libvisp-sensor-dev 3.0.0-4 / usr / include / x86_64-linux-gnu / visp3 / sensor / vp1394TwoGrabber.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2015 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

/*!
  \file vp1394TwoGrabber.h
  \brief class for firewire cameras video capture using libdc1394-2.x api

  \warning This class needs libdc1394-2 and
  libraw1394 (version greater than 1.1.0). These libraries are available from
  http://sourceforge.net/projects/libdc1394 and
  http://sourceforge.net/projects/libraw1394 .

  vp1394TwoGrabber was tested with libdc1394-2.0.0 (svn version) and
  with the following cameras:
  - Marlin F033C
  - Marlin F131B
  - PointGrey Dragonfly 2
  - APPLE iSight extern webcam

*/

#ifndef vp1394TwoGrabber_h
#define vp1394TwoGrabber_h

#include <visp3/core/vpConfig.h>

#include <list>

#if defined(VISP_HAVE_DC1394)


/*!
  \class vp1394TwoGrabber

  \ingroup group_sensor_camera
  
  \brief Class for firewire ieee1394 video devices using libdc1394-2.x api.

 
  Needs libraw1394-1.2.0 and libdc1394-2.0.0 or more recent versions
  available on http://sourceforge.net.

  This class was tested with Marlin F033C and F131B cameras and with
  Point Grey Dragonfly 2, Flea 2 and Flea 3 cameras.

  \ingroup libdevice

  This grabber allows single or multi camera acquisition. 

  - Here you will find an example of single capture from the first camera found
    on the bus. This example is available in tutorial-grabber-1394.cpp:
    \include tutorial-grabber-1394.cpp
    A line by line explanation of this example is provided in \ref tutorial-grabber.
    An other example that shows how to use format 7
    and the auto-shutter is provided in vp1394TwoGrabber() constructor:
  
  - If more than one camera is connected, it is also possible to select a specific camera by its GUID:
  \code
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/sensor/vp1394TwoGrabber.h>

int main()
{
#if defined(VISP_HAVE_DC1394)
  vpImage<unsigned char> I; // Create a gray level image container
  bool reset = false; // Disable bus reset during construction
  vp1394TwoGrabber g(reset); // Create a grabber based on libdc1394-2.x third party lib

  unsigned int ncameras; // Number of cameras on the bus
  ncameras = g.getNumCameras();
  std::cout << ncameras << " cameras found:" << std::endl;

  for(unsigned int i=0; i< ncameras; i++)
  {
    g.setCamera(i);
    uint64_t guid = g.getGuid();
    printf("camera %d with guid 0x%lx\n", i, (long unsigned int)guid);
  }

  // produce:
  // 2 cameras found:
  // camera 0 with guid 0xb09d01009b329c
  // camera 1 with guid 0xb09d01007e0ee7
  g.setCamera( (uint64_t)0xb09d01009b329cULL );

  printf("Use camera with GUID: 0x%lx\n", (long unsigned int)g.getGuid());
  g.acquire(I); // Acquire an image from the camera with GUID 0xb09d01009b329c
  
  vpImageIo::write(I, "image.pgm"); // Write image on the disk
#endif
}
  \endcode

  - Here an example of multi camera capture.  An other example is available in setCamera():
  \code
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/sensor/vp1394TwoGrabber.h>

int main()
{
#if defined(VISP_HAVE_DC1394)
  bool reset = false; // Disable bus reset during construction
  vp1394TwoGrabber g(reset);    // Creation of a grabber instance based on libdc1394-2.x third party lib.
  unsigned int ncameras; // Number of cameras on the bus
  ncameras = g.getNumCameras();

  // Create an image container for each camera
  vpImage<unsigned char> *I = new vpImage<unsigned char> [ncameras];
  char filename[FILENAME_MAX];

  // If the first camera supports vpVIDEO_MODE_640x480_YUV422 video mode
  g.setCamera(0);
  g.setVideoMode(vp1394TwoGrabber::vpVIDEO_MODE_640x480_YUV422);

  // If the second camera support 30 fps acquisition
  g.setCamera(1);
  g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_30);

  // Acquire an image from each camera
  for (unsigned int camera=0; camera < ncameras; camera ++) {
    g.setCamera(camera);
    g.acquire(I[camera]);
    sprintf(filename, "image-cam%d.pgm", camera);
    vpImageIo::write(I[camera], filename);
  }
  delete [] I;
#endif
}
  \endcode

  \author  Fabien Spindler (Fabien.Spindler@irisa.fr), Irisa / Inria Rennes

*/

/*
 * Interface with libdc1394 2.x
 */
#include <string.h>

#include <dc1394/control.h>
#include <dc1394/utils.h>
#include <dc1394/vendor/avt.h>

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


class VISP_EXPORT vp1394TwoGrabber : public vpFrameGrabber
{

 public:
  static const char * strVideoMode[DC1394_VIDEO_MODE_NUM];
  static const char * strFramerate[DC1394_FRAMERATE_NUM];
  static const char * strColorCoding[DC1394_COLOR_CODING_NUM];

  /*!
    Enumeration of iso speed. See libdc1394 2.x header file
    dc1394/control.h
  */
  typedef enum {
    vpISO_SPEED_100 = DC1394_ISO_SPEED_100,
    vpISO_SPEED_200 = DC1394_ISO_SPEED_200,
    vpISO_SPEED_400 = DC1394_ISO_SPEED_400,
    vpISO_SPEED_800 = DC1394_ISO_SPEED_800,
    vpISO_SPEED_1600 = DC1394_ISO_SPEED_1600,
    vpISO_SPEED_3200 = DC1394_ISO_SPEED_3200
  } vp1394TwoIsoSpeedType;

  /*!
    Enumeration of video modes. See libdc1394 2.x header file
    dc1394/control.h
  */
  typedef enum {
    vpVIDEO_MODE_160x120_YUV444   = DC1394_VIDEO_MODE_160x120_YUV444,
    vpVIDEO_MODE_320x240_YUV422   = DC1394_VIDEO_MODE_320x240_YUV422,
    vpVIDEO_MODE_640x480_YUV411   = DC1394_VIDEO_MODE_640x480_YUV411,
    vpVIDEO_MODE_640x480_YUV422   = DC1394_VIDEO_MODE_640x480_YUV422,
    vpVIDEO_MODE_640x480_RGB8     = DC1394_VIDEO_MODE_640x480_RGB8,
    vpVIDEO_MODE_640x480_MONO8    = DC1394_VIDEO_MODE_640x480_MONO8,
    vpVIDEO_MODE_640x480_MONO16   = DC1394_VIDEO_MODE_640x480_MONO16,
    vpVIDEO_MODE_800x600_YUV422   = DC1394_VIDEO_MODE_800x600_YUV422,
    vpVIDEO_MODE_800x600_RGB8     = DC1394_VIDEO_MODE_800x600_RGB8,
    vpVIDEO_MODE_800x600_MONO8    = DC1394_VIDEO_MODE_800x600_MONO8,
    vpVIDEO_MODE_1024x768_YUV422  = DC1394_VIDEO_MODE_1024x768_YUV422,
    vpVIDEO_MODE_1024x768_RGB8    = DC1394_VIDEO_MODE_1024x768_RGB8,
    vpVIDEO_MODE_1024x768_MONO8   = DC1394_VIDEO_MODE_1024x768_MONO8,
    vpVIDEO_MODE_800x600_MONO16   = DC1394_VIDEO_MODE_800x600_MONO16,
    vpVIDEO_MODE_1024x768_MONO16  = DC1394_VIDEO_MODE_1024x768_MONO16,
    vpVIDEO_MODE_1280x960_YUV422  = DC1394_VIDEO_MODE_1280x960_YUV422,
    vpVIDEO_MODE_1280x960_RGB8    = DC1394_VIDEO_MODE_1280x960_RGB8,
    vpVIDEO_MODE_1280x960_MONO8   = DC1394_VIDEO_MODE_1280x960_MONO8,
    vpVIDEO_MODE_1600x1200_YUV422 = DC1394_VIDEO_MODE_1600x1200_YUV422,
    vpVIDEO_MODE_1600x1200_RGB8   = DC1394_VIDEO_MODE_1600x1200_RGB8,
    vpVIDEO_MODE_1600x1200_MONO8  = DC1394_VIDEO_MODE_1600x1200_MONO8,
    vpVIDEO_MODE_1280x960_MONO16  = DC1394_VIDEO_MODE_1280x960_MONO16,
    vpVIDEO_MODE_1600x1200_MONO16 = DC1394_VIDEO_MODE_1600x1200_MONO16,
    vpVIDEO_MODE_EXIF      = DC1394_VIDEO_MODE_EXIF,
    vpVIDEO_MODE_FORMAT7_0 = DC1394_VIDEO_MODE_FORMAT7_0,
    vpVIDEO_MODE_FORMAT7_1 = DC1394_VIDEO_MODE_FORMAT7_1,
    vpVIDEO_MODE_FORMAT7_2 = DC1394_VIDEO_MODE_FORMAT7_2,
    vpVIDEO_MODE_FORMAT7_3 = DC1394_VIDEO_MODE_FORMAT7_3,
    vpVIDEO_MODE_FORMAT7_4 = DC1394_VIDEO_MODE_FORMAT7_4,
    vpVIDEO_MODE_FORMAT7_5 = DC1394_VIDEO_MODE_FORMAT7_5,
    vpVIDEO_MODE_FORMAT7_6 = DC1394_VIDEO_MODE_FORMAT7_6,
    vpVIDEO_MODE_FORMAT7_7 = DC1394_VIDEO_MODE_FORMAT7_7
  } vp1394TwoVideoModeType;

  /*!
    Enumeration of framerates. See libdc1394 2.x header file
    dc1394/control.h
  */
  typedef enum {
    vpFRAMERATE_1_875 = DC1394_FRAMERATE_1_875,
    vpFRAMERATE_3_75  = DC1394_FRAMERATE_3_75,
    vpFRAMERATE_7_5   = DC1394_FRAMERATE_7_5,
    vpFRAMERATE_15    = DC1394_FRAMERATE_15,
    vpFRAMERATE_30    = DC1394_FRAMERATE_30,
    vpFRAMERATE_60    = DC1394_FRAMERATE_60,
    vpFRAMERATE_120   = DC1394_FRAMERATE_120,
    vpFRAMERATE_240   = DC1394_FRAMERATE_240
  } vp1394TwoFramerateType;

  /*!
    Enumeration of color codings. See libdc1394 2.x header file
    dc1394/control.h
  */
  typedef enum {
    vpCOLOR_CODING_MONO8   = DC1394_COLOR_CODING_MONO8,
    vpCOLOR_CODING_YUV411  = DC1394_COLOR_CODING_YUV411,
    vpCOLOR_CODING_YUV422  = DC1394_COLOR_CODING_YUV422,
    vpCOLOR_CODING_YUV444  = DC1394_COLOR_CODING_YUV444,
    vpCOLOR_CODING_RGB8    = DC1394_COLOR_CODING_RGB8,
    vpCOLOR_CODING_MONO16  = DC1394_COLOR_CODING_MONO16,
    vpCOLOR_CODING_RGB16   = DC1394_COLOR_CODING_RGB16,
    vpCOLOR_CODING_MONO16S = DC1394_COLOR_CODING_MONO16S,
    vpCOLOR_CODING_RGB16S  = DC1394_COLOR_CODING_RGB16S,
    vpCOLOR_CODING_RAW8    = DC1394_COLOR_CODING_RAW8,
    vpCOLOR_CODING_RAW16   = DC1394_COLOR_CODING_RAW16
  } vp1394TwoColorCodingType;
  
  /*!
    Enumeration of the parameters that can be modified. See libdc1394 2.x header
    file dc1394/control.h
  */
  typedef enum {
    vpFEATURE_BRIGHTNESS      = DC1394_FEATURE_BRIGHTNESS,
    vpFEATURE_EXPOSURE        = DC1394_FEATURE_EXPOSURE,
    vpFEATURE_SHARPNESS       = DC1394_FEATURE_SHARPNESS,
//    vpFEATURE_WHITE_BALANCE   = DC1394_FEATURE_WHITE_BALANCE,
    vpFEATURE_HUE             = DC1394_FEATURE_HUE,
    vpFEATURE_SATURATION      = DC1394_FEATURE_SATURATION,
    vpFEATURE_GAMMA           = DC1394_FEATURE_GAMMA,
    vpFEATURE_SHUTTER         = DC1394_FEATURE_SHUTTER,
    vpFEATURE_GAIN            = DC1394_FEATURE_GAIN,
    vpFEATURE_IRIS            = DC1394_FEATURE_IRIS,
//    vpFEATURE_FOCUS           = DC1394_FEATURE_FOCUS,
//    vpFEATURE_TEMPERATURE     = DC1394_FEATURE_TEMPERATURE,
//    vpFEATURE_TRIGGER         = DC1394_FEATURE_TRIGGER,
//    vpFEATURE_TRIGGER_DELAY   = DC1394_FEATURE_TRIGGER_DELAY,
//    vpFEATURE_WHITE_SHADING   = DC1394_FEATURE_WHITE_SHADING,
//    vpFEATURE_FRAME_RATE      = DC1394_FEATURE_FRAME_RATE,
//    vpFEATURE_ZOOM            = DC1394_FEATURE_ZOOM,
//    vpFEATURE_PAN             = DC1394_FEATURE_PAN,
//    vpFEATURE_TILT            = DC1394_FEATURE_TILT,
//    vpFEATURE_OPTICAL_FILTER  = DC1394_FEATURE_OPTICAL_FILTER,
//    vpFEATURE_CAPTURE_SIZE    = DC1394_FEATURE_CAPTURE_SIZE,
//    vpFEATURE_CAPTURE_QUALITY = DC1394_FEATURE_CAPTURE_QUALITY
  } vp1394TwoParametersType;
    
  
 private: 
 
  /*!
    Control structure of the values that can be modified during the execution.   
  */
  typedef struct{ 
    uint32_t brightness ; 
    uint32_t exposure;
    uint32_t sharpness;
//    uint32_t whiteBalance;
    uint32_t hue;
    uint32_t saturation;
    uint32_t gamma;
    uint32_t shutter ; 
    uint32_t gain ;
    uint32_t iris;
//    uint32_t focus;
//    uint32_t temperature ; 
//    uint32_t trigger ;
//    uint32_t triggerDelay ;
//    uint32_t whiteShadding ; 
//    uint32_t frameRate ;
//    uint32_t zoom;
//    uint32_t pan;
//    uint32_t tilt ; 
//    uint32_t opticalFilter ;
//    uint32_t captureSize;
//    uint32_t captureQuality ; 
  } vpDc1394TwoCameraParametersData;    

//private:
//#ifndef DOXYGEN_SHOULD_SKIP_THIS
//  vp1394TwoGrabber(const vp1394TwoGrabber &)
//    : camera(NULL), cameras(NULL), num_cameras(0), camera_id(0), verbose(false), camIsOpen(NULL),
//      num_buffers(4), // ring buffer size
//      isDataModified(NULL), initialShutterMode(NULL), dataCam(NULL)
//    #ifdef VISP_HAVE_DC1394_CAMERA_ENUMERATE // new API > libdc1394-2.0.0-rc7
//    , d(NULL),
//      list(NULL)
//    #endif
//  {
//    throw vpException(vpException::functionNotImplementedError,"Not implemented!");
//  }
//  vp1394TwoGrabber &operator=(const vp1394TwoGrabber &){
//    throw vpException(vpException::functionNotImplementedError,"Not implemented!");
//    return *this;
//  }
//#endif

public:
  vp1394TwoGrabber(bool reset=true);
  virtual ~vp1394TwoGrabber();

  void acquire(vpImage<unsigned char> &I);
  void acquire(vpImage<unsigned char> &I, uint64_t &timestamp, uint32_t &id);
  void acquire(vpImage<vpRGBa> &I);
  void acquire(vpImage<vpRGBa> &I, uint64_t &timestamp, uint32_t &id);

  void close();

  static std::string colorCoding2string(vp1394TwoColorCodingType colorcoding);

  dc1394video_frame_t *dequeue();
  dc1394video_frame_t *dequeue(vpImage<unsigned char> &I);
  dc1394video_frame_t *dequeue(vpImage<unsigned char> &I, uint64_t &timestamp, uint32_t &id);
  dc1394video_frame_t *dequeue(vpImage<vpRGBa> &I);
  dc1394video_frame_t *dequeue(vpImage<vpRGBa> &I, uint64_t &timestamp, uint32_t &id);
  void enqueue(dc1394video_frame_t *frame);

  static std::string framerate2string(vp1394TwoFramerateType fps);

  void getAutoGain(unsigned int &minvalue, unsigned int &maxvalue);
  void getAutoShutter(unsigned int &minvalue, unsigned int &maxvalue);

  uint64_t getCamera();
  void getCamera(uint64_t &camera);
  void getColorCoding(vp1394TwoColorCodingType & coding);
  uint32_t getColorCodingSupported(vp1394TwoVideoModeType videomode,
                                   std::list<vp1394TwoColorCodingType> & codings);
  void getFramerate(vp1394TwoFramerateType & fps);
  uint32_t getFramerateSupported(vp1394TwoVideoModeType videomode,
                                 std::list<vp1394TwoFramerateType> & fps);
  uint64_t getGuid();
  void getGuid(uint64_t &guid);
  void getHeight(unsigned int &height);
  unsigned int getHeight();
  void getNumCameras(unsigned int &ncameras) const;
  unsigned int getNumCameras() const;
  unsigned int getParameterValue(vp1394TwoParametersType param);
  unsigned int getRingBufferSize() const;
  void getVideoMode(vp1394TwoVideoModeType & videomode);
  uint32_t getVideoModeSupported(std::list<vp1394TwoVideoModeType> & videomodes);
  void getWidth(unsigned int &width);
  unsigned int getWidth();

  bool isColor();
  bool isColorCodingSupported(vp1394TwoVideoModeType videomode,
                              vp1394TwoColorCodingType coding);
  bool isFramerateSupported(vp1394TwoVideoModeType videomode,
                            vp1394TwoFramerateType fps);
  bool isVideoModeSupported(vp1394TwoVideoModeType videomode) ;
  bool isVideoModeFormat7(vp1394TwoVideoModeType videomode);

  void open(vpImage<unsigned char> &I);
  void open(vpImage<vpRGBa> &I);

  void printCameraInfo();

  void resetBus();

  void setAutoGain(bool enable = true);
  void setAutoGain(unsigned int minvalue, unsigned int maxvalue);
  void setAutoShutter(bool enable = true);
  void setAutoShutter(unsigned int minvalue, unsigned int maxvalue);
  void setCamera(uint64_t camera);
  void setColorCoding(vp1394TwoColorCodingType coding);
  void setFormat7ROI(unsigned int left=0, unsigned int top=0,
		     unsigned int width=0, unsigned int height=0);
  void setFramerate(vp1394TwoFramerateType fps);
  void setIsoTransmissionSpeed(vp1394TwoIsoSpeedType isospeed);
  void setPanControl(unsigned int panControlValue);
  void setParameterValue(vp1394TwoParametersType param, unsigned int val);
  void setRingBufferSize(unsigned int size);
  void setVideoMode(vp1394TwoVideoModeType videomode);

  static vp1394TwoVideoModeType string2videoMode(std::string videomode);
  static vp1394TwoFramerateType string2framerate(std::string fps);
  static vp1394TwoColorCodingType string2colorCoding(std::string colorcoding);

  static std::string videoMode2string(vp1394TwoVideoModeType videomode);

 private:
  void open();
  void initialize(bool reset); 
  void setCapture(dc1394switch_t _switch);
  void setTransmission(dc1394switch_t _switch);
  inline void updateDataCamToStruct();
  inline void updateDataStructToCam();

 private:
  dc1394camera_t *camera, **cameras;
  unsigned int num_cameras;
  unsigned int camera_id;

  bool verbose;
  bool *camIsOpen;
  unsigned int num_buffers;
  
  /* parameters for the cameras */
  bool* isDataModified;
  dc1394feature_mode_t* initialShutterMode;
  vpDc1394TwoCameraParametersData* dataCam;

#ifdef VISP_HAVE_DC1394_CAMERA_ENUMERATE
  dc1394_t * d;
  dc1394camera_list_t * list;
#endif
};


#endif
#endif