int ar2VideoGetAbsMaxValue1394(AR2VideoParam1394T *vid, int paramName, ARdouble *value)
{
dc1394feature_t feature;
float min, max;
switch (paramName)
{
case AR_VIDEO_1394_GAMMA:
feature = DC1394_FEATURE_GAMMA;
break;
default:
return -1;
}
if (dc1394_feature_get_absolute_boundaries(vid->camera, feature, &min, &max) != DC1394_SUCCESS)
{
ARLOGe("unable to get max value.\n");
return -1;
}
*value = (float)max;
return 0;
}
void setSetting(dc1394camera_t *cam, dc1394feature_t setting, float value){
dc1394error_t err;
float min, max;
dc1394_feature_get_absolute_boundaries(cam, setting, &min, &max);
if(value < min || value > max){
std::cerr << "CameraIIDC: cannot set value. Out of permissable range." << std::endl;
} else {
err = dc1394_feature_set_absolute_control(cam, setting, DC1394_ON);
if(err != DC1394_SUCCESS)
cerr << "Could not enable absolute control!" << endl;
err = dc1394_feature_set_absolute_value(cam, setting, value);
if(err != DC1394_SUCCESS)
cerr << "Could not set absolute value!" << endl;
}
}
/**************************************************************************************
** Client is asking us to establish connection to the device
***************************************************************************************/
bool FFMVCCD::Connect()
{
dc1394camera_list_t *list;
dc1394error_t err;
bool supported;
bool settings_valid;
uint32_t val;
dc1394format7mode_t fm7;
dc1394feature_info_t feature;
float min, max;
dc1394 = dc1394_new();
if (!dc1394) {
return false;
}
err = dc1394_camera_enumerate(dc1394, &list);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Could not find DC1394 cameras!");
return false;
}
if (!list->num) {
IDMessage(getDeviceName(), "No DC1394 cameras found!");
return false;
}
dcam = dc1394_camera_new(dc1394, list->ids[0].guid);
if (!dcam) {
IDMessage(getDeviceName(), "Unable to connect to camera!");
return false;
}
/* Reset camera */
err = dc1394_camera_reset(dcam);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to reset camera!");
return false;
}
/* Set mode */
err = dc1394_video_set_mode(dcam, DC1394_VIDEO_MODE_640x480_MONO16);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to connect to set videomode!");
return false;
}
/* Disable Auto exposure control */
err = dc1394_feature_set_power(dcam, DC1394_FEATURE_EXPOSURE, DC1394_OFF);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to disable auto exposure control");
return false;
}
/* Set frame rate to the lowest possible */
err = dc1394_video_set_framerate(dcam, DC1394_FRAMERATE_7_5);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to connect to set framerate!");
return false;
}
/* Turn frame rate control off to enable extended exposure (subs of 512ms) */
err = dc1394_feature_set_power(dcam, DC1394_FEATURE_FRAME_RATE, DC1394_OFF);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to disable framerate!");
return false;
}
/* Get the longest possible exposure length */
err = dc1394_feature_set_mode(dcam, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Failed to enable manual shutter control.");
}
err = dc1394_feature_set_absolute_control(dcam, DC1394_FEATURE_SHUTTER, DC1394_ON);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Failed to enable absolute shutter control.");
}
err = dc1394_feature_get_absolute_boundaries(dcam, DC1394_FEATURE_SHUTTER, &min, &max);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Could not get max shutter length");
} else {
max_exposure = max;
}
/* Set gain to max. By setting the register directly, we can achieve a
* gain of 24 dB...compared to a gain of 12 dB which is reported as the
* max
*/
err = dc1394_set_control_register(dcam, 0x820, 0x40);
//err = dc1394_set_control_register(dcam, 0x820, 0x7f);
if (err != DC1394_SUCCESS) {
return err;
}
#if 0
/* Set absolute gain to max */
err = dc1394_feature_set_absolute_control(dcam, DC1394_FEATURE_GAIN, DC1394_ON);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Failed to enable ansolute gain control.");
}
err = dc1394_feature_get_absolute_boundaries(dcam, DC1394_FEATURE_GAIN, &min, &max);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Could not get max gain value");
} else {
err = dc1394_feature_set_absolute_value(dcam, DC1394_FEATURE_GAIN, max);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Could not set max gain value");
}
}
#endif
/* Set brightness */
err = dc1394_feature_set_mode(dcam, DC1394_FEATURE_BRIGHTNESS, DC1394_FEATURE_MODE_MANUAL);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Failed to enable manual brightness control.");
}
err = dc1394_feature_set_absolute_control(dcam, DC1394_FEATURE_BRIGHTNESS, DC1394_ON);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Failed to enable ansolute brightness control.");
}
err = dc1394_feature_set_absolute_value(dcam, DC1394_FEATURE_BRIGHTNESS, 1);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Could not set max brightness value");
}
/* Turn gamma control off */
err = dc1394_feature_set_absolute_value(dcam, DC1394_FEATURE_GAMMA, 1);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Could not set gamma value");
}
err = dc1394_feature_set_power(dcam, DC1394_FEATURE_GAMMA, DC1394_OFF);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to disable gamma!");
return false;
}
/* Turn off white balance */
err = dc1394_feature_set_power(dcam, DC1394_FEATURE_WHITE_BALANCE, DC1394_OFF);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to disable white balance!");
return false;
}
err=dc1394_capture_setup(dcam,10, DC1394_CAPTURE_FLAGS_DEFAULT);
return true;
}
/** Configure a feature for the currently open device.
*
* @pre feature_set_ initialized
*
* @param feature desired feature number
* @param control [in,out] pointer to control parameter (may change)
* @param value [in,out] pointer to requested parameter value (may
* change depending on device restrictions)
* @param value2 [in,out] optional pointer to second parameter value
* for white balance (may change depending on device
* restrictions). No second value if NULL pointer.
*
* The parameter values are represented as double despite the fact
* that most features on most cameras only allow unsigned 12-bit
* values. The exception is the rare feature that supports
* "absolute" values in 32-bit IEEE float format. Double can
* represent all possible option values accurately.
*/
void Features::configure(dc1394feature_t feature, int *control,
double *value, double *value2)
{
// device-relevant information for this feature
dc1394feature_info_t *finfo =
&feature_set_.feature[feature - DC1394_FEATURE_MIN];
if (!finfo->available) // feature not available?
{
*control = camera1394::Camera1394_None;
return;
}
switch (*control)
{
case camera1394::Camera1394_Off:
setPower(finfo, DC1394_OFF);
break;
case camera1394::Camera1394_Query:
getValues(finfo, value, value2);
break;
case camera1394::Camera1394_Auto:
if (!setMode(finfo, DC1394_FEATURE_MODE_AUTO))
{
setPower(finfo, DC1394_OFF);
}
break;
case camera1394::Camera1394_Manual:
if (!setMode(finfo, DC1394_FEATURE_MODE_MANUAL))
{
setPower(finfo, DC1394_OFF);
break;
}
// TODO: break this into some internal methods
if (finfo->absolute_capable && finfo->abs_control)
{
// supports reading and setting float value
float fmin, fmax;
if (DC1394_SUCCESS ==
dc1394_feature_get_absolute_boundaries(camera_, feature,
&fmin, &fmax))
{
// clamp *value between minimum and maximum
if (*value < fmin)
*value = (double) fmin;
else if (*value > fmax)
*value = (double) fmax;
}
else
{
ROS_WARN_STREAM("failed to get feature "
<< featureName(feature) << " boundaries ");
}
// @todo handle absolute White Balance values
float fval = *value;
if (DC1394_SUCCESS !=
dc1394_feature_set_absolute_value(camera_, feature, fval))
{
ROS_WARN_STREAM("failed to set feature "
<< featureName(feature) << " to " << fval);
}
}
else // no float representation
{
// round requested value to nearest integer
*value = rint(*value);
// clamp *value between minimum and maximum
if (*value < finfo->min)
*value = (double) finfo->min;
else if (*value > finfo->max)
*value = (double) finfo->max;
dc1394error_t rc;
uint32_t ival = (uint32_t) *value;
// handle White Balance, which has two components
if (feature == DC1394_FEATURE_WHITE_BALANCE)
{
*value2 = rint(*value2);
// clamp *value2 between same minimum and maximum
if (*value2 < finfo->min)
*value2 = (double) finfo->min;
else if (*value2 > finfo->max)
*value2 = (double) finfo->max;
uint32_t ival2 = (uint32_t) *value2;
rc = dc1394_feature_whitebalance_set_value(camera_, ival, ival2);
}
else
{
// other features only have one component
rc = dc1394_feature_set_value(camera_, feature, ival);
}
if (rc != DC1394_SUCCESS)
{
ROS_WARN_STREAM("failed to set feature "
<< featureName(feature) << " to " << ival);
}
}
break;
case camera1394::Camera1394_OnePush:
// Try to set OnePush mode
setMode(finfo, DC1394_FEATURE_MODE_ONE_PUSH_AUTO);
// Now turn the control off, so camera does not continue adjusting
setPower(finfo, DC1394_OFF);
break;
case camera1394::Camera1394_None:
// Invalid user input, because this feature actually does exist.
ROS_INFO_STREAM("feature " << featureName(feature)
<< " exists, cannot set to None");
break;
default:
ROS_WARN_STREAM("unknown state (" << *control
<<") for feature " << featureName(feature));
}
// return actual state reported by the device
*control = getState(finfo);
ROS_DEBUG_STREAM("feature " << featureName(feature)
<< " now in state " << *control);
}
