void CMUCamera::setFeature(CameraFeature Feature, int Value, bool bIgnoreOldValue)
{
if (bIgnoreOldValue || m_Features[Feature] != Value) {
m_Features[Feature] = Value;
if (Feature == CAM_FEATURE_STROBE_DURATION) {
if (m_pCamera->HasStrobe()) {
C1394CameraControlStrobe* pControl = m_pCamera->GetStrobeControl(0);
int err = pControl->SetValue(Value);
checkCMUWarning(err == CAM_SUCCESS, "Error setting camera strobe.");
} else {
AVG_TRACE(Logger::WARNING, "Camera does not support strobe.");
}
} else {
CAMERA_FEATURE cmuFeature = getFeatureID(Feature);
if (m_pCamera->HasFeature(cmuFeature)) {
bool bAuto = (Value == -1);
C1394CameraControl* pControl = m_pCamera->GetCameraControl(cmuFeature);
int err1 = pControl->SetAutoMode(bAuto);
int err2 = CAM_SUCCESS;
if (!bAuto) {
err2 = pControl->SetValue(Value);
}
checkCMUWarning(err1 == CAM_SUCCESS && err2 == CAM_SUCCESS,
string("Error setting camera feature: ") +
cameraFeatureToString(Feature));
} else {
AVG_TRACE(Logger::WARNING, string("Camera does not support feature: ") +
cameraFeatureToString(Feature));
}
}
}
}
/*!
Disable auto shutter and set the shutter to the requested value.
\sa setAutoShutter()
*/
void vp1394CMUGrabber::setShutter(unsigned short shutter)
{
initCamera();
_shutter = shutter;
unsigned short min,max;
C1394CameraControl *Control;
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;
}
}
/*!
Disable auto gain and set the gain to the requested value.
\sa setAutoGain()
*/
void vp1394CMUGrabber::setGain(unsigned short gain)
{
initCamera();
_gain = gain;
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;
}
}
void CMUCamera::setWhitebalance(int u, int v, bool bIgnoreOldValue)
{
if (bIgnoreOldValue || m_WhitebalanceU != u || m_WhitebalanceV != v) {
m_WhitebalanceU = u;
m_WhitebalanceV = v;
CAMERA_FEATURE cmuFeature = getFeatureID(CAM_FEATURE_WHITE_BALANCE);
if (m_pCamera->HasFeature(FEATURE_WHITE_BALANCE)) {
bool bAuto = (u == -1);
C1394CameraControl* pControl = m_pCamera->GetCameraControl(cmuFeature);
int err1 = pControl->SetAutoMode(bAuto);
int err2 = CAM_SUCCESS;
if (!bAuto) {
err2 = pControl->SetValue(u, v);
}
checkCMUWarning(err1 == CAM_SUCCESS && err2 == CAM_SUCCESS,
string("Error setting camera feature: ") +
cameraFeatureToString(CAM_FEATURE_WHITE_BALANCE));
} else {
AVG_TRACE(Logger::WARNING, string("Camera does not support feature: ") +
cameraFeatureToString(CAM_FEATURE_WHITE_BALANCE));
}
}
}
bool Sync1394Camera::InitCamera(int cameraID, SyncCamParams m_config, float x_offset, float y_offset, float yaw_offset, float fudge)
{
C1394Camera* camptr;
isRunning = false;
Sync1394Camera::config = m_config;
int effWidth = config.partialWidth;
int effHeight = config.partialHeight;
camptr = &camera;
if (config.isColor)
size = effWidth * effHeight * 3;
else
size = effWidth * effHeight;
if (config.BitDepth16) size *= 2;
buf = new unsigned char[size];
if(camptr->RefreshCameraList() == 0 )
{
printf("RefreshCameraList failed.\n");
return false;
}
if (cameraID == 0)
{
start_tick = clock();
}
//artagLoc->initARtagPose(640, 480, 200.0, x_offset, y_offset, yaw_offset, fudge);
artagLoc->initARtagPose(640, 480, 180.0, x_offset, y_offset, yaw_offset, fudge);
//artagLoc->initARtagPose(640, 480, 160.0, x_offset, y_offset, yaw_offset, fudge);
if(camptr->SelectCamera(cameraID)!=CAM_SUCCESS)
{
printf("Could not select camera\n" );
return false;
}
camId = cameraID;
if(camptr->InitCamera(true)!=CAM_SUCCESS)
{
printf("Could not init camera\n" );
return false;
}
if(camptr->SetVideoFormat(config.videoFormat)!=CAM_SUCCESS)
{
printf("Could not SetVideoFormat on camera\n" );
}
if(camptr->SetVideoMode(config.videoMode)!=CAM_SUCCESS)
{
printf("Could not SetVideoMode on camera\n");
}
if (config.usePartialScan == false)
{
if(camptr->SetVideoFrameRate(config.videoFrameRate)!=CAM_SUCCESS)
{
printf("Could not set video frame rate!");
return false;
} //30 fps
}
else if (config.usePartialScan)
{
unsigned short w, h;
C1394CameraControlSize* p_size_control = camptr->GetCameraControlSize();
p_size_control->GetSizeLimits(&w, &h);
if ((w>effWidth) || (h>effHeight))
{
printf("FATAL: Bad Partial Scan Size Specified! Specified w:%d h:%d, Max: w:%d h:%d",effWidth,effHeight,w,h);
return false;
}
if (config.isColor)
{
if( p_size_control->SetColorCode(COLOR_CODE_YUV422) != CAM_SUCCESS )
{
printf("SetColorCode failed.\n");
return false;
}
}
else
{
if( p_size_control->SetColorCode(config.BitDepth16?COLOR_CODE_Y16:COLOR_CODE_Y8) != CAM_SUCCESS )
{
printf("SetColorCode failed (BW).\n");
return false;
}
}
if( p_size_control->SetSize(effWidth,effHeight) != CAM_SUCCESS )
{
printf("SetSize failed.\n");
return false;
}
if( p_size_control->SetPos(config.partialLeft,config.partialTop) != CAM_SUCCESS )
{
printf("SetPos failed.\n");
return false;
}
if (p_size_control->SetBytesPerPacket (config.bytesPerPacket) != CAM_SUCCESS)
{
printf("SetBytesPerPacket failed.\n");
return false;
}
float interval=0.0; p_size_control->GetFrameInterval (&interval);
if (((float)config.syncFPS) > (1.0f/interval))
{
printf("WARNING: SyncFPS (%f) is greater than the actual camera FPS (%f)\n",(float)config.syncFPS,(1.0f/interval));
}
printf("Frame Interval is: %f",interval);
}
if (config.isSlave)
{
printf("Using SLAVE configuration.\n");
}
if (!config.AutoGain)
{
C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_GAIN);
if (ctrl->SetAutoMode(false) != CAM_SUCCESS)
{
printf("Gain SetManualMode failed.\n");
}
ctrl->SetValue(GAINVAL);
if (ctrl->StatusAutoMode() == true)
{
printf("I HAVE AUTOGAIN ASSHOLE");
}
unsigned short gainval = 0;
ctrl->GetValue(&gainval);
if (DEBUG_SYNC1394) printf("gain: %d\n",gainval);
}
else
{
C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_GAIN);
ctrl->SetValue(GAINVAL);
if (ctrl->SetAutoMode(true) != CAM_SUCCESS)
{
printf("Gain SetAutoMode failed.\n");
}
if (ctrl->StatusAutoMode() == true)
{
if (DEBUG_SYNC1394) printf("AutoGain successfully set!\n");
}
}
minGain=0;
maxGain=0;
GetGainMinMax( camptr, &minGain, &maxGain);
if (DEBUG_SYNC1394) printf("Min gain: %d, Max gain: %d\n",minGain,maxGain);
if (!config.AutoShutter)
{
C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_SHUTTER);
if (ctrl->SetAutoMode(false) != CAM_SUCCESS)
{
printf("Shutter SetManualMode failed.\n");
}
ctrl->SetValue(SHUTTERVAL);
/*if (ctrl->SetValue(530) != CAM_SUCCESS)
{
printf("Shutter SetValue failed.\n");
}*/
if (ctrl->StatusAutoMode() == true)
{
printf("I HAVE AUTOSHUTTER ASSHOLE");
}
}
else
{
C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_SHUTTER);
ctrl->SetValue(SHUTTERVAL);
if (ctrl->SetAutoMode(true) != CAM_SUCCESS)
{
printf("Shutter SetAutoMode failed.\n");
}
if (ctrl->StatusAutoMode() == true)
{
if (DEBUG_SYNC1394) printf("AutoShutter successfully set!\n");
}
}
if (!config.AutoBrightness)
{
C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_BRIGHTNESS);
if (ctrl->SetAutoMode(false) != CAM_SUCCESS)
{
printf("Brightness SetManualMode failed.\n");
}
ctrl->SetValue(154);
if (ctrl->StatusAutoMode() == true)
{
printf("I HAVE AUTOBRIGHTNESS ASSHOLE");
}
unsigned short bval = 0;
ctrl->GetValue(&bval);
if (DEBUG_SYNC1394) printf("brightness: %d\n",bval);
}
else
{
C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_BRIGHTNESS);
ctrl->SetValue(154);
if (ctrl->SetAutoMode(true) != CAM_SUCCESS)
{
printf("Brightness SetAutoMode failed.\n");
}
if (ctrl->StatusAutoMode() == true)
{
if (DEBUG_SYNC1394) printf("AutoBrightness successfully set!\n");
}
}
if (config.gammaEnable)
{
C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_GAMMA);
if (ctrl->SetOnOff(true) != CAM_SUCCESS)
{
printf("Gamma SetOnOff failed.\n");
}
if (ctrl->SetValue(1) != CAM_SUCCESS)
{
printf("Gamma SetValue failed.\n");
}
}
minShutter=0;
maxShutter=0;
GetShutterMinMax(camptr, &minShutter, &maxShutter);
if (DEBUG_SYNC1394) printf("Min shutter: %d, Max shutter: %d\n",minShutter,maxShutter);
if (config.adjWB)
{
C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_WHITE_BALANCE);
if (ctrl->SetValue(WHITEBALANCE_VALUE1,WHITEBALANCE_VALUE2) != CAM_SUCCESS)
{
printf("WhiteBalance SetValue failed.\n");
}
}
printf("Completed Init of Camera %d\n", camId);
if (config.eTrigEnabled)
{
C1394CameraControlTrigger* trig = camptr->GetCameraControlTrigger();
if (trig->SetTriggerSource (config.syncCamInput)!=CAM_SUCCESS)
printf("Could Not Set Trigger Source!\n");
else
{
if (trig->SetMode (0))
printf("Could Not Set Trigger Mode!\n");
else
{
if (trig->SetOnOff (true))
printf("Could Not Set Trigger ON!\n");
else
{
trig->Status();
printf("External Trigger Initialized.\n");
}
}
}
}
else
{
if (config.syncEnabled)
{
udp_params paramsRX = udp_params();
paramsRX.remote_ip = inet_addr(UDP_BROADCAST_IP);
paramsRX.local_port = UDP_BROADCAST_PORT;
paramsRX.reuse_addr = 1;
try
{
udpRX = new udp_connection(paramsRX);
}
catch (exception)
{
printf("Couldn't init UDP RX on %s:%d \n",UDP_BROADCAST_IP,paramsRX.local_port);
return false;
}
udpRX->set_callback(MakeDelegate(this,&Sync1394Camera::UDPCallback), udpRX);
udp_params paramsTX = udp_params();
try
{
udpTX = new udp_connection(paramsTX);
}
catch (exception)
{
printf("Couldn't init UDP TX on port %d\n",paramsTX.local_port);
return false;
}
if (config.isSlave == false)
{
char regmsg[] = {CAMERA_MSG_REGISTER, config.syncID & 0xFF, 0x00, 0x00, 0x00, 0x00,(paramsRX.local_port>>8)&0xff, paramsRX.local_port&0xff}; //register message
udpTX->send_message (regmsg,8,UDP_CONTROL_IP,UDP_CONTROL_PORT);
Sleep(100);
char fpsmsg[] = {CAMERA_MSG_SETFPS, config.syncID & 0xff, config.syncFPS &0xff};
udpTX->send_message (fpsmsg,3,UDP_CONTROL_IP,UDP_CONTROL_PORT);
Sleep(100);
char initmsg[] = {CAMERA_START, config.syncID & 0xFF}; //start message
udpTX->send_message (initmsg,2,UDP_CONTROL_IP,UDP_CONTROL_PORT);
if (config.ghettoSync == false)
{
C1394CameraControlTrigger* trig = camptr->GetCameraControlTrigger ();
unsigned short modein=0; unsigned short modeparam =0; unsigned short trigsrc=0;
if (trig->SetTriggerSource (config.syncCamInput)!=CAM_SUCCESS)
printf("Could Not Set Trigger Source!\n");
if (trig->SetMode (0))
printf("Could Not Set Trigger Mode!\n");
if (trig->SetOnOff (true))
printf("Could Not Set Trigger ON!\n");
}
}
if (DEBUG_SYNC1394) printf("Timing Initialized.\n");
}
/*!
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
