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Robotics Library
0.6.2
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27 #ifndef _RL_HAL_DC1394CAMERA_H_
28 #define _RL_HAL_DC1394CAMERA_H_
32 #if (LIBDC1394_VERSION_MAJOR > 10)
33 #include <dc1394/dc1394.h>
35 #include <libdc1394/dc1394_control.h>
36 #include <libraw1394/raw1394.h>
50 #if (LIBDC1394_VERSION_MAJOR > 10)
69 #if (LIBDC1394_VERSION_MAJOR > 10)
99 #if (LIBDC1394_VERSION_MAJOR > 10)
110 #if (LIBDC1394_VERSION_MAJOR > 10)
126 #if (LIBDC1394_VERSION_MAJOR > 10)
140 #if (LIBDC1394_VERSION_MAJOR > 10)
150 #if (LIBDC1394_VERSION_MAJOR > 10)
161 #if (LIBDC1394_VERSION_MAJOR > 10)
173 #if (LIBDC1394_VERSION_MAJOR > 10)
185 #if (LIBDC1394_VERSION_MAJOR > 10)
190 #if (LIBDC1394_VERSION_MAJOR > 10)
254 void grab(
unsigned char* image);
305 #if (LIBDC1394_VERSION_MAJOR > 10)
318 dc1394video_frame_t* frame;
378 #endif // _RL_HAL_DC1394CAMERA_H_
@ VIDEO_MODE_FORMAT7_6
Definition: Dc1394Camera.h:200
ColorCoding
Definition: Dc1394Camera.h:49
@ FEATURE_CAPTURE_SIZE
Definition: Dc1394Camera.h:93
void open()
Definition: Dc1394Camera.cpp:789
@ VIDEO_MODE_1600x1200_YUV422
Definition: Dc1394Camera.h:180
unsigned int getPort() const
@ VIDEO_MODE_800x600_MONO16
Definition: Dc1394Camera.h:171
@ FEATURE_WHITE_BALANCE
Definition: Dc1394Camera.h:76
unsigned int node
Definition: Dc1394Camera.h:360
@ COLOR_CODING_RAW16
Definition: Dc1394Camera.h:64
@ COLOR_CODING_RAW8
Definition: Dc1394Camera.h:63
@ COLOR_CODING_RGB8
Definition: Dc1394Camera.h:58
@ FEATURE_SHARPNESS
Definition: Dc1394Camera.h:75
void close()
Definition: Dc1394Camera.cpp:101
@ VIDEO_MODE_640x480_MONO16
Definition: Dc1394Camera.h:160
void stop()
Definition: Dc1394Camera.cpp:1211
void getFeatureBoundaries(const Feature &feature, unsigned int &min, unsigned int &max) const
Definition: Dc1394Camera.cpp:309
dc1394_camerainfo info
Definition: Dc1394Camera.h:356
@ FEATURE_HUE
Definition: Dc1394Camera.h:77
@ FEATURE_TILT
Definition: Dc1394Camera.h:91
@ VIDEO_MODE_1600x1200_MONO16
Definition: Dc1394Camera.h:184
void getFormat7(VideoMode &videoMode, ColorCoding &colorCoding, unsigned int &left, unsigned int &top, unsigned int &width, unsigned int &height) const
Definition: Dc1394Camera.cpp:498
@ VIDEO_MODE_FORMAT7_2
Definition: Dc1394Camera.h:196
@ FEATURE_TEMPERATURE
Definition: Dc1394Camera.h:84
@ ISO_SPEED_1600
Definition: Dc1394Camera.h:134
@ FRAMERATE_1_875
Definition: Dc1394Camera.h:113
unsigned int getHeight() const
Definition: Dc1394Camera.cpp:270
@ COLOR_CODING_MONO16S
Definition: Dc1394Camera.h:61
@ FEATURE_PAN
Definition: Dc1394Camera.h:90
OperationMode getOperationMode() const
Definition: Dc1394Camera.cpp:555
int cameras
Definition: Dc1394Camera.h:340
@ FEATURE_MODE_MANUAL
Definition: Dc1394Camera.h:102
@ FRAMERATE_60
Definition: Dc1394Camera.h:119
void grab(unsigned char *image)
Definition: Dc1394Camera.cpp:654
void setOperationMode(const OperationMode &mode)
Definition: Dc1394Camera.cpp:1014
Definition: Dc1394Camera.h:46
@ ISO_SPEED_3200
Definition: Dc1394Camera.h:135
@ COLOR_CODING_RGB16
Definition: Dc1394Camera.h:60
nodeid_t * nodes
Definition: Dc1394Camera.h:362
@ VIDEO_MODE_EXIF
Definition: Dc1394Camera.h:188
bool isFeaturePresent(const Feature &feature) const
Definition: Dc1394Camera.cpp:732
unsigned int top
Definition: Dc1394Camera.h:368
@ FRAMERATE_15
Definition: Dc1394Camera.h:117
@ FRAMERATE_30
Definition: Dc1394Camera.h:118
@ FEATURE_BRIGHTNESS
Definition: Dc1394Camera.h:72
@ VIDEO_MODE_800x600_MONO8
Definition: Dc1394Camera.h:167
@ FEATURE_GAMMA
Definition: Dc1394Camera.h:79
bool isFeatureSwitchable(const Feature &feature) const
Definition: Dc1394Camera.cpp:770
void setSpeed(const IsoSpeed &speed)
Definition: Dc1394Camera.cpp:1029
unsigned int buffer
Definition: Dc1394Camera.h:336
Framerate getFramerate() const
Definition: Dc1394Camera.cpp:524
void reset()
Definition: Dc1394Camera.cpp:852
void setFeatureValueAbsolute(const Feature &feature, const float &value)
Definition: Dc1394Camera.cpp:941
@ VIDEO_MODE_1024x768_YUV422
Definition: Dc1394Camera.h:168
void setFeatureValue(const Feature &feature, const unsigned int &value)
Definition: Dc1394Camera.cpp:926
@ FRAMERATE_240
Definition: Dc1394Camera.h:121
IsoSpeed
Definition: Dc1394Camera.h:125
@ VIDEO_MODE_640x480_MONO8
Definition: Dc1394Camera.h:159
unsigned int getFeatureValue(const Feature &feature) const
Definition: Dc1394Camera.cpp:454
bool isFeatureEnabled(const Feature &feature) const
Definition: Dc1394Camera.cpp:711
@ COLOR_CODING_YUV422
Definition: Dc1394Camera.h:56
@ VIDEO_MODE_800x600_YUV422
Definition: Dc1394Camera.h:164
@ FEATURE_SHUTTER
Definition: Dc1394Camera.h:80
unsigned int getColorCodingDepth() const
Definition: Dc1394Camera.cpp:202
@ VIDEO_MODE_640x480_YUV422
Definition: Dc1394Camera.h:157
int getNumCameras() const
Definition: Dc1394Camera.cpp:549
unsigned int getBitsPerPixel() const
Definition: Dc1394Camera.cpp:124
raw1394handle_t handle
Definition: Dc1394Camera.h:352
@ FEATURE_EXPOSURE
Definition: Dc1394Camera.h:74
@ FEATURE_OPTICAL_FILTER
Definition: Dc1394Camera.h:92
FeatureMode
Definition: Dc1394Camera.h:98
void setFeatureAbsoluteControl(const Feature &feature, const bool &doOn)
Definition: Dc1394Camera.cpp:867
@ FRAMERATE_7_5
Definition: Dc1394Camera.h:116
void start()
Definition: Dc1394Camera.cpp:1089
void step()
Definition: Dc1394Camera.cpp:1206
bool hasFeatureAbsoluteControl(const Feature &feature) const
Definition: Dc1394Camera.cpp:692
void setNode(const unsigned int &node)
Definition: Dc1394Camera.cpp:1008
@ VIDEO_MODE_1600x1200_RGB8
Definition: Dc1394Camera.h:181
void setFeatureMode(const Feature &feature, const FeatureMode &mode)
Definition: Dc1394Camera.cpp:896
::std::string getFilename() const
Definition: Dc1394Camera.cpp:492
void setFramerate(const Framerate &framerate)
Definition: Dc1394Camera.cpp:991
void getFormat7MaximumImageSize(const unsigned int &mode, unsigned int &width, unsigned &height) const
Definition: Dc1394Camera.cpp:509
@ FEATURE_MODE_ONE_PUSH_AUTO
Definition: Dc1394Camera.h:105
@ VIDEO_MODE_640x480_RGB8
Definition: Dc1394Camera.h:158
@ FEATURE_WHITE_SHADING
Definition: Dc1394Camera.h:87
@ FEATURE_MODE_AUTO
Definition: Dc1394Camera.h:104
@ FEATURE_IRIS
Definition: Dc1394Camera.h:82
unsigned int drop
Definition: Dc1394Camera.h:346
void setFormat7(const VideoMode &videoMode, const ColorCoding &colorCoding, const unsigned int &left, const unsigned int &top, const unsigned int &width, const unsigned int &height)
Definition: Dc1394Camera.cpp:962
@ VIDEO_MODE_640x480_YUV411
Definition: Dc1394Camera.h:156
void setFeatureEnabled(const Feature &feature, const bool &doOn)
Definition: Dc1394Camera.cpp:881
@ ISO_SPEED_400
Definition: Dc1394Camera.h:132
@ COLOR_CODING_MONO8
Definition: Dc1394Camera.h:53
@ VIDEO_MODE_1280x960_RGB8
Definition: Dc1394Camera.h:178
@ COLOR_CODING_YUV411
Definition: Dc1394Camera.h:55
@ VIDEO_MODE_160x120_YUV444
Definition: Dc1394Camera.h:153
float getFeatureValueAbsolute(const Feature &feature) const
Definition: Dc1394Camera.cpp:473
@ COLOR_CODING_MONO16
Definition: Dc1394Camera.h:59
unsigned int channel
Definition: Dc1394Camera.h:342
@ VIDEO_MODE_320x240_YUV422
Definition: Dc1394Camera.h:155
OperationMode
Definition: Dc1394Camera.h:139
unsigned int getNode() const
Definition: Dc1394Camera.cpp:543
ColorCoding colorCoding
Definition: Dc1394Camera.h:344
Framerate framerate
Definition: Dc1394Camera.h:350
@ ISO_SPEED_100
Definition: Dc1394Camera.h:129
Framerate
Definition: Dc1394Camera.h:109
dc1394_cameracapture camera
Definition: Dc1394Camera.h:338
@ ISO_SPEED_800
Definition: Dc1394Camera.h:133
@ VIDEO_MODE_FORMAT7_0
Definition: Dc1394Camera.h:193
unsigned int getSize() const
Definition: Dc1394Camera.cpp:574
@ VIDEO_MODE_FORMAT7_4
Definition: Dc1394Camera.h:198
@ VIDEO_MODE_FORMAT7_7
Definition: Dc1394Camera.h:201
@ VIDEO_MODE_FORMAT7_1
Definition: Dc1394Camera.h:195
@ VIDEO_MODE_1024x768_MONO16
Definition: Dc1394Camera.h:172
Feature
Definition: Dc1394Camera.h:68
unsigned int left
Definition: Dc1394Camera.h:358
@ VIDEO_MODE_1024x768_MONO8
Definition: Dc1394Camera.h:170
void setPort(const unsigned int &port)
bool getFeatureAbsoluteControl(const Feature &feature) const
Definition: Dc1394Camera.cpp:290
VideoMode getVideoMode() const
Definition: Dc1394Camera.cpp:615
@ OPERATION_MODE_1394B
Definition: Dc1394Camera.h:145
@ VIDEO_MODE_800x600_RGB8
Definition: Dc1394Camera.h:166
VideoMode videoMode
Definition: Dc1394Camera.h:370
@ OPERATION_MODE_LEGACY
Definition: Dc1394Camera.h:143
VideoMode
Definition: Dc1394Camera.h:149
::std::string filename
Definition: Dc1394Camera.h:348
bool isFeatureReadable(const Feature &feature) const
Definition: Dc1394Camera.cpp:751
@ VIDEO_MODE_1024x768_RGB8
Definition: Dc1394Camera.h:169
@ VIDEO_MODE_FORMAT7_3
Definition: Dc1394Camera.h:197
@ ISO_SPEED_200
Definition: Dc1394Camera.h:131
virtual ~Dc1394Camera()
Definition: Dc1394Camera.cpp:78
@ VIDEO_MODE_1600x1200_MONO8
Definition: Dc1394Camera.h:182
@ VIDEO_MODE_1280x960_MONO16
Definition: Dc1394Camera.h:183
@ VIDEO_MODE_1280x960_MONO8
Definition: Dc1394Camera.h:179
@ VIDEO_MODE_FORMAT7_5
Definition: Dc1394Camera.h:199
@ COLOR_CODING_RGB16S
Definition: Dc1394Camera.h:62
void setFilename(const ::std::string &filename)
Definition: Dc1394Camera.cpp:956
@ FEATURE_FOCUS
Definition: Dc1394Camera.h:83
unsigned int getWidth() const
Definition: Dc1394Camera.cpp:634
void getFeatureBoundariesAbsolute(const Feature &feature, float &min, float &max) const
Definition: Dc1394Camera.cpp:336
@ FEATURE_SATURATION
Definition: Dc1394Camera.h:78
@ FEATURE_TRIGGER
Definition: Dc1394Camera.h:85
FeatureMode getFeatureMode(const Feature &feature) const
Definition: Dc1394Camera.cpp:351
@ FEATURE_TRIGGER_DELAY
Definition: Dc1394Camera.h:86
IsoSpeed getSpeed() const
Definition: Dc1394Camera.cpp:594
@ COLOR_CODING_YUV444
Definition: Dc1394Camera.h:57
void getFeatureModes(const Feature &feature, bool &hasManual, bool &hasAuto, bool &hasOnePushAuto) const
Definition: Dc1394Camera.cpp:398
unsigned int speed
Definition: Dc1394Camera.h:366
unsigned int port
Definition: Dc1394Camera.h:364
Dc1394Camera(const ::std::string &filename="", const unsigned int &node=0)
Definition: Dc1394Camera.cpp:36
@ FEATURE_ZOOM
Definition: Dc1394Camera.h:89
unsigned int height
Definition: Dc1394Camera.h:354
unsigned int width
Definition: Dc1394Camera.h:372
@ FEATURE_FRAME_RATE
Definition: Dc1394Camera.h:88
@ FEATURE_GAIN
Definition: Dc1394Camera.h:81
@ FRAMERATE_3_75
Definition: Dc1394Camera.h:115
@ VIDEO_MODE_1280x960_YUV422
Definition: Dc1394Camera.h:176
@ FRAMERATE_120
Definition: Dc1394Camera.h:120
@ FEATURE_CAPTURE_QUALITY
Definition: Dc1394Camera.h:94
void setVideoMode(const VideoMode &mode)
Definition: Dc1394Camera.cpp:1046