Smartereye : driver source code

modules/drivers/smartereye/BUILD

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+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_binary(
+    name = "libsmartereye_component.so",
+    linkshared = True,
+    linkstatic = False,
+    deps = [
+        ":smartereye_component_lib",
+        ":compress_component_lib",
+    ],
+)
+
+cc_library(
+    name = "smartereye_component_lib",
+    srcs = ["smartereye_component.cc"],
+    hdrs = ["smartereye_component.h"],
+    copts = ['-DMODULE_NAME=\\"camera\\"'],
+    deps = [
+        ":smartereye_device",
+        ":smartereye_handler",
+        "//cyber",
+        "//modules/common/adapters:adapter_gflags",
+        "//modules/drivers/proto:sensor_proto",
+        "//third_party/camera_library/smartereye:smartereye",
+    ],
+)
+
+cc_library(
+    name = "smartereye_device",
+    srcs = ["smartereye_device.cc"],
+    hdrs = ["smartereye_device.h"],
+    copts = ['-DMODULE_NAME=\\"camera\\"'],
+    deps = [
+        ":smartereye_handler",
+        "//cyber",
+        "//modules/drivers/proto:sensor_proto",
+        "//modules/drivers/smartereye/proto:camera_proto",
+        "//third_party/camera_library/smartereye:smartereye",
+    ],
+)
+
+cc_library(
+    name = "smartereye_handler",
+    srcs = ["smartereye_handler.cc"],
+    hdrs = ["smartereye_handler.h"],
+    copts = ['-DMODULE_NAME=\\"camera\\"'],
+    deps = [
+        "//cyber",
+        "//modules/drivers/proto:sensor_proto",
+        "//modules/drivers/smartereye/proto:camera_proto",
+        "//third_party/camera_library/smartereye:smartereye",
+    ],
+)
+
+cc_library(
+    name = "compress_component_lib",
+    srcs = ["compress_component.cc"],
+    hdrs = ["compress_component.h"],
+    copts = ['-DMODULE_NAME=\\"camera\\"'],
+    linkopts = [
+        "-lopencv_core",
+        "-lopencv_highgui",
+    ],
+    deps = [
+        "//cyber",
+        "//modules/drivers/smartereye/proto:camera_proto",
+        "//modules/drivers/proto:sensor_proto",
+    ],
+)
+
+cpplint()

modules/drivers/smartereye/compress_component.cc

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+/******************************************************************************
+ * Copyright 2020 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "modules/drivers/smartereye/compress_component.h"
+
+#include <exception>
+#include <vector>
+
+#include "opencv2/core/core.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/imgproc/imgproc.hpp"
+
+namespace apollo {
+namespace drivers {
+namespace smartereye {
+
+bool CompressComponent::Init() {
+  if (!GetProtoConfig(&config_)) {
+    AERROR << "Parse config file failed: " << ConfigFilePath();
+    return false;
+  }
+  AINFO << "Camera config: \n" << config_.DebugString();
+  try {
+    image_pool_.reset(new CCObjectPool<CompressedImage>(
+        config_.compress_conf().image_pool_size()));
+    image_pool_->ConstructAll();
+  } catch (const std::bad_alloc& e) {
+    AERROR << e.what();
+    return false;
+  }
+
+  writer_ = node_->CreateWriter<CompressedImage>(
+      config_.compress_conf().output_channel());
+  return true;
+}
+
+bool CompressComponent::Proc(const std::shared_ptr<Image>& image) {
+  ADEBUG << "procing compressed";
+  auto compressed_image = image_pool_->GetObject();
+  compressed_image->mutable_header()->CopyFrom(image->header());
+  compressed_image->set_frame_id(image->frame_id());
+  compressed_image->set_measurement_time(image->measurement_time());
+  compressed_image->set_format(image->encoding() + "; jpeg compressed bgr8");
+
+  std::vector<int> params;
+  params.resize(3, 0);
+  params[0] = CV_IMWRITE_JPEG_QUALITY;
+  params[1] = 95;
+
+  try {
+    cv::Mat mat_image(image->height(), image->width(), CV_8UC3,
+                      const_cast<char*>(image->data().data()), image->step());
+    cv::Mat tmp_mat;
+    cv::cvtColor(mat_image, tmp_mat, cv::COLOR_RGB2BGR);
+    std::vector<uint8_t> compress_buffer;
+    if (!cv::imencode(".jpg", tmp_mat, compress_buffer, params)) {
+      AERROR << "cv::imencode (jpeg) failed on input image";
+      return false;
+    }
+    compressed_image->set_data(compress_buffer.data(), compress_buffer.size());
+    writer_->Write(compressed_image);
+  } catch (std::exception& e) {
+    AERROR << "cv::imencode (jpeg) exception :" << e.what();
+    return false;
+  }
+  return true;
+}
+
+}  // namespace smartereye
+}  // namespace drivers
+}  // namespace apollo

modules/drivers/smartereye/compress_component.h

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+/******************************************************************************
+ * Copyright 2020 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#pragma once
+
+#include <memory>
+
+#include "cyber/base/concurrent_object_pool.h"
+#include "cyber/cyber.h"
+#include "modules/drivers/proto/sensor_image.pb.h"
+#include "modules/drivers/smartereye/proto/config.pb.h"
+
+namespace apollo {
+namespace drivers {
+namespace smartereye {
+
+using apollo::cyber::Component;
+using apollo::cyber::Writer;
+using apollo::cyber::base::CCObjectPool;
+using apollo::drivers::Image;
+using apollo::drivers::smartereye::config::Config;
+
+class CompressComponent : public Component<Image> {
+ public:
+  bool Init() override;
+  bool Proc(const std::shared_ptr<Image>& image) override;
+
+ private:
+  std::shared_ptr<CCObjectPool<CompressedImage>> image_pool_ = nullptr;
+  std::shared_ptr<Writer<CompressedImage>> writer_ = nullptr;
+  Config config_;
+};
+
+CYBER_REGISTER_COMPONENT(CompressComponent)
+}  // namespace smartereye
+}  // namespace drivers
+}  // namespace apollo

modules/drivers/smartereye/conf/smartereye.pb.txt

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+camera_dev: "/dev/camera/smartereye"
+frame_id: "smartereye"
+pixel_format: "yuyv"
+io_method: IO_METHOD_MMAP
+width: 1280
+height: 720
+frame_rate: 20
+monochrome: false
+brightness: -1
+contrast: -1
+saturation: -1
+sharpness: -1
+gain: -1
+auto_focus: false
+focus: -1
+auto_exposure: true
+exposure: 100
+auto_white_balance: true
+white_balance: 4000
+bytes_per_pixel: 2
+trigger_internal: 0
+trigger_fps: 20
+channel_name: "/apollo/sensor/smartereye"
+channel_name_image: "/apollo/sensor/smartereye/image"
+channel_name_image_compressed: "/apollo/sensor/smartereye/image/compressed"
+device_wait_ms: 2000
+spin_rate: 200
+output_type: RGB
+
+compress_conf {
+    output_channel: "/apollo/sensor/smartereye/image/compressed"
+    image_pool_size: 100
+}

modules/drivers/smartereye/dag/smartereye.dag

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+# Define all coms in DAG streaming.
+module_config {
+    module_library : "/apollo/bazel-bin/modules/drivers/smartereye/libsmartereye_component.so"
+    components {
+      class_name : "SmartereyeComponent"
+      config {
+        name : "smartereye"
+        config_file_path : "/apollo/modules/drivers/smartereye/conf/smartereye.pb.txt"
+      }
+    }
+    components {
+      class_name : "CompressComponent"
+      config {
+        name : "smartereye_compress"
+        config_file_path : "/apollo/modules/drivers/smartereye/conf/smartereye.pb.txt"
+        readers {
+          channel: "/apollo/sensor/smartereye/image"
+          pending_queue_size: 10
+        }
+      }
+    }
+}

modules/drivers/smartereye/launch/smartereye.launch

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+<cyber>
+    <module>
+        <name>smartereye</name>
+        <dag_conf>/apollo/modules/drivers/smartereye/dag/smartereye.dag</dag_conf>
+        <process_name>smartereye</process_name>
+    </module>
+</cyber>

modules/drivers/smartereye/proto/BUILD

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+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "camera_proto",
+    deps = [
+        ":sensor_camera_proto",
+    ],
+)
+
+cc_proto_library(
+    name = "sensor_camera_proto",
+    deps = [
+        ":camera_proto_lib",
+    ],
+)
+
+proto_library(
+    name = "camera_proto_lib",
+    srcs = ["config.proto"],
+    deps = [
+        "//modules/common/proto:header_proto_lib",
+    ],
+)
+
+cpplint()

modules/drivers/smartereye/proto/config.proto

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+syntax = "proto2";
+
+package apollo.drivers.smartereye.config;
+
+enum IOMethod {
+  IO_METHOD_UNKNOWN = 0;
+  IO_METHOD_READ = 1;
+  IO_METHOD_MMAP = 2;
+  IO_METHOD_USERPTR = 3;
+}
+
+enum OutputType {
+  YUYV = 0;
+  RGB = 1;
+}
+
+message Config {
+  optional string camera_dev = 1;
+  optional string frame_id = 2;
+  // v4l pixel format
+  optional string pixel_format = 3 [default = "yuyv"];
+  // mmap, userptr, read
+  optional IOMethod io_method = 4;
+  optional uint32 width = 5;
+  optional uint32 height = 6;
+  optional uint32 frame_rate = 7;
+  optional bool monochrome = 8 [default = false];
+
+  optional int32 brightness = 9 [default = -1];
+  optional int32 contrast = 10 [default = -1];
+  optional int32 saturation = 11 [default = -1];
+  optional int32 sharpness = 12 [default = -1];
+  optional int32 gain = 13 [default = -1];
+
+  optional bool auto_focus = 14 [default = false];
+  optional int32 focus = 15 [default = -1];
+  optional bool auto_exposure = 16 [default = true];
+  optional int32 exposure = 17 [default = 100];
+  optional bool auto_white_balance = 18 [default = true];
+  optional int32 white_balance = 19 [default = 4000];
+  optional uint32 bytes_per_pixel = 20 [default = 3];
+  optional uint32 trigger_internal = 21 [default = 0];
+  optional uint32 trigger_fps = 22 [default = 30];
+  optional string channel_name = 23;
+  optional string channel_name_image = 24;
+  optional string channel_name_image_compressed = 25;
+  // wait time when camera select timeout
+  optional uint32 device_wait_ms = 26 [default = 2000];
+  // camera select spin time
+  optional uint32 spin_rate = 27 [default = 200];
+  optional OutputType output_type = 28;
+
+  message CompressConfig {
+    optional string output_channel = 1;
+    optional uint32 image_pool_size = 2 [default = 20];
+  }
+  optional CompressConfig compress_conf = 29;
+}