULL;
+
+ // Create an attribute store to hold the search criteria.
+ HRESULT hr = MFCreateAttributes(&pConfig, 1);
+
+ // Request video capture devices.
+ if (SUCCEEDED(hr))
+ {
+ hr = pConfig->SetGUID(
+ MF_DEVSOURCE_ATTRIBUTE_SOURCE_TYPE,
+ MF_DEVSOURCE_ATTRIBUTE_SOURCE_TYPE_VIDCAP_GUID
+ );
+ }
+
+ // Enumerate the devices,
+ if (SUCCEEDED(hr))
+ {
+ hr = MFEnumDeviceSources(pConfig, &ppDevices, &count);
+ }
+
+ // Create a media source for the first device in the list.
+ if (SUCCEEDED(hr))
+ {
+ if (count > 0)
+ {
+ for (int i = 0; i < count; ++i) {
+ HRESULT hr = S_OK;
+ WCHAR *szFriendlyName = NULL;
+
+ // Try to get the display name.
+ UINT32 cchName;
+ hr = ppDevices[i]->GetAllocatedString(
+ MF_DEVSOURCE_ATTRIBUTE_FRIENDLY_NAME,
+ &szFriendlyName, &cchName);
+
+ char temp[100];
+ size_t size;
+ wcstombs_s(&size, temp, 100, szFriendlyName, _TRUNCATE);
+
+ if (SUCCEEDED(hr))
+ {
+ LOG(INFO) << " -- " << temp;
+ devices.push_back({
+ std::string((const char*)temp),
+ i,
+ 0,
+ 0
+ });
+ }
+ CoTaskMemFree(szFriendlyName);
+ }
+ }
+ else
+ {
+
+ }
+ }
+
+ for (DWORD i = 0; i < count; i++)
+ {
+ ppDevices[i]->Release();
+ }
+ CoTaskMemFree(ppDevices);
+#else
+
+ int fd;
+ v4l2_capability video_cap;
+ v4l2_frmsizeenum video_fsize;
+
+ LOG(INFO) << "Video Devices:";
+
+ for (int i=0; i<10; ++i) {
+ std::string path = "/dev/video";
+ path += std::to_string(i);
+
+ if ((fd = open(path.c_str(), O_RDONLY)) == -1) {
+ break;
+ }
+
+ if(ioctl(fd, VIDIOC_QUERYCAP, &video_cap) == -1) {
+ LOG(WARNING) << "Can't get video capabilities";
+ continue;
+ }// else {
+
+ // Get some formats
+ v4l2_fmtdesc pixfmt;
+ pixfmt.index = 0;
+ pixfmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+ while (ioctl(fd, VIDIOC_ENUM_FMT, &pixfmt) == 0) {
+ LOG(INFO) << " -- -- format = " << pixfmt.description << " code = " << ((char*)&pixfmt.pixelformat)[0] << ((char*)&pixfmt.pixelformat)[1] << ((char*)&pixfmt.pixelformat)[2] << ((char*)&pixfmt.pixelformat)[3];
+ pixfmt.index++;
+ }
+
+ memset(&video_fsize, 0, sizeof(video_fsize));
+ video_fsize.index = 0;
+ video_fsize.pixel_format = v4l2_fourcc('Y','U','Y','V');
+
+ size_t maxwidth = 0;
+ size_t maxheight = 0;
+
+ while (ioctl(fd, VIDIOC_ENUM_FRAMESIZES, &video_fsize) == 0) {
+ maxwidth = max(maxwidth, (video_fsize.type == V4L2_FRMSIZE_TYPE_DISCRETE) ? video_fsize.discrete.width : video_fsize.stepwise.max_width);
+ maxheight = max(maxheight, (video_fsize.type == V4L2_FRMSIZE_TYPE_DISCRETE) ? video_fsize.discrete.height : video_fsize.stepwise.max_height);
+ video_fsize.index++;
+ }
+
+ //printf("Name:\t\t '%s'\n", video_cap.name);
+ //printf("Minimum size:\t%d x %d\n", video_cap.minwidth, video_cap.minheight);
+ //printf("Maximum size:\t%d x %d\n", video_cap.maxwidth, video_cap.maxheight);
+
+ if (maxwidth > 0 && maxheight > 0) {
+ devices.push_back({
+ std::string((const char*)video_cap.card),
+ i,
+ maxwidth,
+ maxheight
+ });
+ }
+
+ LOG(INFO) << " -- " << video_cap.card << " (" << maxwidth << "x" << maxheight << ")";
+ //}
+
+ /*if(ioctl(fd, VIDIOCGWIN, &video_win) == -1)
+ perror("cam_info: Can't get window information");
+ else
+ printf("Current size:\t%d x %d\n", video_win.width, video_win.height);
+
+ if(ioctl(fd, VIDIOCGPICT, &video_pic) == -1)
+ perror("cam_info: Can't get picture information");
+ else
+ printf("Current depth:\t%d\n", video_pic.depth);*/
+
+ close(fd);
+ }
+
+#endif
+
+ return devices;
+}
+
bool LocalSource::grab() {
if (!camera_a_) return false;
diff --git a/components/rgbd-sources/src/sources/stereovideo/local.hpp b/components/rgbd-sources/src/sources/stereovideo/local.hpp
index 90654916489ed27d111ab616a220c2bd5323a38a..243df4c4787ea83707b70d12520baeee5b0f42bb 100644
--- a/components/rgbd-sources/src/sources/stereovideo/local.hpp
+++ b/components/rgbd-sources/src/sources/stereovideo/local.hpp
@@ -16,6 +16,13 @@ namespace detail {
class Calibrate;
+struct DeviceDetails {
+ std::string name;
+ int id;
+ size_t maxwidth;
+ size_t maxheight;
+};
+
class LocalSource : public Configurable {
public:
explicit LocalSource(nlohmann::json &config);
@@ -64,6 +71,8 @@ class LocalSource : public Configurable {
cv::Mat frame_l_;
cv::Mat frame_r_;
+
+ std::vector<DeviceDetails> _selectDevices();
};
}