/** Get current state of a feature from the camera.
*
* @pre feature_set_ initialized for this camera
*
* @param finfo pointer to information for this feature
* @return current state ID
*/
Features::state_t Features::getState(dc1394feature_info_t *finfo)
{
dc1394feature_t feature = finfo->id;
dc1394error_t rc;
if (!finfo->available)
{
// not available: nothing more to do
return camera1394::Camera1394_None;
}
if (finfo->on_off_capable)
{
// get On/Off state
dc1394switch_t pwr;
rc = dc1394_feature_get_power(camera_, feature, &pwr);
if (rc != DC1394_SUCCESS)
{
ROS_WARN_STREAM("failed to get feature " << featureName(feature)
<< " Power setting ");
}
else if (pwr == DC1394_OFF)
{
// Off overrides mode settings
return camera1394::Camera1394_Off;
}
}
// not off, so get mode
dc1394feature_mode_t mode;
rc = dc1394_feature_get_mode(camera_, feature, &mode);
if (rc != DC1394_SUCCESS)
{
ROS_WARN_STREAM("failed to get current mode of feature "
<< featureName(feature));
// treat unavailable mode as Off
return camera1394::Camera1394_Off;
}
switch (mode)
{
case DC1394_FEATURE_MODE_MANUAL:
return camera1394::Camera1394_Manual;
case DC1394_FEATURE_MODE_AUTO:
return camera1394::Camera1394_Auto;
case DC1394_FEATURE_MODE_ONE_PUSH_AUTO:
return camera1394::Camera1394_OnePush;
default:
return camera1394::Camera1394_Off;
}
}
int ar2VideoGetAutoOn1394(AR2VideoParam1394T *vid, int paramName, int *value)
{
dc1394feature_t feature;
dc1394feature_mode_t mode;
switch (paramName)
{
case AR_VIDEO_1394_BRIGHTNESS:
feature = DC1394_FEATURE_BRIGHTNESS;
break;
case AR_VIDEO_1394_EXPOSURE:
feature = DC1394_FEATURE_EXPOSURE;
break;
case AR_VIDEO_1394_WHITE_BALANCE:
feature = DC1394_FEATURE_WHITE_BALANCE;
break;
case AR_VIDEO_1394_SHUTTER_SPEED:
feature = DC1394_FEATURE_SHUTTER;
break;
case AR_VIDEO_1394_GAIN:
feature = DC1394_FEATURE_GAIN;
break;
case AR_VIDEO_1394_FOCUS:
feature = DC1394_FEATURE_FOCUS;
break;
case AR_VIDEO_1394_GAMMA:
feature = DC1394_FEATURE_GAMMA;
break;
default:
return -1;
}
if (dc1394_feature_get_mode(vid->camera, feature, &mode) != DC1394_SUCCESS)
{
ARLOGe("unable to check auto mode.\n");
return -1;
}
if (mode == DC1394_FEATURE_MODE_AUTO)
return 1;
else
return 0;
}
void
VideoIIDC1394::updateFocusStatus()
{
#if defined(DUNE_WITH_DC1394)
feature = DC1394_FEATURE_FOCUS;
dc1394_feature_get_mode(camera, feature, &mode);
dc1394_feature_get_modes(camera, feature, &fm);
std::cout << "Camera focus mode: " << mode << std::endl;
uint8_t i = 0;
for (i = 0; i < fm.num; i++)
{
std::cout << "Camera focus available modes: " << fm.modes[i] << std::endl;
}
#endif
}
float Libdc1394SequenceGrabber::getFeature(dc1394feature_t feature)
{
if (!_camera) return -1;
uint32_t min, max, value;
dc1394feature_mode_t current_mode;
dc1394bool_t is_present;
dc1394_feature_is_present(_camera, feature, &is_present);
if (is_present == DC1394_FALSE)
return -1.0;
dc1394_feature_get_mode(_camera, feature, ¤t_mode);
if (current_mode == DC1394_FEATURE_MODE_AUTO)
return -1.0;
dc1394_feature_get_boundaries(_camera, feature, &min, &max);
dc1394_feature_get_value(_camera, feature, &value);
return 1000.0 * (value-min) / static_cast<float>(max-min);
}
