Visual Servoing Platform  version 3.4.0
vp1394CMUGrabber.h
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Firewire cameras video capture based on CMU 1394 Digital Camera SDK.
33  *
34  * Authors:
35  * Lucas Lopes Lemos FEMTO-ST, AS2M departement, Besancon
36  * Guillaume Laurent FEMTO-ST, AS2M departement, Besancon
37  * Fabien Spindler
38  *
39  *****************************************************************************/
40 
41 #ifndef vp1394CMUGrabber_h
42 #define vp1394CMUGrabber_h
43 
44 #include <visp3/core/vpConfig.h>
45 
46 #ifdef VISP_HAVE_CMU1394
47 
48 // Include WinSock2.h before windows.h to ensure that winsock.h is not
49 // included by windows.h since winsock.h and winsock2.h are incompatible
50 #include <1394Camera.h> // CMU library
51 #include <WinSock2.h>
52 #include <windows.h>
53 
54 #include <visp3/core/vpFrameGrabber.h>
55 #include <visp3/core/vpFrameGrabberException.h>
56 #include <visp3/core/vpImage.h>
57 #include <visp3/core/vpRGBa.h>
58 
151 class VISP_EXPORT vp1394CMUGrabber : public vpFrameGrabber
152 {
153 public:
157  typedef enum { YUV444, YUV422, YUV411, RGB8, MONO8, MONO16, UNKNOWN } vpColorCodingType;
158 
159 private:
161  C1394Camera *camera;
163  int index;
165  unsigned long _format;
167  unsigned long _mode;
169  unsigned long _fps;
171  bool _modeauto;
173  unsigned short _gain;
175  unsigned short _shutter;
177  vpColorCodingType _color;
178 
179 public:
180  // Constructor.
182  // Destructor.
183  virtual ~vp1394CMUGrabber();
184 
185  // Acquire one frame in a greyscale image.
187 
188  // Acquire one frame in a color image.
189  void acquire(vpImage<vpRGBa> &I);
190 
191  // Stop the acquisition.
192  void close();
193 
194  // Display information about the camera on the standard output.
195  void displayCameraDescription(int cam_id);
196 
197  // Display camera model on the standard output. Call it after open the
198  // grabber.
199  void displayCameraModel();
200 
201  // Get the video framerate
202  int getFramerate();
203 
204  // Get the gain min and max values.
205  void getGainMinMax(unsigned short &min, unsigned short &max);
206 
207  // Get the number of connected cameras.
208  int getNumberOfConnectedCameras() const;
209 
210  // Get the shutter min and max values.
211  void getShutterMinMax(unsigned short &min, unsigned short &max);
212 
214  vpColorCodingType getVideoColorCoding() const
215  {
216  vpColorCodingType color = vp1394CMUGrabber::UNKNOWN;
217  if (_format == 0) {
218  switch (_mode) {
219  case 0:
220  color = vp1394CMUGrabber::YUV444;
221  break;
222  case 1:
223  color = vp1394CMUGrabber::YUV422;
224  break;
225  case 2:
226  color = vp1394CMUGrabber::YUV411;
227  break;
228  case 3:
229  color = vp1394CMUGrabber::YUV422;
230  break;
231  case 4:
232  color = vp1394CMUGrabber::RGB8;
233  break;
234  case 5:
235  color = vp1394CMUGrabber::MONO8;
236  break;
237  case 6:
238  color = vp1394CMUGrabber::MONO16;
239  break;
240  }
241  } else if (_format == 1) {
242  switch (_mode) {
243  case 0:
244  color = vp1394CMUGrabber::YUV422;
245  break;
246  case 1:
247  color = vp1394CMUGrabber::RGB8;
248  break;
249  case 2:
250  color = vp1394CMUGrabber::MONO8;
251  break;
252  case 3:
253  color = vp1394CMUGrabber::YUV422;
254  break;
255  case 4:
256  color = vp1394CMUGrabber::RGB8;
257  break;
258  case 5:
259  color = vp1394CMUGrabber::MONO8;
260  break;
261  case 6:
262  color = vp1394CMUGrabber::MONO16;
263  break;
264  case 7:
265  color = vp1394CMUGrabber::MONO16;
266  break;
267  }
268  } else if (_format == 2) {
269  switch (_mode) {
270  case 0:
271  color = vp1394CMUGrabber::YUV422;
272  break;
273  case 1:
274  color = vp1394CMUGrabber::RGB8;
275  break;
276  case 2:
277  color = vp1394CMUGrabber::MONO8;
278  break;
279  case 3:
280  color = vp1394CMUGrabber::YUV422;
281  break;
282  case 4:
283  color = vp1394CMUGrabber::RGB8;
284  break;
285  case 5:
286  color = vp1394CMUGrabber::MONO8;
287  break;
288  case 6:
289  color = vp1394CMUGrabber::MONO16;
290  break;
291  case 7:
292  color = vp1394CMUGrabber::MONO16;
293  break;
294  }
295  }
296 
297  return color;
298  }
299 
300  // Initialization of the grabber using a greyscale image.
301  void open(vpImage<unsigned char> &I);
302 
303  // Initialization of the grabber using a color image.
304  void open(vpImage<vpRGBa> &I);
305 
307  vp1394CMUGrabber &operator>>(vpImage<vpRGBa> &I);
308 
309  // Select the camera on the bus. Call it before open the grabber.
310  void selectCamera(int cam_id);
311 
312  // Enable auto gain
313  void setAutoGain();
314 
315  // Enable auto shutter
316  void setAutoShutter();
317 
318  // Set the gain and the shutter values. Call it before open the grabber
319  void setControl(unsigned short gain, unsigned short shutter);
320 
321  // Set the frame rate. Call it before open the grabber.
322  void setFramerate(unsigned long fps);
323 
324  // Set the shutter value. Call it before open the grabber
325  void setShutter(unsigned short shutter);
326 
327  // Set the gain value. Call it before open the grabber
328  void setGain(unsigned short gain);
329 
330  // Set the video format and mode. Call it before open the grabber.
331  void setVideoMode(unsigned long format, unsigned long mode);
332 
333 private:
334  void initCamera();
335 };
336 
337 #endif
338 #endif
vpColorCodingType getVideoColorCoding() const
Get the video color coding format.
virtual void open(vpImage< unsigned char > &I)=0
Firewire cameras video capture based on CMU 1394 Digital Camera SDK.
Base class for all video devices. It is designed to provide a front end to video sources.
virtual void close()=0
virtual void acquire(vpImage< unsigned char > &I)=0