WebSVN – seema-scanner – Diff – /src/camera/CameraIIDC.cpp

 #include "CameraIIDC.h"
 #include <cstring>
 vector<CameraInfo> CameraIIDC::getCameraList(){
     dc1394_t *context = dc1394_new();
     dc1394camera_list_t *camera_list;
     dc1394error_t err;
     err = dc1394_camera_enumerate(context, &camera_list);
     DC1394_WRN(err,"libdc1394: Failed to enumerate cameras!");
     vector<CameraInfo> ret;
     for (unsigned int i=0; i<camera_list->num; i++) {
         CameraInfo info;
         dc1394camera_t *cam;
         cam = dc1394_camera_new(context, camera_list->ids[i].guid);
         //info.vendor = std::string(cam->vendor ? cam->vendor : "");
         info.vendor = "IIDC";
         info.model = string(cam->model ? cam->model : "");
         info.busID = (unsigned int)cam->guid;
         dc1394_camera_free(cam);
         ret.push_back(info);
+    }
     dc1394_camera_free_list(camera_list);
     dc1394_free(context);
     return ret;
+}
-CameraIIDC::CameraIIDC(unsigned int camID){
+CameraIIDC::CameraIIDC(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode) {
     context = dc1394_new();
     dc1394camera_list_t *camera_list;
     dc1394error_t err;
     err = dc1394_camera_enumerate(context, &camera_list);
-    if(camID+1 > camera_list->num){
+    if(camNum+1 > camera_list->num){
         cerr << "libdc1394: Selected camera is not available!";
         return;
+    }
     cam = NULL;
-    cam = dc1394_camera_new(context, camera_list->ids[camID].guid);
+    cam = dc1394_camera_new(context, camera_list->ids[camNum].guid);
     if(!cam){
         cerr << "libdc1394: Could not open camera!";
         return;
+    }
     dc1394_camera_free_list(camera_list);
-    // Print camera information
-    dc1394_camera_print_info(cam, stdout);
-    fflush(stdout);
 //    // Get video modes
 //    dc1394video_modes_t video_modes;
 //    err=dc1394_video_get_supported_modes(cam, &video_modes);
 //    DC1394_WRN(err,"Can't get video modes");
 //    // Select highest res mode
 //    int i;
 //    dc1394color_coding_t coding;
 //    for (i=video_modes.num-1;i>=0;i--) {
 //        if (!dc1394_is_video_mode_scalable(video_modes.modes[i])) {
 //            dc1394_get_color_coding_from_video_mode(cam, video_modes.modes[i], &coding);
 //            DC1394_WRN(err,"libdc1394: Could not get color coding");
 //            if (coding==DC1394_COLOR_CODING_MONO8) {
 //                video_mode=video_modes.modes[i];
 //                break;
 //            }
 //        }
 //    }
 //    if (i < 0) {
 //        cerr << "libdc1394: Could not get a valid gray scale mode!";
 //        return;
 //    }
     // Select format 7 mode 0
     video_mode = DC1394_VIDEO_MODE_FORMAT7_0;
-    // Set video mode
+    // Set bit depth
-    err=dc1394_video_set_mode(cam, video_mode);
+    err = dc1394_format7_set_color_coding(cam, video_mode, DC1394_COLOR_CODING_MONO16);
     if (err!=DC1394_SUCCESS)
+        cerr << "libdc1394: Could not set video mode or color coding!";
+//    // Set video mode
+//    err=dc1394_video_set_mode(cam, video_mode);
+//    if (err!=DC1394_SUCCESS)
-        cerr << "libdc1394: Could not set video mode!";
+//        cerr << "libdc1394: Could not set video mode!";
     // Setup capture
     err=dc1394_video_set_operation_mode(cam, DC1394_OPERATION_MODE_1394B);
     if (err!=DC1394_SUCCESS)
         cerr << "libdc1394: Could not set operation mode!";
     err=dc1394_video_set_iso_speed(cam, DC1394_ISO_SPEED_800);
     if (err!=DC1394_SUCCESS)
         cerr << "libdc1394: Could not set iso speed!";
     // Size of ringbuffer (Note: on OS X 10.9, size must be greater than 1)
 #ifdef __APPLE__
     unsigned int bufferSize = 2;
 #else
     unsigned int bufferSize = 1;
 #endif
     err=dc1394_capture_setup(cam, bufferSize, DC1394_CAPTURE_FLAGS_DEFAULT);
     if (err!=DC1394_SUCCESS)
         cerr << "libdc1394: Could not set up camera!";
     // Disable auto exposure mode
     dc1394_feature_set_power(cam, DC1394_FEATURE_EXPOSURE, DC1394_OFF);
     // Disable gamma mode
     dc1394_feature_set_power(cam, DC1394_FEATURE_GAMMA, DC1394_OFF);
     // Disable sharpness mode
     dc1394_feature_set_power(cam, DC1394_FEATURE_SHARPNESS, DC1394_OFF);
     // Disable frame-rate mode
     dc1394_feature_set_power(cam, DC1394_FEATURE_FRAME_RATE, DC1394_OFF);
     // Set manual settings
     dc1394_feature_set_mode(cam, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);
     dc1394_feature_set_mode(cam, DC1394_FEATURE_GAIN, DC1394_FEATURE_MODE_MANUAL);
-    // Disable trigger
-    err=dc1394_external_trigger_set_power(cam, DC1394_OFF);
-    if (err!=DC1394_SUCCESS)
-        cerr << "libdc1394: Could not set external trigger on!";
     // Set reasonable default settings
     CameraSettings settings;
     //settings.shutter = 8.333;
     settings.shutter = 16.66;
     settings.gain = 0.0;
     this->setCameraSettings(settings);
     // Print camera features and settings
     dc1394featureset_t features;
     err=dc1394_feature_get_all(cam, &features);
     DC1394_WRN(err, "libdc1394: Could not get feature set.");
     dc1394_feature_print_all(&features, stdout);
     fflush(stdout);
     return;
+}
+unsigned int getSetting(dc1394camera_t *cam, dc1394feature_t setting){
+    dc1394error_t err;
+    unsigned int value;
+    err = dc1394_feature_get_value(cam, setting, &value);
+    if(err != DC1394_SUCCESS)
+        cerr << "Could not get setting!" << endl;
+    return value;
+}
+CameraSettings CameraIIDC::getCameraSettings(){
+    // Get settings:
+    CameraSettings settings;
+    settings.gain = getSetting(cam, DC1394_FEATURE_GAIN);
+    settings.shutter = getSetting(cam, DC1394_FEATURE_SHUTTER);
+    return settings;
+}
+void setSetting(dc1394camera_t *cam, dc1394feature_t setting, float value){
+    dc1394error_t err;
+    float min, max;
+    dc1394_feature_get_absolute_boundaries(cam, setting, &min, &max);
+    if(value < min || value > max){
+        std::cerr << "CameraIIDC: cannot set value. Out of permissable range." << std::endl;
+    } else {
+        err = dc1394_feature_set_absolute_control(cam, setting, DC1394_ON);
+        if(err != DC1394_SUCCESS)
+            cerr << "Could not enable absolute control!" << endl;
+        err = dc1394_feature_set_absolute_value(cam, setting, value);
+        if(err != DC1394_SUCCESS)
+            cerr << "Could not set absolute value!" << endl;
+    }
+}
+void CameraIIDC::setCameraSettings(CameraSettings settings){
+    // Set settings:
+    setSetting(cam, DC1394_FEATURE_GAIN, settings.gain);
+    setSetting(cam, DC1394_FEATURE_SHUTTER, settings.shutter/1000.0); // [ms]
+}
 void CameraIIDC::startCapture(){
     dc1394error_t err;
-    // Set hardware trigger
+    // Print camera information
-    err=dc1394_external_trigger_set_power(cam, DC1394_ON);
+    dc1394_camera_print_info(cam, stdout);
-    if (err!=DC1394_SUCCESS)
+    fflush(stdout);
-        cerr << "libdc1394: Could not set external trigger on!";
-    err=dc1394_external_trigger_set_source(cam, DC1394_TRIGGER_SOURCE_0);
-    if (err!=DC1394_SUCCESS)
+    if(triggerMode == triggerModeHardware){
-        cerr << "libdc1394: Could not set external trigger source!";
+        // Set hardware trigger
+        err=dc1394_external_trigger_set_power(cam, DC1394_ON);
+        if (err!=DC1394_SUCCESS)
+            cerr << "libdc1394: Could not set external trigger on!";
+        err=dc1394_external_trigger_set_source(cam, DC1394_TRIGGER_SOURCE_0);
+        if (err!=DC1394_SUCCESS)
+            cerr << "libdc1394: Could not set external trigger source!";
-    err=dc1394_external_trigger_set_mode(cam, DC1394_TRIGGER_MODE_14);
+        err=dc1394_external_trigger_set_mode(cam, DC1394_TRIGGER_MODE_14);
-    if (err!=DC1394_SUCCESS)
+        if (err!=DC1394_SUCCESS)
-        cerr << "libdc1394: Could not set external trigger mode!";
+            cerr << "libdc1394: Could not set external trigger mode!";
+        err=dc1394_external_trigger_set_polarity(cam, DC1394_TRIGGER_ACTIVE_HIGH);
+        if (err!=DC1394_SUCCESS)
+            cerr << "libdc1394: Could not set external trigger polarity!";
+    } else if(triggerMode == triggerModeSoftware) {
+        // Disable hardware trigger
+        err=dc1394_external_trigger_set_power(cam, DC1394_OFF);
+        if (err!=DC1394_SUCCESS)
+            cerr << "libdc1394: Could not set external trigger off!";
-    err=dc1394_external_trigger_set_polarity(cam, DC1394_TRIGGER_ACTIVE_HIGH);
-    if (err!=DC1394_SUCCESS)
+    }
-        cerr << "libdc1394: Could not set external trigger polarity!";
     // Begin transmission
 	err = dc1394_video_set_transmission(cam, DC1394_ON);
 	if (err!=DC1394_SUCCESS)
+	{
 		cerr << "ERROR: Could not begin transmission!" << endl;
+	}
     capturing = true;
+}
 void CameraIIDC::stopCapture(){
     dc1394error_t err;
     err = dc1394_video_set_transmission(cam, DC1394_OFF);
     err = dc1394_capture_stop(cam);
-    // Disable trigger
+//    // Disable trigger
-    err=dc1394_external_trigger_set_power(cam, DC1394_OFF);
+//    err=dc1394_external_trigger_set_power(cam, DC1394_OFF);
-    if (err!=DC1394_SUCCESS)
+//    if (err!=DC1394_SUCCESS)
-        cerr << "libdc1394: Could not set external trigger on!";
+//        cerr << "libdc1394: Could not set external trigger on!";
     capturing = false;
+}
-CameraFrame CameraIIDC::lockFrame(){
+CameraFrame CameraIIDC::getFrame(){
     CameraFrame frame;
     if (!capturing) {
         cerr << "ERROR: Not capturing on camera. Call startCapture() before lockFrame()." << endl;
         return frame;
+    }
     dc1394error_t err;
+    if(triggerMode == triggerModeSoftware){
+        if (cam->one_shot_capable != DC1394_TRUE){
+            cerr << "ERROR: Camera is not one_shot_capable." << endl;
+            return frame;
+        }
+        dc1394error_t err;
+        // Flush the ring buffer
+        flushBuffer();
+        // One-shot trigger
+        err == dc1394_video_set_one_shot(cam, DC1394_ON);
+    }
-	// Get frame from ring buffer:
+    // Get frame from ring buffer:
     err = dc1394_capture_dequeue(cam, DC1394_CAPTURE_POLICY_WAIT, &currentFrame);
     if (err!=DC1394_SUCCESS){
         cerr << "ERROR: Could not capture a frame." << endl;
         return frame;
+    }
-	}
+    // Return the frame to the ring buffer:
+    dc1394_capture_enqueue(cam, currentFrame);
+    currentFrame = NULL;
     // Copy frame address and properties
-    frame.memory = currentFrame->image;
+    frame.memory = (unsigned short*)currentFrame->image;
     frame.width = currentFrame->size[0];
     frame.height = currentFrame->size[1];
+    frame.bitDepth = 16;
     frame.sizeBytes = currentFrame->image_bytes;
     return frame;
+}
-void CameraIIDC::unlockFrame(){
-    if (currentFrame == NULL){
-        cerr << "ERROR: No frame locked. Call lockFrame() before unlockFrame()." << endl;
-        return;
-    }
-    // Return the frame to the ring buffer:
-    dc1394_capture_enqueue(cam, currentFrame);
-    currentFrame = NULL;
-}
 void CameraIIDC::flushBuffer(){
     // This function is courtesy of ofxVideoGrabber/Libdc1394Grabber
     bool bufferEmpty = false;
     while (!bufferEmpty){
         if(dc1394_capture_dequeue(cam, DC1394_CAPTURE_POLICY_POLL, &currentFrame) == DC1394_SUCCESS){
             if(currentFrame != NULL){
                 dc1394_capture_enqueue(cam, currentFrame);
             } else {
                 bufferEmpty = true;
+            }
         } else {
             bufferEmpty = true;
+        }
+    }
+}
-CameraFrame CameraIIDC::getSingleFrame(){
-    CameraFrame frame;
-    if (capturing) {
-        cerr << "ERROR: Capturing on camera. Call stopCapture() before getSingleFrame()." << endl;
-        return frame;
-    }
-    if (cam->one_shot_capable != DC1394_TRUE){
-        cerr << "ERROR: Camera is not one_shot_capable." << endl;
-        return frame;
-    }
-    dc1394error_t err;
-    // Flush the ring buffer
-    flushBuffer();
-    // One-shot trigger
-    dc1394_video_set_one_shot(cam, DC1394_ON);
-    // Dequeue frame
-    err = dc1394_capture_dequeue(cam, DC1394_CAPTURE_POLICY_WAIT, &currentFrame);
-    if (err!=DC1394_SUCCESS){
-        cerr << "ERROR: Could not capture a frame." << endl;
-        return frame;
-    }
-    // Copy frame address and properties
-    frame.memory = currentFrame->image;
-    frame.width = currentFrame->size[0];
-    frame.height = currentFrame->size[1];
-    frame.sizeBytes = currentFrame->image_bytes;
-    return frame;
-}
 size_t CameraIIDC::getFrameSizeBytes(){
     if (!capturing) {
         cerr << "ERROR: Cannot get frame size before capturing. Call startCapture() before getFrameSizeBytes()." << endl;
         return 0;
+    }
 //    dc1394video_frame_t *frame = NULL;
 //    dc1394error_t err;
 //	// Get frame from ring buffer:
 //    err = dc1394_capture_dequeue(cam, DC1394_CAPTURE_POLICY_WAIT, &frame);
 //    err = dc1394_capture_enqueue(cam, frame);
 //    return frame->image_bytes;
     uint64_t total_bytes;
     dc1394_format7_get_total_bytes(cam, video_mode, &total_bytes);
     return total_bytes;
+}
-void CameraIIDC::getFrameWidthHeight(unsigned int *width, unsigned int *height){
+size_t CameraIIDC::getFrameWidth(){
     uint32_t _width, _height;
     dc1394_get_image_size_from_video_mode(cam, video_mode, &_width, &_height);
-    *width = _width;
+    return _width;
-    *height = _height;
+}
-void setSetting(dc1394camera_t *cam, dc1394feature_t setting, float value){
-    dc1394error_t err;
-    float min, max;
-    dc1394_feature_get_absolute_boundaries(cam, setting, &min, &max);
-    if(value < min || value > max){
-        std::cerr << "CameraIIDC: cannot set value. Out of permissable range." << std::endl;
-    } else {
-        err = dc1394_feature_set_absolute_control(cam, setting, DC1394_ON);
-        if(err != DC1394_SUCCESS)
-            cerr << "Could not enable absolute control!" << endl;
-        err = dc1394_feature_set_absolute_value(cam, setting, value);
-        if(err != DC1394_SUCCESS)
-            cerr << "Could not set absolute value!" << endl;
-    }
-}
-void CameraIIDC::setCameraSettings(CameraSettings settings){
-	// Set settings:
-    setSetting(cam, DC1394_FEATURE_GAIN, settings.gain);
-    setSetting(cam, DC1394_FEATURE_SHUTTER, settings.shutter/1000.0); // [ms]
-}
-unsigned int getSetting(dc1394camera_t *cam, dc1394feature_t setting){
+size_t CameraIIDC::getFrameHeight(){
-    dc1394error_t err;
-    unsigned int value;
+    uint32_t _width, _height;
-    err = dc1394_feature_get_value(cam, setting, &value);
+    dc1394_get_image_size_from_video_mode(cam, video_mode, &_width, &_height);
-    if(err != DC1394_SUCCESS)
-        cerr << "Could not get setting!" << endl;
-    return value;
+    return _height;
+}
-CameraSettings CameraIIDC::getCameraSettings(){
-	// Get settings:
-    CameraSettings settings;
-    settings.gain = getSetting(cam, DC1394_FEATURE_GAIN);
-	settings.shutter = getSetting(cam, DC1394_FEATURE_SHUTTER);
-    return settings;
-}
 CameraIIDC::~CameraIIDC(){
     // Stop camera transmission
     if(capturing)
         stopCapture();
     else
         dc1394_capture_stop(cam);
     // Gracefulle destruct the camera
     dc1394_camera_free(cam);
     dc1394_free(context);
+}

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(root)/src/camera/CameraIIDC.cpp – Rev 1 → 18