AVTPikeCam.h

Go to the documentation of this file.

/****************************************************************
*
* Copyright (c) 2010
*
* Fraunhofer Institute for Manufacturing Engineering
* and Automation (IPA)
*
* +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
* Project name: care-o-bot
* ROS stack name: cob_driver
* ROS package name: cob_camera_sensors
* Description: Interface to AVTPikeCam Firewire Camera.
*
* +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
* Author: Jan Fischer, email:jan.fischer@ipa.fhg.de
* Supervised by: Jan Fischer, email:jan.fischer@ipa.fhg.de
*
* Date of creation: Nov 2008
* ToDo:
*
* +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Fraunhofer Institute for Manufacturing
* Engineering and Automation (IPA) nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License LGPL as
* published by the Free Software Foundation, either version 3 of the
* License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License LGPL for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License LGPL along with this program.
* If not, see <http://www.gnu.org/licenses/>.
*
****************************************************************/
 


#ifndef __IPA_AVTPIKECAM_H__
#define __IPA_AVTPIKECAM_H__

#include "StdAfx.h"

#ifdef __LINUX__
        #include "cob_camera_sensors/AbstractColorCamera.h"
#else
        #include "cob_driver/cob_camera_sensors/common/include/cob_camera_sensors/AbstractColorCamera.h"
#endif

#include <cstdlib>

#ifdef _WIN32
        #include <fgcamera.h>
        #ifdef __MINGW__
        typedef unsigned char UINT8;
        #endif
#endif

#define UINT8P_CAST(x) reinterpret_cast<UINT8*>(x)

#ifdef __LINUX__
        #include <dc1394/dc1394.h>
        typedef struct
        {
          unsigned long Low;
          unsigned long High;
        }UINT32HL;
        #define UINT32 unsigned long
        #define _UINT32HL
#endif

#ifdef SWIG
%module Sensors
%include "Source/Vision/CameraSensors/AbstractColorCamera.h"

%{
        #include "AVTPikeCam.h"
%}
#endif

using namespace std;

namespace ipa_CameraSensors {

class __DLL_LIBCAMERASENSORS__ AVTPikeCam : public AbstractColorCamera
{
        class AVTPikeCamDeleter
        {
        public:
                ~AVTPikeCamDeleter() 
                {
#ifndef __LINUX__
                        FGExitModule();
#endif
                };
        };

        private:
                bool m_operationMode_B; 
                UINT32HL m_GUID;                        
                static bool m_OpenExecuted; 
                static AVTPikeCamDeleter m_Deleter; 

#ifdef __LINUX__
                dc1394video_frame_t* m_Frame;
                dc1394_t* m_IEEE1394Info;       
                dc1394camera_list_t* m_IEEE1394Cameras; 
                dc1394camera_t* m_cam;          
                dc1394video_modes_t m_availableVideoModes; 

                dc1394speed_t m_IsoSpeed;                       
                dc1394framerate_t m_FrameRate;          
                dc1394video_mode_t m_VideoMode;         
                dc1394color_coding_t m_ColorCoding;     
#endif

#ifdef _WIN32
                CFGCamera m_cam;                        
                FGNODEINFO m_nodeInfo[5];       
                UINT32 m_NodeCnt;                       
                FGFRAME m_Frame; 
#endif





                unsigned long LoadParameters(const char* filename, int cameraIndex);

                unsigned long SetParameters();

        public:

                AVTPikeCam ();
                ~AVTPikeCam ();

                //*******************************************************************************
                // AbstractColorCamera interface implementation
                //*******************************************************************************

                unsigned long Init(std::string directory, int cameraIndex = 0);

                unsigned long Open();
                unsigned long Close();

                unsigned long GetColorImage(char* colorImageData, bool getLatestFrame);
                unsigned long GetColorImage(cv::Mat* colorImage, bool getLatestFrame);

                unsigned long SaveParameters(const char* filename);             //speichert die Parameter in das File

                unsigned long SetProperty(t_cameraProperty* cameraProperty);
                unsigned long SetPropertyDefaults();
                unsigned long GetProperty(t_cameraProperty* cameraProperty);

                unsigned long PrintCameraInformation();
                unsigned long TestCamera(const char* filename);

                //*******************************************************************************
                // Camera specific functions
                //*******************************************************************************
                
};

__DLL_LIBCAMERASENSORS__ AbstractColorCameraPtr CreateColorCamera_AVTPikeCam();

} // end namespace ipa_CameraSensors

#endif //__IPA_AVTPIKECAM_H__