CImageGrabber_dc1394.h

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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 |
   +------------------------------------------------------------------------+ */
#ifndef CCImageGrabber_dc1394
#define CCImageGrabber_dc1394
 
#include <mrpt/config.h>
 
#include <mrpt/obs/CObservationImage.h>
#include <mrpt/obs/CObservationStereoImages.h>
#include <list>
 
namespace mrpt
{
namespace hwdrivers
{
typedef enum {
        FRAMERATE_1_875 = 32,
        FRAMERATE_3_75,
        FRAMERATE_7_5,
        FRAMERATE_15,
        FRAMERATE_30,
        FRAMERATE_60,
        FRAMERATE_120,
        FRAMERATE_240
} grabber_dc1394_framerate_t;
 
typedef enum {
        COLOR_CODING_MONO8 = 352,
        COLOR_CODING_YUV411,
        COLOR_CODING_YUV422,
        COLOR_CODING_YUV444,
        COLOR_CODING_RGB8,
        COLOR_CODING_MONO16
} grabber_dc1394_color_coding_t;
 
/** Options used when creating an dc1394 capture object
  *   All but the frame size, framerate, and color_coding can be changed
 * dynamically by CImageGrabber_dc1394::changeCaptureOptions
  * \sa CImageGrabber_dc1394
  * \ingroup mrpt_hwdrivers_grp
  */
struct TCaptureOptions_dc1394
{
        TCaptureOptions_dc1394()
                : frame_width(640),
                  frame_height(480),
                  framerate(FRAMERATE_15),
                  color_coding(COLOR_CODING_YUV422),
                  mode7(-1),
                  shutter(-1),
                  gain(-1),
                  gamma(-1),
                  brightness(-1),
                  exposure(-1),
                  sharpness(-1),
                  white_balance(-1),
                  shutter_mode(-1),
                  gain_mode(-1),
                  gamma_mode(-1),
                  brightness_mode(-1),
                  exposure_mode(-1),
                  sharpness_mode(-1),
                  white_balance_mode(-1),
                  deinterlace_stereo(false),
                  trigger_power(-1),
                  trigger_mode(-1),
                  trigger_source(-1),
                  trigger_polarity(-1),
                  ring_buffer_size(15)
        {
        }
 
        /** Capture resolution (Default: 640x480) */
        int frame_width, frame_height;
        grabber_dc1394_framerate_t framerate;
        grabber_dc1394_color_coding_t color_coding;
 
        /** -1: Normal mode, i>=0: use MODE7_i, then frame_width/height and
         * color_coding are ignored. */
        int mode7;
 
        /** Shutter, -1=default:Do not change */
        int shutter;
        /** Gain, -1=default:Do not change */
        int gain;
        /** Gamma, -1=default:Do not change */
        int gamma;
        /** Brightness, -1=default:Do not change */
        int brightness;
        /** Exposure, -1=default:Do not change */
        int exposure;
        /** Sharpness, -1=default:Do not change */
        int sharpness;
        /** White balance, -1=default:Do not change */
        int white_balance;
        /** Shutter mode, -1=default:Do not change */
        int shutter_mode;
        /** Gain mode, -1=default:Do not change */
        int gain_mode;
        /** Gamma mode, -1=default:Do not change */
        int gamma_mode;
        /** Brightness mode, -1=default:Do not change */
        int brightness_mode;
        /** Exposure mode, -1=default:Do not change */
        int exposure_mode;
        /** Sharpness mode, -1=default:Do not change */
        int sharpness_mode;
        /** White balance mode, -1=default:Do not change */
        int white_balance_mode;
        /** For stereo cameras (eg PR Bumblebee) */
        bool deinterlace_stereo;
        int trigger_power;
        int trigger_mode;
        int trigger_source;
        int trigger_polarity;
        /** Size of the libdc1394 ring buffer */
        int ring_buffer_size;
};
 
/** A class for grabing images from a IEEE1394 (Firewire) camera using the
 * libdc1394-2 library.
  *   See the constructor for the options when opening the camera. Notice that
 * you may have
  *    to carefully set the resolution, framerate and color_mode. See the
 * verbose parameter of
  *    the constructor, which can display a list of supported modes in your
 * camera.
  *
  *  This class is able to manage any Firewire cameras, including Stereo or
 * multi-cameras in general,
  *    so this can be used to open the Bumblebee camera (not tested yet).
  *
  * A static method (CImageGrabber_dc1394::enumerateCameras) is provided to
 * enumerate all existing cameras and their properties. It can be used
  *  to find the GUID of the desired camera, then open it at the constructor.
  *
  * \note This class requires MRPT compiled with "libdc1394-2" (Only works under
 * Linux for now) and "opencv".
  * \note In Linux you may need to execute "chmod 666 /dev/video1394/ * " and
 * "chmod 666 /dev/raw1394" for allowing any user R/W access to firewire
 * cameras.
  * \note [New in MRPT 1.3.0] Length of ring buffer is now configurable via
 * TCaptureOptions_dc1394::ring_buffer_size
  * \sa The most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor
  * \ingroup mrpt_hwdrivers_grp
  */
class CImageGrabber_dc1394
{
   protected:
        /** Set to false if we could not initialize the camera.
          */
        bool m_bInitialized;
 
        /** Internal use: */
        void /* dc1394_t * */* m_dc1394_lib_context;
        void /* dc1394camera_t* */* m_dc1394camera;
        int m_desired_mode;
 
        TCaptureOptions_dc1394 m_options;
 
   public:
        /** Constructor: open an ieee1394 camera.
         * \param cameraGUID Set the camera GUID to open, or 0 to open the first
         * found camera.
         * \param cameraUnit (Ignored if cameraGUID=0). The number of camera to open
         * within the device with the given GUID: In a stereo camera this may be 0
         * or 1. Normally this is 0.
         * \param options Capture options, defined in
         * mrpt::hwdrivers::TCaptureOptions_dc1394.
         * \param verbose  Displays a lot of information about the camera to be open
         * and its valid video modes.
         */
        CImageGrabber_dc1394(
                uint64_t cameraGUID = 0, uint16_t cameraUnit = 0,
                const TCaptureOptions_dc1394& options = TCaptureOptions_dc1394(),
                bool verbose = false);
 
        /** Destructor
        */
        virtual ~CImageGrabber_dc1394();
 
        /** Check whether the camera has been open successfully. */
        bool isOpen() const { return m_bInitialized; }
        /** Changes the capture properties (brightness, gain, shutter, etc)
          * The frame size, framerate, and color_coding fields in options are
         * ignored since they can be only set at construction time.
          * \return false on error
          */
        bool changeCaptureOptions(const TCaptureOptions_dc1394& options);
 
        /** Grab an image from the opened camera (for monocular cameras).
         * \param out_observation The object to be filled with sensed data.
         * \note This may be blocking when using software trigger and no frame is
         * available yet. Ensure trigger before getObservation() or take into
         * account that this call may block.
         * \return false on any error, true if all go fine.
        */
        bool getObservation(mrpt::obs::CObservationImage& out_observation);
 
        /** Grab an image from the opened camera (for stereo cameras).
         * \param out_observation The object to be filled with sensed data.
         *
         * \return false on any error, true if all go fine.
        */
        bool getObservation(mrpt::obs::CObservationStereoImages& out_observation);
 
        /** Changes the boolean level associated to Software Trigger (ON/OFF)
          * Can be used to control camera triggering trough software
          * \return false on error
          */
        bool setSoftwareTriggerLevel(bool level);
 
        /** Used in enumerateCameras */
        struct TCameraInfo
        {
                uint64_t guid;
                int unit;
                uint32_t unit_spec_ID;
                uint32_t unit_sw_version;
                uint32_t unit_sub_sw_version;
                uint32_t command_registers_base;
                uint32_t unit_directory;
                uint32_t unit_dependent_directory;
                uint64_t advanced_features_csr;
                uint64_t PIO_control_csr;
                uint64_t SIO_control_csr;
                uint64_t strobe_control_csr;
                uint64_t format7_csr[16];
                int iidc_version;
                std::string vendor;
                std::string model;
                uint32_t vendor_id;
                uint32_t model_id;
                bool bmode_capable;
                bool one_shot_capable;
                bool multi_shot_capable;
                bool can_switch_on_off;
                bool has_vmode_error_status;
                bool has_feature_error_status;
                int max_mem_channel;
        };
 
        using TCameraInfoList = std::list<TCameraInfo>;
 
        /** Generates a list with the information on all the existing (Firewire)
         * cameras in the system.
          * \exception std::runtime_error On any error calling libdc1394.
          */
        static void enumerateCameras(TCameraInfoList& out_list);
 
};  // End of class
 
}  // End of NS
}  // End of NS
 
#endif