vp1394CMUGrabber.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Firewire cameras video capture based on CMU 1394 Digital Camera SDK.
 *
 * Authors:
 * Lucas Lopes Lemos FEMTO-ST, AS2M departement, Besancon
 * Guillaume Laurent FEMTO-ST, AS2M departement, Besancon
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef vp1394CMUGrabber_h
#define vp1394CMUGrabber_h

#include <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_CMU1394

// Include WinSock2.h before windows.h to ensure that winsock.h is not
// included by windows.h since winsock.h and winsock2.h are incompatible
#include <1394Camera.h> // CMU library
#include <WinSock2.h>
#include <windows.h>

#include <visp3/core/vpFrameGrabber.h>
#include <visp3/core/vpFrameGrabberException.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpRGBa.h>

class VISP_EXPORT vp1394CMUGrabber : public vpFrameGrabber
{
public:
  typedef enum { YUV444, YUV422, YUV411, RGB8, MONO8, MONO16, UNKNOWN } vpColorCodingType;

private:
  C1394Camera *camera;
  int index;
  unsigned long _format;
  unsigned long _mode;
  unsigned long _fps;
  bool _modeauto;
  unsigned short _gain;
  unsigned short _shutter;
  vpColorCodingType _color;

public:
  // Constructor.
  vp1394CMUGrabber();
  // Destructor.
  virtual ~vp1394CMUGrabber();

  // Acquire one frame in a greyscale image.
  void acquire(vpImage<unsigned char> &I);

  // Acquire one frame in a color image.
  void acquire(vpImage<vpRGBa> &I);

  // Stop the acquisition.
  void close();

  // Display information about the camera on the standard output.
  void displayCameraDescription(int cam_id);

  // Display camera model on the standard output. Call it after open the
  // grabber.
  void displayCameraModel();

  // Get the video framerate
  int getFramerate();

  // Get the gain min and max values.
  void getGainMinMax(unsigned short &min, unsigned short &max);

  // Get the number of connected cameras.
  int getNumberOfConnectedCameras() const;

  // Get the shutter min and max values.
  void getShutterMinMax(unsigned short &min, unsigned short &max);

  vpColorCodingType getVideoColorCoding() const
  {
    vpColorCodingType color = vp1394CMUGrabber::UNKNOWN;
    if (_format == 0) {
      switch (_mode) {
      case 0:
        color = vp1394CMUGrabber::YUV444;
        break;
      case 1:
        color = vp1394CMUGrabber::YUV422;
        break;
      case 2:
        color = vp1394CMUGrabber::YUV411;
        break;
      case 3:
        color = vp1394CMUGrabber::YUV422;
        break;
      case 4:
        color = vp1394CMUGrabber::RGB8;
        break;
      case 5:
        color = vp1394CMUGrabber::MONO8;
        break;
      case 6:
        color = vp1394CMUGrabber::MONO16;
        break;
      }
    } else if (_format == 1) {
      switch (_mode) {
      case 0:
        color = vp1394CMUGrabber::YUV422;
        break;
      case 1:
        color = vp1394CMUGrabber::RGB8;
        break;
      case 2:
        color = vp1394CMUGrabber::MONO8;
        break;
      case 3:
        color = vp1394CMUGrabber::YUV422;
        break;
      case 4:
        color = vp1394CMUGrabber::RGB8;
        break;
      case 5:
        color = vp1394CMUGrabber::MONO8;
        break;
      case 6:
        color = vp1394CMUGrabber::MONO16;
        break;
      case 7:
        color = vp1394CMUGrabber::MONO16;
        break;
      }
    } else if (_format == 2) {
      switch (_mode) {
      case 0:
        color = vp1394CMUGrabber::YUV422;
        break;
      case 1:
        color = vp1394CMUGrabber::RGB8;
        break;
      case 2:
        color = vp1394CMUGrabber::MONO8;
        break;
      case 3:
        color = vp1394CMUGrabber::YUV422;
        break;
      case 4:
        color = vp1394CMUGrabber::RGB8;
        break;
      case 5:
        color = vp1394CMUGrabber::MONO8;
        break;
      case 6:
        color = vp1394CMUGrabber::MONO16;
        break;
      case 7:
        color = vp1394CMUGrabber::MONO16;
        break;
      }
    }

    return color;
  }

  // Initialization of the grabber using a greyscale image.
  void open(vpImage<unsigned char> &I);

  // Initialization of the grabber using a color image.
  void open(vpImage<vpRGBa> &I);

  vp1394CMUGrabber &operator>>(vpImage<unsigned char> &I);
  vp1394CMUGrabber &operator>>(vpImage<vpRGBa> &I);

  // Select the camera on the bus. Call it before open the grabber.
  void selectCamera(int cam_id);

  // Enable auto gain
  void setAutoGain();

  // Enable auto shutter
  void setAutoShutter();

  // Set the gain and the shutter values. Call it before open the grabber
  void setControl(unsigned short gain, unsigned short shutter);

  // Set the frame rate. Call it before open the grabber.
  void setFramerate(unsigned long fps);

  // Set the shutter value. Call it before open the grabber
  void setShutter(unsigned short shutter);

  // Set the gain value. Call it before open the grabber
  void setGain(unsigned short gain);

  // Set the video format and mode. Call it before open the grabber.
  void setVideoMode(unsigned long format, unsigned long mode);

private:
  void initCamera();
};

#endif
#endif