CameraSensorTypes.h

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/****************************************************************
*
* Copyright (c) 2010
*
* Fraunhofer Institute for Manufacturing Engineering
* and Automation (IPA)
*
* +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
* Project name: care-o-bot
* ROS stack name: cob_common
* ROS package name: cob_camera_sensors
* Description: Type definitions for camera sensors.
*
* +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
* Author: Jan Fischer, email:jan.fischer@ipa.fhg.de
* Supervised by: Jan Fischer, email:jan.fischer@ipa.fhg.de
*
* Date of creation: June 2010
* 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/>.
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****************************************************************/
 


#ifndef __IPA_CAMERASENSORTYPES_H__
#define __IPA_CAMERASENSORTYPES_H__

//#include "../../../../../cob_object_perception_intern/windows/src/PreCompiledHeaders/StdAfx.h"
#include <string>

namespace ipa_CameraSensors {

        enum
        {
                RET_OK =                                                                        0x00000001UL, 
                RET_FAILED =                                                            0x00000002UL, 


                RET_FAILED_OPEN_FILE =                                          0x00000004UL, 
                RET_FAILED_CV_CREATE_CAMERA =                           0x00000008UL, 
                RET_MISSING_INTRINSIC_DISTORTION_PARAMS =       0x00000010UL, 
                RET_FUNCTION_NOT_IMPLEMENTED =              0x00000020UL, 
                RET_XML_ATTR_NOT_FOUND =                                        0x00000040UL, 
                RET_XML_TAG_NOT_FOUND =                                         0x00000080UL, 
                RET_CAMERA_ALREADY_OPEN =                                       0x00000100UL, 
                RET_CAMERA_ALREADY_INITIALIZED =                        0x00000200UL, 
                RET_CAMERA_NOT_OPEN =                                           0x00000400UL, 
                RET_CAMERA_NOT_INITIALIZED =                            0x00000600UL, 
                RET_INIT_CAMERA_FAILED =                                        0x00000800UL, 
                RET_OPEN_CAMERA_FAILED =                                        0x00001000UL, 
                RET_OPEN_CHECK_FAILED =                                         0x00002000UL, 
                RET_INIT_CHECK_FAILED =                                         0x00004000UL, 
                RET_CLOSE_CAMERA_FAILED =                                       0x00008000UL, 
                RET_GET_COLOR_IMAGE_FAILED =                            0x00010000UL, 
                RET_GET_INTRINSIC_PARAMS_FAILED =                       0x00020000UL, 
                RET_SET_INTRINSIC_PARAMS_FAILED =                       0x00040000UL, 
                RET_GET_DISTORTION_COEFFS_FAILED =                      0x00060000UL, 
                RET_SET_DISTORTION_COEFFS_FAILED =                      0x00080000UL, 
                RET_REMOVE_DISTORTION_FAILED =                          0x00100000UL, 
                RET_SET_PROPERTY_DEFAULTS_FAILED =                      0x00200000UL, 
                RET_SAVE_PARAMS_FAILED =                                        0x00400000UL, 
                RET_SET_PROPERTY_FAILED =                                       0x00800000UL, 
                RET_GET_PROPERTY_FAILED =                                       0x01000000UL  
        };

        enum t_cameraType
        {
                CAM_VIRTUALCOLOR = 0,   
                CAM_VIRTUALRANGE,       
                CAM_IC,                         
                CAM_AVTPIKE,            
                CAM_AXIS,               
                CAM_PROSILICA,          
                CAM_SWISSRANGER,        
                CAM_PMDCAM,             
                CAM_KINECT,             
                CAM_OPENCVCAMERA,               
                ROBOT                                   
        };

        enum t_cameraPropertyID
        {
                PROP_BRIGHTNESS = 0,            
                PROP_SHARPNESS,                         
                PROP_WHITE_BALANCE_U,           



                PROP_WHITE_BALANCE_V,           
                PROP_HUE,                                       
                PROP_SATURATION,            
                PROP_GAMMA,                                     
                PROP_EXPOSURE_TIME,                     
                PROP_GAIN,                                      
                PROP_OPTICAL_FILTER,        
                PROP_FRAME_RATE,                        
                PROP_REGISTER,                
                PROP_TIMEOUT,
                PROP_CAMERA_RESOLUTION,         
                PROP_VIDEO_ALL,                         
                PROP_VIDEO_FORMAT,                      
                PROP_VIDEO_MODE,                        
                PROP_COLOR_MODE,                        
                PROP_ISO_SPEED,                         
                PROP_FW_OPERATION_MODE,                 
                PROP_SHUTTER,                           

                PROP_AMPLITUDE_THRESHOLD,       


                PROP_INTEGRATION_TIME,          



                PROP_RESOLUTION,                        
                PROP_MODULATION_FREQUENCY,      

                PROP_ACQUIRE_MODE,                      
                PROP_DISTANCE_OFFSET,           
                PROP_ROI,                                       
                PROP_LENS_CALIBRATION,          
                PROP_DMA_BUFFER_SIZE,           
                PROP_PMD_TYPE                   
        };

        enum t_colorMode
        {
                COLOR_YUV444 = 0,
                COLOR_YUV422,
                COLOR_YUV411,
                COLOR_RGB8,
                COLOR_RGB16S,
                COLOR_RGB16,
                COLOR_MONO8,
                COLOR_MONO16S,
                COLOR_MONO16,
                COLOR_RAW8,
                COLOR_RAW16,
                COLOR_DEFAULT 
        };

        enum t_videoFormat
        {
                FORMAT_0 = 0,
                FORMAT_1,
                FORMAT_2,
                FORMAT_7,
                FORMAT_DEFAULT 
        };

        enum t_videoMode
        {
                MODE_0 = 0,
                MODE_1,
                MODE_2,
                MODE_3,
                MODE_4,
                MODE_5,
                MODE_6,
                MODE_7,
                MODE_DEFAULT 
        };

        enum t_specialValues
        {
                VALUE_AUTO = 0, 
                VALUE_ONESHOT,  
                VALUE_OFF,              
                VALUE_DEFAULT   
        };

        enum t_cameraPropertyType
        {
                TYPE_CAMERA_RESOLUTION =                                        0x00000001L, 
                TYPE_VIDEO_FORMAT =                                                     0x00000002L, 
                TYPE_VIDEO_MODE =                                                       0x00000004L, 
                TYPE_COLOR_MODE =                                                       0x00000008L, 
                TYPE_CHARACTER =                                                        0x00000010L, 
                TYPE_SHORT =                                                            0x00000020L, 
                TYPE_INTEGER =                                                          0x00000040L, 
                TYPE_LONG =                                                                     0x00000080L, 
                TYPE_FLOAT =                                                            0x00000100L, 
                TYPE_DOUBLE =                                                           0x00000200L, 
                TYPE_UNSIGNED =                                                         0x00000400L, 
                TYPE_STRING =                                                           0x00000800L, 
                TYPE_DATA =                                                                     0x00001000L, 
                TYPE_SPECIAL =                                                          0x00002000L  
        };

        struct t_cameraResolution
        {
                int xResolution;
                int yResolution;
        };

        struct t_cameraProperty
        {
                t_cameraPropertyID propertyID; 
                unsigned long propertyType; 



                t_cameraResolution cameraResolution; 
                t_cameraResolution* cameraResolutions; 
                int count_cameraResolution;

                t_videoFormat videoFormat;
                t_videoMode videoMode;
                t_colorMode colorMode;

                t_specialValues specialValue;

                int integerData;
                short shortData;
                double doubleData;
                float floatData;
                char charData;
                long longData;

                unsigned int u_integerData;
                unsigned short u_shortData;
                unsigned char u_charData;
                unsigned long u_longData;

                std::string stringData;

                void* data;             
                int count_data; 

        };

        enum t_CalibrationMethod
        {
                NATIVE = 0,
                MATLAB_NO_Z,
                MATLAB
        };

        enum t_ToFGrayImageType
        {
                INTENSITY_32F1 = 0,
                AMPLITUDE,
                INTENSITY_8U3
        };

        typedef enum
        {
                MASTER = 0,                     
                SLAVE                           
        }t_cameraRole;
} // namespace ipa_CameraSensors

#endif // __IPA_CAMERASENSORTYPES_H__