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PodmogilnyjIvan
2021-12-03 03:34:31 -08:00
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Thirdparty/Pangolin/include/pangolin/video/drivers/firewire.h vendored Normal file
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/* This file is part of the Pangolin Project.
* http://github.com/stevenlovegrove/Pangolin
*
* Copyright (c) 2011 Steven Lovegrove
*
* Permission is hereby granted, free of charge, to any person
* obtaining a copy of this software and associated documentation
* files (the "Software"), to deal in the Software without
* restriction, including without limitation the rights to use,
* copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the
* Software is furnished to do so, subject to the following
* conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
* OTHER DEALINGS IN THE SOFTWARE.
*/
#pragma once
#include <pangolin/pangolin.h>
#include <pangolin/video/video.h>
#include <dc1394/dc1394.h>
#ifndef _WIN32
#include <unistd.h>
#endif
namespace pangolin
{
PANGOLIN_EXPORT
std::string Dc1394ColorCodingToString(dc1394color_coding_t coding);
PANGOLIN_EXPORT
dc1394color_coding_t Dc1394ColorCodingFromString(std::string coding);
PANGOLIN_EXPORT
void Dc1394ModeDetails(dc1394video_mode_t mode, unsigned& w, unsigned& h, std::string& format );
class PANGOLIN_EXPORT FirewireFrame
{
friend class FirewireVideo;
public:
bool isValid() { return frame; }
unsigned char* Image() { return frame ? frame->image : 0; }
unsigned Width() const { return frame ? frame->size[0] : 0; }
unsigned Height() const { return frame ? frame->size[1] : 0; }
unsigned ImageBytes() const { return frame ? frame->image_bytes : 0; }
int FramesBehind() const { return frame ? frame->frames_behind : -1; }
unsigned Timestamp() const { return frame ? frame->timestamp : 0; }
int Id() const { return frame ? frame->id : -1; }
protected:
FirewireFrame(dc1394video_frame_t* frame) : frame(frame) {}
dc1394video_frame_t *frame;
};
struct PANGOLIN_EXPORT Guid
{
Guid(uint64_t guid):guid(guid){}
uint64_t guid;
};
class PANGOLIN_EXPORT FirewireVideo : public VideoInterface
{
public:
const static int MAX_FR = -1;
const static int EXT_TRIG = -1;
const static uint32_t GPIO_CTRL_PIN0 = 0x1110;
const static uint32_t GPIO_CTRL_PIN1 = 0x1120;
const static uint32_t GPIO_CTRL_PIN2 = 0x1130;
const static uint32_t GPIO_CTRL_PIN3 = 0x1140;
FirewireVideo(
unsigned deviceid = 0,
dc1394video_mode_t video_mode = DC1394_VIDEO_MODE_640x480_RGB8,
dc1394framerate_t framerate = DC1394_FRAMERATE_30,
dc1394speed_t iso_speed = DC1394_ISO_SPEED_400,
int dma_buffers = 10
);
FirewireVideo(
Guid guid,
dc1394video_mode_t video_mode = DC1394_VIDEO_MODE_640x480_RGB8,
dc1394framerate_t framerate = DC1394_FRAMERATE_30,
dc1394speed_t iso_speed = DC1394_ISO_SPEED_400,
int dma_buffers = 10
);
FirewireVideo(
Guid guid,
dc1394video_mode_t video_mode,
float framerate,
uint32_t width, uint32_t height,
uint32_t left, uint32_t top,
dc1394speed_t iso_speed,
int dma_buffers, bool reset_at_boot=false
);
FirewireVideo(
unsigned deviceid,
dc1394video_mode_t video_mode,
float framerate,
uint32_t width, uint32_t height,
uint32_t left, uint32_t top,
dc1394speed_t iso_speed,
int dma_buffers, bool reset_at_boot=false
);
~FirewireVideo();
//! Implement VideoInput::Start()
void Start();
//! Implement VideoInput::Stop()
void Stop();
//! Implement VideoInput::SizeBytes()
size_t SizeBytes() const;
//! Implement VideoInput::Streams()
const std::vector<StreamInfo>& Streams() const;
//! Implement VideoInput::GrabNext()
bool GrabNext( unsigned char* image, bool wait = true );
//! Implement VideoInput::GrabNewest()
bool GrabNewest( unsigned char* image, bool wait = true );
//! (deprecated: use Streams[i].Width())
//! Return image width
unsigned Width() const { return width; }
//! (deprecated: use Streams[i].Height())
//! Return image height
unsigned Height() const { return height; }
//! Return object containing reference to image data within
//! DMA buffer. The FirewireFrame must be returned to
//! signal that it can be reused with a corresponding PutFrame()
FirewireFrame GetNext(bool wait = true);
//! Return object containing reference to newest image data within
//! DMA buffer discarding old images. The FirewireFrame must be
//! returned to signal that it can be reused with a corresponding PutFrame()
FirewireFrame GetNewest(bool wait = true);
//! Return FirewireFrame object. Data held by FirewireFrame is
//! invalidated on return.
void PutFrame(FirewireFrame& frame);
//! return absolute shutter value
float GetShutterTime() const;
//! set absolute shutter value
void SetShutterTime(float val);
//! set auto shutter value
void SetAutoShutterTime();
//! return absolute gain value
float GetGain() const;
//! set absolute gain value
void SetGain(float val);
//! set auto gain value
void SetAutoGain();
//! return absolute brightness value
float GetBrightness() const;
//! set absolute brightness value
void SetBrightness(float val);
//! set auto brightness
void SetAutoBrightness();
//! return absolute gamma value
float GetGamma() const;
//! return quantised shutter value
void SetShutterTimeQuant(int shutter);
//! set the trigger to internal, i.e. determined by video mode
void SetInternalTrigger();
//! set the trigger to external
void SetExternalTrigger(
dc1394trigger_mode_t mode=DC1394_TRIGGER_MODE_0,
dc1394trigger_polarity_t polarity=DC1394_TRIGGER_ACTIVE_HIGH,
dc1394trigger_source_t source=DC1394_TRIGGER_SOURCE_0
);
//! set a camera register
void SetRegister(uint64_t offset, uint32_t value);
//! read camera register
uint32_t GetRegister(uint64_t offset);
//! set a camera control register
void SetControlRegister(uint64_t offset, uint32_t value);
//! read camera control register
uint32_t GetControlRegister(uint64_t offset);
protected:
void init_stream_info();
void init_camera(
uint64_t guid, int dma_frames,
dc1394speed_t iso_speed,
dc1394video_mode_t video_mode,
dc1394framerate_t framerate
);
void init_format7_camera(
uint64_t guid, int dma_frames,
dc1394speed_t iso_speed,
dc1394video_mode_t video_mode,
float framerate,
uint32_t width, uint32_t height,
uint32_t left, uint32_t top, bool reset_at_boot
);
static int nearest_value(int value, int step, int min, int max);
static double bus_period_from_iso_speed(dc1394speed_t iso_speed);
size_t frame_size_bytes;
std::vector<StreamInfo> streams;
bool running;
dc1394camera_t *camera;
unsigned width, height, top, left;
//dc1394featureset_t features;
dc1394_t * d;
dc1394camera_list_t * list;
mutable dc1394error_t err;
};
}