CImageGrabber_dc1394.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "hwdrivers-precomp.h"  // Precompiled headers

#include <mrpt/config.h>
#include <mrpt/hwdrivers/CImageGrabber_dc1394.h>

// Include the libdc1394-2 headers:
#if MRPT_HAS_LIBDC1394_2
#include <dc1394/control.h>
#include <dc1394/conversions.h>
#include <dc1394/utils.h>
#include <dc1394/register.h>
#endif

using namespace std;
using namespace mrpt;
using namespace mrpt::hwdrivers;

#define THE_CAMERA static_cast<dc1394camera_t*>(m_dc1394camera)
#define THE_CONTEXT static_cast<dc1394_t*>(m_dc1394_lib_context)

/*-------------------------------------------------------------
                    Constructor
 -------------------------------------------------------------*/
CImageGrabber_dc1394::CImageGrabber_dc1394(
    uint64_t cameraGUID, uint16_t cameraUnit,
    const TCaptureOptions_dc1394& options, bool verbose)
    : m_bInitialized(false),
      m_dc1394_lib_context(nullptr),
      m_dc1394camera(nullptr),
      m_options(options)
{
    MRPT_START

#if MRPT_HAS_LIBDC1394_2
    // Open lib:
    m_dc1394_lib_context = dc1394_new();
    ASSERT_(m_dc1394_lib_context);

    // Enumerate cameras:
    dc1394camera_list_t* list;
    dc1394error_t err;

    err = dc1394_camera_enumerate(THE_CONTEXT, &list);
    if (err != DC1394_SUCCESS)
    {
        cerr << "[CImageGrabber_dc1394] ERROR: Failed to enumerate cameras "
                "(Maybe your user has no rights to access IEEE1394?)."
             << endl;
        return;
    }

    if (!list->num)
    {
        cerr << "[CImageGrabber_dc1394] ERROR: No cameras found." << endl;
        return;
    }

    // Open the first camera or the one given by the user:
    if (!cameraGUID)
    {
        // Default: first one:
        m_dc1394camera = dc1394_camera_new(THE_CONTEXT, list->ids[0].guid);
        if (!THE_CAMERA)
        {
            dc1394_camera_free_list(list);
            cerr << "[CImageGrabber_dc1394] ERROR: Failed to initialize camera "
                    "with GUID "
                 << list->ids[0].guid << "\n";
            return;
        }
    }
    else
    {
        // Look for user-given IDs:
        for (uint32_t i = 0; i < list->num; i++)
        {
            if (list->ids[i].guid == cameraGUID &&
                list->ids[i].unit == cameraUnit)
            {
                m_dc1394camera =
                    dc1394_camera_new_unit(THE_CONTEXT, cameraGUID, cameraUnit);
                if (!THE_CAMERA)
                {
                    dc1394_camera_free_list(list);
                    cerr << "[CImageGrabber_dc1394] ERROR: Failed to "
                            "initialize camera with GUID "
                         << list->ids[0].guid << "\n";
                    return;
                }
                break;
            }
        }

        if (!m_dc1394camera)
        {
            dc1394_camera_free_list(list);
            cerr << "[CImageGrabber_dc1394] ERROR: Camera with GUID="
                 << cameraGUID << " and UNIT=" << cameraUnit << " not found.\n";
            return;
        }
    }
    dc1394_camera_free_list(list);

    // Camera open OK:
    if (verbose)
    {
        dc1394_camera_print_info(THE_CAMERA, stdout);
    }

    // get all supported modes:
    dc1394video_modes_t modes;
    err = dc1394_video_get_supported_modes(THE_CAMERA, &modes);
    if (err != DC1394_SUCCESS)
    {
        cerr << "[CImageGrabber_dc1394] ERROR: Could not get list of modes."
             << endl;
        return;
    }

    // Is mode7? treat differently:
    if (options.mode7 >= 0)
    {
        m_desired_mode = DC1394_VIDEO_MODE_FORMAT7_MIN + options.mode7;
        if (verbose)
            cout << "[CImageGrabber_dc1394] Mode is mode7: " << options.mode7
                 << endl;
    }
    else
    {
#define TEST_MODE(W, H, COLORMODEL)                                         \
    else if (                                                               \
        options.frame_width == W && options.frame_height == H &&            \
        options.color_coding == COLOR_CODING_##COLORMODEL) m_desired_mode = \
        DC1394_VIDEO_MODE_##W##x##H##_##COLORMODEL;

        if (0)
        {
        }
        TEST_MODE(160, 120, YUV444)
        TEST_MODE(320, 240, YUV422)
        TEST_MODE(640, 480, YUV411)
        TEST_MODE(640, 480, YUV422)
        TEST_MODE(640, 480, RGB8)
        TEST_MODE(640, 480, MONO8)
        TEST_MODE(640, 480, MONO16)
        TEST_MODE(800, 600, YUV422)
        TEST_MODE(800, 600, RGB8)
        TEST_MODE(800, 600, MONO8)
        TEST_MODE(800, 600, MONO16)
        TEST_MODE(1024, 768, YUV422)
        TEST_MODE(1024, 768, RGB8)
        TEST_MODE(1024, 768, MONO8)
        TEST_MODE(1024, 768, MONO16)
        TEST_MODE(1280, 960, YUV422)
        TEST_MODE(1280, 960, RGB8)
        TEST_MODE(1280, 960, MONO8)
        TEST_MODE(1280, 960, MONO16)
        TEST_MODE(1600, 1200, YUV422)
        TEST_MODE(1600, 1200, RGB8)
        TEST_MODE(1600, 1200, MONO8)
        TEST_MODE(1600, 1200, MONO16)
    }
    // Display all supported modes and chosen:
    if (verbose) cout << "------ Supported video modes ------" << endl;
    bool valid_video_mode = false;
    for (uint32_t i = 0; i < modes.num; i++)
    {
        string mode;
        switch (modes.modes[i])
        {
            case DC1394_VIDEO_MODE_160x120_YUV444:
                mode = "160x120_YUV444";
                break;
            case DC1394_VIDEO_MODE_320x240_YUV422:
                mode = "320x240_YUV422";
                break;
            case DC1394_VIDEO_MODE_640x480_YUV411:
                mode = "640x480_YUV411";
                break;
            case DC1394_VIDEO_MODE_640x480_YUV422:
                mode = "640x480_YUV422";
                break;
            case DC1394_VIDEO_MODE_640x480_RGB8:
                mode = "640x480_RGB8";
                break;
            case DC1394_VIDEO_MODE_640x480_MONO8:
                mode = "640x480_MONO8";
                break;
            case DC1394_VIDEO_MODE_640x480_MONO16:
                mode = "640x480_MONO16";
                break;
            case DC1394_VIDEO_MODE_800x600_YUV422:
                mode = "800x600_YUV422";
                break;
            case DC1394_VIDEO_MODE_800x600_RGB8:
                mode = "800x600_RGB8";
                break;
            case DC1394_VIDEO_MODE_800x600_MONO8:
                mode = "800x600_MONO8";
                break;
            case DC1394_VIDEO_MODE_1024x768_YUV422:
                mode = "1024x768_YUV422";
                break;
            case DC1394_VIDEO_MODE_1024x768_RGB8:
                mode = "1024x768_RGB8";
                break;
            case DC1394_VIDEO_MODE_1024x768_MONO8:
                mode = "1024x768_MONO8";
                break;
            case DC1394_VIDEO_MODE_800x600_MONO16:
                mode = "800x600_MONO16";
                break;
            case DC1394_VIDEO_MODE_1024x768_MONO16:
                mode = "1024x768_MONO16";
                break;
            case DC1394_VIDEO_MODE_1280x960_YUV422:
                mode = "1280x960_YUV422";
                break;
            case DC1394_VIDEO_MODE_1280x960_RGB8:
                mode = "1280x960_RGB8";
                break;
            case DC1394_VIDEO_MODE_1280x960_MONO8:
                mode = "1280x960_MONO8";
                break;
            case DC1394_VIDEO_MODE_1600x1200_YUV422:
                mode = "1600x1200_YUV422";
                break;
            case DC1394_VIDEO_MODE_1600x1200_RGB8:
                mode = "1600x1200_RGB8";
                break;
            case DC1394_VIDEO_MODE_1600x1200_MONO8:
                mode = "1600x1200_MONO8";
                break;
            case DC1394_VIDEO_MODE_1280x960_MONO16:
                mode = "1280x960_MONO16";
                break;
            case DC1394_VIDEO_MODE_1600x1200_MONO16:
                mode = "1600x1200_MONO16";
                break;
            case DC1394_VIDEO_MODE_EXIF:
                mode = "EXIF";
                break;
            case DC1394_VIDEO_MODE_FORMAT7_0:
                mode = "FORMAT7_0";
                break;
            case DC1394_VIDEO_MODE_FORMAT7_1:
                mode = "FORMAT7_1";
                break;
            case DC1394_VIDEO_MODE_FORMAT7_2:
                mode = "FORMAT7_2";
                break;
            case DC1394_VIDEO_MODE_FORMAT7_3:
                mode = "FORMAT7_3";
                break;
            case DC1394_VIDEO_MODE_FORMAT7_4:
                mode = "FORMAT7_4";
                break;
            case DC1394_VIDEO_MODE_FORMAT7_5:
                mode = "FORMAT7_5";
                break;
            case DC1394_VIDEO_MODE_FORMAT7_6:
                mode = "FORMAT7_6";
                break;
            case DC1394_VIDEO_MODE_FORMAT7_7:
                mode = "FORMAT7_7";
                break;
            default:
                cerr << "[CImageGrabber_dc1394] ERROR: Requested video mode is "
                        "not valid."
                     << endl;
                return;
        }
        if (modes.modes[i] == m_desired_mode) valid_video_mode = true;
        if (verbose)
        {
            if (modes.modes[i] == m_desired_mode)
                cout << mode << " (*)" << endl;
            else
                cout << mode << endl;
        }
    }
    if (!valid_video_mode)
    {
        cerr << format(
                    "[CImageGrabber_dc1394] ERROR: Requested mode %ix%i "
                    "color_model:%i is not available for this camera.",
                    options.frame_width, options.frame_height,
                    int(options.color_coding))
             << endl;
        return;
    }

    // Reset to bus just in case:
    // And only once in a program, at start up:
    //  static bool reset_1394bus = true;
    //  if (reset_1394bus)
    {
        //      reset_1394bus = false;
        //      dc1394_reset_bus(THE_CAMERA);
    }

    /*-----------------------------------------------------------------------
     *  setup capture
     *-----------------------------------------------------------------------*/
    const int SIZE_RING_BUFFER = options.ring_buffer_size;

    err = dc1394_video_set_iso_speed(THE_CAMERA, DC1394_ISO_SPEED_400);
    if (err != DC1394_SUCCESS)
    {
        cerr << "[CImageGrabber_dc1394] ERROR: Could not set iso speed."
             << endl;
        return;
    }

    err = dc1394_video_set_mode(THE_CAMERA, dc1394video_mode_t(m_desired_mode));
    // This checking only assures that m_desired_mode is inside
    // dc1394video_mode_t enum range
    if (err != DC1394_SUCCESS)
    {
        cerr << "[CImageGrabber_dc1394] ERROR: Could not set video mode."
             << endl;
        return;
    }

    dc1394framerate_t the_framerate;
    switch (m_options.framerate)
    {
        case FRAMERATE_1_875:
            the_framerate = DC1394_FRAMERATE_1_875;
            break;
        case FRAMERATE_3_75:
            the_framerate = DC1394_FRAMERATE_3_75;
            break;
        case FRAMERATE_7_5:
            the_framerate = DC1394_FRAMERATE_7_5;
            break;
        case FRAMERATE_15:
            the_framerate = DC1394_FRAMERATE_15;
            break;
        case FRAMERATE_30:
            the_framerate = DC1394_FRAMERATE_30;
            break;
        case FRAMERATE_60:
            the_framerate = DC1394_FRAMERATE_60;
            break;
        case FRAMERATE_120:
            the_framerate = DC1394_FRAMERATE_120;
            break;
        case FRAMERATE_240:
            the_framerate = DC1394_FRAMERATE_240;
            break;

        default:
            cerr << "[CImageGrabber_dc1394] ERROR: Requested framerate is not "
                    "valid."
                 << endl;
            return;
    }

    err = dc1394_video_set_framerate(THE_CAMERA, the_framerate);
    if (err != DC1394_SUCCESS)
    {
        cerr << "[CImageGrabber_dc1394] ERROR: Could not set framerate."
             << endl;
        return;
    }

    err = dc1394_capture_setup(
        THE_CAMERA, SIZE_RING_BUFFER, DC1394_CAPTURE_FLAGS_DEFAULT);
    if (err != DC1394_SUCCESS)
    {
        cerr << "[CImageGrabber_dc1394] ERROR: Could not setup camera-\nmake "
                "sure that the video mode and framerate are\nsupported by your "
                "camera."
             << endl;
        return;
    }

    cout << "------ Other options ------" << endl;
    uint32_t iso_chan;
    if ((err = dc1394_video_get_iso_channel(THE_CAMERA, &iso_chan)) ==
        DC1394_SUCCESS)
        if (verbose) cout << "ISO Channel: " << iso_chan << endl;

    dc1394speed_t iso_speed;
    if ((err = dc1394_video_get_iso_speed(THE_CAMERA, &iso_speed)) ==
        DC1394_SUCCESS)
        if (verbose) cout << "ISO Speed: " << iso_speed << endl;

// set trigger options:
#define SET_TRIGGER(opt, OPT, TYPE)                                       \
    if (options.trigger_##opt >= 0)                                       \
    {                                                                     \
        err = dc1394_external_trigger_set_##opt(                          \
            THE_CAMERA,                                                   \
            static_cast<dc1394trigger_##opt##_t>(                         \
                DC1394_TRIGGER_##TYPE##_MIN + options.trigger_##opt));    \
        DC1394_WRN(                                                       \
            err,                                                          \
            "[CImageGrabber_dc1394::changeCaptureOptions] Could not set " \
            "trigger opt");                                               \
    }
    SET_TRIGGER(mode, MODE, MODE)
    SET_TRIGGER(source, SOURCE, SOURCE)
    SET_TRIGGER(polarity, POLARITY, ACTIVE)
    if (options.trigger_power >= 0)
    {
        err = dc1394_external_trigger_set_power(
            THE_CAMERA, dc1394switch_t(options.trigger_power));
        DC1394_WRN(
            err,
            "[CImageGrabber_dc1394::changeCaptureOptions] Could not set "
            "trigger power");
    }
#undef SET_TRIGGER

    /*-----------------------------------------------------------------------
     *  have the camera start sending us data
     *-----------------------------------------------------------------------*/
    err = dc1394_video_set_transmission(THE_CAMERA, DC1394_ON);
    if (err != DC1394_SUCCESS)
    {
        cerr << "[CImageGrabber_dc1394] ERROR: Could not start camera iso "
                "transmission."
             << endl;
        return;
    }

    // remember that we successfully initialized everything
    m_bInitialized = true;

    changeCaptureOptions(m_options);

    // Camera current features:
    if (verbose)
    {
        dc1394featureset_t features;
        if ((err = dc1394_feature_get_all(THE_CAMERA, &features)) ==
            DC1394_SUCCESS)
            dc1394_feature_print_all(&features, stdout);
    }

#else
    THROW_EXCEPTION(
        "[CImageGrabber_dc1394] ERROR: MRPT compiled with "
        "MRPT_HAS_LIBDC1394_2=0 !");
#endif
    MRPT_END
}

/*-------------------------------------------------------------
                    Destructor
 -------------------------------------------------------------*/
CImageGrabber_dc1394::~CImageGrabber_dc1394()
{
#if MRPT_HAS_LIBDC1394_2
    m_bInitialized = false;
    if (THE_CAMERA)
    {
        dc1394_video_set_transmission(THE_CAMERA, DC1394_OFF);
        dc1394_capture_stop(THE_CAMERA);

        // Release BW:
        //      uint32_t val;
        //      if (dc1394_video_get_bandwidth_usage(THE_CAMERA, &val) ==
        // DC1394_SUCCESS)
        //           dc1394_iso_release_bandwidth(THE_CAMERA, val);
        //      if ( dc1394_video_get_iso_channel(THE_CAMERA, &val) ==
        // DC1394_SUCCESS)
        //           dc1394_iso_release_channel(THE_CAMERA, val);

        dc1394_camera_free(THE_CAMERA);
    }
    if (THE_CONTEXT)
    {
        dc1394_free(THE_CONTEXT);
    }
#endif
}

/*-------------------------------------------------------------
                    get the image - MONO
 -------------------------------------------------------------*/
bool CImageGrabber_dc1394::getObservation(
    mrpt::obs::CObservationImage& out_observation)
{
    MRPT_START

    if (!m_bInitialized) return false;

#if MRPT_HAS_LIBDC1394_2
    dc1394video_frame_t* frame = nullptr;
    dc1394error_t err;

    err = dc1394_video_set_transmission(THE_CAMERA, DC1394_ON);
    if (err != DC1394_SUCCESS)
    {
        cerr << "[CImageGrabber_dc1394] ERROR: Could not start camera iso "
                "transmission."
             << endl;
        return false;
    }

    // get frame from ring buffer:
    err =
        dc1394_capture_dequeue(THE_CAMERA, DC1394_CAPTURE_POLICY_WAIT, &frame);
    // dc1394error_t err=dc1394_capture_dequeue(THE_CAMERA,
    // DC1394_CAPTURE_POLICY_POLL, &frame);
    if (err != DC1394_SUCCESS)
    {
        cerr << "[CImageGrabber_dc1394] ERROR: Could not capture a frame"
             << endl;
        return false;
    }

    out_observation.timestamp = mrpt::system::now();

    const unsigned int width = frame->size[0];
    const unsigned int height = frame->size[1];

    if (!m_options.deinterlace_stereo)
    {
        /*-----------------------------------------------------------------------
         *  convert the image from what ever format it is to its RGB8
         *-----------------------------------------------------------------------*/
        // dc1394_get_image_size_from_video_mode(THE_CAMERA, m_desired_mode,
        // &width, &height);

        dc1394video_frame_t* new_frame = static_cast<dc1394video_frame_t*>(
            calloc(1, sizeof(dc1394video_frame_t)));
        new_frame->color_coding = DC1394_COLOR_CODING_RGB8;
        dc1394_convert_frames(frame, new_frame);

        // Fill the output class:
        out_observation.image.loadFromMemoryBuffer(
            width, height, true, new_frame->image, true /* BGR -> RGB */);

        // Free temporary frame:
        free(new_frame->image);
        free(new_frame);
    }
    else
    {
        // Stereo images:
        dc1394error_t err;

        uint8_t* imageBuf = new uint8_t[width * height * 2];
        uint8_t* imageBufRGB = new uint8_t[width * height * 2 * 3];

        if ((err = dc1394_deinterlace_stereo(
                 frame->image, imageBuf, width, 2 * height)) != DC1394_SUCCESS)
        {
            cerr << "[CImageGrabber_dc1394] ERROR: Could not deinterlace "
                    "stereo images: "
                 << err << endl;
            return false;
        }

        if ((err = dc1394_bayer_decoding_8bit(
                 imageBuf, imageBufRGB, width, 2 * height,
                 DC1394_COLOR_FILTER_GBRG,  // Has to be this value for
                 // Bumblebee!
                 DC1394_BAYER_METHOD_HQLINEAR)) != DC1394_SUCCESS)
        {
            cerr << "[CImageGrabber_dc1394] ERROR: Could not apply Bayer "
                    "conversion: "
                 << err << endl;
            return false;
        }

        out_observation.image.loadFromMemoryBuffer(
            width, height, true, imageBufRGB);  // Left cam.
        // out_observation.image.loadFromMemoryBuffer(width,height,true,
        // imageBufRGB+ width*height*3 ); // Right cam.

        delete[] imageBuf;
        delete[] imageBufRGB;
    }

    // Now we can return the frame to the ring buffer:
    err = dc1394_capture_enqueue(THE_CAMERA, frame);
    if (err != DC1394_SUCCESS)
    {
        cerr << "[CImageGrabber_dc1394] ERROR: Could not enqueue the ring "
                "buffer frame"
             << endl;
        return false;
    }

    return true;
#else
    THROW_EXCEPTION("The MRPT has been compiled with MRPT_HAS_LIBDC1394_2=0 !");
#endif
    MRPT_END
}

/*-------------------------------------------------------------
                    get the image - STEREO
 -------------------------------------------------------------*/
bool CImageGrabber_dc1394::getObservation(
    mrpt::obs::CObservationStereoImages& out_observation)
{
    MRPT_START

    if (!m_bInitialized) return false;

#if MRPT_HAS_LIBDC1394_2
    dc1394video_frame_t* frame = nullptr;

    // get frame from ring buffer:
    dc1394error_t err =
        dc1394_capture_dequeue(THE_CAMERA, DC1394_CAPTURE_POLICY_WAIT, &frame);
    if (err != DC1394_SUCCESS)
    {
        cerr << "[CImageGrabber_dc1394] ERROR: Could not capture a frame"
             << endl;
        return false;
    }

    out_observation.timestamp = mrpt::system::now();

    const unsigned int width = frame->size[0];
    const unsigned int height = frame->size[1];

    if (!m_options.deinterlace_stereo)
    {
        THROW_EXCEPTION(
            "Call to getObservation(stereo) but the camera was not set as "
            "stereo!");
    }
    else
    {
        // Stereo images:
        dc1394error_t err;

        uint8_t* imageBuf = new uint8_t[width * height * 2];
        uint8_t* imageBufRGB = new uint8_t[width * height * 2 * 3];

        if ((err = dc1394_deinterlace_stereo(
                 frame->image, imageBuf, width, 2 * height)) != DC1394_SUCCESS)
        {
            cerr << "[CImageGrabber_dc1394] ERROR: Could not deinterlace "
                    "stereo images: "
                 << err << endl;
            return false;
        }

        if ((err = dc1394_bayer_decoding_8bit(
                 imageBuf, imageBufRGB, width, 2 * height,
                 DC1394_COLOR_FILTER_GBRG,  // Has to be this value for
                 // Bumblebee!
                 DC1394_BAYER_METHOD_HQLINEAR)) != DC1394_SUCCESS)
        {
            cerr << "[CImageGrabber_dc1394] ERROR: Could not apply Bayer "
                    "conversion: "
                 << err << endl;
            return false;
        }

        out_observation.imageLeft.loadFromMemoryBuffer(
            width, height, true, imageBufRGB);  // Left cam.
        out_observation.imageRight.loadFromMemoryBuffer(
            width, height, true,
            imageBufRGB + width * height * 3);  // Right cam.

        delete[] imageBuf;
        delete[] imageBufRGB;
    }

    // Now we can return the frame to the ring buffer:
    dc1394_capture_enqueue(THE_CAMERA, frame);

    return true;
#else
    THROW_EXCEPTION("The MRPT has been compiled with MRPT_HAS_LIBDC1394_2=0 !");
#endif
    MRPT_END
}

/*-------------------------------------------------------------
                    changeCaptureOptions
 -------------------------------------------------------------*/
bool CImageGrabber_dc1394::changeCaptureOptions(
    const TCaptureOptions_dc1394& options)
{
    MRPT_START

    if (!m_bInitialized) return false;

#if MRPT_HAS_LIBDC1394_2
    dc1394error_t err;
// set features modes:
#define SET_MODE(feat, FEAT)                                                   \
    if (options.feat##_mode >= 0)                                              \
    {                                                                          \
        err = dc1394_feature_set_mode(                                         \
            THE_CAMERA, DC1394_FEATURE_##FEAT,                                 \
            static_cast<dc1394feature_mode_t>(                                 \
                DC1394_FEATURE_MODE_MIN + options.feat##_mode));               \
        DC1394_WRN(                                                            \
            err,                                                               \
            "[CImageGrabber_dc1394::changeCaptureOptions] Could not set feat " \
            "mode");                                                           \
    }
    SET_MODE(shutter, SHUTTER)
    SET_MODE(gain, GAIN)
    SET_MODE(gamma, GAMMA)
    SET_MODE(brightness, BRIGHTNESS)
    SET_MODE(exposure, EXPOSURE)
    SET_MODE(sharpness, SHARPNESS)
    SET_MODE(white_balance, WHITE_BALANCE)
#undef SET_MODE

// Set features values:
#define SET_VALUE(feat, FEAT)                                                  \
    if (options.feat >= 0)                                                     \
    {                                                                          \
        err = dc1394_feature_set_value(                                        \
            THE_CAMERA, DC1394_FEATURE_##FEAT, options.feat);                  \
        DC1394_WRN(                                                            \
            err,                                                               \
            "[CImageGrabber_dc1394::changeCaptureOptions] Could not set feat " \
            "value");                                                          \
    }
    SET_VALUE(shutter, SHUTTER)
    SET_VALUE(gain, GAIN)
    SET_VALUE(gamma, GAMMA)
    SET_VALUE(brightness, BRIGHTNESS)
    SET_VALUE(exposure, EXPOSURE)
    SET_VALUE(sharpness, SHARPNESS)
    SET_VALUE(white_balance, WHITE_BALANCE)
#undef SET_VALUE

    return true;
#else
    THROW_EXCEPTION("The MRPT has been compiled with MRPT_HAS_LIBDC1394_2=0 !");
#endif
    MRPT_END
}

/*-------------------------------------------------------------
                    setSoftwareTriggerLevel
 -------------------------------------------------------------*/
bool CImageGrabber_dc1394::setSoftwareTriggerLevel(bool level)
{
    MRPT_START

    if (!m_bInitialized) return false;

#if MRPT_HAS_LIBDC1394_2
    dc1394error_t err;
    err = dc1394_software_trigger_set_power(THE_CAMERA, (dc1394switch_t)level);
    DC1394_WRN(
        err,
        "[CImageGrabber_dc1394::setSoftwareTriggerLevel] Could not set "
        "software trigger level");

    return true;
#else
    THROW_EXCEPTION("The MRPT has been compiled with MRPT_HAS_LIBDC1394_2=0 !");
#endif
    MRPT_END
}

/** Generates a list with the information on all the existing (Firewire) cameras
 * in the system.
 * \exception std::runtime_error On any error calling libdc1394.
 */
void CImageGrabber_dc1394::enumerateCameras(TCameraInfoList& out_list)
{
    MRPT_START
#if MRPT_HAS_LIBDC1394_2

    dc1394_t* lib_context = nullptr;
    dc1394camera_list_t* list = nullptr;
    out_list.clear();

    try
    {
        lib_context = dc1394_new();
        if (!lib_context)
            throw std::runtime_error(
                "[CImageGrabber_dc1394] ERROR: Failed to enumerate cameras "
                "(Maybe your user has no rights to access IEEE1394?).");

        // Enumerate cameras:
        dc1394error_t err;

        err = dc1394_camera_enumerate(lib_context, &list);
        if (err != DC1394_SUCCESS)
            throw std::runtime_error(
                "[CImageGrabber_dc1394] ERROR: Failed to enumerate cameras "
                "(Maybe your user has no rights to access IEEE1394?).");

        for (unsigned int i = 0; i < list->num; i++)
        {
            TCameraInfo info;

            info.guid = list->ids[i].guid;
            info.unit = list->ids[i].unit;

            // Try to open it:
            dc1394camera_t* cam = dc1394_camera_new_unit(
                lib_context, list->ids[i].guid, list->ids[i].unit);
            if (!cam)
                throw std::runtime_error(
                    format(
                        "[CImageGrabber_dc1394] ERROR: Failed to query camera "
                        "with GUID %u\n",
                        static_cast<unsigned int>(list->ids[i].guid)));

            info.unit_spec_ID = cam->unit_spec_ID;
            info.unit_sw_version = cam->unit_sw_version;
            info.unit_sub_sw_version = cam->unit_sub_sw_version;
            info.command_registers_base = cam->command_registers_base;
            info.unit_directory = cam->unit_directory;
            info.unit_dependent_directory = cam->unit_dependent_directory;
            info.advanced_features_csr = cam->advanced_features_csr;
            info.PIO_control_csr = cam->PIO_control_csr;
            info.SIO_control_csr = cam->SIO_control_csr;
            info.strobe_control_csr = cam->strobe_control_csr;
            for (int j = 0; j < DC1394_VIDEO_MODE_FORMAT7_NUM; j++)
                info.format7_csr[j] = cam->format7_csr[j];
            info.iidc_version = cam->iidc_version;
            info.vendor = std::string(cam->vendor ? cam->vendor : "");
            info.model = std::string(cam->model ? cam->model : "");
            info.vendor_id = cam->vendor_id;
            info.model_id = cam->model_id;
            info.bmode_capable = cam->bmode_capable;
            info.one_shot_capable = cam->one_shot_capable;
            info.multi_shot_capable = cam->multi_shot_capable;
            info.can_switch_on_off = cam->can_switch_on_off;
            info.has_vmode_error_status = cam->has_vmode_error_status;
            info.has_feature_error_status = cam->has_feature_error_status;
            info.max_mem_channel = cam->max_mem_channel;

            // dc1394_camera_print_info(cam,stdout);

            dc1394_camera_free(cam);  // Close camera

            out_list.push_back(info);
        }

        // Free context:
        dc1394_free(lib_context);
        lib_context = nullptr;
        dc1394_camera_free_list(list);
        list = nullptr;
    }
    catch (std::exception& e)
    {
        if (list) dc1394_camera_free_list(list);
        if (lib_context) dc1394_free(lib_context);

        THROW_STACKED_EXCEPTION(e);
    }
#else
    THROW_EXCEPTION("The MRPT has been compiled with MRPT_HAS_LIBDC1394_2=0 !");
#endif
    MRPT_END
}