/*!
Grabs a grayscale image from the selected camera. If the camera color
coding differs from vp1394CMUGrabber::MONO8, the acquired image is
converted in a gray level image to match the requested format.
\param I : Acquired gray level image.
*/
void
vp1394CMUGrabber::acquire(vpImage<unsigned char> &I)
{
// get image data
unsigned long length;
unsigned char *rawdata = NULL ;
int dropped;
unsigned int size;
if(init == false){
close();
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
"Initialization not done") );
}
camera->AcquireImageEx(TRUE,&dropped);
rawdata = camera->GetRawData(&length);
size = I.getWidth() * I.getHeight();
switch(_color) {
case vp1394CMUGrabber::MONO8:
memcpy(I.bitmap, (unsigned char *) rawdata, size);
break;
case vp1394CMUGrabber::MONO16:
vpImageConvert::MONO16ToGrey(rawdata, I.bitmap, size);
break;
case vp1394CMUGrabber::YUV411:
vpImageConvert::YUV411ToGrey(rawdata, I.bitmap, size);
break;
case vp1394CMUGrabber::YUV422:
vpImageConvert::YUV422ToGrey(rawdata, I.bitmap, size);
break;
case vp1394CMUGrabber::YUV444:
vpImageConvert::YUV444ToGrey(rawdata, I.bitmap, size);
break;
case vp1394CMUGrabber::RGB8:
vpImageConvert::RGBToGrey(rawdata, I.bitmap, size);
break;
default:
close();
vpERROR_TRACE("Format conversion not implemented. Acquisition failed.");
throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
"Format conversion not implemented. "
"Acquisition failed.") );
break;
};
//unsigned short depth = 0;
//camera->GetVideoDataDepth(&depth);
//std::cout << "depth: " << depth << " computed: " << (float)(length/(I.getHeight() * I.getWidth())) << std::endl;
//memcpy(I.bitmap,rawdata,length);
}
/*!
Select the camera on the bus from its index. The first camera found on the bus has index 0.
\param cam_id : Camera index.
*/
void
vp1394CMUGrabber::selectCamera(int cam_id)
{
int camerror;
index = cam_id ;
camerror = camera->SelectCamera(index);
if ( camerror!= CAM_SUCCESS)
{
switch (camerror)
{
case CAM_ERROR_PARAM_OUT_OF_RANGE:
vpERROR_TRACE("vp1394CMUGrabber error: Found no camera number %i",index);
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,"The required camera is not present") );
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();
}
} // end camera select
/*!
Grabs a color image from the selected camera. Since the cameras
are not able to grab RGBa color coding format, the acquired image is
converted in a RGBa to match the requested format. This transformation
could be time consuming.
\param I : Acquired color image in RGBa format.
*/
void
vp1394CMUGrabber::acquire(vpImage<vpRGBa> &I)
{
// get image data
unsigned long length;
unsigned char *rawdata = NULL;
int dropped;
unsigned int size;
if(init == false){
close();
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
"Initialization not done") );
}
camera->AcquireImageEx(TRUE,&dropped);
rawdata = camera->GetRawData(&length);
size = I.getWidth() * I.getHeight();
switch (_color) {
case vp1394CMUGrabber::MONO8:
vpImageConvert::GreyToRGBa(rawdata, (unsigned char *)I.bitmap, size);
break;
case vp1394CMUGrabber::MONO16:
vpImageConvert::MONO16ToRGBa(rawdata, (unsigned char *)I.bitmap, size);
break;
case vp1394CMUGrabber::YUV411:
vpImageConvert::YUV411ToRGBa(rawdata, (unsigned char *)I.bitmap, size);
break;
case vp1394CMUGrabber::YUV422:
vpImageConvert::YUV422ToRGBa(rawdata, (unsigned char *)I.bitmap, size);
break;
case vp1394CMUGrabber::YUV444:
vpImageConvert::YUV444ToRGBa(rawdata, (unsigned char *)I.bitmap, size);
break;
case vp1394CMUGrabber::RGB8:
size = length / 3;
vpImageConvert::RGBToRGBa(rawdata, (unsigned char *)I.bitmap, size);
break;
default:
close();
vpERROR_TRACE("Format conversion not implemented. Acquisition failed.");
throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
"Format conversion not implemented. "
"Acquisition failed.") );
break;
};
}
void vpROSGrabber::open(){
if(ros::isInitialized() && ros::master::getURI() != _master_uri){
close();
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
"ROS grabber already initialised with a different master_URI (" + ros::master::getURI() +" != " + _master_uri + ")") );
}
if(!isInitialized){
int argc = 2;
char *argv[2];
argv[0] = new char [255];
argv[1] = new char [255];
std::string exe = "ros.exe", arg1 = "__master:=";
strcpy(argv[0], exe.c_str());
arg1.append(_master_uri);
strcpy(argv[1], arg1.c_str());
open(argc, argv);
// Wait for a first image
while( !first_img_received) vpTime::wait(40);
delete [] argv[0];
delete [] argv[1];
}
}
/*!
Set camera framerate rate. This method has to be called before open().
\param fps : Value between 0 to 7 used to select a specific camera framerate.
See the following table for the correspondances between the input
value and the framerate.
<TABLE BORDER="1">
<TR><TH> Value </TH> <TH> Frame rate </TH></TR>
<TR><TD> 0 </TD> <TD> 1.875 fps </TD></TR>
<TR><TD> 1 </TD> <TD> 3.75 fps </TD></TR>
<TR><TD> 2 </TD> <TD> 7.5 fps </TD></TR>
<TR><TD> 3 </TD> <TD> 15 fps </TD></TR>
<TR><TD> 4 </TD> <TD> 30 fps </TD></TR>
<TR><TD> 5 </TD> <TD> 60 fps </TD></TR>
<TR><TD> 6 </TD> <TD> 120 fps </TD></TR>
<TR><TD> 7 </TD> <TD> 240 fps </TD></TR>
</TABLE>
\sa getFramerate()
*/
void
vp1394CMUGrabber::setFramerate(unsigned long fps)
{
initCamera();
_fps = fps;
// 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->IsAcquiring()) {
// stop acquisition
if (camera->StopImageAcquisition() != CAM_SUCCESS)
{
close();
vpERROR_TRACE("vp1394CMUGrabber error: Can't stop image acquisition from IEEE 1394 camera number %i",index);
throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
"Error while stopping image acquisition") );
}
}
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") );
}
// start acquisition
if (camera->StartImageAcquisition() != CAM_SUCCESS)
{
close();
vpERROR_TRACE("vp1394CMUGrabber error: Can't start image acquisition from IEEE 1394 camera number %i",index);
throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
"Error while starting image acquisition") );
}
}
}
/*!
Sets the captured image height.
\warning This function must be called after open() method.
\param h : The requested value of the captured image height.
\exception vpFrameGrabberException::initializationError If no
camera was found.
*/
void vpOpenCVGrabber::setHeight(const unsigned int h)
{
if ( cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT, h))
{
close();
vpERROR_TRACE("Impossible to set the size of the grabber");
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
"Impossible to set the size of the grabber") );
}
this->height = h;
}
/*!
Sets the captured image width.
\warning This function must be called after open() method.
\param w : The requested value of the captured image width.
\exception vpFrameGrabberException::initializationError If no
camera was found.
*/
void vpOpenCVGrabber::setWidth(const unsigned int w)
{
if ( cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH, w))
{
close();
vpERROR_TRACE("Impossible to set the size of the grabber");
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
"Impossible to set the size of the grabber") );
}
this->width = w;
}
/*!
Grab a color image with timestamp
\param I : Acquired color image.
\param timestamp : timestamp of the acquired image.
\exception vpFrameGrabberException::initializationError If the
initialization of the grabber was not done previously.
*/
void vpROSGrabber::acquire(vpImage<vpRGBa> &I, struct timespec ×tamp)
{
if (isInitialized==false) {
close();
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError, "Grabber not initialized.") );
}
while(!mutex_image || !first_img_received);
mutex_image = false;
timestamp . tv_sec = _sec;
timestamp . tv_nsec = _nsec;
vpImageConvert::convert(data, I, flip);
first_img_received = false;
mutex_image = true;
}
/*!
Grab a color image.
\param I : Acquired color image.
\exception vpFrameGrabberException::initializationError If the
initialization of the grabber was not done previously.
*/
void vpOpenCVGrabber::acquire(vpImage<vpRGBa> &I)
{
IplImage *im;
if (init==false)
{
close();
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
"Initialization not done") );
}
cvGrabFrame(capture);
im = cvRetrieveFrame(capture);
vpImageConvert::convert(im, I, flip);
}
/*!
Initialization of the grabber using a color image.
\param I : color image.
*/
void
vp1394CMUGrabber::open(vpImage<vpRGBa> &I)
{
initCamera();
I.init(this->height,this->width);
// start acquisition
if (camera->StartImageAcquisition() != CAM_SUCCESS)
{
close();
vpERROR_TRACE("vp1394CMUGrabber error: Can't start image acquisition from IEEE 1394 camera number %i",index);
throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
"Error while strating image acquisition") );
}
}
/*!
Grab an image direclty in the OpenCV format.
\return Pointer to the image (must not be freed).
\exception vpFrameGrabberException::initializationError If the
initialization of the grabber was not done previously.
*/
IplImage* vpOpenCVGrabber::acquire()
{
IplImage *im;
if (init==false)
{
close();
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
"Initialization not done") );
}
cvGrabFrame(capture);
im = cvRetrieveFrame(capture);
return im;
}
/*!
Stop the acquisition of images and free the camera.
*/
void
vp1394CMUGrabber::close()
{
// stop acquisition
camera->StopImageAcquisition();
if (camera->StopImageAcquisition() != CAM_SUCCESS)
{
throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
"vp1394CMUGrabber error: Can't stop image acquisition from IEEE 1394 camera") );
}
init = false;
}
/*!
Grab an image direclty in the OpenCV format.
\param timestamp : timestamp of the acquired image.
\return Acquired image.
\exception vpFrameGrabberException::initializationError If the
initialization of the grabber was not done previously.
*/
cv::Mat vpROSGrabber::acquire(struct timespec ×tamp)
{
cv::Mat retour;
if (isInitialized==false) {
close();
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError, "Grabber not initialized.") );
}
while(!mutex_image || !first_img_received);
mutex_image = false;
timestamp . tv_sec = _sec;
timestamp . tv_nsec = _nsec;
retour = data.clone();
first_img_received = false;
mutex_image = true;
return retour;
}
bool vpROSGrabber::getCameraInfo(vpCameraParameters &cam){
if (! isInitialized) {
close();
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError, "Grabber not initialized.") );
}
// Test: if we get an image (first_img_received=true) we should have the camera parameters (first_param_received=true) if they are available
if (first_img_received && !first_param_received)
return false;
while(!mutex_param || !first_param_received);
mutex_param = false;
cam = _cam;
mutex_param = true;
return true;
}
/*!
Generic initialization of the grabber.
*/
void vpOpenCVGrabber::open()
{
capture = cvCreateCameraCapture(DeviceType);
if (capture != NULL)
{
init = true;
}
else
{
close();
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
"Initialization not done : camera already used or no camera found") );
}
}
/*!
Stop the acquisition of images and free the camera.
*/
void
vp1394CMUGrabber::close()
{
// stop acquisition
if (camera->IsAcquiring()) {
// stop acquisition
if (camera->StopImageAcquisition() != CAM_SUCCESS)
{
close();
vpERROR_TRACE("vp1394CMUGrabber error: Can't stop image acquisition from IEEE 1394 camera number %i",index);
throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
"Error while stopping image acquisition") );
}
}
init = false;
}
/*!
Grab a gray level image with timestamp without waiting.
\param I : Acquired gray level image.
\param timestamp : timestamp of the acquired image.
\return true if a new image was acquired or false if the image is the same than the previous one.
\exception vpFrameGrabberException::initializationError If the
initialization of the grabber was not done previously.
*/
bool vpROSGrabber::acquireNoWait(vpImage<unsigned char> &I, struct timespec ×tamp)
{
bool new_image = false;
if (isInitialized==false) {
close();
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError, "Grabber not initialized.") );
}
while(!mutex_image);
mutex_image = false;
timestamp . tv_sec = _sec;
timestamp . tv_nsec = _nsec;
vpImageConvert::convert(data, I, flip);
new_image = first_img_received;
first_img_received = false;
mutex_image = true;
return new_image;
}
/*!
Set the camera format and video mode.
This method has to be called before open().
\param format : Camera video format.
\param mode : Camera video mode.
See the following table for the correspondances between the input
format and mode and the resulting video color coding.
<TABLE BORDER="1">
<TR><TH> Format </TH><TH> Mode </TH><TH> (H) x (W) </TH><TH> Color </TH></TR>
<TR><TD> 0 </TD><TD> 0 </TD><TD> 160 x 120 </TD><TD> YUV444 </TD></TR>
<TR><TD> 0 </TD><TD> 1 </TD><TD> 320 x 240 </TD><TD> YUV422 </TD></TR>
<TR><TD> 0 </TD><TD> 2 </TD><TD> 640 x 480 </TD><TD> YUV411 </TD></TR>
<TR><TD> 0 </TD><TD> 3 </TD><TD> 640 x 480 </TD><TD> YUV422 </TD></TR>
<TR><TD> 0 </TD><TD> 4 </TD><TD> 640 x 480 </TD><TD> RGB8 </TD></TR>
<TR><TD> 0 </TD><TD> 5 </TD><TD> 640 x 480 </TD><TD> MONO8 </TD></TR>
<TR><TD> 0 </TD><TD> 6 </TD><TD> 640 x 480 </TD><TD> MONO16 </TD></TR>
<TR><TD> 1 </TD><TD> 0 </TD><TD> 800 x 600 </TD><TD> YUV422 </TD></TR>
<TR><TD> 1 </TD><TD> 1 </TD><TD> 800 x 600 </TD><TD> RGB8 </TD></TR>
<TR><TD> 1 </TD><TD> 2 </TD><TD> 800 x 600 </TD><TD> MONO8 </TD></TR>
<TR><TD> 1 </TD><TD> 3 </TD><TD>1024 x 768 </TD><TD> YUV422 </TD></TR>
<TR><TD> 1 </TD><TD> 4 </TD><TD>1024 x 768 </TD><TD> RGB8 </TD></TR>
<TR><TD> 1 </TD><TD> 5 </TD><TD>1024 x 768 </TD><TD> MONO8 </TD></TR>
<TR><TD> 1 </TD><TD> 6 </TD><TD> 800 x 600 </TD><TD> MONO16 </TD></TR>
<TR><TD> 1 </TD><TD> 7 </TD><TD>1024 x 768 </TD><TD> MONO16 </TD></TR>
<TR><TD> 2 </TD><TD> 0 </TD><TD>1280 x 960 </TD><TD> YUV422 </TD></TR>
<TR><TD> 2 </TD><TD> 1 </TD><TD>1280 x 960 </TD><TD> RGB8 </TD></TR>
<TR><TD> 2 </TD><TD> 2 </TD><TD>1280 x 960 </TD><TD> MONO8 </TD></TR>
<TR><TD> 2 </TD><TD> 3 </TD><TD>1600 x 1200</TD><TD> YUV422 </TD></TR>
<TR><TD> 2 </TD><TD> 4 </TD><TD>1600 x 1200</TD><TD> RGB8 </TD></TR>
<TR><TD> 2 </TD><TD> 5 </TD><TD>1600 x 1200</TD><TD> MONO8 </TD></TR>
<TR><TD> 2 </TD><TD> 6 </TD><TD>1280 x 960 </TD><TD> MONO16 </TD></TR>
<TR><TD> 2 </TD><TD> 7 </TD><TD>1600 x 1200</TD><TD> MONO16 </TD></TR>
</TABLE>
*/
void
vp1394CMUGrabber::setVideoMode( unsigned long format, unsigned long mode )
{
initCamera();
_format = format ;
_mode = mode ;
// 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->IsAcquiring()) {
// stop acquisition
if (camera->StopImageAcquisition() != CAM_SUCCESS)
{
close();
vpERROR_TRACE("vp1394CMUGrabber error: Can't stop image acquisition from IEEE 1394 camera number %i",index);
throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
"Error while stopping image acquisition") );
}
}
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") );
}
// start acquisition
if (camera->StartImageAcquisition() != CAM_SUCCESS)
{
close();
vpERROR_TRACE("vp1394CMUGrabber error: Can't start image acquisition from IEEE 1394 camera number %i",index);
throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
"Error while starting image acquisition") );
}
// Update Image dimension
unsigned long w, h;
camera->GetVideoFrameDimensions(&w, &h);
this->width = w;
this->height = h;
// Update the color coding
_color = getVideoColorCoding();
}
}
/*!
Init the selected camera.
*/
void
vp1394CMUGrabber::initCamera()
{
if (init == false)
{
int camerror;
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);
// Get the current settings
_format = camera->GetVideoFormat();
_mode = camera->GetVideoMode();
_color = getVideoColorCoding();
//std::cout << "format: " << _format << std::endl;
//std::cout << "mode: " << _mode << std::endl;
//std::cout << "color coding: " << _color << std::endl;
// Set trigger off
camera->GetCameraControlTrigger()->SetOnOff(false);
unsigned long w, h;
camera->GetVideoFrameDimensions(&w, &h);
this->width = w;
this->height = h;
// start acquisition
if (camera->StartImageAcquisition() != CAM_SUCCESS)
{
close();
vpERROR_TRACE("vp1394CMUGrabber error: Can't start image acquisition from IEEE 1394 camera number %i",index);
throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
"Error while starting image acquisition") );
}
init = true;
}
} // end camera init
/*!
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
