Dc1394Camera.h

Go to the documentation of this file.

//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef RL_HAL_DC1394CAMERA_H
#define RL_HAL_DC1394CAMERA_H
 
#if (LIBDC1394_VERSION_MAJOR > 10)
#include <dc1394/dc1394.h>
#else
#include <libdc1394/dc1394_control.h>
#include <libraw1394/raw1394.h>
#endif
 
#include <string>
 
#include "Camera.h"
#include "CyclicDevice.h"
#include "DeviceException.h"
 
namespace rl
{
    namespace hal
    {
        class Dc1394Camera : public Camera, public CyclicDevice
        {
            public:
                enum ColorCoding
                {
#if (LIBDC1394_VERSION_MAJOR > 10)
                      COLOR_CODING_MONO8 = ::DC1394_COLOR_CODING_MONO8,
#else
                      COLOR_CODING_MONO8 = ::COLOR_FORMAT7_MONO8,
#endif
                      COLOR_CODING_YUV411,
                      COLOR_CODING_YUV422,
                      COLOR_CODING_YUV444,
                      COLOR_CODING_RGB8,
                      COLOR_CODING_MONO16,
                      COLOR_CODING_RGB16,
                      COLOR_CODING_MONO16S,
                      COLOR_CODING_RGB16S,
                      COLOR_CODING_RAW8,
                      COLOR_CODING_RAW16
                };
                
                enum Feature
                {
#if (LIBDC1394_VERSION_MAJOR > 10)
                    FEATURE_BRIGHTNESS = ::DC1394_FEATURE_BRIGHTNESS,
#else
                    FEATURE_BRIGHTNESS = ::FEATURE_BRIGHTNESS,
#endif
                    FEATURE_EXPOSURE,
                    FEATURE_SHARPNESS,
                    FEATURE_WHITE_BALANCE,
                    FEATURE_HUE,
                    FEATURE_SATURATION,
                    FEATURE_GAMMA,
                    FEATURE_SHUTTER,
                    FEATURE_GAIN,
                    FEATURE_IRIS,
                    FEATURE_FOCUS,
                    FEATURE_TEMPERATURE,
                    FEATURE_TRIGGER,
                    FEATURE_TRIGGER_DELAY,
                    FEATURE_WHITE_SHADING,
                    FEATURE_FRAME_RATE,
                    FEATURE_ZOOM,
                    FEATURE_PAN,
                    FEATURE_TILT,
                    FEATURE_OPTICAL_FILTER,
                    FEATURE_CAPTURE_SIZE,
                    FEATURE_CAPTURE_QUALITY
                };
                
                enum FeatureMode
                {
#if (LIBDC1394_VERSION_MAJOR > 10)
                    FEATURE_MODE_MANUAL = ::DC1394_FEATURE_MODE_MANUAL,
#else
                    FEATURE_MODE_MANUAL,
#endif
                    FEATURE_MODE_AUTO,
                    FEATURE_MODE_ONE_PUSH_AUTO
                };
                
                enum Framerate
                {
#if (LIBDC1394_VERSION_MAJOR > 10)
                    FRAMERATE_1_875 = ::DC1394_FRAMERATE_1_875,
#else
                    FRAMERATE_1_875 = ::FRAMERATE_1_875,
#endif
                    FRAMERATE_3_75,
                    FRAMERATE_7_5,
                    FRAMERATE_15,
                    FRAMERATE_30,
                    FRAMERATE_60,
                    FRAMERATE_120,
                    FRAMERATE_240
                };
                
                enum IsoSpeed
                {
#if (LIBDC1394_VERSION_MAJOR > 10)
                    ISO_SPEED_100 = ::DC1394_ISO_SPEED_100,
#else
                    ISO_SPEED_100 = ::SPEED_100,
#endif
                    ISO_SPEED_200,
                    ISO_SPEED_400,
                    ISO_SPEED_800,
                    ISO_SPEED_1600,
                    ISO_SPEED_3200
                };
                
                enum OperationMode
                {
#if (LIBDC1394_VERSION_MAJOR > 10)
                    OPERATION_MODE_LEGACY = ::DC1394_OPERATION_MODE_LEGACY,
#else
                    OPERATION_MODE_LEGACY = ::OPERATION_MODE_LEGACY,
#endif
                    OPERATION_MODE_1394B
                };
                
                enum VideoMode
                {
#if (LIBDC1394_VERSION_MAJOR > 10)
                    VIDEO_MODE_160x120_YUV444 = ::DC1394_VIDEO_MODE_160x120_YUV444,
#else
                    VIDEO_MODE_160x120_YUV444 = ::MODE_160x120_YUV444,
#endif
                    VIDEO_MODE_320x240_YUV422,
                    VIDEO_MODE_640x480_YUV411,
                    VIDEO_MODE_640x480_YUV422,
                    VIDEO_MODE_640x480_RGB8,
                    VIDEO_MODE_640x480_MONO8,
                    VIDEO_MODE_640x480_MONO16,
#if (LIBDC1394_VERSION_MAJOR > 10)
                    VIDEO_MODE_800x600_YUV422,
#else
                    VIDEO_MODE_800x600_YUV422 = ::MODE_800x600_YUV422,
#endif
                    VIDEO_MODE_800x600_RGB8,
                    VIDEO_MODE_800x600_MONO8,
                    VIDEO_MODE_1024x768_YUV422,
                    VIDEO_MODE_1024x768_RGB8,
                    VIDEO_MODE_1024x768_MONO8,
                    VIDEO_MODE_800x600_MONO16,
                    VIDEO_MODE_1024x768_MONO16,
#if (LIBDC1394_VERSION_MAJOR > 10)
                    VIDEO_MODE_1280x960_YUV422,
#else
                    VIDEO_MODE_1280x960_YUV422 = ::MODE_1280x960_YUV422,
#endif
                    VIDEO_MODE_1280x960_RGB8,
                    VIDEO_MODE_1280x960_MONO8,
                    VIDEO_MODE_1600x1200_YUV422,
                    VIDEO_MODE_1600x1200_RGB8,
                    VIDEO_MODE_1600x1200_MONO8,
                    VIDEO_MODE_1280x960_MONO16,
                    VIDEO_MODE_1600x1200_MONO16,
#if (LIBDC1394_VERSION_MAJOR > 10)
                    VIDEO_MODE_EXIF,
#else
                    VIDEO_MODE_EXIF = ::MODE_EXIF,
#endif
#if (LIBDC1394_VERSION_MAJOR > 10)
                    VIDEO_MODE_FORMAT7_0,
#else
                    VIDEO_MODE_FORMAT7_0 = ::MODE_FORMAT7_0,
#endif
                    VIDEO_MODE_FORMAT7_1,
                    VIDEO_MODE_FORMAT7_2,
                    VIDEO_MODE_FORMAT7_3,
                    VIDEO_MODE_FORMAT7_4,
                    VIDEO_MODE_FORMAT7_5,
                    VIDEO_MODE_FORMAT7_6,
                    VIDEO_MODE_FORMAT7_7
                };
                
                class Exception : public DeviceException
                {
                public:
#if (LIBDC1394_VERSION_MAJOR > 10)
                    Exception(const ::dc1394error_t& error);
#else
                    Exception(const int& error);
#endif
                    
                    virtual ~Exception() throw();
                    
#if (LIBDC1394_VERSION_MAJOR > 10)
                    ::dc1394error_t getError() const;
#else
                    int getError() const;
#endif
                    
                    virtual const char* what() const throw();
                    
                protected:
                    
                private:
#if (LIBDC1394_VERSION_MAJOR > 10)
                    ::dc1394error_t error;
#else
                    int error;
#endif
                };
                
                Dc1394Camera(const ::std::string& filename = "", const unsigned int& node = 0);
                
                virtual ~Dc1394Camera();
                
                void close();
                
                unsigned int getBitsPerPixel() const;
                
                unsigned int getColorCodingDepth() const;
                
                unsigned int getHeight() const;
                
                bool getFeatureAbsoluteControl(const Feature& feature) const;
                
                void getFeatureBoundaries(const Feature& feature, unsigned int& min, unsigned int& max) const;
                
                void getFeatureBoundariesAbsolute(const Feature& feature, float& min, float& max) const;
                
                FeatureMode getFeatureMode(const Feature& feature) const;
                
                void getFeatureModes(const Feature& feature, bool& hasManual, bool& hasAuto, bool& hasOnePushAuto) const;
                
                unsigned int getFeatureValue(const Feature& feature) const;
                
                float getFeatureValueAbsolute(const Feature& feature) const;
                
                ::std::string getFilename() const;
                
                void getFormat7(VideoMode& videoMode, ColorCoding& colorCoding, unsigned int& left, unsigned int& top, unsigned int& width, unsigned int& height) const;
                
                void getFormat7MaximumImageSize(const unsigned int& mode, unsigned int& width, unsigned& height) const;
                
                Framerate getFramerate() const;
                
                unsigned int getNode() const;
                
                int getNumCameras() const;
                
                OperationMode getOperationMode() const;
                
                unsigned int getPort() const;
                
                unsigned int getSize() const;
                
                IsoSpeed getSpeed() const;
                
                ::std::chrono::nanoseconds getUpdateRate() const;
                
                VideoMode getVideoMode() const;
                
                unsigned int getWidth() const;
                
                void grab(unsigned char* image);
                
                bool hasFeatureAbsoluteControl(const Feature& feature) const;
                
                bool isFeatureEnabled(const Feature& feature) const;
                
                bool isFeaturePresent(const Feature& feature) const;
                
                bool isFeatureReadable(const Feature& feature) const;
                
                bool isFeatureSwitchable(const Feature& feature) const;
                
                void open();
                
                void reset();
                
                void setFeatureAbsoluteControl(const Feature& feature, const bool& doOn);
                
                void setFeatureEnabled(const Feature& feature, const bool& doOn);
                
                void setFeatureMode(const Feature& feature, const FeatureMode& mode);
                
                void setFeatureValue(const Feature& feature, const unsigned int& value);
                
                void setFeatureValueAbsolute(const Feature& feature, const float& value);
                
                void setFilename(const ::std::string& filename);
                
                void setFormat7(const VideoMode& videoMode, const ColorCoding& colorCoding, const unsigned int& left, const unsigned int& top, const unsigned int& width, const unsigned int& height);
                
                void setFramerate(const Framerate& framerate);
                
                void setNode(const unsigned int& node);
                
                void setOperationMode(const OperationMode& mode);
                
                void setPort(const unsigned int& port);
                
                void setSpeed(const IsoSpeed& speed);
                
                void setVideoMode(const VideoMode& mode);
                
                void start();
                
                void step();
                
                void stop();
                
            protected:
                
            private:
#if (LIBDC1394_VERSION_MAJOR > 10)
                unsigned int buffer;
                
                ::dc1394camera_t* camera;
                
                int cameras;
                
                ColorCoding colorCoding;
                
                ::dc1394_t* dc1394;
                
                ::std::string filename;
                
                ::dc1394video_frame_t* frame;
                
                Framerate framerate;
                
                unsigned int height;
                
                unsigned int left;
                
                unsigned int node;
                
                unsigned int speed;
                
                unsigned int top;
                
                VideoMode videoMode;
                
                unsigned int width;
#else
                unsigned int buffer;
                
                ::dc1394_cameracapture camera;
                
                int cameras;
                
                unsigned int channel;
                
                ColorCoding colorCoding;
                
                unsigned int drop;
                
                ::std::string filename;
                
                Framerate framerate;
                
                ::raw1394handle_t handle;
                
                unsigned int height;
                
                ::dc1394_camerainfo info;
                
                unsigned int left;
                
                unsigned int node;
                
                nodeid_t* nodes;
                
                unsigned int port;
                
                unsigned int speed;
                
                unsigned int top;
                
                VideoMode videoMode;
                
                unsigned int width;
#endif
        };
    }
}
 
#endif // RL_HAL_DC1394CAMERA_H