Exemplo n.º 1
0
bool CvCaptureCAM_CMU::setFormat(int format)
{
    C1394Camera* cmucam = camera();
    if( !cmucam )
        return false;
    if( format < 0 || format > 2 || !cmucam->HasVideoFormat(format) )
        return false;
    cmucam->StopImageAcquisition();
    cmucam->SetVideoFormat(format);
    cmucam->StartImageAcquisition();
    return true;	
}
Exemplo n.º 2
0
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");	
		}