bool Camera::SetVideoMode(unsigned int reqx, unsigned int reqy,
unsigned int reqfps, bool use_Jpeg) {
uInt32 count;
uInt32 currentMode;
if (debugOutput)
printf("Set Video Mode, requesting %u x %u at %u fps %s.\n", reqx, reqy,
reqfps, use_Jpeg ? "use JPEG" : "not JPEG");
// most of this is copied from wpilibC++Devices/src/USBCamera.cpp
IMAQdxEnumerateVideoModes(session, NULL, &count, ¤tMode); // first call to get the count of modes
IMAQdxVideoMode modes[count];
// then get the modes
IMAQdxEnumerateVideoModes(session, modes, &count, ¤tMode);
if (debugOutput)
printf("Set Video Mode, %lu modes; Current mode %lu is %s = %lu\n",
count, currentMode, modes[currentMode].Name,
modes[currentMode].Value);
// Groups are:
// 0 - width
// 1 - height
// 2 - format
// 3 - fps
std::regex reMode("([0-9]+)\\s*x\\s*([0-9]+)\\s+(.*?)\\s+([0-9.]+)\\s*fps");
IMAQdxVideoMode* foundMode = nullptr;
IMAQdxVideoMode* currentModePtr = &modes[currentMode];
double foundFps = 1000.0;
for (unsigned int i = 0; i < count; i++) {
if (debugOutput)
printf("Video mode[%u] is %s = %lu\n", i, modes[i].Name,
modes[i].Value);
std::cmatch m;
if (!std::regex_match(modes[i].Name, m, reMode))
continue;
unsigned int width = (unsigned int) std::stoul(m[1].str());
unsigned int height = (unsigned int) std::stoul(m[2].str());
if (width != reqx)
continue;
if (height != reqy)
continue;
double fps = atof(m[4].str().c_str());
if (fps < reqfps)
continue;
if (fps > foundFps)
continue;
bool isJpeg = m[3].str().compare("jpeg") == 0
|| m[3].str().compare("JPEG") == 0;
if ((use_Jpeg && !isJpeg) || (!use_Jpeg && isJpeg))
continue;
foundMode = &modes[i];
foundFps = fps;
}
if (foundMode != nullptr) {
if (foundMode->Value != currentModePtr->Value) {
printf("Found mode is %s = %lu\n", foundMode->Name,
foundMode->Value);
IMAQdxSetAttribute(session, IMAQdxAttributeVideoMode,
IMAQdxValueTypeU32, foundMode->Value);
return true;
}
}
return false;
}
void USBCamera::UpdateSettings() {
std::lock_guard<priority_recursive_mutex> lock(m_mutex);
bool wasActive = m_active;
if (wasActive) StopCapture();
if (m_open) CloseCamera();
OpenCamera();
uInt32 count = 0;
uInt32 currentMode = 0;
SAFE_IMAQ_CALL(IMAQdxEnumerateVideoModes, m_id, nullptr, &count, ¤tMode);
auto modes = std::make_unique<IMAQdxVideoMode[]>(count);
SAFE_IMAQ_CALL(IMAQdxEnumerateVideoModes, m_id, modes.get(), &count, ¤tMode);
// Groups are:
// 0 - width
// 1 - height
// 2 - format
// 3 - fps
std::regex reMode("([0-9]+)\\s*x\\s*([0-9]+)\\s+(.*?)\\s+([0-9.]+)\\s*fps");
IMAQdxVideoMode* foundMode = nullptr;
IMAQdxVideoMode* currentModePtr = &modes[currentMode];
double foundFps = 1000.0;
// Loop through the modes, and find the match with the lowest fps
for (unsigned int i = 0; i < count; i++) {
std::cmatch m;
if (!std::regex_match(modes[i].Name, m, reMode)) continue;
unsigned int width = (unsigned int)std::stoul(m[1].str());
unsigned int height = (unsigned int)std::stoul(m[2].str());
if (width != m_width) continue;
if (height != m_height) continue;
double fps = atof(m[4].str().c_str());
if (fps < m_fps) continue;
if (fps > foundFps) continue;
bool isJpeg =
m[3].str().compare("jpeg") == 0 || m[3].str().compare("JPEG") == 0;
if ((m_useJpeg && !isJpeg) || (!m_useJpeg && isJpeg)) continue;
foundMode = &modes[i];
foundFps = fps;
}
if (foundMode != nullptr) {
if (foundMode->Value != currentModePtr->Value) {
SAFE_IMAQ_CALL(IMAQdxSetAttribute, m_id, IMAQdxAttributeVideoMode,
IMAQdxValueTypeU32, foundMode->Value);
}
}
if (m_whiteBalance.compare(AUTO) == 0) {
SAFE_IMAQ_CALL(IMAQdxSetAttribute, m_id, ATTR_WB_MODE,
IMAQdxValueTypeString, AUTO);
} else {
SAFE_IMAQ_CALL(IMAQdxSetAttribute, m_id, ATTR_WB_MODE,
IMAQdxValueTypeString, MANUAL);
if (m_whiteBalanceValuePresent)
SAFE_IMAQ_CALL(IMAQdxSetAttribute, m_id, ATTR_WB_VALUE,
IMAQdxValueTypeU32, m_whiteBalanceValue);
}
if (m_exposure.compare(AUTO) == 0) {
SAFE_IMAQ_CALL(IMAQdxSetAttribute, m_id, ATTR_EX_MODE,
IMAQdxValueTypeString,
std::string("AutoAperaturePriority").c_str());
} else {
SAFE_IMAQ_CALL(IMAQdxSetAttribute, m_id, ATTR_EX_MODE,
IMAQdxValueTypeString, MANUAL);
if (m_exposureValuePresent) {
double minv = 0.0;
double maxv = 0.0;
SAFE_IMAQ_CALL(IMAQdxGetAttributeMinimum, m_id, ATTR_EX_VALUE,
IMAQdxValueTypeF64, &minv);
SAFE_IMAQ_CALL(IMAQdxGetAttributeMaximum, m_id, ATTR_EX_VALUE,
IMAQdxValueTypeF64, &maxv);
double val = minv + ((maxv - minv) * ((double)m_exposureValue / 100.0));
SAFE_IMAQ_CALL(IMAQdxSetAttribute, m_id, ATTR_EX_VALUE,
IMAQdxValueTypeF64, val);
}
}
SAFE_IMAQ_CALL(IMAQdxSetAttribute, m_id, ATTR_BR_MODE, IMAQdxValueTypeString,
MANUAL);
double minv = 0.0;
double maxv = 0.0;
SAFE_IMAQ_CALL(IMAQdxGetAttributeMinimum, m_id, ATTR_BR_VALUE,
IMAQdxValueTypeF64, &minv);
SAFE_IMAQ_CALL(IMAQdxGetAttributeMaximum, m_id, ATTR_BR_VALUE,
IMAQdxValueTypeF64, &maxv);
double val = minv + ((maxv - minv) * ((double)m_brightness / 100.0));
SAFE_IMAQ_CALL(IMAQdxSetAttribute, m_id, ATTR_BR_VALUE, IMAQdxValueTypeF64,
val);
if (wasActive) StartCapture();
}
