/** Get Format7 color coding.
*
* @pre camera is in a Format7 video mode.
*
* @param camera points to DC1394 camera struct
* @param video_mode currently selected Format7 video mode.
* @param[in,out] color_coding Config parameter for this option,
* updated if the camera does not support the
* requested value
* @return corresponding dc1394color_coding_t enum value selected
*/
dc1394color_coding_t getColorCoding(dc1394camera_t *camera,
dc1394video_mode_t video_mode,
std::string &color_coding)
{
for (int ccode = DC1394_COLOR_CODING_MIN;
ccode <= DC1394_COLOR_CODING_MAX;
++ccode)
{
if (color_coding_names_[ccode-DC1394_COLOR_CODING_MIN] == color_coding)
{
// found the requested mode
dc1394color_codings_t ccs;
dc1394error_t err =
dc1394_format7_get_color_codings(camera, video_mode, &ccs);
if (err != DC1394_SUCCESS)
{
ROS_FATAL("unable to get supported color codings");
// TODO raise exception
return (dc1394color_coding_t) 0;
}
// see if requested mode is available
for (uint32_t i = 0; i < ccs.num; ++i)
{
if (ccs.codings[i] == ccode)
return (dc1394color_coding_t) ccode; // yes: success
}
// requested mode not available, revert to current mode of camera
ROS_ERROR_STREAM("Color coding " << color_coding
<< " not supported by this camera");
dc1394color_coding_t current_mode;
err = dc1394_format7_get_color_coding(camera, video_mode,
¤t_mode);
if (err != DC1394_SUCCESS)
{
ROS_FATAL("unable to get current color coding");
// TODO raise exception
return (dc1394color_coding_t) 0;
}
// TODO list available modes
// change color_coding parameter to show current mode of camera
color_coding = colorCodingName(current_mode);
return current_mode;
}
}
// Requested color coding does not match any known string, set to
// "mono8" and update parameter.
ROS_FATAL_STREAM("Unknown color_coding: " << color_coding);
color_coding = colorCodingName(DC1394_COLOR_CODING_MONO8);
return (dc1394color_coding_t) DC1394_COLOR_CODING_MONO8;
}
dc1394error_t
dc1394_get_color_coding_from_video_mode(dc1394camera_t *camera, dc1394video_mode_t video_mode, dc1394color_coding_t *color_coding)
{
dc1394error_t err;
dc1394color_coding_t id;
switch(video_mode) {
case DC1394_VIDEO_MODE_160x120_YUV444:
*color_coding=DC1394_COLOR_CODING_YUV444;
return DC1394_SUCCESS;
case DC1394_VIDEO_MODE_320x240_YUV422:
case DC1394_VIDEO_MODE_640x480_YUV422:
case DC1394_VIDEO_MODE_800x600_YUV422:
case DC1394_VIDEO_MODE_1024x768_YUV422:
case DC1394_VIDEO_MODE_1280x960_YUV422:
case DC1394_VIDEO_MODE_1600x1200_YUV422:
*color_coding=DC1394_COLOR_CODING_YUV422;
return DC1394_SUCCESS;
case DC1394_VIDEO_MODE_640x480_YUV411:
*color_coding=DC1394_COLOR_CODING_YUV411;
return DC1394_SUCCESS;
case DC1394_VIDEO_MODE_640x480_RGB8:
case DC1394_VIDEO_MODE_800x600_RGB8:
case DC1394_VIDEO_MODE_1024x768_RGB8:
case DC1394_VIDEO_MODE_1280x960_RGB8:
case DC1394_VIDEO_MODE_1600x1200_RGB8:
*color_coding=DC1394_COLOR_CODING_RGB8;
return DC1394_SUCCESS;
case DC1394_VIDEO_MODE_640x480_MONO8:
case DC1394_VIDEO_MODE_800x600_MONO8:
case DC1394_VIDEO_MODE_1024x768_MONO8:
case DC1394_VIDEO_MODE_1280x960_MONO8:
case DC1394_VIDEO_MODE_1600x1200_MONO8:
*color_coding=DC1394_COLOR_CODING_MONO8;
return DC1394_SUCCESS;
case DC1394_VIDEO_MODE_800x600_MONO16:
case DC1394_VIDEO_MODE_640x480_MONO16:
case DC1394_VIDEO_MODE_1024x768_MONO16:
case DC1394_VIDEO_MODE_1280x960_MONO16:
case DC1394_VIDEO_MODE_1600x1200_MONO16:
*color_coding=DC1394_COLOR_CODING_MONO16;
return DC1394_SUCCESS;
case DC1394_VIDEO_MODE_FORMAT7_0:
case DC1394_VIDEO_MODE_FORMAT7_1:
case DC1394_VIDEO_MODE_FORMAT7_2:
case DC1394_VIDEO_MODE_FORMAT7_3:
case DC1394_VIDEO_MODE_FORMAT7_4:
case DC1394_VIDEO_MODE_FORMAT7_5:
case DC1394_VIDEO_MODE_FORMAT7_6:
case DC1394_VIDEO_MODE_FORMAT7_7:
// get the current color mode from the camera
err=dc1394_format7_get_color_coding(camera, video_mode, &id);
if (err!=DC1394_SUCCESS) {
return err;
}
else {
*color_coding=id;
}
return DC1394_SUCCESS;
case DC1394_VIDEO_MODE_EXIF:
return DC1394_FAILURE;
}
return DC1394_FAILURE;
}
