Visual Servoing Platform  version 3.5.1 under development (2023-01-31)
vp1394TwoGrabber.h
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3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2022 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
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10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
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13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
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20  * Inria Rennes - Bretagne Atlantique
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Firewire cameras video capture.
33  *
34  *****************************************************************************/
35 
52 #ifndef vp1394TwoGrabber_h
53 #define vp1394TwoGrabber_h
54 
55 #include <visp3/core/vpConfig.h>
56 
57 #include <list>
58 
59 #if defined(VISP_HAVE_DC1394)
60 
170 /*
171  * Interface with libdc1394 2.x
172  */
173 #include <string.h>
174 
175 #include <dc1394/control.h>
176 #include <dc1394/utils.h>
177 #include <dc1394/vendor/avt.h>
178 
179 #include <visp3/core/vpFrameGrabber.h>
180 #include <visp3/core/vpImage.h>
181 #include <visp3/core/vpRGBa.h>
182 
183 class VISP_EXPORT vp1394TwoGrabber : public vpFrameGrabber
184 {
185 
186 public:
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];
190 
195  typedef enum {
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;
203 
208  typedef enum {
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;
242 
247  typedef enum {
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;
257 
262  typedef enum {
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;
275 
280  typedef enum {
281  vpFEATURE_BRIGHTNESS = DC1394_FEATURE_BRIGHTNESS,
282  vpFEATURE_EXPOSURE = DC1394_FEATURE_EXPOSURE,
283  vpFEATURE_SHARPNESS = DC1394_FEATURE_SHARPNESS,
284  // vpFEATURE_WHITE_BALANCE = DC1394_FEATURE_WHITE_BALANCE,
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,
291  // vpFEATURE_FOCUS = DC1394_FEATURE_FOCUS,
292  // vpFEATURE_TEMPERATURE = DC1394_FEATURE_TEMPERATURE,
293  // vpFEATURE_TRIGGER = DC1394_FEATURE_TRIGGER,
294  // vpFEATURE_TRIGGER_DELAY = DC1394_FEATURE_TRIGGER_DELAY,
295  // vpFEATURE_WHITE_SHADING = DC1394_FEATURE_WHITE_SHADING,
296  // vpFEATURE_FRAME_RATE = DC1394_FEATURE_FRAME_RATE,
297  // vpFEATURE_ZOOM = DC1394_FEATURE_ZOOM,
298  // vpFEATURE_PAN = DC1394_FEATURE_PAN,
299  // vpFEATURE_TILT = DC1394_FEATURE_TILT,
300  // vpFEATURE_OPTICAL_FILTER = DC1394_FEATURE_OPTICAL_FILTER,
301  // vpFEATURE_CAPTURE_SIZE = DC1394_FEATURE_CAPTURE_SIZE,
302  // vpFEATURE_CAPTURE_QUALITY = DC1394_FEATURE_CAPTURE_QUALITY
303  } vp1394TwoParametersType;
304 
305 private:
309  typedef struct {
310  uint32_t brightness;
311  uint32_t exposure;
312  uint32_t sharpness;
313  // uint32_t whiteBalance;
314  uint32_t hue;
315  uint32_t saturation;
316  uint32_t gamma;
317  uint32_t shutter;
318  uint32_t gain;
319  uint32_t iris;
320  // uint32_t focus;
321  // uint32_t temperature ;
322  // uint32_t trigger ;
323  // uint32_t triggerDelay ;
324  // uint32_t whiteShadding ;
325  // uint32_t frameRate ;
326  // uint32_t zoom;
327  // uint32_t pan;
328  // uint32_t tilt ;
329  // uint32_t opticalFilter ;
330  // uint32_t captureSize;
331  // uint32_t captureQuality ;
332  } vpDc1394TwoCameraParametersData;
333 
334  // private:
335  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
336  // vp1394TwoGrabber(const vp1394TwoGrabber &)
337  // : camera(NULL), cameras(NULL), num_cameras(0), camera_id(0),
338  // verbose(false), camIsOpen(NULL),
339  // num_buffers(4), // ring buffer size
340  // isDataModified(NULL), initialShutterMode(NULL), dataCam(NULL)
341  // #ifdef VISP_HAVE_DC1394_CAMERA_ENUMERATE // new API >
342  // libdc1394-2.0.0-rc7 , d(NULL),
343  // list(NULL)
344  // #endif
345  // {
346  // throw vpException(vpException::functionNotImplementedError,"Not
347  // implemented!");
348  // }
349  // vp1394TwoGrabber &operator=(const vp1394TwoGrabber &){
350  // throw vpException(vpException::functionNotImplementedError,"Not
351  // implemented!"); return *this;
352  // }
353  //#endif
354 
355 public:
356  explicit vp1394TwoGrabber(bool reset = true);
357  virtual ~vp1394TwoGrabber();
358 
360  void acquire(vpImage<unsigned char> &I, uint64_t &timestamp, uint32_t &id);
361  void acquire(vpImage<vpRGBa> &I);
362  void acquire(vpImage<vpRGBa> &I, uint64_t &timestamp, uint32_t &id);
363 
364  void close();
365 
366  static std::string colorCoding2string(vp1394TwoColorCodingType colorcoding);
367 
368  dc1394video_frame_t *dequeue();
369  dc1394video_frame_t *dequeue(vpImage<unsigned char> &I);
370  dc1394video_frame_t *dequeue(vpImage<unsigned char> &I, uint64_t &timestamp, uint32_t &id);
371  dc1394video_frame_t *dequeue(vpImage<vpRGBa> &I);
372  dc1394video_frame_t *dequeue(vpImage<vpRGBa> &I, uint64_t &timestamp, uint32_t &id);
373  void enqueue(dc1394video_frame_t *frame);
374 
375  static std::string framerate2string(vp1394TwoFramerateType fps);
376 
377  void getAutoGain(unsigned int &minvalue, unsigned int &maxvalue);
378  void getAutoShutter(unsigned int &minvalue, unsigned int &maxvalue);
379 
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);
386  uint64_t getGuid();
387  void getGuid(uint64_t &guid);
388  void getHeight(unsigned int &height);
389  unsigned int getHeight();
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);
396  void getWidth(unsigned int &width);
397  unsigned int getWidth();
398 
399  bool isColor();
400  bool isColorCodingSupported(vp1394TwoVideoModeType videomode, vp1394TwoColorCodingType coding);
401  bool isFramerateSupported(vp1394TwoVideoModeType videomode, vp1394TwoFramerateType fps);
402  bool isVideoModeSupported(vp1394TwoVideoModeType videomode);
403  bool isVideoModeFormat7(vp1394TwoVideoModeType videomode);
404 
405  void open(vpImage<unsigned char> &I);
406  void open(vpImage<vpRGBa> &I);
407 
409  vp1394TwoGrabber &operator>>(vpImage<vpRGBa> &I);
410 
411  void printCameraInfo();
412 
413  void resetBus();
414 
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);
428 
429  static vp1394TwoVideoModeType string2videoMode(std::string videomode);
430  static vp1394TwoFramerateType string2framerate(std::string fps);
431  static vp1394TwoColorCodingType string2colorCoding(std::string colorcoding);
432 
433  static std::string videoMode2string(vp1394TwoVideoModeType videomode);
434 
435 private:
436  void open();
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();
442 
443 private:
444  dc1394camera_t *camera, **cameras;
445  unsigned int num_cameras;
446  unsigned int camera_id;
447 
448  bool verbose;
449  bool *camIsOpen;
450  unsigned int num_buffers;
451 
452  /* parameters for the cameras */
453  bool *isDataModified;
454  dc1394feature_mode_t *initialShutterMode;
455  vpDc1394TwoCameraParametersData *dataCam;
456 
457 #ifdef VISP_HAVE_DC1394_CAMERA_ENUMERATE
458  dc1394_t *d;
459  dc1394camera_list_t *list;
460 #endif
461 };
462 
463 #endif
464 #endif
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.
virtual void close()=0