Visual Servoing Platform  version 3.0.0
vp1394TwoGrabber.h
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2015 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or
7  * modify it under the terms of the GNU General Public License
8  * ("GPL") version 2 as published by the Free Software Foundation.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See http://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Firewire cameras video capture.
32  *
33  * Authors:
34  * Fabien Spindler
35  *
36  *****************************************************************************/
37 
56 #ifndef vp1394TwoGrabber_h
57 #define vp1394TwoGrabber_h
58 
59 #include <visp3/core/vpConfig.h>
60 
61 #include <list>
62 
63 #if defined(VISP_HAVE_DC1394)
64 
65 
173 /*
174  * Interface with libdc1394 2.x
175  */
176 #include <string.h>
177 
178 #include <dc1394/control.h>
179 #include <dc1394/utils.h>
180 #include <dc1394/vendor/avt.h>
181 
182 #include <visp3/core/vpImage.h>
183 #include <visp3/core/vpFrameGrabber.h>
184 #include <visp3/core/vpRGBa.h>
185 
186 
187 class VISP_EXPORT vp1394TwoGrabber : public vpFrameGrabber
188 {
189 
190  public:
191  static const char * strVideoMode[DC1394_VIDEO_MODE_NUM];
192  static const char * strFramerate[DC1394_FRAMERATE_NUM];
193  static const char * strColorCoding[DC1394_COLOR_CODING_NUM];
194 
199  typedef enum {
200  vpISO_SPEED_100 = DC1394_ISO_SPEED_100,
201  vpISO_SPEED_200 = DC1394_ISO_SPEED_200,
202  vpISO_SPEED_400 = DC1394_ISO_SPEED_400,
203  vpISO_SPEED_800 = DC1394_ISO_SPEED_800,
204  vpISO_SPEED_1600 = DC1394_ISO_SPEED_1600,
205  vpISO_SPEED_3200 = DC1394_ISO_SPEED_3200
206  } vp1394TwoIsoSpeedType;
207 
212  typedef enum {
213  vpVIDEO_MODE_160x120_YUV444 = DC1394_VIDEO_MODE_160x120_YUV444,
214  vpVIDEO_MODE_320x240_YUV422 = DC1394_VIDEO_MODE_320x240_YUV422,
215  vpVIDEO_MODE_640x480_YUV411 = DC1394_VIDEO_MODE_640x480_YUV411,
216  vpVIDEO_MODE_640x480_YUV422 = DC1394_VIDEO_MODE_640x480_YUV422,
217  vpVIDEO_MODE_640x480_RGB8 = DC1394_VIDEO_MODE_640x480_RGB8,
218  vpVIDEO_MODE_640x480_MONO8 = DC1394_VIDEO_MODE_640x480_MONO8,
219  vpVIDEO_MODE_640x480_MONO16 = DC1394_VIDEO_MODE_640x480_MONO16,
220  vpVIDEO_MODE_800x600_YUV422 = DC1394_VIDEO_MODE_800x600_YUV422,
221  vpVIDEO_MODE_800x600_RGB8 = DC1394_VIDEO_MODE_800x600_RGB8,
222  vpVIDEO_MODE_800x600_MONO8 = DC1394_VIDEO_MODE_800x600_MONO8,
223  vpVIDEO_MODE_1024x768_YUV422 = DC1394_VIDEO_MODE_1024x768_YUV422,
224  vpVIDEO_MODE_1024x768_RGB8 = DC1394_VIDEO_MODE_1024x768_RGB8,
225  vpVIDEO_MODE_1024x768_MONO8 = DC1394_VIDEO_MODE_1024x768_MONO8,
226  vpVIDEO_MODE_800x600_MONO16 = DC1394_VIDEO_MODE_800x600_MONO16,
227  vpVIDEO_MODE_1024x768_MONO16 = DC1394_VIDEO_MODE_1024x768_MONO16,
228  vpVIDEO_MODE_1280x960_YUV422 = DC1394_VIDEO_MODE_1280x960_YUV422,
229  vpVIDEO_MODE_1280x960_RGB8 = DC1394_VIDEO_MODE_1280x960_RGB8,
230  vpVIDEO_MODE_1280x960_MONO8 = DC1394_VIDEO_MODE_1280x960_MONO8,
231  vpVIDEO_MODE_1600x1200_YUV422 = DC1394_VIDEO_MODE_1600x1200_YUV422,
232  vpVIDEO_MODE_1600x1200_RGB8 = DC1394_VIDEO_MODE_1600x1200_RGB8,
233  vpVIDEO_MODE_1600x1200_MONO8 = DC1394_VIDEO_MODE_1600x1200_MONO8,
234  vpVIDEO_MODE_1280x960_MONO16 = DC1394_VIDEO_MODE_1280x960_MONO16,
235  vpVIDEO_MODE_1600x1200_MONO16 = DC1394_VIDEO_MODE_1600x1200_MONO16,
236  vpVIDEO_MODE_EXIF = DC1394_VIDEO_MODE_EXIF,
237  vpVIDEO_MODE_FORMAT7_0 = DC1394_VIDEO_MODE_FORMAT7_0,
238  vpVIDEO_MODE_FORMAT7_1 = DC1394_VIDEO_MODE_FORMAT7_1,
239  vpVIDEO_MODE_FORMAT7_2 = DC1394_VIDEO_MODE_FORMAT7_2,
240  vpVIDEO_MODE_FORMAT7_3 = DC1394_VIDEO_MODE_FORMAT7_3,
241  vpVIDEO_MODE_FORMAT7_4 = DC1394_VIDEO_MODE_FORMAT7_4,
242  vpVIDEO_MODE_FORMAT7_5 = DC1394_VIDEO_MODE_FORMAT7_5,
243  vpVIDEO_MODE_FORMAT7_6 = DC1394_VIDEO_MODE_FORMAT7_6,
244  vpVIDEO_MODE_FORMAT7_7 = DC1394_VIDEO_MODE_FORMAT7_7
245  } vp1394TwoVideoModeType;
246 
251  typedef enum {
252  vpFRAMERATE_1_875 = DC1394_FRAMERATE_1_875,
253  vpFRAMERATE_3_75 = DC1394_FRAMERATE_3_75,
254  vpFRAMERATE_7_5 = DC1394_FRAMERATE_7_5,
255  vpFRAMERATE_15 = DC1394_FRAMERATE_15,
256  vpFRAMERATE_30 = DC1394_FRAMERATE_30,
257  vpFRAMERATE_60 = DC1394_FRAMERATE_60,
258  vpFRAMERATE_120 = DC1394_FRAMERATE_120,
259  vpFRAMERATE_240 = DC1394_FRAMERATE_240
260  } vp1394TwoFramerateType;
261 
266  typedef enum {
267  vpCOLOR_CODING_MONO8 = DC1394_COLOR_CODING_MONO8,
268  vpCOLOR_CODING_YUV411 = DC1394_COLOR_CODING_YUV411,
269  vpCOLOR_CODING_YUV422 = DC1394_COLOR_CODING_YUV422,
270  vpCOLOR_CODING_YUV444 = DC1394_COLOR_CODING_YUV444,
271  vpCOLOR_CODING_RGB8 = DC1394_COLOR_CODING_RGB8,
272  vpCOLOR_CODING_MONO16 = DC1394_COLOR_CODING_MONO16,
273  vpCOLOR_CODING_RGB16 = DC1394_COLOR_CODING_RGB16,
274  vpCOLOR_CODING_MONO16S = DC1394_COLOR_CODING_MONO16S,
275  vpCOLOR_CODING_RGB16S = DC1394_COLOR_CODING_RGB16S,
276  vpCOLOR_CODING_RAW8 = DC1394_COLOR_CODING_RAW8,
277  vpCOLOR_CODING_RAW16 = DC1394_COLOR_CODING_RAW16
278  } vp1394TwoColorCodingType;
279 
284  typedef enum {
285  vpFEATURE_BRIGHTNESS = DC1394_FEATURE_BRIGHTNESS,
286  vpFEATURE_EXPOSURE = DC1394_FEATURE_EXPOSURE,
287  vpFEATURE_SHARPNESS = DC1394_FEATURE_SHARPNESS,
288 // vpFEATURE_WHITE_BALANCE = DC1394_FEATURE_WHITE_BALANCE,
289  vpFEATURE_HUE = DC1394_FEATURE_HUE,
290  vpFEATURE_SATURATION = DC1394_FEATURE_SATURATION,
291  vpFEATURE_GAMMA = DC1394_FEATURE_GAMMA,
292  vpFEATURE_SHUTTER = DC1394_FEATURE_SHUTTER,
293  vpFEATURE_GAIN = DC1394_FEATURE_GAIN,
294  vpFEATURE_IRIS = DC1394_FEATURE_IRIS,
295 // vpFEATURE_FOCUS = DC1394_FEATURE_FOCUS,
296 // vpFEATURE_TEMPERATURE = DC1394_FEATURE_TEMPERATURE,
297 // vpFEATURE_TRIGGER = DC1394_FEATURE_TRIGGER,
298 // vpFEATURE_TRIGGER_DELAY = DC1394_FEATURE_TRIGGER_DELAY,
299 // vpFEATURE_WHITE_SHADING = DC1394_FEATURE_WHITE_SHADING,
300 // vpFEATURE_FRAME_RATE = DC1394_FEATURE_FRAME_RATE,
301 // vpFEATURE_ZOOM = DC1394_FEATURE_ZOOM,
302 // vpFEATURE_PAN = DC1394_FEATURE_PAN,
303 // vpFEATURE_TILT = DC1394_FEATURE_TILT,
304 // vpFEATURE_OPTICAL_FILTER = DC1394_FEATURE_OPTICAL_FILTER,
305 // vpFEATURE_CAPTURE_SIZE = DC1394_FEATURE_CAPTURE_SIZE,
306 // vpFEATURE_CAPTURE_QUALITY = DC1394_FEATURE_CAPTURE_QUALITY
307  } vp1394TwoParametersType;
308 
309 
310  private:
311 
315  typedef struct{
316  uint32_t brightness ;
317  uint32_t exposure;
318  uint32_t sharpness;
319 // uint32_t whiteBalance;
320  uint32_t hue;
321  uint32_t saturation;
322  uint32_t gamma;
323  uint32_t shutter ;
324  uint32_t gain ;
325  uint32_t iris;
326 // uint32_t focus;
327 // uint32_t temperature ;
328 // uint32_t trigger ;
329 // uint32_t triggerDelay ;
330 // uint32_t whiteShadding ;
331 // uint32_t frameRate ;
332 // uint32_t zoom;
333 // uint32_t pan;
334 // uint32_t tilt ;
335 // uint32_t opticalFilter ;
336 // uint32_t captureSize;
337 // uint32_t captureQuality ;
338  } vpDc1394TwoCameraParametersData;
339 
340 //private:
341 //#ifndef DOXYGEN_SHOULD_SKIP_THIS
342 // vp1394TwoGrabber(const vp1394TwoGrabber &)
343 // : camera(NULL), cameras(NULL), num_cameras(0), camera_id(0), verbose(false), camIsOpen(NULL),
344 // num_buffers(4), // ring buffer size
345 // isDataModified(NULL), initialShutterMode(NULL), dataCam(NULL)
346 // #ifdef VISP_HAVE_DC1394_CAMERA_ENUMERATE // new API > libdc1394-2.0.0-rc7
347 // , d(NULL),
348 // list(NULL)
349 // #endif
350 // {
351 // throw vpException(vpException::functionNotImplementedError,"Not implemented!");
352 // }
353 // vp1394TwoGrabber &operator=(const vp1394TwoGrabber &){
354 // throw vpException(vpException::functionNotImplementedError,"Not implemented!");
355 // return *this;
356 // }
357 //#endif
358 
359 public:
360  vp1394TwoGrabber(bool reset=true);
361  virtual ~vp1394TwoGrabber();
362 
363  void acquire(vpImage<unsigned char> &I);
364  void acquire(vpImage<unsigned char> &I, uint64_t &timestamp, uint32_t &id);
365  void acquire(vpImage<vpRGBa> &I);
366  void acquire(vpImage<vpRGBa> &I, uint64_t &timestamp, uint32_t &id);
367 
368  void close();
369 
370  static std::string colorCoding2string(vp1394TwoColorCodingType colorcoding);
371 
372  dc1394video_frame_t *dequeue();
373  dc1394video_frame_t *dequeue(vpImage<unsigned char> &I);
374  dc1394video_frame_t *dequeue(vpImage<unsigned char> &I, uint64_t &timestamp, uint32_t &id);
375  dc1394video_frame_t *dequeue(vpImage<vpRGBa> &I);
376  dc1394video_frame_t *dequeue(vpImage<vpRGBa> &I, uint64_t &timestamp, uint32_t &id);
377  void enqueue(dc1394video_frame_t *frame);
378 
379  static std::string framerate2string(vp1394TwoFramerateType fps);
380 
381  void getAutoGain(unsigned int &minvalue, unsigned int &maxvalue);
382  void getAutoShutter(unsigned int &minvalue, unsigned int &maxvalue);
383 
384  uint64_t getCamera();
385  void getCamera(uint64_t &camera);
386  void getColorCoding(vp1394TwoColorCodingType & coding);
387  uint32_t getColorCodingSupported(vp1394TwoVideoModeType videomode,
388  std::list<vp1394TwoColorCodingType> & codings);
389  void getFramerate(vp1394TwoFramerateType & fps);
390  uint32_t getFramerateSupported(vp1394TwoVideoModeType videomode,
391  std::list<vp1394TwoFramerateType> & fps);
392  uint64_t getGuid();
393  void getGuid(uint64_t &guid);
394  void getHeight(unsigned int &height);
395  unsigned int getHeight();
396  void getNumCameras(unsigned int &ncameras) const;
397  unsigned int getNumCameras() const;
398  unsigned int getParameterValue(vp1394TwoParametersType param);
399  unsigned int getRingBufferSize() const;
400  void getVideoMode(vp1394TwoVideoModeType & videomode);
401  uint32_t getVideoModeSupported(std::list<vp1394TwoVideoModeType> & videomodes);
402  void getWidth(unsigned int &width);
403  unsigned int getWidth();
404 
405  bool isColor();
406  bool isColorCodingSupported(vp1394TwoVideoModeType videomode,
407  vp1394TwoColorCodingType coding);
408  bool isFramerateSupported(vp1394TwoVideoModeType videomode,
409  vp1394TwoFramerateType fps);
410  bool isVideoModeSupported(vp1394TwoVideoModeType videomode) ;
411  bool isVideoModeFormat7(vp1394TwoVideoModeType videomode);
412 
413  void open(vpImage<unsigned char> &I);
414  void open(vpImage<vpRGBa> &I);
415 
416  void printCameraInfo();
417 
418  void resetBus();
419 
420  void setAutoGain(bool enable = true);
421  void setAutoGain(unsigned int minvalue, unsigned int maxvalue);
422  void setAutoShutter(bool enable = true);
423  void setAutoShutter(unsigned int minvalue, unsigned int maxvalue);
424  void setCamera(uint64_t camera);
425  void setColorCoding(vp1394TwoColorCodingType coding);
426  void setFormat7ROI(unsigned int left=0, unsigned int top=0,
427  unsigned int width=0, unsigned int height=0);
428  void setFramerate(vp1394TwoFramerateType fps);
429  void setIsoTransmissionSpeed(vp1394TwoIsoSpeedType isospeed);
430  void setPanControl(unsigned int panControlValue);
431  void setParameterValue(vp1394TwoParametersType param, unsigned int val);
432  void setRingBufferSize(unsigned int size);
433  void setVideoMode(vp1394TwoVideoModeType videomode);
434 
435  static vp1394TwoVideoModeType string2videoMode(std::string videomode);
436  static vp1394TwoFramerateType string2framerate(std::string fps);
437  static vp1394TwoColorCodingType string2colorCoding(std::string colorcoding);
438 
439  static std::string videoMode2string(vp1394TwoVideoModeType videomode);
440 
441  private:
442  void open();
443  void initialize(bool reset);
444  void setCapture(dc1394switch_t _switch);
445  void setTransmission(dc1394switch_t _switch);
446  inline void updateDataCamToStruct();
447  inline void updateDataStructToCam();
448 
449  private:
450  dc1394camera_t *camera, **cameras;
451  unsigned int num_cameras;
452  unsigned int camera_id;
453 
454  bool verbose;
455  bool *camIsOpen;
456  unsigned int num_buffers;
457 
458  /* parameters for the cameras */
459  bool* isDataModified;
460  dc1394feature_mode_t* initialShutterMode;
461  vpDc1394TwoCameraParametersData* dataCam;
462 
463 #ifdef VISP_HAVE_DC1394_CAMERA_ENUMERATE
464  dc1394_t * d;
465  dc1394camera_list_t * list;
466 #endif
467 };
468 
469 
470 #endif
471 #endif
472 
vpFrameGrabber::open
virtual void open(vpImage< unsigned char > &I)=0
vpFrameGrabber::getWidth
unsigned int getWidth() const
Return the number of columns in the image.
Definition: vpFrameGrabber.h:115
vpFrameGrabber
Base class for all video devices. It is designed to provide a front end to video sources.
Definition: vpFrameGrabber.h:102
vpFrameGrabber::close
virtual void close()=0
vp1394TwoGrabber
Class for firewire ieee1394 video devices using libdc1394-2.x api.
Definition: vp1394TwoGrabber.h:187
vpFrameGrabber::acquire
virtual void acquire(vpImage< unsigned char > &I)=0
vpFrameGrabber::getHeight
unsigned int getHeight() const
Return the number of rows in the image.
Definition: vpFrameGrabber.h:113