60 #ifndef vp1394TwoGrabber_h
61 #define vp1394TwoGrabber_h
63 #include <visp/vpConfig.h>
67 #if defined(VISP_HAVE_DC1394_2)
198 #include <dc1394/control.h>
199 #include <dc1394/utils.h>
200 #include <dc1394/vendor/avt.h>
202 #include <visp/vpImage.h>
203 #include <visp/vpFrameGrabber.h>
204 #include <visp/vpRGBa.h>
205 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
206 # include <visp/vpList.h>
214 static const char * strVideoMode[DC1394_VIDEO_MODE_NUM];
215 static const char * strFramerate[DC1394_FRAMERATE_NUM];
216 static const char * strColorCoding[DC1394_COLOR_CODING_NUM];
223 vpISO_SPEED_100 = DC1394_ISO_SPEED_100,
224 vpISO_SPEED_200 = DC1394_ISO_SPEED_200,
225 vpISO_SPEED_400 = DC1394_ISO_SPEED_400,
226 vpISO_SPEED_800 = DC1394_ISO_SPEED_800,
227 vpISO_SPEED_1600 = DC1394_ISO_SPEED_1600,
228 vpISO_SPEED_3200 = DC1394_ISO_SPEED_3200
229 } vp1394TwoIsoSpeedType;
236 vpVIDEO_MODE_160x120_YUV444 = DC1394_VIDEO_MODE_160x120_YUV444,
237 vpVIDEO_MODE_320x240_YUV422 = DC1394_VIDEO_MODE_320x240_YUV422,
238 vpVIDEO_MODE_640x480_YUV411 = DC1394_VIDEO_MODE_640x480_YUV411,
239 vpVIDEO_MODE_640x480_YUV422 = DC1394_VIDEO_MODE_640x480_YUV422,
240 vpVIDEO_MODE_640x480_RGB8 = DC1394_VIDEO_MODE_640x480_RGB8,
241 vpVIDEO_MODE_640x480_MONO8 = DC1394_VIDEO_MODE_640x480_MONO8,
242 vpVIDEO_MODE_640x480_MONO16 = DC1394_VIDEO_MODE_640x480_MONO16,
243 vpVIDEO_MODE_800x600_YUV422 = DC1394_VIDEO_MODE_800x600_YUV422,
244 vpVIDEO_MODE_800x600_RGB8 = DC1394_VIDEO_MODE_800x600_RGB8,
245 vpVIDEO_MODE_800x600_MONO8 = DC1394_VIDEO_MODE_800x600_MONO8,
246 vpVIDEO_MODE_1024x768_YUV422 = DC1394_VIDEO_MODE_1024x768_YUV422,
247 vpVIDEO_MODE_1024x768_RGB8 = DC1394_VIDEO_MODE_1024x768_RGB8,
248 vpVIDEO_MODE_1024x768_MONO8 = DC1394_VIDEO_MODE_1024x768_MONO8,
249 vpVIDEO_MODE_800x600_MONO16 = DC1394_VIDEO_MODE_800x600_MONO16,
250 vpVIDEO_MODE_1024x768_MONO16 = DC1394_VIDEO_MODE_1024x768_MONO16,
251 vpVIDEO_MODE_1280x960_YUV422 = DC1394_VIDEO_MODE_1280x960_YUV422,
252 vpVIDEO_MODE_1280x960_RGB8 = DC1394_VIDEO_MODE_1280x960_RGB8,
253 vpVIDEO_MODE_1280x960_MONO8 = DC1394_VIDEO_MODE_1280x960_MONO8,
254 vpVIDEO_MODE_1600x1200_YUV422 = DC1394_VIDEO_MODE_1600x1200_YUV422,
255 vpVIDEO_MODE_1600x1200_RGB8 = DC1394_VIDEO_MODE_1600x1200_RGB8,
256 vpVIDEO_MODE_1600x1200_MONO8 = DC1394_VIDEO_MODE_1600x1200_MONO8,
257 vpVIDEO_MODE_1280x960_MONO16 = DC1394_VIDEO_MODE_1280x960_MONO16,
258 vpVIDEO_MODE_1600x1200_MONO16 = DC1394_VIDEO_MODE_1600x1200_MONO16,
259 vpVIDEO_MODE_EXIF = DC1394_VIDEO_MODE_EXIF,
260 vpVIDEO_MODE_FORMAT7_0 = DC1394_VIDEO_MODE_FORMAT7_0,
261 vpVIDEO_MODE_FORMAT7_1 = DC1394_VIDEO_MODE_FORMAT7_1,
262 vpVIDEO_MODE_FORMAT7_2 = DC1394_VIDEO_MODE_FORMAT7_2,
263 vpVIDEO_MODE_FORMAT7_3 = DC1394_VIDEO_MODE_FORMAT7_3,
264 vpVIDEO_MODE_FORMAT7_4 = DC1394_VIDEO_MODE_FORMAT7_4,
265 vpVIDEO_MODE_FORMAT7_5 = DC1394_VIDEO_MODE_FORMAT7_5,
266 vpVIDEO_MODE_FORMAT7_6 = DC1394_VIDEO_MODE_FORMAT7_6,
267 vpVIDEO_MODE_FORMAT7_7 = DC1394_VIDEO_MODE_FORMAT7_7
268 } vp1394TwoVideoModeType;
275 vpFRAMERATE_1_875 = DC1394_FRAMERATE_1_875,
276 vpFRAMERATE_3_75 = DC1394_FRAMERATE_3_75,
277 vpFRAMERATE_7_5 = DC1394_FRAMERATE_7_5,
278 vpFRAMERATE_15 = DC1394_FRAMERATE_15,
279 vpFRAMERATE_30 = DC1394_FRAMERATE_30,
280 vpFRAMERATE_60 = DC1394_FRAMERATE_60,
281 vpFRAMERATE_120 = DC1394_FRAMERATE_120,
282 vpFRAMERATE_240 = DC1394_FRAMERATE_240
283 } vp1394TwoFramerateType;
290 vpCOLOR_CODING_MONO8 = DC1394_COLOR_CODING_MONO8,
291 vpCOLOR_CODING_YUV411 = DC1394_COLOR_CODING_YUV411,
292 vpCOLOR_CODING_YUV422 = DC1394_COLOR_CODING_YUV422,
293 vpCOLOR_CODING_YUV444 = DC1394_COLOR_CODING_YUV444,
294 vpCOLOR_CODING_RGB8 = DC1394_COLOR_CODING_RGB8,
295 vpCOLOR_CODING_MONO16 = DC1394_COLOR_CODING_MONO16,
296 vpCOLOR_CODING_RGB16 = DC1394_COLOR_CODING_RGB16,
297 vpCOLOR_CODING_MONO16S = DC1394_COLOR_CODING_MONO16S,
298 vpCOLOR_CODING_RGB16S = DC1394_COLOR_CODING_RGB16S,
299 vpCOLOR_CODING_RAW8 = DC1394_COLOR_CODING_RAW8,
300 vpCOLOR_CODING_RAW16 = DC1394_COLOR_CODING_RAW16
301 } vp1394TwoColorCodingType;
308 vpFEATURE_BRIGHTNESS = DC1394_FEATURE_BRIGHTNESS,
309 vpFEATURE_EXPOSURE = DC1394_FEATURE_EXPOSURE,
310 vpFEATURE_SHARPNESS = DC1394_FEATURE_SHARPNESS,
312 vpFEATURE_HUE = DC1394_FEATURE_HUE,
313 vpFEATURE_SATURATION = DC1394_FEATURE_SATURATION,
314 vpFEATURE_GAMMA = DC1394_FEATURE_GAMMA,
315 vpFEATURE_SHUTTER = DC1394_FEATURE_SHUTTER,
316 vpFEATURE_GAIN = DC1394_FEATURE_GAIN,
317 vpFEATURE_IRIS = DC1394_FEATURE_IRIS,
330 } vp1394TwoParametersType;
339 uint32_t brightness ;
361 } vpDc1394TwoCameraParametersData;
369 uint64_t getCamera();
370 void getCamera(uint64_t &camera);
372 void getGuid(uint64_t &guid);
373 void getColorCoding(vp1394TwoColorCodingType & coding);
374 uint32_t getColorCodingSupported(vp1394TwoVideoModeType videomode,
375 std::list<vp1394TwoColorCodingType> & codings);
376 void getFramerate(vp1394TwoFramerateType & fps);
377 uint32_t getFramerateSupported(vp1394TwoVideoModeType videomode,
378 std::list<vp1394TwoFramerateType> & fps);
381 void getNumCameras(
unsigned int &ncameras);
382 unsigned int getNumCameras();
383 unsigned int getParameterValue(vp1394TwoParametersType param);
384 unsigned int getRingBufferSize();
385 void getVideoMode(vp1394TwoVideoModeType & videomode);
386 uint32_t getVideoModeSupported(std::list<vp1394TwoVideoModeType> & videomodes);
391 bool isColorCodingSupported(vp1394TwoVideoModeType videomode,
392 vp1394TwoColorCodingType coding);
393 bool isFramerateSupported(vp1394TwoVideoModeType videomode,
394 vp1394TwoFramerateType fps);
395 bool isVideoModeSupported(vp1394TwoVideoModeType videomode) ;
396 bool isVideoModeFormat7(vp1394TwoVideoModeType videomode);
398 void setAutoShutter(
unsigned int minvalue,
unsigned int maxvalue);
399 void setCamera(uint64_t camera);
400 void setColorCoding(vp1394TwoColorCodingType coding);
401 void setFormat7ROI(
unsigned int left=0,
unsigned int top=0,
402 unsigned int width=0,
unsigned int height=0);
403 void setFramerate(vp1394TwoFramerateType fps);
404 void setIsoTransmissionSpeed(vp1394TwoIsoSpeedType isospeed);
405 void setPanControl(
unsigned int panControlValue);
406 void setParameterValue(vp1394TwoParametersType param,
unsigned int val);
407 void setRingBufferSize(
unsigned int size);
408 void setVideoMode(vp1394TwoVideoModeType videomode);
413 void printCameraInfo();
416 dc1394video_frame_t *dequeue();
420 dc1394video_frame_t *dequeue(
vpImage<vpRGBa> &I, uint64_t ×tamp, uint32_t &
id);
421 void enqueue(dc1394video_frame_t *frame);
430 static std::string videoMode2string(vp1394TwoVideoModeType videomode);
431 static std::string framerate2string(vp1394TwoFramerateType fps);
432 static std::string colorCoding2string(vp1394TwoColorCodingType colorcoding);
433 static vp1394TwoVideoModeType string2videoMode(std::string videomode);
434 static vp1394TwoFramerateType string2framerate(std::string fps);
435 static vp1394TwoColorCodingType string2colorCoding(std::string colorcoding);
437 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
441 vp_deprecated uint32_t getColorCodingSupported(vp1394TwoVideoModeType videomode,
443 vp_deprecated uint32_t getFramerateSupported(vp1394TwoVideoModeType videomode,
451 void initialize(
bool reset);
452 void setCapture(dc1394switch_t _switch);
453 void setTransmission(dc1394switch_t _switch);
454 inline void updateDataCamToStruct();
455 inline void updateDataStructToCam();
458 dc1394camera_t *camera, **cameras;
459 unsigned int num_cameras;
460 unsigned int camera_id;
464 unsigned int num_buffers;
467 bool* isDataModified;
468 dc1394feature_mode_t* initialShutterMode;
469 vpDc1394TwoCameraParametersData* dataCam;
471 #ifdef VISP_HAVE_DC1394_2_CAMERA_ENUMERATE
473 dc1394camera_list_t * list;
Provide simple list management.
virtual void open(vpImage< unsigned char > &I)=0
unsigned int getWidth() const
Return the number of columns in the image.
Base class for all video devices. It is designed to provide a front end to video sources.
Class for firewire ieee1394 video devices using libdc1394-2.x api.
virtual void acquire(vpImage< unsigned char > &I)=0
unsigned int getHeight() const
Return the number of rows in the image.