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