void CMUCamera::getCameraControls(C1394Camera* pCamera, CameraInfo* pCamInfo)
{
//Iterate over amount of possible Features (up to 24 in CMU1394 DCD 6.4.5.240)
for (int indexFeature = 0; indexFeature <= 23; indexFeature++) {
C1394CameraControl* feature = pCamera->GetCameraControl((CAMERA_FEATURE)indexFeature);
if (feature == NULL) {
continue;
}
bool hasFeature = pCamera->HasFeature((CAMERA_FEATURE)indexFeature);
if (!hasFeature) {
continue;
}
//FrameRate (also known as TransferRate) is not supported
if (feature->GetFeatureID() == FEATURE_FRAME_RATE) {
continue;
}
std::string featureName = feature->GetName();
unsigned short min = -1;
unsigned short max = -1;
feature->GetRange(&min, &max);
unsigned short value_low = -1;
unsigned short value_high = -1; //TODO: For Whitebalance or Temperature etc.
feature->GetValue(&value_low, &value_high);
CameraControl camControl = CameraControl(featureName, (int)min, (int)max, (int)value_low);
pCamInfo->addControl(camControl);
}
}
/*!
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;
}
}
/*!
Get the shutter min and max values.
\sa setAutoShutter(), setShutter()
*/
void vp1394CMUGrabber::getShutterMinMax(unsigned short &min, unsigned short &max)
{
initCamera();
C1394CameraControl *Control;
Control = camera->GetCameraControl(FEATURE_SHUTTER);
Control->Inquire();
Control->GetRange(&min, &max);
}
/*!
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
