52 #ifndef vp1394TwoGrabber_h
53 #define vp1394TwoGrabber_h
55 #include <visp3/core/vpConfig.h>
59 #if defined(VISP_HAVE_DC1394)
175 #include <dc1394/control.h>
176 #include <dc1394/utils.h>
177 #include <dc1394/vendor/avt.h>
179 #include <visp3/core/vpFrameGrabber.h>
180 #include <visp3/core/vpImage.h>
181 #include <visp3/core/vpRGBa.h>
187 static const char *strVideoMode[DC1394_VIDEO_MODE_NUM];
188 static const char *strFramerate[DC1394_FRAMERATE_NUM];
189 static const char *strColorCoding[DC1394_COLOR_CODING_NUM];
196 vpISO_SPEED_100 = DC1394_ISO_SPEED_100,
197 vpISO_SPEED_200 = DC1394_ISO_SPEED_200,
198 vpISO_SPEED_400 = DC1394_ISO_SPEED_400,
199 vpISO_SPEED_800 = DC1394_ISO_SPEED_800,
200 vpISO_SPEED_1600 = DC1394_ISO_SPEED_1600,
201 vpISO_SPEED_3200 = DC1394_ISO_SPEED_3200
202 } vp1394TwoIsoSpeedType;
209 vpVIDEO_MODE_160x120_YUV444 = DC1394_VIDEO_MODE_160x120_YUV444,
210 vpVIDEO_MODE_320x240_YUV422 = DC1394_VIDEO_MODE_320x240_YUV422,
211 vpVIDEO_MODE_640x480_YUV411 = DC1394_VIDEO_MODE_640x480_YUV411,
212 vpVIDEO_MODE_640x480_YUV422 = DC1394_VIDEO_MODE_640x480_YUV422,
213 vpVIDEO_MODE_640x480_RGB8 = DC1394_VIDEO_MODE_640x480_RGB8,
214 vpVIDEO_MODE_640x480_MONO8 = DC1394_VIDEO_MODE_640x480_MONO8,
215 vpVIDEO_MODE_640x480_MONO16 = DC1394_VIDEO_MODE_640x480_MONO16,
216 vpVIDEO_MODE_800x600_YUV422 = DC1394_VIDEO_MODE_800x600_YUV422,
217 vpVIDEO_MODE_800x600_RGB8 = DC1394_VIDEO_MODE_800x600_RGB8,
218 vpVIDEO_MODE_800x600_MONO8 = DC1394_VIDEO_MODE_800x600_MONO8,
219 vpVIDEO_MODE_1024x768_YUV422 = DC1394_VIDEO_MODE_1024x768_YUV422,
220 vpVIDEO_MODE_1024x768_RGB8 = DC1394_VIDEO_MODE_1024x768_RGB8,
221 vpVIDEO_MODE_1024x768_MONO8 = DC1394_VIDEO_MODE_1024x768_MONO8,
222 vpVIDEO_MODE_800x600_MONO16 = DC1394_VIDEO_MODE_800x600_MONO16,
223 vpVIDEO_MODE_1024x768_MONO16 = DC1394_VIDEO_MODE_1024x768_MONO16,
224 vpVIDEO_MODE_1280x960_YUV422 = DC1394_VIDEO_MODE_1280x960_YUV422,
225 vpVIDEO_MODE_1280x960_RGB8 = DC1394_VIDEO_MODE_1280x960_RGB8,
226 vpVIDEO_MODE_1280x960_MONO8 = DC1394_VIDEO_MODE_1280x960_MONO8,
227 vpVIDEO_MODE_1600x1200_YUV422 = DC1394_VIDEO_MODE_1600x1200_YUV422,
228 vpVIDEO_MODE_1600x1200_RGB8 = DC1394_VIDEO_MODE_1600x1200_RGB8,
229 vpVIDEO_MODE_1600x1200_MONO8 = DC1394_VIDEO_MODE_1600x1200_MONO8,
230 vpVIDEO_MODE_1280x960_MONO16 = DC1394_VIDEO_MODE_1280x960_MONO16,
231 vpVIDEO_MODE_1600x1200_MONO16 = DC1394_VIDEO_MODE_1600x1200_MONO16,
232 vpVIDEO_MODE_EXIF = DC1394_VIDEO_MODE_EXIF,
233 vpVIDEO_MODE_FORMAT7_0 = DC1394_VIDEO_MODE_FORMAT7_0,
234 vpVIDEO_MODE_FORMAT7_1 = DC1394_VIDEO_MODE_FORMAT7_1,
235 vpVIDEO_MODE_FORMAT7_2 = DC1394_VIDEO_MODE_FORMAT7_2,
236 vpVIDEO_MODE_FORMAT7_3 = DC1394_VIDEO_MODE_FORMAT7_3,
237 vpVIDEO_MODE_FORMAT7_4 = DC1394_VIDEO_MODE_FORMAT7_4,
238 vpVIDEO_MODE_FORMAT7_5 = DC1394_VIDEO_MODE_FORMAT7_5,
239 vpVIDEO_MODE_FORMAT7_6 = DC1394_VIDEO_MODE_FORMAT7_6,
240 vpVIDEO_MODE_FORMAT7_7 = DC1394_VIDEO_MODE_FORMAT7_7
241 } vp1394TwoVideoModeType;
248 vpFRAMERATE_1_875 = DC1394_FRAMERATE_1_875,
249 vpFRAMERATE_3_75 = DC1394_FRAMERATE_3_75,
250 vpFRAMERATE_7_5 = DC1394_FRAMERATE_7_5,
251 vpFRAMERATE_15 = DC1394_FRAMERATE_15,
252 vpFRAMERATE_30 = DC1394_FRAMERATE_30,
253 vpFRAMERATE_60 = DC1394_FRAMERATE_60,
254 vpFRAMERATE_120 = DC1394_FRAMERATE_120,
255 vpFRAMERATE_240 = DC1394_FRAMERATE_240
256 } vp1394TwoFramerateType;
263 vpCOLOR_CODING_MONO8 = DC1394_COLOR_CODING_MONO8,
264 vpCOLOR_CODING_YUV411 = DC1394_COLOR_CODING_YUV411,
265 vpCOLOR_CODING_YUV422 = DC1394_COLOR_CODING_YUV422,
266 vpCOLOR_CODING_YUV444 = DC1394_COLOR_CODING_YUV444,
267 vpCOLOR_CODING_RGB8 = DC1394_COLOR_CODING_RGB8,
268 vpCOLOR_CODING_MONO16 = DC1394_COLOR_CODING_MONO16,
269 vpCOLOR_CODING_RGB16 = DC1394_COLOR_CODING_RGB16,
270 vpCOLOR_CODING_MONO16S = DC1394_COLOR_CODING_MONO16S,
271 vpCOLOR_CODING_RGB16S = DC1394_COLOR_CODING_RGB16S,
272 vpCOLOR_CODING_RAW8 = DC1394_COLOR_CODING_RAW8,
273 vpCOLOR_CODING_RAW16 = DC1394_COLOR_CODING_RAW16
274 } vp1394TwoColorCodingType;
281 vpFEATURE_BRIGHTNESS = DC1394_FEATURE_BRIGHTNESS,
282 vpFEATURE_EXPOSURE = DC1394_FEATURE_EXPOSURE,
283 vpFEATURE_SHARPNESS = DC1394_FEATURE_SHARPNESS,
285 vpFEATURE_HUE = DC1394_FEATURE_HUE,
286 vpFEATURE_SATURATION = DC1394_FEATURE_SATURATION,
287 vpFEATURE_GAMMA = DC1394_FEATURE_GAMMA,
288 vpFEATURE_SHUTTER = DC1394_FEATURE_SHUTTER,
289 vpFEATURE_GAIN = DC1394_FEATURE_GAIN,
290 vpFEATURE_IRIS = DC1394_FEATURE_IRIS,
303 } vp1394TwoParametersType;
332 } vpDc1394TwoCameraParametersData;
366 static std::string colorCoding2string(vp1394TwoColorCodingType colorcoding);
368 dc1394video_frame_t *dequeue();
372 dc1394video_frame_t *dequeue(
vpImage<vpRGBa> &I, uint64_t ×tamp, uint32_t &
id);
373 void enqueue(dc1394video_frame_t *frame);
375 static std::string framerate2string(vp1394TwoFramerateType fps);
377 void getAutoGain(
unsigned int &minvalue,
unsigned int &maxvalue);
378 void getAutoShutter(
unsigned int &minvalue,
unsigned int &maxvalue);
380 uint64_t getCamera();
381 void getCamera(uint64_t &camera);
382 void getColorCoding(vp1394TwoColorCodingType &coding);
383 uint32_t getColorCodingSupported(vp1394TwoVideoModeType videomode, std::list<vp1394TwoColorCodingType> &codings);
384 void getFramerate(vp1394TwoFramerateType &fps);
385 uint32_t getFramerateSupported(vp1394TwoVideoModeType videomode, std::list<vp1394TwoFramerateType> &fps);
387 void getGuid(uint64_t &guid);
390 void getNumCameras(
unsigned int &ncameras)
const;
391 unsigned int getNumCameras()
const;
392 unsigned int getParameterValue(vp1394TwoParametersType param);
393 unsigned int getRingBufferSize()
const;
394 void getVideoMode(vp1394TwoVideoModeType &videomode);
395 uint32_t getVideoModeSupported(std::list<vp1394TwoVideoModeType> &videomodes);
400 bool isColorCodingSupported(vp1394TwoVideoModeType videomode, vp1394TwoColorCodingType coding);
401 bool isFramerateSupported(vp1394TwoVideoModeType videomode, vp1394TwoFramerateType fps);
402 bool isVideoModeSupported(vp1394TwoVideoModeType videomode);
403 bool isVideoModeFormat7(vp1394TwoVideoModeType videomode);
411 void printCameraInfo();
415 void setAutoGain(
bool enable =
true);
416 void setAutoGain(
unsigned int minvalue,
unsigned int maxvalue);
417 void setAutoShutter(
bool enable =
true);
418 void setAutoShutter(
unsigned int minvalue,
unsigned int maxvalue);
419 void setCamera(uint64_t camera);
420 void setColorCoding(vp1394TwoColorCodingType coding);
421 void setFormat7ROI(
unsigned int left = 0,
unsigned int top = 0,
unsigned int width = 0,
unsigned int height = 0);
422 void setFramerate(vp1394TwoFramerateType fps);
423 void setIsoTransmissionSpeed(vp1394TwoIsoSpeedType isospeed);
424 void setPanControl(
unsigned int panControlValue);
425 void setParameterValue(vp1394TwoParametersType param,
unsigned int val);
426 void setRingBufferSize(
unsigned int size);
427 void setVideoMode(vp1394TwoVideoModeType videomode);
429 static vp1394TwoVideoModeType string2videoMode(std::string videomode);
430 static vp1394TwoFramerateType string2framerate(std::string fps);
431 static vp1394TwoColorCodingType string2colorCoding(std::string colorcoding);
433 static std::string videoMode2string(vp1394TwoVideoModeType videomode);
437 void initialize(
bool reset);
438 void setCapture(dc1394switch_t _switch);
439 void setTransmission(dc1394switch_t _switch);
440 inline void updateDataCamToStruct();
441 inline void updateDataStructToCam();
444 dc1394camera_t *camera, **cameras;
445 unsigned int num_cameras;
446 unsigned int camera_id;
450 unsigned int num_buffers;
453 bool *isDataModified;
454 dc1394feature_mode_t *initialShutterMode;
455 vpDc1394TwoCameraParametersData *dataCam;
457 #ifdef VISP_HAVE_DC1394_CAMERA_ENUMERATE
459 dc1394camera_list_t *list;
Class for firewire ieee1394 video devices using libdc1394-2.x api.
Base class for all video devices. It is designed to provide a front end to video sources.
virtual void open(vpImage< unsigned char > &I)=0
unsigned int getWidth() const
Return the number of columns in the image.
virtual void acquire(vpImage< unsigned char > &I)=0
unsigned int getHeight() const
Return the number of rows in the image.