Visual Servoing Platform  version 3.2.0 under development (2019-01-22)
vp1394TwoGrabber.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Firewire cameras video capture.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
55 #ifndef vp1394TwoGrabber_h
56 #define vp1394TwoGrabber_h
57 
58 #include <visp3/core/vpConfig.h>
59 
60 #include <list>
61 
62 #if defined(VISP_HAVE_DC1394)
63 
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/vpFrameGrabber.h>
183 #include <visp3/core/vpImage.h>
184 #include <visp3/core/vpRGBa.h>
185 
186 class VISP_EXPORT vp1394TwoGrabber : public vpFrameGrabber
187 {
188 
189 public:
190  static const char *strVideoMode[DC1394_VIDEO_MODE_NUM];
191  static const char *strFramerate[DC1394_FRAMERATE_NUM];
192  static const char *strColorCoding[DC1394_COLOR_CODING_NUM];
193 
198  typedef enum {
199  vpISO_SPEED_100 = DC1394_ISO_SPEED_100,
200  vpISO_SPEED_200 = DC1394_ISO_SPEED_200,
201  vpISO_SPEED_400 = DC1394_ISO_SPEED_400,
202  vpISO_SPEED_800 = DC1394_ISO_SPEED_800,
203  vpISO_SPEED_1600 = DC1394_ISO_SPEED_1600,
204  vpISO_SPEED_3200 = DC1394_ISO_SPEED_3200
205  } vp1394TwoIsoSpeedType;
206 
211  typedef enum {
212  vpVIDEO_MODE_160x120_YUV444 = DC1394_VIDEO_MODE_160x120_YUV444,
213  vpVIDEO_MODE_320x240_YUV422 = DC1394_VIDEO_MODE_320x240_YUV422,
214  vpVIDEO_MODE_640x480_YUV411 = DC1394_VIDEO_MODE_640x480_YUV411,
215  vpVIDEO_MODE_640x480_YUV422 = DC1394_VIDEO_MODE_640x480_YUV422,
216  vpVIDEO_MODE_640x480_RGB8 = DC1394_VIDEO_MODE_640x480_RGB8,
217  vpVIDEO_MODE_640x480_MONO8 = DC1394_VIDEO_MODE_640x480_MONO8,
218  vpVIDEO_MODE_640x480_MONO16 = DC1394_VIDEO_MODE_640x480_MONO16,
219  vpVIDEO_MODE_800x600_YUV422 = DC1394_VIDEO_MODE_800x600_YUV422,
220  vpVIDEO_MODE_800x600_RGB8 = DC1394_VIDEO_MODE_800x600_RGB8,
221  vpVIDEO_MODE_800x600_MONO8 = DC1394_VIDEO_MODE_800x600_MONO8,
222  vpVIDEO_MODE_1024x768_YUV422 = DC1394_VIDEO_MODE_1024x768_YUV422,
223  vpVIDEO_MODE_1024x768_RGB8 = DC1394_VIDEO_MODE_1024x768_RGB8,
224  vpVIDEO_MODE_1024x768_MONO8 = DC1394_VIDEO_MODE_1024x768_MONO8,
225  vpVIDEO_MODE_800x600_MONO16 = DC1394_VIDEO_MODE_800x600_MONO16,
226  vpVIDEO_MODE_1024x768_MONO16 = DC1394_VIDEO_MODE_1024x768_MONO16,
227  vpVIDEO_MODE_1280x960_YUV422 = DC1394_VIDEO_MODE_1280x960_YUV422,
228  vpVIDEO_MODE_1280x960_RGB8 = DC1394_VIDEO_MODE_1280x960_RGB8,
229  vpVIDEO_MODE_1280x960_MONO8 = DC1394_VIDEO_MODE_1280x960_MONO8,
230  vpVIDEO_MODE_1600x1200_YUV422 = DC1394_VIDEO_MODE_1600x1200_YUV422,
231  vpVIDEO_MODE_1600x1200_RGB8 = DC1394_VIDEO_MODE_1600x1200_RGB8,
232  vpVIDEO_MODE_1600x1200_MONO8 = DC1394_VIDEO_MODE_1600x1200_MONO8,
233  vpVIDEO_MODE_1280x960_MONO16 = DC1394_VIDEO_MODE_1280x960_MONO16,
234  vpVIDEO_MODE_1600x1200_MONO16 = DC1394_VIDEO_MODE_1600x1200_MONO16,
235  vpVIDEO_MODE_EXIF = DC1394_VIDEO_MODE_EXIF,
236  vpVIDEO_MODE_FORMAT7_0 = DC1394_VIDEO_MODE_FORMAT7_0,
237  vpVIDEO_MODE_FORMAT7_1 = DC1394_VIDEO_MODE_FORMAT7_1,
238  vpVIDEO_MODE_FORMAT7_2 = DC1394_VIDEO_MODE_FORMAT7_2,
239  vpVIDEO_MODE_FORMAT7_3 = DC1394_VIDEO_MODE_FORMAT7_3,
240  vpVIDEO_MODE_FORMAT7_4 = DC1394_VIDEO_MODE_FORMAT7_4,
241  vpVIDEO_MODE_FORMAT7_5 = DC1394_VIDEO_MODE_FORMAT7_5,
242  vpVIDEO_MODE_FORMAT7_6 = DC1394_VIDEO_MODE_FORMAT7_6,
243  vpVIDEO_MODE_FORMAT7_7 = DC1394_VIDEO_MODE_FORMAT7_7
244  } vp1394TwoVideoModeType;
245 
250  typedef enum {
251  vpFRAMERATE_1_875 = DC1394_FRAMERATE_1_875,
252  vpFRAMERATE_3_75 = DC1394_FRAMERATE_3_75,
253  vpFRAMERATE_7_5 = DC1394_FRAMERATE_7_5,
254  vpFRAMERATE_15 = DC1394_FRAMERATE_15,
255  vpFRAMERATE_30 = DC1394_FRAMERATE_30,
256  vpFRAMERATE_60 = DC1394_FRAMERATE_60,
257  vpFRAMERATE_120 = DC1394_FRAMERATE_120,
258  vpFRAMERATE_240 = DC1394_FRAMERATE_240
259  } vp1394TwoFramerateType;
260 
265  typedef enum {
266  vpCOLOR_CODING_MONO8 = DC1394_COLOR_CODING_MONO8,
267  vpCOLOR_CODING_YUV411 = DC1394_COLOR_CODING_YUV411,
268  vpCOLOR_CODING_YUV422 = DC1394_COLOR_CODING_YUV422,
269  vpCOLOR_CODING_YUV444 = DC1394_COLOR_CODING_YUV444,
270  vpCOLOR_CODING_RGB8 = DC1394_COLOR_CODING_RGB8,
271  vpCOLOR_CODING_MONO16 = DC1394_COLOR_CODING_MONO16,
272  vpCOLOR_CODING_RGB16 = DC1394_COLOR_CODING_RGB16,
273  vpCOLOR_CODING_MONO16S = DC1394_COLOR_CODING_MONO16S,
274  vpCOLOR_CODING_RGB16S = DC1394_COLOR_CODING_RGB16S,
275  vpCOLOR_CODING_RAW8 = DC1394_COLOR_CODING_RAW8,
276  vpCOLOR_CODING_RAW16 = DC1394_COLOR_CODING_RAW16
277  } vp1394TwoColorCodingType;
278 
283  typedef enum {
284  vpFEATURE_BRIGHTNESS = DC1394_FEATURE_BRIGHTNESS,
285  vpFEATURE_EXPOSURE = DC1394_FEATURE_EXPOSURE,
286  vpFEATURE_SHARPNESS = DC1394_FEATURE_SHARPNESS,
287  // vpFEATURE_WHITE_BALANCE = DC1394_FEATURE_WHITE_BALANCE,
288  vpFEATURE_HUE = DC1394_FEATURE_HUE,
289  vpFEATURE_SATURATION = DC1394_FEATURE_SATURATION,
290  vpFEATURE_GAMMA = DC1394_FEATURE_GAMMA,
291  vpFEATURE_SHUTTER = DC1394_FEATURE_SHUTTER,
292  vpFEATURE_GAIN = DC1394_FEATURE_GAIN,
293  vpFEATURE_IRIS = DC1394_FEATURE_IRIS,
294  // vpFEATURE_FOCUS = DC1394_FEATURE_FOCUS,
295  // vpFEATURE_TEMPERATURE = DC1394_FEATURE_TEMPERATURE,
296  // vpFEATURE_TRIGGER = DC1394_FEATURE_TRIGGER,
297  // vpFEATURE_TRIGGER_DELAY = DC1394_FEATURE_TRIGGER_DELAY,
298  // vpFEATURE_WHITE_SHADING = DC1394_FEATURE_WHITE_SHADING,
299  // vpFEATURE_FRAME_RATE = DC1394_FEATURE_FRAME_RATE,
300  // vpFEATURE_ZOOM = DC1394_FEATURE_ZOOM,
301  // vpFEATURE_PAN = DC1394_FEATURE_PAN,
302  // vpFEATURE_TILT = DC1394_FEATURE_TILT,
303  // vpFEATURE_OPTICAL_FILTER = DC1394_FEATURE_OPTICAL_FILTER,
304  // vpFEATURE_CAPTURE_SIZE = DC1394_FEATURE_CAPTURE_SIZE,
305  // vpFEATURE_CAPTURE_QUALITY = DC1394_FEATURE_CAPTURE_QUALITY
306  } vp1394TwoParametersType;
307 
308 private:
312  typedef struct {
313  uint32_t brightness;
314  uint32_t exposure;
315  uint32_t sharpness;
316  // uint32_t whiteBalance;
317  uint32_t hue;
318  uint32_t saturation;
319  uint32_t gamma;
320  uint32_t shutter;
321  uint32_t gain;
322  uint32_t iris;
323  // uint32_t focus;
324  // uint32_t temperature ;
325  // uint32_t trigger ;
326  // uint32_t triggerDelay ;
327  // uint32_t whiteShadding ;
328  // uint32_t frameRate ;
329  // uint32_t zoom;
330  // uint32_t pan;
331  // uint32_t tilt ;
332  // uint32_t opticalFilter ;
333  // uint32_t captureSize;
334  // uint32_t captureQuality ;
335  } vpDc1394TwoCameraParametersData;
336 
337  // private:
338  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
339  // vp1394TwoGrabber(const vp1394TwoGrabber &)
340  // : camera(NULL), cameras(NULL), num_cameras(0), camera_id(0),
341  // verbose(false), camIsOpen(NULL),
342  // num_buffers(4), // ring buffer size
343  // isDataModified(NULL), initialShutterMode(NULL), dataCam(NULL)
344  // #ifdef VISP_HAVE_DC1394_CAMERA_ENUMERATE // new API >
345  // libdc1394-2.0.0-rc7 , d(NULL),
346  // list(NULL)
347  // #endif
348  // {
349  // throw vpException(vpException::functionNotImplementedError,"Not
350  // implemented!");
351  // }
352  // vp1394TwoGrabber &operator=(const vp1394TwoGrabber &){
353  // throw vpException(vpException::functionNotImplementedError,"Not
354  // implemented!"); return *this;
355  // }
356  //#endif
357 
358 public:
359  explicit vp1394TwoGrabber(bool reset = true);
360  virtual ~vp1394TwoGrabber();
361 
362  void acquire(vpImage<unsigned char> &I);
363  void acquire(vpImage<unsigned char> &I, uint64_t &timestamp, uint32_t &id);
364  void acquire(vpImage<vpRGBa> &I);
365  void acquire(vpImage<vpRGBa> &I, uint64_t &timestamp, uint32_t &id);
366 
367  void close();
368 
369  static std::string colorCoding2string(vp1394TwoColorCodingType colorcoding);
370 
371  dc1394video_frame_t *dequeue();
372  dc1394video_frame_t *dequeue(vpImage<unsigned char> &I);
373  dc1394video_frame_t *dequeue(vpImage<unsigned char> &I, uint64_t &timestamp, uint32_t &id);
374  dc1394video_frame_t *dequeue(vpImage<vpRGBa> &I);
375  dc1394video_frame_t *dequeue(vpImage<vpRGBa> &I, uint64_t &timestamp, uint32_t &id);
376  void enqueue(dc1394video_frame_t *frame);
377 
378  static std::string framerate2string(vp1394TwoFramerateType fps);
379 
380  void getAutoGain(unsigned int &minvalue, unsigned int &maxvalue);
381  void getAutoShutter(unsigned int &minvalue, unsigned int &maxvalue);
382 
383  uint64_t getCamera();
384  void getCamera(uint64_t &camera);
385  void getColorCoding(vp1394TwoColorCodingType &coding);
386  uint32_t getColorCodingSupported(vp1394TwoVideoModeType videomode, std::list<vp1394TwoColorCodingType> &codings);
387  void getFramerate(vp1394TwoFramerateType &fps);
388  uint32_t getFramerateSupported(vp1394TwoVideoModeType videomode, std::list<vp1394TwoFramerateType> &fps);
389  uint64_t getGuid();
390  void getGuid(uint64_t &guid);
391  void getHeight(unsigned int &height);
392  unsigned int getHeight();
393  void getNumCameras(unsigned int &ncameras) const;
394  unsigned int getNumCameras() const;
395  unsigned int getParameterValue(vp1394TwoParametersType param);
396  unsigned int getRingBufferSize() const;
397  void getVideoMode(vp1394TwoVideoModeType &videomode);
398  uint32_t getVideoModeSupported(std::list<vp1394TwoVideoModeType> &videomodes);
399  void getWidth(unsigned int &width);
400  unsigned int getWidth();
401 
402  bool isColor();
403  bool isColorCodingSupported(vp1394TwoVideoModeType videomode, vp1394TwoColorCodingType coding);
404  bool isFramerateSupported(vp1394TwoVideoModeType videomode, vp1394TwoFramerateType fps);
405  bool isVideoModeSupported(vp1394TwoVideoModeType videomode);
406  bool isVideoModeFormat7(vp1394TwoVideoModeType videomode);
407 
408  void open(vpImage<unsigned char> &I);
409  void open(vpImage<vpRGBa> &I);
410 
411  vp1394TwoGrabber &operator>>(vpImage<unsigned char> &I);
412  vp1394TwoGrabber &operator>>(vpImage<vpRGBa> &I);
413 
414  void printCameraInfo();
415 
416  void resetBus();
417 
418  void setAutoGain(bool enable = true);
419  void setAutoGain(unsigned int minvalue, unsigned int maxvalue);
420  void setAutoShutter(bool enable = true);
421  void setAutoShutter(unsigned int minvalue, unsigned int maxvalue);
422  void setCamera(uint64_t camera);
423  void setColorCoding(vp1394TwoColorCodingType coding);
424  void setFormat7ROI(unsigned int left = 0, unsigned int top = 0, unsigned int width = 0, unsigned int height = 0);
425  void setFramerate(vp1394TwoFramerateType fps);
426  void setIsoTransmissionSpeed(vp1394TwoIsoSpeedType isospeed);
427  void setPanControl(unsigned int panControlValue);
428  void setParameterValue(vp1394TwoParametersType param, unsigned int val);
429  void setRingBufferSize(unsigned int size);
430  void setVideoMode(vp1394TwoVideoModeType videomode);
431 
432  static vp1394TwoVideoModeType string2videoMode(std::string videomode);
433  static vp1394TwoFramerateType string2framerate(std::string fps);
434  static vp1394TwoColorCodingType string2colorCoding(std::string colorcoding);
435 
436  static std::string videoMode2string(vp1394TwoVideoModeType videomode);
437 
438 private:
439  void open();
440  void initialize(bool reset);
441  void setCapture(dc1394switch_t _switch);
442  void setTransmission(dc1394switch_t _switch);
443  inline void updateDataCamToStruct();
444  inline void updateDataStructToCam();
445 
446 private:
447  dc1394camera_t *camera, **cameras;
448  unsigned int num_cameras;
449  unsigned int camera_id;
450 
451  bool verbose;
452  bool *camIsOpen;
453  unsigned int num_buffers;
454 
455  /* parameters for the cameras */
456  bool *isDataModified;
457  dc1394feature_mode_t *initialShutterMode;
458  vpDc1394TwoCameraParametersData *dataCam;
459 
460 #ifdef VISP_HAVE_DC1394_CAMERA_ENUMERATE
461  dc1394_t *d;
462  dc1394camera_list_t *list;
463 #endif
464 };
465 
466 #endif
467 #endif
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:116
vpFrameGrabber
Base class for all video devices. It is designed to provide a front end to video sources.
Definition: vpFrameGrabber.h:101
vpFrameGrabber::close
virtual void close()=0
vp1394TwoGrabber
Class for firewire ieee1394 video devices using libdc1394-2.x api.
Definition: vp1394TwoGrabber.h:186
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:114