void
set_manual_exposure_gain(int camID, int exposure, int gain)
{
int success =
dc1394_auto_on_off(handles[cameras[camID].port], cameras[camID].node,
FEATURE_EXPOSURE, DC1394_FALSE);
if (success != DC1394_SUCCESS) {
fprintf(stderr, "can not turn off camera auto exposure\n");
return;
}
success =
dc1394_set_exposure(handles[cameras[camID].port], cameras[camID].node,
exposure);
if (success != DC1394_SUCCESS) {
fprintf(stderr, "set_exposure returned %d\n", success);
return;
}
success =
dc1394_set_gain(handles[cameras[camID].port], cameras[camID].node, gain);
if (success != DC1394_SUCCESS) {
fprintf(stderr, "set_gain returned %d\n", success);
return;
}
}
//*** Method for automatic adaption of the lumination parameter****//
int CameraDcam::autoBrightness(camera_data_msg *dataPackage)
{
int i, count, minCount, maxCount, bytesPerPixel, gain, shutter;
double unclearPixel;
unsigned int ubrightness;
unsigned int ushutter;
unsigned int ugain;
int start;
minCount = 0;
maxCount = 0;
// third = dataPackage->data.width * dataPackage->data.height
bytesPerPixel = dataPackage->data.depth / 8;
count = dataPackage->data.width * dataPackage->data.height * bytesPerPixel;
start = (int)(count * (((double ) 1) - ((double) 1) / autoBrightnessSize));
start += start % bytesPerPixel;
start++;
for(i = start; i < count; i += bytesPerPixel)
{
if((unsigned char)dataPackage->byteStream[i] <= minHue)
{
minCount++;
}
else if((unsigned char)dataPackage->byteStream[i] >= maxHue)
{
maxCount++;
}
}
if (dc1394_get_shutter(porthandle[dc1394CameraPortNo], camera_node, &ushutter) != DC1394_SUCCESS)
{
GDOS_WARNING("getting of shutter failed! ");
return DC1394_FAILURE;
}
if (dc1394_get_gain(porthandle[dc1394CameraPortNo], camera_node, &ugain) != DC1394_SUCCESS)
{
GDOS_WARNING("getting of gain failed! ");
return DC1394_FAILURE;
}
if (dc1394_get_brightness(porthandle[dc1394CameraPortNo], camera_node, &ubrightness) != DC1394_SUCCESS)
{
GDOS_WARNING("getting of brightness failed! ");
return DC1394_FAILURE;
}
GDOS_DBG_DETAIL("count %i minCount %i maxCount %i actual shutter %i gain:%i brightness:%i \n", count, minCount, maxCount, ushutter, ugain, ubrightness);
//if pixel are too dark, light them up!
unclearPixel = ((double)(minCount - maxCount)) / count; //percent of over or under illum. pixel
ubrightness = 124;
if (unclearPixel > 0)
{ //light up
if (ushutter < 4095)
{
ushutter += (unsigned int) (unclearPixel * shutterMult);
if(ushutter > 4095)
ushutter = 4095;
} else
{ //increase gain
ugain += (unsigned int) (unclearPixel * gainMult);
if (ugain > 1023)
{ ugain = 1023;}
}
} else
{ //unclearPixel is negative, darken image
if (ugain > 192)
{
//to handle negative values
gain = (int) (ugain + unclearPixel * gainMult);
if (gain < 192)
gain = 192;
ugain = gain;
} else
{
shutter = (int) (ushutter + unclearPixel * shutterMult);
if (shutter < 1)
shutter = 1;
ushutter = shutter;
}
}
if (dc1394_set_shutter(porthandle[dc1394CameraPortNo], camera_node, ushutter) != DC1394_SUCCESS)
{
GDOS_WARNING("setting of shutter failed! is value:%i", ushutter );
return DC1394_FAILURE;
}
if (dc1394_set_gain(porthandle[dc1394CameraPortNo], camera_node, ugain) != DC1394_SUCCESS)
{
GDOS_WARNING("setting of gain failed! is value:%i", ugain );
return DC1394_FAILURE;
}
if (dc1394_set_brightness(porthandle[dc1394CameraPortNo], camera_node, ubrightness) != DC1394_SUCCESS)
{
GDOS_WARNING("setting of brightness failed! is value:%i", ubrightness );
return DC1394_FAILURE;
}
GDOS_DBG_DETAIL("set shutter:%i gain:%i brightness:%i \n", ushutter, ugain, ubrightness);
return DC1394_SUCCESS;
}
