void CMUCamera::setFeature(CameraFeature Feature, int Value, bool bIgnoreOldValue) { if (bIgnoreOldValue || m_Features[Feature] != Value) { m_Features[Feature] = Value; if (Feature == CAM_FEATURE_STROBE_DURATION) { if (m_pCamera->HasStrobe()) { C1394CameraControlStrobe* pControl = m_pCamera->GetStrobeControl(0); int err = pControl->SetValue(Value); checkCMUWarning(err == CAM_SUCCESS, "Error setting camera strobe."); } else { AVG_TRACE(Logger::WARNING, "Camera does not support strobe."); } } else { CAMERA_FEATURE cmuFeature = getFeatureID(Feature); if (m_pCamera->HasFeature(cmuFeature)) { bool bAuto = (Value == -1); C1394CameraControl* pControl = m_pCamera->GetCameraControl(cmuFeature); int err1 = pControl->SetAutoMode(bAuto); int err2 = CAM_SUCCESS; if (!bAuto) { err2 = pControl->SetValue(Value); } checkCMUWarning(err1 == CAM_SUCCESS && err2 == CAM_SUCCESS, string("Error setting camera feature: ") + cameraFeatureToString(Feature)); } else { AVG_TRACE(Logger::WARNING, string("Camera does not support feature: ") + cameraFeatureToString(Feature)); } } } }
/*! 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; } }
void CMUCamera::setFeatureOneShot(CameraFeature Feature) { CAMERA_FEATURE cmuFeature = getFeatureID(Feature); if (cmuFeature != FEATURE_INVALID_FEATURE && m_pCamera->HasFeature(cmuFeature)) { C1394CameraControl* pControl = m_pCamera->GetCameraControl(cmuFeature); int err1 = pControl->SetOnOff(false); int err2 = pControl->SetAutoMode(false); int err3 = pControl->SetOnePush(true); checkCMUWarning(err1 == CAM_SUCCESS && err2 == CAM_SUCCESS && err3 == CAM_SUCCESS, string("Error setting feature: ") + cameraFeatureToString(Feature)); } else { AVG_TRACE(Logger::WARNING, string("Camera does not support feature: ") + cameraFeatureToString(Feature)); } }
void CMUCamera::setWhitebalance(int u, int v, bool bIgnoreOldValue) { if (bIgnoreOldValue || m_WhitebalanceU != u || m_WhitebalanceV != v) { m_WhitebalanceU = u; m_WhitebalanceV = v; CAMERA_FEATURE cmuFeature = getFeatureID(CAM_FEATURE_WHITE_BALANCE); if (m_pCamera->HasFeature(FEATURE_WHITE_BALANCE)) { bool bAuto = (u == -1); C1394CameraControl* pControl = m_pCamera->GetCameraControl(cmuFeature); int err1 = pControl->SetAutoMode(bAuto); int err2 = CAM_SUCCESS; if (!bAuto) { err2 = pControl->SetValue(u, v); } checkCMUWarning(err1 == CAM_SUCCESS && err2 == CAM_SUCCESS, string("Error setting camera feature: ") + cameraFeatureToString(CAM_FEATURE_WHITE_BALANCE)); } else { AVG_TRACE(Logger::WARNING, string("Camera does not support feature: ") + cameraFeatureToString(CAM_FEATURE_WHITE_BALANCE)); } } }
bool Sync1394Camera::InitCamera(int cameraID, SyncCamParams m_config, float x_offset, float y_offset, float yaw_offset, float fudge) { C1394Camera* camptr; isRunning = false; Sync1394Camera::config = m_config; int effWidth = config.partialWidth; int effHeight = config.partialHeight; camptr = &camera; if (config.isColor) size = effWidth * effHeight * 3; else size = effWidth * effHeight; if (config.BitDepth16) size *= 2; buf = new unsigned char[size]; if(camptr->RefreshCameraList() == 0 ) { printf("RefreshCameraList failed.\n"); return false; } if (cameraID == 0) { start_tick = clock(); } //artagLoc->initARtagPose(640, 480, 200.0, x_offset, y_offset, yaw_offset, fudge); artagLoc->initARtagPose(640, 480, 180.0, x_offset, y_offset, yaw_offset, fudge); //artagLoc->initARtagPose(640, 480, 160.0, x_offset, y_offset, yaw_offset, fudge); if(camptr->SelectCamera(cameraID)!=CAM_SUCCESS) { printf("Could not select camera\n" ); return false; } camId = cameraID; if(camptr->InitCamera(true)!=CAM_SUCCESS) { printf("Could not init camera\n" ); return false; } if(camptr->SetVideoFormat(config.videoFormat)!=CAM_SUCCESS) { printf("Could not SetVideoFormat on camera\n" ); } if(camptr->SetVideoMode(config.videoMode)!=CAM_SUCCESS) { printf("Could not SetVideoMode on camera\n"); } if (config.usePartialScan == false) { if(camptr->SetVideoFrameRate(config.videoFrameRate)!=CAM_SUCCESS) { printf("Could not set video frame rate!"); return false; } //30 fps } else if (config.usePartialScan) { unsigned short w, h; C1394CameraControlSize* p_size_control = camptr->GetCameraControlSize(); p_size_control->GetSizeLimits(&w, &h); if ((w>effWidth) || (h>effHeight)) { printf("FATAL: Bad Partial Scan Size Specified! Specified w:%d h:%d, Max: w:%d h:%d",effWidth,effHeight,w,h); return false; } if (config.isColor) { if( p_size_control->SetColorCode(COLOR_CODE_YUV422) != CAM_SUCCESS ) { printf("SetColorCode failed.\n"); return false; } } else { if( p_size_control->SetColorCode(config.BitDepth16?COLOR_CODE_Y16:COLOR_CODE_Y8) != CAM_SUCCESS ) { printf("SetColorCode failed (BW).\n"); return false; } } if( p_size_control->SetSize(effWidth,effHeight) != CAM_SUCCESS ) { printf("SetSize failed.\n"); return false; } if( p_size_control->SetPos(config.partialLeft,config.partialTop) != CAM_SUCCESS ) { printf("SetPos failed.\n"); return false; } if (p_size_control->SetBytesPerPacket (config.bytesPerPacket) != CAM_SUCCESS) { printf("SetBytesPerPacket failed.\n"); return false; } float interval=0.0; p_size_control->GetFrameInterval (&interval); if (((float)config.syncFPS) > (1.0f/interval)) { printf("WARNING: SyncFPS (%f) is greater than the actual camera FPS (%f)\n",(float)config.syncFPS,(1.0f/interval)); } printf("Frame Interval is: %f",interval); } if (config.isSlave) { printf("Using SLAVE configuration.\n"); } if (!config.AutoGain) { C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_GAIN); if (ctrl->SetAutoMode(false) != CAM_SUCCESS) { printf("Gain SetManualMode failed.\n"); } ctrl->SetValue(GAINVAL); if (ctrl->StatusAutoMode() == true) { printf("I HAVE AUTOGAIN ASSHOLE"); } unsigned short gainval = 0; ctrl->GetValue(&gainval); if (DEBUG_SYNC1394) printf("gain: %d\n",gainval); } else { C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_GAIN); ctrl->SetValue(GAINVAL); if (ctrl->SetAutoMode(true) != CAM_SUCCESS) { printf("Gain SetAutoMode failed.\n"); } if (ctrl->StatusAutoMode() == true) { if (DEBUG_SYNC1394) printf("AutoGain successfully set!\n"); } } minGain=0; maxGain=0; GetGainMinMax( camptr, &minGain, &maxGain); if (DEBUG_SYNC1394) printf("Min gain: %d, Max gain: %d\n",minGain,maxGain); if (!config.AutoShutter) { C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_SHUTTER); if (ctrl->SetAutoMode(false) != CAM_SUCCESS) { printf("Shutter SetManualMode failed.\n"); } ctrl->SetValue(SHUTTERVAL); /*if (ctrl->SetValue(530) != CAM_SUCCESS) { printf("Shutter SetValue failed.\n"); }*/ if (ctrl->StatusAutoMode() == true) { printf("I HAVE AUTOSHUTTER ASSHOLE"); } } else { C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_SHUTTER); ctrl->SetValue(SHUTTERVAL); if (ctrl->SetAutoMode(true) != CAM_SUCCESS) { printf("Shutter SetAutoMode failed.\n"); } if (ctrl->StatusAutoMode() == true) { if (DEBUG_SYNC1394) printf("AutoShutter successfully set!\n"); } } if (!config.AutoBrightness) { C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_BRIGHTNESS); if (ctrl->SetAutoMode(false) != CAM_SUCCESS) { printf("Brightness SetManualMode failed.\n"); } ctrl->SetValue(154); if (ctrl->StatusAutoMode() == true) { printf("I HAVE AUTOBRIGHTNESS ASSHOLE"); } unsigned short bval = 0; ctrl->GetValue(&bval); if (DEBUG_SYNC1394) printf("brightness: %d\n",bval); } else { C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_BRIGHTNESS); ctrl->SetValue(154); if (ctrl->SetAutoMode(true) != CAM_SUCCESS) { printf("Brightness SetAutoMode failed.\n"); } if (ctrl->StatusAutoMode() == true) { if (DEBUG_SYNC1394) printf("AutoBrightness successfully set!\n"); } } if (config.gammaEnable) { C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_GAMMA); if (ctrl->SetOnOff(true) != CAM_SUCCESS) { printf("Gamma SetOnOff failed.\n"); } if (ctrl->SetValue(1) != CAM_SUCCESS) { printf("Gamma SetValue failed.\n"); } } minShutter=0; maxShutter=0; GetShutterMinMax(camptr, &minShutter, &maxShutter); if (DEBUG_SYNC1394) printf("Min shutter: %d, Max shutter: %d\n",minShutter,maxShutter); if (config.adjWB) { C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_WHITE_BALANCE); if (ctrl->SetValue(WHITEBALANCE_VALUE1,WHITEBALANCE_VALUE2) != CAM_SUCCESS) { printf("WhiteBalance SetValue failed.\n"); } } printf("Completed Init of Camera %d\n", camId); if (config.eTrigEnabled) { C1394CameraControlTrigger* trig = camptr->GetCameraControlTrigger(); if (trig->SetTriggerSource (config.syncCamInput)!=CAM_SUCCESS) printf("Could Not Set Trigger Source!\n"); else { if (trig->SetMode (0)) printf("Could Not Set Trigger Mode!\n"); else { if (trig->SetOnOff (true)) printf("Could Not Set Trigger ON!\n"); else { trig->Status(); printf("External Trigger Initialized.\n"); } } } } else { if (config.syncEnabled) { udp_params paramsRX = udp_params(); paramsRX.remote_ip = inet_addr(UDP_BROADCAST_IP); paramsRX.local_port = UDP_BROADCAST_PORT; paramsRX.reuse_addr = 1; try { udpRX = new udp_connection(paramsRX); } catch (exception) { printf("Couldn't init UDP RX on %s:%d \n",UDP_BROADCAST_IP,paramsRX.local_port); return false; } udpRX->set_callback(MakeDelegate(this,&Sync1394Camera::UDPCallback), udpRX); udp_params paramsTX = udp_params(); try { udpTX = new udp_connection(paramsTX); } catch (exception) { printf("Couldn't init UDP TX on port %d\n",paramsTX.local_port); return false; } if (config.isSlave == false) { char regmsg[] = {CAMERA_MSG_REGISTER, config.syncID & 0xFF, 0x00, 0x00, 0x00, 0x00,(paramsRX.local_port>>8)&0xff, paramsRX.local_port&0xff}; //register message udpTX->send_message (regmsg,8,UDP_CONTROL_IP,UDP_CONTROL_PORT); Sleep(100); char fpsmsg[] = {CAMERA_MSG_SETFPS, config.syncID & 0xff, config.syncFPS &0xff}; udpTX->send_message (fpsmsg,3,UDP_CONTROL_IP,UDP_CONTROL_PORT); Sleep(100); char initmsg[] = {CAMERA_START, config.syncID & 0xFF}; //start message udpTX->send_message (initmsg,2,UDP_CONTROL_IP,UDP_CONTROL_PORT); if (config.ghettoSync == false) { C1394CameraControlTrigger* trig = camptr->GetCameraControlTrigger (); unsigned short modein=0; unsigned short modeparam =0; unsigned short trigsrc=0; if (trig->SetTriggerSource (config.syncCamInput)!=CAM_SUCCESS) printf("Could Not Set Trigger Source!\n"); if (trig->SetMode (0)) printf("Could Not Set Trigger Mode!\n"); if (trig->SetOnOff (true)) printf("Could Not Set Trigger ON!\n"); } } if (DEBUG_SYNC1394) printf("Timing Initialized.\n"); }
/*! 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