Linux1394Capture2.h

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// ****************************************************************************
// This file is part of the Integrating Vision Toolkit (IVT).
//
// The IVT is maintained by the Karlsruhe Institute of Technology (KIT)
// (www.kit.edu) in cooperation with the company Keyetech (www.keyetech.de).
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// 1. Redistributions of source code must retain the above copyright
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//    used to endorse or promote products derived from this software
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//
// THIS SOFTWARE IS PROVIDED BY THE KIT AND CONTRIBUTORS “AS IS” AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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// ****************************************************************************
// ****************************************************************************
// Filename:  Linux1394Capture2.h
// Author:    Kai Welke, Pedram Azad
// Date:      2007
// ****************************************************************************
// Requires:  * libdc1394v2
//            * libraw1394 >= 1.2.0
// ****************************************************************************
// Changes:   20.12.2007. Kai Welke
//            * Built CLinux1394Capture2 on base of CLinux1394Capture
//            * switched from libdc1394v1 to libdc1394v2 (solved problem 
//              with QT and allowed to use full firewire bandwidth)
//            * added check for maximum bandwidth
//            * generic camera feature access
//            * Format7_0 implemented with ROI and framerate settings
//              format7 support is camera dependant (dragonfly only
//              supports two discrete framerates, dragonfly2 can be
//              adjusted from 0.x ... 60.0 frames.
// ****************************************************************************


#ifndef _LINUX_1394_CAPTURE_2_H_
#define _LINUX_1394_CAPTURE_2_H_


// ****************************************************************************
// Necessary includes
// ****************************************************************************

#include "Interfaces/VideoCaptureInterface.h"
#include "Image/ImageProcessor.h"
#include <string>
#include <vector>

#include <libraw1394/raw1394.h>
#include <dc1394/dc1394.h>


// ****************************************************************************
// Forward declarations
// ****************************************************************************

class CByteImage;


// ****************************************************************************
// Defines
// ****************************************************************************

// don't set this smaller than 2
#define MAX_CAMERAS 4 
// maximum bandwidth of firewire (in quadlets / cycle)
#define MAX_S400_BANDWIDTH 4915



// ****************************************************************************
// CLinux1394Capture2
// ****************************************************************************

class CLinux1394Capture2 : public CVideoCaptureInterface
{
public:
        // constructor, variable arguments are camera uids as const char*
        CLinux1394Capture2(int nCameras, VideoMode mode, ColorMode colorMode, ImageProcessor::BayerPatternType bayerPatternType = ImageProcessor::eBayerRG, FrameRate frameRate = e30fps); 
        CLinux1394Capture2(VideoMode mode, ColorMode colorMode, ImageProcessor::BayerPatternType bayerPatternType = ImageProcessor::eBayerRG, FrameRate frameRate = e30fps, int nNumberUIDs = 0, ...);
        
        // format 7 modes
        CLinux1394Capture2(int nCameras, VideoMode mode, float fFormat7FrameRate = 30.0f, int nFormat7MinX = 0, int nFormat7MinY = 0, int nFormat7Width = -1, int nFormat7Height = -1, ColorMode colorMode = CVideoCaptureInterface::eBayerPatternToRGB24, ImageProcessor::BayerPatternType bayerPatternType = ImageProcessor::eBayerRG);
        
        CLinux1394Capture2(VideoMode mode, float fFormat7FrameRate = 30.0f, int nFormat7MinX = 0, int nFormat7MinY = 0, int nFormat7Width = -1, int nFormat7Height = -1, ColorMode colorMode = CVideoCaptureInterface::eBayerPatternToRGB24, ImageProcessor::BayerPatternType bayerPatternType = ImageProcessor::eBayerRG, int nNumberUIDs = 0, ...);
        
        
        // destructor
        ~CLinux1394Capture2();


        // public methods
        bool OpenCamera();
        void CloseCamera();
        bool CaptureImage(CByteImage **ppImages);
        bool CaptureBayerPatternImage(CByteImage **ppImages);
        
    // SetCameraUids can be used if the UIDs are determined dynamically
        void SetCameraUids(std::vector<std::string> uids);   
        void SetGain(int nValue);
        void SetExposure(int nValue);
        void SetShutter(int nValue);
        void SetWhiteBalance(int nU, int nV, int nCamera = -1);
        void SetTemperature(int nTemperature);
        void SetFeature(dc1394feature_t feature, std::string sName, int nValue);

        void ListFeatures();
        
        int GetWidth() { return width; }
        int GetHeight() { return height; }
        CByteImage::ImageType GetType();
        int GetNumberOfCameras() { return m_nCameras; }
        
        dc1394camera_t* GetCameraHandle(int Index) { return m_cameras[Index]; }

        VideoMode GetVideoMode() const {return m_mode;}
        FrameRate GetFrameRate() const {return m_frameRate;}

protected:
        // private methods
        void InitFirstInstance();
        void ExitLastInstance();
        void ResetAllCameras();
        
        bool OpenCamera(int nCamera);
        bool InitCameraMode();
        dc1394framerate_t GetDCFrameRateMode(FrameRate frameRate);

        // conversion
        void ConvertYUV411(CByteImage* pInput, CByteImage* pOutput);
        void YUVToRGB(int y, int u, int v, unsigned char* output);

        // multiple camera handling
        bool ListCameras();
        std::string CamUIDToString(uint64_t uid);
        
        // private attributes
        // temporary images for capruting
        CByteImage *m_pTempImageHeader;
        
        int m_nMode;

        int width;
        int height;
        
        // number of cameras requested by user
        int m_nCameras;
        // requested video mode (see VideoCaptureInterface.h)
        const VideoMode m_mode;
        // requested color mode (see VideoCaptureInterface.h)
        const ColorMode m_colorMode;
        // requested frame rate (see VideoCaptureInterface.h)
        FrameRate m_frameRate;
        // requested bayer pattern type (see ImageProcessor.h)
        const ImageProcessor::BayerPatternType m_bayerPatternType;
        // unique camera ids as requested by user
        std::string m_sCameraUID[MAX_CAMERAS];
        bool m_bUseUIDs;
        // opened camera ids
        int m_nOpenedCameras[MAX_CAMERAS];
        // video mode
        dc1394video_mode_t m_video_mode;
        // format 7 mode
        bool m_bFormat7Mode;
        float m_fFormat7FrameRate;
        int m_nFormat7MinX;
        int m_nFormat7MinY;
        int m_nFormat7Width;
        int m_nFormat7Height;
        
        // static for all instances
        // lib dc + raw specific camera data
        static dc1394_t*       m_pDC1394;
        static dc1394camera_t* m_cameras[MAX_CAMERAS];

        // internal camera data
        static int m_nOverallCameras;
        static int m_nRemainingBandwidth;
        static CLinux1394Capture2 *m_pCameraOpener[MAX_CAMERAS];
        static int m_nCameraBandwidth[MAX_CAMERAS];

        // static instance counter for handle destruction
        static int m_nInstances;
};



#endif /* _LINUX_1394_CAPTURE_2_H_ */