Camera Unit Tests

Fine-grained testing of Camera classes. More...

Functions
static CamRes	incRes (const CamRes &resCur)
	Increment resolution to the next comman resolution. More...
static CamRes	decRes (const CamRes &resCur)
	Decrement resolution to the previous comman resolution. More...
static int	testCameraCv ()
	Test OpenCv CameraCv class. More...
void	GtkOnRealizeGstWin (GtkWidget *w, gpointer user_data)
	Realize GStreamer video window callback. More...
gboolean	GtkAlarm (gpointer user_data)
	Timeout expiry callback. More...
int	GtkWaitKey (int delay)
	Wait for keypress or timeout. More...
gboolean	GtkOnKeyPress (GtkWidget *w, GdkEventKey *event, gpointer *user_data)
	Keyboard press event handler. More...
static int	testCameraGst ()
	Test GStreamer CameraGst class. More...
	TEST (Camera, CameraCv)
	Test OpenCv camera class. More...
	TEST (Camera, CameraGst)
	Test OpenGst camera class. More...

Variables
static const char *	TestMenu
static gulong	GstWinXid = 0
static uint_t	GtkLastKey = 0

Detailed Description

Fine-grained testing of Camera classes.

Function Documentation

static CamRes decRes ( const CamRes &  resCur )

static

Decrement resolution to the previous comman resolution.

Parameters

resCur	Current resolution.
Returns	previous lower resolution.

Definition at line 149 of file ut-Camera.cxx.

References rnr::CamRes1024x768, rnr::CamRes1440x1080, rnr::CamRes1600x1200, rnr::CamRes2048x1536, rnr::CamResQVGA, and rnr::CamResVGA.

Referenced by testCameraCv(), and testCameraGst().

{
  CamRes resNew;

  switch( resCur.width )
  {
    case 2592:
      resNew = CamRes2048x1536;
      break;
    case 2048:
      resNew = CamRes1600x1200;
      break;
    case 1600:
      resNew = CamRes1440x1080;
      break;
    case 1440:
      resNew = CamRes1024x768;
      break;
    case 1024:
      resNew = CamResVGA;
      break;
    case 640:
      resNew = CamResQVGA;
      break;
    default:
      resNew = resCur;
      break;
  }

  return resNew;
}

gboolean GtkAlarm

(

gpointer

user_data

)

Timeout expiry callback.

The supplied user data is set to 1 (true).

Parameters

user_data

Pointer to user supplied expiry flag.

Returns

Returns FALSE.

Definition at line 368 of file ut-Camera.cxx.

Referenced by GtkWaitKey().

{
  *(int *)user_data = 1;
  return FALSE;
}

gboolean GtkOnKeyPress	(	GtkWidget *	w,
		GdkEventKey *	event,
		gpointer *	user_data
	)

Keyboard press event handler.

If registered, the application callback function will be called.

Parameters

w	Widget where keyboard event occurred.
event	Keyboard event.
user_data	Supplied user data (this).

Returns

Returns FALSE.

Definition at line 421 of file ut-Camera.cxx.

Referenced by testCameraGst().

{
  int code = 0;

  switch( event->keyval )
  {
    case GDK_Escape:
      code = 27;
      break;
    case GDK_Return:
    case GDK_Linefeed:
      code = '\n';
      break;
    case GDK_Tab:
      code = '\t';
      break;
    default:
      code = event->keyval;
  }

  GtkLastKey = (code & 0xffff) | (event->state << 16);

  return FALSE;
}

void GtkOnRealizeGstWin	(	GtkWidget *	w,
		gpointer	user_data
	)

Realize GStreamer video window callback.

Once the window has been realized, the X-Window id can be obtained. The id is critical for renders gst video and images to the gtk widget.

Parameters

w	Gtk draw widget where video will be overlaied.
user_data	Supplied user data (this).

Definition at line 339 of file ut-Camera.cxx.

Referenced by testCameraGst().

{
#if GTK_CHECK_VERSION(2,18,0)
  //
  // I copied this code. Kept it for meta-pedagogical reasons.
  //
  // This is here just for pedagogical purposes, GDK_WINDOW_XID will call
  // it as well in newer Gtk versions.
  //
  if( !gdk_window_ensure_native(w->window) )
  {
    LOGERROR("Couldn't create native window needed for GstXOverlay!");
  }
#endif

#ifdef GDK_WINDOWING_X11
  GstWinXid = GDK_WINDOW_XID(gtk_widget_get_window(w));
#endif
}

int GtkWaitKey

(

int

delay

)

Wait for keypress or timeout.

GTK widgets can be updated during this wait.

Parameters

delay

Timeout delay in millseconds. Set to 0 for no timeout.

Returns

Returns code of last key pressed or -1 if timedout.

Definition at line 383 of file ut-Camera.cxx.

References GtkAlarm().

Referenced by testCameraGst().

{
  int expired = 0;
  guint timer = 0;
  uint_t   key;

  if( delay > 0 )
  {
    timer = g_timeout_add(delay, GtkAlarm, &expired);
  }

  while( gtk_main_iteration_do(FALSE) &&
         (GtkLastKey == 0) &&
         !expired );

  if( delay > 0 && !expired )
  {
    g_source_remove(timer);
  }

  key = GtkLastKey;

  GtkLastKey = 0;

  return key;
}

static CamRes incRes ( const CamRes &  resCur )

static

Increment resolution to the next comman resolution.

Parameters

resCur	Current resolution.
Returns	next higher resolution.

Definition at line 110 of file ut-Camera.cxx.

References rnr::CamRes1024x768, rnr::CamRes1440x1080, rnr::CamRes1600x1200, rnr::CamRes2048x1536, rnr::CamRes2592x1944, and rnr::CamResVGA.

Referenced by testCameraCv(), and testCameraGst().

{
  CamRes resNew;

  switch( resCur.width )
  {
    case 320:
      resNew = CamResVGA;
      break;
    case 640:
      resNew = CamRes1024x768;
      break;
    case 1024:
      resNew = CamRes1440x1080;
      break;
    case 1440:
      resNew = CamRes1600x1200;
      break;
    case 1600:
      resNew = CamRes2048x1536;
      break;
    case 2048:
      resNew = CamRes2592x1944;
      break;
    default:
      resNew = resCur;
      break;
  }

  return resNew;
}

TEST	(	Camera	,
		CameraCv
	)

Test OpenCv camera class.

The Test:

Construct CameraCv object.
run video.
take image.
change resolution.
Destroy CameraCv object.

Definition at line 690 of file ut-Camera.cxx.

References testCameraCv().

{
  EXPECT_TRUE( testCameraCv() == 0 );
}

TEST	(	Camera	,
		CameraGst
	)

Test OpenGst camera class.

The Test:

Construct CameraGst object.
run video.
take image.
change resolution.
overlay text.
Destroy CameraGst object.

Definition at line 706 of file ut-Camera.cxx.

References testCameraGst().

{
  EXPECT_TRUE( testCameraGst() == 0 );
}

static int testCameraCv ( )

static

Test OpenCv CameraCv class.

Returns

Returns 0 if test succeeds, else returns < 0.

Definition at line 191 of file ut-Camera.cxx.

References rnr::CamResVGA, decRes(), incRes(), KEY_L_ALT, KEY_L_CTRL, KEY_L_SHIFT, KEY_R_ALT, KEY_R_CTRL, KEY_R_SHIFT, and TestMenu.

Referenced by TEST().

{
  string  strVideoWinName("ut-CameraCv - Video");
  string  strImageWinName("ut-CameraCv - Image");
  CamRes  resVideo = CamResVGA;
  CamRes  resImage = CamResVGA;
  Mat     frame;
  Mat     snapshot;
  bool    bRun = true;
  int     c;
  int     rc = 0;

  // manually set rnr log level
  LOG_SET_THRESHOLD(LOG_LEVEL_DIAG3);

  CameraCv  cam;

  if( cam.isFatal() )
  {
    return -1;
  }

  printf("%s", TestMenu);

  namedWindow(strVideoWinName);
  
  while( bRun )
  {
    c = waitKey(10);

    // strip off shift bit
    if( c != -1 )
    {
      c &= 0x00ff;
    }

    switch( c )
    {
      case 'h':
        printf("%s", TestMenu);
        break;

      case 'q':
        rc = 0;
        bRun = false;
        break;

      case 's':
        if( cam.startVideo(resVideo) < 0 )
        {
          rc = -1;
          bRun = false;
        }
        break;

      case 'p':
        if( cam.stopVideo() < 0 )
        {
          rc = -1;
          bRun = false;
        }
        break;

      case 'c':
        if( cam.clickImage(snapshot, resImage) == OK )
        {
          namedWindow(strImageWinName);
          imshow(strImageWinName, snapshot);
        }
        break;

      case '+':
        resVideo = incRes(resVideo);
        printf("%dx%d video resolution.\n", resVideo.width, resVideo.height);
        if( cam.isCameraRunning() )
        {
          cam.startVideo(resVideo);
        }
        break;

      case '-':
        resVideo = decRes(resVideo);
        printf("%dx%d video resolution.\n", resVideo.width, resVideo.height);
        if( cam.isCameraRunning() )
        {
          cam.startVideo(resVideo);
        }
        break;

      case '>':
        resImage = incRes(resImage);
        printf("%dx%d image resolution.\n", resImage.width, resImage.height);
        break;

      case '<':
        resImage = decRes(resImage);
        printf("%dx%d image resolution.\n", resImage.width, resImage.height);
        break;

      case -1:
        if( cam.isCameraRunning() && !cam.isTakingAnImage() )
        {
          if( cam.grabFrame(frame) == OK )
          {
            imshow(strVideoWinName, frame);
          }
        }
        break;

      case KEY_L_SHIFT:
      case KEY_R_SHIFT:
      case KEY_L_CTRL:
      case KEY_R_CTRL:
      case KEY_L_ALT:
      case KEY_R_ALT:
        break;

      default:
        printf("0x%02x huh?\n", c);
        break;
    }
  }

  destroyWindow(strVideoWinName);
  destroyWindow(strImageWinName);

  LOG_SET_THRESHOLD(LOG_LEVEL_OFF);

  return rc;
}

static int testCameraGst ( )

static

Test GStreamer CameraGst class.

Returns

Returns 0 if test succeeds, else returns < 0.

Definition at line 454 of file ut-Camera.cxx.

References rnr::CamResVGA, decRes(), GtkOnKeyPress(), GtkOnRealizeGstWin(), GtkWaitKey(), incRes(), KEY_L_ALT, KEY_L_CTRL, KEY_L_SHIFT, KEY_R_ALT, KEY_R_CTRL, KEY_R_SHIFT, and TestMenu.

Referenced by TEST().

{
  static const char *TestMenuAddOn = "  't'     text overlay\n";

  string      strVideoWinName("ut-CameraGst - Video");
  string      strImageWinName("ut-CameraGst - Image");
  CamRes      resVideo = CamResVGA;
  CamRes      resImage = CamResVGA;
  Mat         frame;
  Mat         snapshot;

  GtkWidget  *wMain;
  GtkWindow  *wWin;
  GtkWidget  *wGst;
  gint        nIdRealize;
  gint        nIdKeyPress;

  bool        bRun = true;
  bool        bEnterText = false;
  int         c;
  char        bufText[256];
  int         n;
  int         rc = 0;

  // manually set rnr log level
  LOG_SET_THRESHOLD(LOG_LEVEL_DIAG3);

  CameraGst   cam;

  if( cam.isFatal() )
  {
    return -1;
  }

  printf("%s", TestMenu);
  printf("%s", TestMenuAddOn);

  gtk_init(0, NULL);

  //
  // Create a new gtk window
  //
  wMain = gtk_window_new(GTK_WINDOW_TOPLEVEL);
  wWin  = GTK_WINDOW(wMain);
  
  //
  // Configure window's look and feel
  //
  gtk_window_set_title(wWin, strVideoWinName.c_str());
  gtk_window_resize(wWin, 640, 480);
  gtk_window_set_decorated(wWin, TRUE);
  
  //---
  // Video widget
  //---
  wGst = gtk_drawing_area_new();
  g_object_set(G_OBJECT(wGst),
      "width-request",  640,
      "height-request", 480,
      NULL);
  nIdRealize = g_signal_connect(wGst, "realize",
                  G_CALLBACK(GtkOnRealizeGstWin), NULL);
  gtk_widget_set_double_buffered(wGst, FALSE);
  gtk_container_add(GTK_CONTAINER(wMain), wGst);

  //
  // Event handlers
  //
  nIdKeyPress = gtk_signal_connect(GTK_OBJECT(wMain), "key-press-event",
                            GTK_SIGNAL_FUNC(GtkOnKeyPress), NULL);

  gtk_widget_show_all(wMain);

  cam.setXid(GstWinXid);

  while( bRun )
  {
    c = GtkWaitKey(30);

    // strip off shift bit
    if( c != -1 )
    {
      c &= 0x00ff;
    }

    if( bEnterText )
    {
      switch( c )
      {
        case '\n':
        case '\r':
          printf("\n");
          fflush(stdout);
          bufText[n] = 0;
          if( n > 0 )
          {
            cam.setTextOverlay(bufText);
          }
          else
          {
            cam.clearTextOverlay();
          }
          bEnterText = false;
          break;
        default:
          if( isprint(c) )
          {
            bufText[n++] = c;
            printf("%c", c);
            fflush(stdout);
          }
          break;
      }
      continue;
    }

    switch( c )
    {
      case 'h':
        printf("%s", TestMenu);
        printf("%s", TestMenuAddOn);
        break;

      case 'q':
        rc = 0;
        bRun = false;
        break;

      case 's':
        if( cam.startVideo(resVideo) < 0 )
        {
          rc = -1;
          bRun = false;
        }
        break;

      case 'p':
        if( cam.stopVideo() < 0 )
        {
          rc = -1;
          bRun = false;
        }
        break;

      case 'c':
        if( cam.clickImage(snapshot, resImage) == OK )
        {
          namedWindow(strImageWinName);
          imshow(strImageWinName, snapshot);
        }
        break;

      case '+':
        resVideo = incRes(resVideo);
        printf("%dx%d video resolution.\n", resVideo.width, resVideo.height);
        if( cam.isCameraRunning() )
        {
          cam.startVideo(resVideo);
        }
        break;

      case '-':
        resVideo = decRes(resVideo);
        printf("%dx%d video resolution.\n", resVideo.width, resVideo.height);
        if( cam.isCameraRunning() )
        {
          cam.startVideo(resVideo);
        }
        break;

      case '>':
        resImage = incRes(resImage);
        printf("%dx%d image resolution.\n", resImage.width, resImage.height);
        break;

      case '<':
        resImage = decRes(resImage);
        printf("%dx%d image resolution.\n", resImage.width, resImage.height);
        break;

      case 't':
        bEnterText = true;
        n = 0;
        printf("Text: ");
        fflush(stdout);
        break;

      case 0:
        break;

      case KEY_L_SHIFT:
      case KEY_R_SHIFT:
      case KEY_L_CTRL:
      case KEY_R_CTRL:
      case KEY_L_ALT:
      case KEY_R_ALT:
        break;

      default:
        printf("0x%02x huh?\n", c);
        break;
    }
  }

  cam.stopVideo();

  //gtk_signal_disconnect(GTK_OBJECT(wMain), nIdRealize);
  gtk_signal_disconnect(GTK_OBJECT(wMain), nIdKeyPress);
  gtk_widget_destroy(wMain);
  destroyWindow(strImageWinName);

  gtk_main_iteration_do(FALSE);

  while( gtk_events_pending() )
  {
    gtk_main_iteration_do(FALSE);
  }

  LOG_SET_THRESHOLD(LOG_LEVEL_OFF);

  return rc;
}

Variable Documentation

const char* TestMenu

static

Initial value:

= 
  "\nTest Menu\n"
  "  'h'     print help\n"
  "  'q'     quit with success\n"
  "  's'     start video\n"
  "  'p'     stop video\n"
  "  'c'     click snapshot\n"
  "  '+/-'   increase/decrease video resolution\n"
  "  '>/<'   increase/decrease image resolution\n"

Definition at line 93 of file ut-Camera.cxx.