/*!
Init the selected camera.
*/
void
vp1394CMUGrabber::initCamera()
{
if (init == false)
{
int camerror;
if (camera->CheckLink() != CAM_SUCCESS)
{
vpERROR_TRACE("C1394Camera error: Found no cameras on the 1394 bus");
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,"The is no detected camera") );
}
camerror = camera->InitCamera();
if ( camerror != CAM_SUCCESS )
{
switch (camerror)
{
case CAM_ERROR_NOT_INITIALIZED:
vpERROR_TRACE("vp1394CMUGrabber error: No camera selected",index);
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,"The is no selected camera") );
break;
case CAM_ERROR_BUSY:
vpERROR_TRACE("vp1394CMUGrabber error: The camera %i is busy",index);
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,"The required camera is in use by other application") );
break;
case CAM_ERROR:
vpERROR_TRACE("vp1394CMUGrabber error: General I/O error when selecting camera number %i",index);
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,"Resolve camera can not be used") );
break;
}
close();
}
if (camera->Has1394b())
camera->Set1394b(TRUE);
// Get the current settings
_format = camera->GetVideoFormat();
_mode = camera->GetVideoMode();
_color = getVideoColorCoding();
//std::cout << "format: " << _format << std::endl;
//std::cout << "mode: " << _mode << std::endl;
//std::cout << "color coding: " << _color << std::endl;
// Set trigger off
camera->GetCameraControlTrigger()->SetOnOff(false);
unsigned long w, h;
camera->GetVideoFrameDimensions(&w, &h);
this->width = w;
this->height = h;
// start acquisition
if (camera->StartImageAcquisition() != CAM_SUCCESS)
{
close();
vpERROR_TRACE("vp1394CMUGrabber error: Can't start image acquisition from IEEE 1394 camera number %i",index);
throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
"Error while starting image acquisition") );
}
init = true;
}
} // end camera init
/*!
Set the camera format and video mode.
This method has to be called before open().
\param format : Camera video format.
\param mode : Camera video mode.
See the following table for the correspondances between the input
format and mode and the resulting video color coding.
<TABLE BORDER="1">
<TR><TH> Format </TH><TH> Mode </TH><TH> (H) x (W) </TH><TH> Color </TH></TR>
<TR><TD> 0 </TD><TD> 0 </TD><TD> 160 x 120 </TD><TD> YUV444 </TD></TR>
<TR><TD> 0 </TD><TD> 1 </TD><TD> 320 x 240 </TD><TD> YUV422 </TD></TR>
<TR><TD> 0 </TD><TD> 2 </TD><TD> 640 x 480 </TD><TD> YUV411 </TD></TR>
<TR><TD> 0 </TD><TD> 3 </TD><TD> 640 x 480 </TD><TD> YUV422 </TD></TR>
<TR><TD> 0 </TD><TD> 4 </TD><TD> 640 x 480 </TD><TD> RGB8 </TD></TR>
<TR><TD> 0 </TD><TD> 5 </TD><TD> 640 x 480 </TD><TD> MONO8 </TD></TR>
<TR><TD> 0 </TD><TD> 6 </TD><TD> 640 x 480 </TD><TD> MONO16 </TD></TR>
<TR><TD> 1 </TD><TD> 0 </TD><TD> 800 x 600 </TD><TD> YUV422 </TD></TR>
<TR><TD> 1 </TD><TD> 1 </TD><TD> 800 x 600 </TD><TD> RGB8 </TD></TR>
<TR><TD> 1 </TD><TD> 2 </TD><TD> 800 x 600 </TD><TD> MONO8 </TD></TR>
<TR><TD> 1 </TD><TD> 3 </TD><TD>1024 x 768 </TD><TD> YUV422 </TD></TR>
<TR><TD> 1 </TD><TD> 4 </TD><TD>1024 x 768 </TD><TD> RGB8 </TD></TR>
<TR><TD> 1 </TD><TD> 5 </TD><TD>1024 x 768 </TD><TD> MONO8 </TD></TR>
<TR><TD> 1 </TD><TD> 6 </TD><TD> 800 x 600 </TD><TD> MONO16 </TD></TR>
<TR><TD> 1 </TD><TD> 7 </TD><TD>1024 x 768 </TD><TD> MONO16 </TD></TR>
<TR><TD> 2 </TD><TD> 0 </TD><TD>1280 x 960 </TD><TD> YUV422 </TD></TR>
<TR><TD> 2 </TD><TD> 1 </TD><TD>1280 x 960 </TD><TD> RGB8 </TD></TR>
<TR><TD> 2 </TD><TD> 2 </TD><TD>1280 x 960 </TD><TD> MONO8 </TD></TR>
<TR><TD> 2 </TD><TD> 3 </TD><TD>1600 x 1200</TD><TD> YUV422 </TD></TR>
<TR><TD> 2 </TD><TD> 4 </TD><TD>1600 x 1200</TD><TD> RGB8 </TD></TR>
<TR><TD> 2 </TD><TD> 5 </TD><TD>1600 x 1200</TD><TD> MONO8 </TD></TR>
<TR><TD> 2 </TD><TD> 6 </TD><TD>1280 x 960 </TD><TD> MONO16 </TD></TR>
<TR><TD> 2 </TD><TD> 7 </TD><TD>1600 x 1200</TD><TD> MONO16 </TD></TR>
</TABLE>
*/
void
vp1394CMUGrabber::setVideoMode( unsigned long format, unsigned long mode )
{
initCamera();
_format = format ;
_mode = mode ;
// Set format and mode
if ((_format != -1) && (_mode != -1))
{
if (!camera->HasVideoMode(_format, _mode))
{
close();
vpERROR_TRACE("vp1394CMUGrabber error: The image format is not supported by the IEEE 1394 camera number %i",index);
throw (vpFrameGrabberException(vpFrameGrabberException::settingError,"Video mode not supported") );
}
if (camera->IsAcquiring()) {
// stop acquisition
if (camera->StopImageAcquisition() != CAM_SUCCESS)
{
close();
vpERROR_TRACE("vp1394CMUGrabber error: Can't stop image acquisition from IEEE 1394 camera number %i",index);
throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
"Error while stopping image acquisition") );
}
}
if (camera->SetVideoFormat(_format) != CAM_SUCCESS)
{
close();
vpERROR_TRACE("vp1394CMUGrabber error: Can't set video format of IEEE 1394 camera number %i",index);
throw (vpFrameGrabberException(vpFrameGrabberException::settingError,"Can't set video format") );
}
if (camera->SetVideoMode(_mode) != CAM_SUCCESS)
{
close();
vpERROR_TRACE("vp1394CMUGrabber error: Can't set video mode of IEEE 1394 camera number %i",index);
throw (vpFrameGrabberException(vpFrameGrabberException::settingError,"Can't set video mode") );
}
// start acquisition
if (camera->StartImageAcquisition() != CAM_SUCCESS)
{
close();
vpERROR_TRACE("vp1394CMUGrabber error: Can't start image acquisition from IEEE 1394 camera number %i",index);
throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
"Error while starting image acquisition") );
}
// Update Image dimension
unsigned long w, h;
camera->GetVideoFrameDimensions(&w, &h);
this->width = w;
this->height = h;
// Update the color coding
_color = getVideoColorCoding();
}
}
/*!
Init the selected camera.
*/
void
vp1394CMUGrabber::initCamera()
{
int camerror;
unsigned long width, height;
if (camera->CheckLink() != CAM_SUCCESS)
{
vpERROR_TRACE("C1394Camera error: Found no cameras on the 1394 bus");
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,"The is no detected camera") );
}
camerror = camera->InitCamera();
if ( camerror != CAM_SUCCESS )
{
switch (camerror)
{
case CAM_ERROR_NOT_INITIALIZED:
vpERROR_TRACE("vp1394CMUGrabber error: No camera selected",index);
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,"The is no selected camera") );
break;
case CAM_ERROR_BUSY:
vpERROR_TRACE("vp1394CMUGrabber error: The camera %i is busy",index);
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,"The required camera is in use by other application") );
break;
case CAM_ERROR:
vpERROR_TRACE("vp1394CMUGrabber error: General I/O error when selecting camera number %i",index);
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,"Resolve camera can not be used") );
break;
}
close();
}
if (camera->Has1394b())
camera->Set1394b(TRUE);
// Set format and mode
if ((_format != -1) && (_mode != -1))
{
if (!camera->HasVideoMode(_format, _mode))
{
close();
vpERROR_TRACE("vp1394CMUGrabber error: The image format is not supported by the IEEE 1394 camera number %i",index);
throw (vpFrameGrabberException(vpFrameGrabberException::settingError,"Video mode not supported") );
}
if (camera->SetVideoFormat(_format) != CAM_SUCCESS)
{
close();
vpERROR_TRACE("vp1394CMUGrabber error: Can't set video format of IEEE 1394 camera number %i",index);
throw (vpFrameGrabberException(vpFrameGrabberException::settingError,"Can't set video format") );
}
if (camera->SetVideoMode(_mode) != CAM_SUCCESS)
{
close();
vpERROR_TRACE("vp1394CMUGrabber error: Can't set video mode of IEEE 1394 camera number %i",index);
throw (vpFrameGrabberException(vpFrameGrabberException::settingError,"Can't set video mode") );
}
}
else {
// Get the current format and mode
_format = camera->GetVideoFormat();
_mode = camera->GetVideoMode();
}
// Update the color coding
_color = getVideoColorCoding();
//std::cout << "color coding: " << _color << std::endl;
// Set fps
if (_fps!=-1)
{
if (!camera->HasVideoFrameRate(_format,_mode,_fps))
{
close();
vpERROR_TRACE("vp1394CMUGrabber error: The frame rate is not supported by the IEEE 1394 camera number %i for the selected image format",index);
throw (vpFrameGrabberException(vpFrameGrabberException::settingError,"The frame rate is not supported") );
}
if (camera->SetVideoFrameRate(_fps) != CAM_SUCCESS)
{
close();
vpERROR_TRACE("vp1394CMUGrabber error: Can't set video frame rate of IEEE 1394 camera number %i",index);
throw (vpFrameGrabberException(vpFrameGrabberException::settingError,"Can't set video frame rate") );
}
}
// Set shutter and gain
if ( _modeauto == false )
{
unsigned short min,max;
C1394CameraControl *Control;
Control = camera->GetCameraControl(FEATURE_GAIN);
Control->Inquire();
Control->GetRange(&min,&max);
if (_gain<min)
{
_gain = min;
std::cout << "vp1394CMUGrabber warning: Desired gain register value of IEEE 1394 camera number " << index << " can't be less than " << _gain << std::endl;
} else
if (_gain>max)
{
_gain = max;
std::cout << "vp1394CMUGrabber warning: Desired gain register value of IEEE 1394 camera number " << index << " can't be greater than " << _gain << std::endl;
}
Control->SetAutoMode(false);
if(Control->SetValue(_gain) != CAM_SUCCESS)
{
std::cout << "vp1394CMUGrabber warning: Can't set gain register value of IEEE 1394 camera number " << index << std::endl;
}
Control = camera->GetCameraControl(FEATURE_SHUTTER);
Control->Inquire();
Control->GetRange(&min,&max);
if (_shutter<min)
{
_shutter = min;
std::cout << "vp1394CMUGrabber warning: Desired exposure time register value of IEEE 1394 camera number " << index << " can't be less than " << _shutter << std::endl;
}
else if (_shutter>max)
{
_shutter = max;
std::cout << "vp1394CMUGrabber warning: Desired exposure time register value of IEEE 1394 camera number " << index << " can't be greater than " << _shutter << std::endl;
}
Control->SetAutoMode(false);
if(Control->SetValue(_shutter) != CAM_SUCCESS)
{
std::cout << "vp1394CMUGrabber warning: Can't set exposure time register value of IEEE 1394 camera number " << index << std::endl;
}
}
else
{
camera->GetCameraControl(FEATURE_SHUTTER)->SetAutoMode(true);
camera->GetCameraControl(FEATURE_GAIN)->SetAutoMode(true);
}
// Set trigger off
camera->GetCameraControlTrigger()->SetOnOff(false);
camera->GetVideoFrameDimensions(&width,&height);
this->height = height;
this->width = width;
init = true;
} // end camera init
