AVTPikeCam.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */




#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__