CImageGrabber_dc1394.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, 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/slam/CObservationImage.h>
#include <mrpt/slam/CObservationStereoImages.h>

#include <mrpt/hwdrivers/link_pragmas.h>

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)
            {}

            int         frame_width,frame_height;       //!< Capture resolution (Default: 640x480)
                        grabber_dc1394_framerate_t              framerate;
                        grabber_dc1394_color_coding_t   color_coding;

                        int             mode7;                  //!< -1: Normal mode, i>=0: use MODE7_i, then frame_width/height and color_coding are ignored.

                        int             shutter;                //!< Shutter, -1=default:Do not change
                        int             gain;                   //!< Gain, -1=default:Do not change
                        int             gamma;                  //!< Gamma, -1=default:Do not change
                        int             brightness;             //!< Brightness, -1=default:Do not change
                        int             exposure;               //!< Exposure, -1=default:Do not change
                        int             sharpness;              //!< Sharpness, -1=default:Do not change
                        int             white_balance;  //!< White balance, -1=default:Do not change
            int         shutter_mode;           //!< Shutter mode, -1=default:Do not change
            int         gain_mode;                      //!< Gain mode, -1=default:Do not change
            int         gamma_mode;                     //!< Gamma mode, -1=default:Do not change
            int         brightness_mode;        //!< Brightness mode, -1=default:Do not change
            int         exposure_mode;          //!< Exposure mode, -1=default:Do not change
            int         sharpness_mode;         //!< Sharpness mode, -1=default:Do not change
            int         white_balance_mode;     //!< White balance mode, -1=default:Do not change
            bool        deinterlace_stereo;     //!< For stereo cameras (eg PR Bumblebee)
            int     trigger_power;
            int     trigger_mode;
            int     trigger_source;
            int     trigger_polarity;
                };

                /** 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.
                  * \sa The most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP 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.
                         *
                         * \return false on any error, true if all go fine.
                        */
                        bool  getObservation( mrpt::slam::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::slam::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;
                        };

                        typedef std::list<TCameraInfo> TCameraInfoList;

                        /** 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