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00053 #include "../include/cob_camera_sensors/StdAfx.h"
00054
00055 #ifdef __LINUX__
00056 #include "cob_camera_sensors/AVTPikeCam.h"
00057 #include "tinyxml.h"
00058 #else
00059 #include "cob_driver/cob_camera_sensors/common/include/cob_camera_sensors/AVTPikeCam.h"
00060 #include "cob_vision/windows/src/extern/TinyXml/tinyxml.h"
00061 #endif
00062
00063 #include <iostream>
00064
00065 using namespace std;
00066 using namespace ipa_CameraSensors;
00067
00068 bool AVTPikeCam::m_OpenExecuted = false;
00069 AVTPikeCam::AVTPikeCamDeleter AVTPikeCam::m_Deleter;
00070
00071 __DLL_LIBCAMERASENSORS__ AbstractColorCameraPtr ipa_CameraSensors::CreateColorCamera_AVTPikeCam()
00072 {
00073 return AbstractColorCameraPtr(new AVTPikeCam());
00074 }
00075
00076 AVTPikeCam::AVTPikeCam()
00077 {
00078 m_initialized = false;
00079 m_open = false;
00080 m_BufferSize = 3;
00081
00082 #ifdef __LINUX__
00083 m_cam = 0;
00084 m_IEEE1394Cameras = 0;
00085 m_IEEE1394Info = 0;
00086 m_Frame = 0;
00087 #endif
00088 #ifndef __LINUX__
00089 m_Frame.pData = 0;
00090 #endif
00091
00092 }
00093
00094 AVTPikeCam::~AVTPikeCam()
00095 {
00096 if (isOpen())
00097 {
00098 Close();
00099 }
00100
00101 #ifdef __LINUX__
00102 if (m_IEEE1394Info != 0)
00103 {
00104 dc1394_free(m_IEEE1394Info);
00105 m_IEEE1394Info = 0;
00106 }
00107 #endif
00108 }
00109
00110
00111 unsigned long AVTPikeCam::Init(std::string directory, int cameraIndex)
00112 {
00113 if (isInitialized())
00114 {
00115 return (RET_OK | RET_CAMERA_ALREADY_INITIALIZED);
00116 }
00117 m_initialized = false;
00118 m_CameraType = ipa_CameraSensors::CAM_AVTPIKE;
00119
00120 #ifdef __LINUX__
00121
00122
00123 std::string iniFileNameAndPath = directory + "cameraSensorsIni.xml";
00124 if (LoadParameters(iniFileNameAndPath.c_str(), cameraIndex) & RET_FAILED)
00125 {
00126 return (RET_FAILED | RET_INIT_CAMERA_FAILED);
00127 }
00128
00129
00130
00131 if (m_IEEE1394Info == 0)
00132 {
00133 m_IEEE1394Info = dc1394_new();
00134 }
00135 dc1394error_t err = dc1394_camera_enumerate(m_IEEE1394Info, &m_IEEE1394Cameras);
00136 if (err!=DC1394_SUCCESS)
00137 {
00138 std::cerr << "ERROR - AVTPikeCam::Init:" << std::endl;
00139 std::cerr << "\t ... Failed to enumerate cameras" << std::endl;
00140 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
00141 return RET_FAILED;
00142 }
00143
00144 if (m_IEEE1394Cameras->num == 0)
00145 {
00146 std::cerr << "ERROR - AVTPikeCam::Init:" << std::endl;
00147 std::cerr << "\t ... No cameras found" << std::endl;
00148 return RET_FAILED;
00149 }
00150
00151 m_initialized = true;
00152 return RET_OK;
00153
00154 #else
00155
00156 std::string iniFileNameAndPath = directory + "cameraSensorsIni.xml";
00157 if (LoadParameters(iniFileNameAndPath.c_str(), cameraIndex) & RET_FAILED)
00158 {
00159 return (RET_FAILED | RET_INIT_CAMERA_FAILED);
00160 }
00161
00162 UINT32 err;
00163
00164
00165 if (m_OpenExecuted == false)
00166 {
00167 m_OpenExecuted = true;
00168 UINT32 err = FGInitModule(NULL);
00169 if(err!=FCE_NOERROR)
00170 {
00171 std::cerr << "ERROR - AVTPikeCam::Init:" << std::endl;
00172 std::cerr << "\t ... Initialization of FireGrab library failed. ( error " << err << " )" << std::endl;
00173 return RET_FAILED;
00174 }
00175 }
00176
00177
00178
00179 m_NodeCnt = 0;
00180 err=FGGetNodeList(m_nodeInfo, 5, &m_NodeCnt);
00181 if(err!=FCE_NOERROR)
00182 {
00183 std::cerr << "ERROR - AVTPikeCam::Init:" << std::endl;
00184 std::cerr << "\t ... Retrival of connected IEEE1394 nodes failed. ( error " << err << " )" << std::endl;
00185 return RET_FAILED;
00186 }
00187
00188 if (m_NodeCnt <= 0)
00189 {
00190 std::cout << "ERROR - AVTPikeCam::Init:" << std::endl;
00191 std::cerr << "\t ... No cameras found." << std::endl;
00192 return RET_FAILED;
00193 }
00194 else
00195 {
00196 std::cout << "INFO - AVTPikeCam::Init:" << std::endl;
00197 std::cout << "\t ... Detected '" << m_NodeCnt << "' IEEE1394 node(s)" << std::endl;
00198 for(unsigned int i=0; i < m_NodeCnt; i++)
00199 {
00200 printf ("\t ... GUID of node '%i' is %-#08lX %-#08lX \n", i+1, m_nodeInfo[i].Guid.High, m_nodeInfo[i].Guid.Low);
00201 }
00202 }
00203
00204 m_initialized = true;
00205 return RET_OK;
00206
00207 #endif
00208 }
00209
00210
00211 unsigned long AVTPikeCam::Open()
00212 {
00213 if (!isInitialized())
00214 {
00215 std::cerr << "ERROR - AVTPikeCam::Open:" << std::endl;
00216 std::cerr << "\t ... Camera not initialized." << std::endl;
00217 return (RET_FAILED);
00218 }
00219 m_open = false;
00220
00221
00222 #ifdef __LINUX__
00223 dc1394error_t err;
00224
00225
00226 unsigned int i=0;
00227 for(; i<m_IEEE1394Cameras->num; i++)
00228 {
00229 uint64_t high = m_GUID.High;
00230 uint64_t low = m_GUID.Low;
00231 uint64_t guid = (high << 32) + low;
00232 if (m_IEEE1394Cameras->ids[i].guid == guid) break;
00233 }
00234
00235 if (i == m_IEEE1394Cameras->num)
00236 {
00237 printf ("ERROR - AVTPikeCam::Open: \n\t ... Could not detect specified camera GUID %#08lX %#08lX on IEEE1394 bus\n", m_GUID.High, m_GUID.Low);
00238 return RET_FAILED;
00239 }
00240
00241 m_cam = dc1394_camera_new(m_IEEE1394Info, m_IEEE1394Cameras->ids[i].guid);
00242 if (m_cam == 0)
00243 {
00244 m_open = false;
00245 return RET_FAILED;
00246 }
00247
00248 dc1394_camera_free_list(m_IEEE1394Cameras);
00249
00250
00251 if (SetParameters() & ipa_CameraSensors::RET_FAILED)
00252 {
00253 std::cerr << "ERROR - AVTPikeCam::Open:" << std::endl;
00254 std::cerr << "\t... Error while setting parameters" << std::endl;
00255 return RET_FAILED;
00256 }
00257
00258 err = dc1394_capture_setup(m_cam, m_BufferSize, DC1394_CAPTURE_FLAGS_DEFAULT);
00259
00260 if (err!=DC1394_SUCCESS)
00261 {
00262 std::cout << "INFO - AVTPikeCam::Open:" << std::endl;
00263 std::cout << "\t ... Releasing bandwdith and retrying to setup DMA capture" << std::endl;
00264 uint32_t bandwidth = -1;
00265 err = dc1394_video_get_bandwidth_usage(m_cam, &bandwidth);
00266 if (err!=DC1394_SUCCESS)
00267 {
00268 std::cerr << "ERROR - AVTPikeCam::Open:" << std::endl;
00269 std::cerr << "\t ... Failed to get bandwith usage of camera device" << std::endl;
00270 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
00271 return RET_FAILED;
00272 }
00273 dc1394_iso_release_bandwidth(m_cam, bandwidth);
00274 if (err!=DC1394_SUCCESS)
00275 {
00276 std::cerr << "ERROR - AVTPikeCam::Open:" << std::endl;
00277 std::cerr << "\t ... Failed to relase requested bandwidth '" << bandwidth << "'" << std::endl;
00278 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
00279 return RET_FAILED;
00280 }
00281 err = dc1394_capture_setup(m_cam, m_BufferSize, DC1394_CAPTURE_FLAGS_DEFAULT);
00282 if (err!=DC1394_SUCCESS)
00283 {
00284 std::cerr << "ERROR - AVTPikeCam::Open:" << std::endl;
00285 std::cerr << "\t ... Failed to setup cameras device" << std::endl;
00286 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
00287 return RET_FAILED;
00288 }
00289 }
00290
00291
00292
00293 err=dc1394_video_set_transmission(m_cam, DC1394_ON);
00294 if (err!=DC1394_SUCCESS)
00295 {
00296 std::cerr << "ERROR - AVTPikeCam::Open:" << std::endl;
00297 std::cerr << "\t ... 'dc1394_video_set_transmission' failed." << std::endl;
00298 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
00299 return RET_FAILED;
00300 }
00301
00302 #else
00303
00304 UINT32 err;
00305
00306
00307 unsigned int i=0;
00308 for(; i<m_NodeCnt; i++)
00309 {
00310 if (m_nodeInfo[i].Guid.Low - m_GUID.Low == 0 &&
00311 m_nodeInfo[i].Guid.High - m_GUID.High == 0) break;
00312 }
00313
00314 if (i == m_NodeCnt)
00315 {
00316 printf ("ERROR - AVTPikeCam::Open: \n\t ... Could not detect specified camera GUID %#08lX %#08lX on IEEE1394 bus\n", m_GUID.High, m_GUID.Low);
00317 return RET_FAILED;
00318 }
00319
00320 err=m_cam.Connect(&m_GUID);
00321 if(err!=FCE_NOERROR)
00322 {
00323 std::cerr << "ERROR - AVTPikeCam::Open:" << std::endl;
00324 std::cerr << "\t ... Could not connect to camera. ( error " << err << " )" << std::endl;
00325 return RET_FAILED;
00326 }
00327
00328 if (SetParameters() & ipa_CameraSensors::RET_FAILED)
00329 {
00330 std::cerr << "ERROR - AVTPikeCam::Open:" << std::endl;
00331 std::cerr << "\t ... Could not set parameters. ( error " << err << " )" << std::endl;
00332 return RET_FAILED;
00333 }
00334
00335 err = m_cam.SetParameter(FGP_FRAMEBUFFERCOUNT, m_BufferSize);
00336 if(err!=FCE_NOERROR)
00337 {
00338 std::cerr << "ERROR - AVTPikeCam::Open:" << std::endl;
00339 std::cerr << "\t ... Could not set DMA buffer size to '"<< m_BufferSize
00340 << "' ( error " << err << " )" << std::endl;
00341 return RET_FAILED;
00342 }
00343
00344
00345 err=m_cam.OpenCapture();
00346 if(err!=FCE_NOERROR)
00347 {
00348 std::cerr << "ERROR - AVTPikeCam::Open:" << std::endl;
00349 std::cerr << "\t ... Could not start DMA logic ( error " << err << " )" << std::endl;
00350 return RET_FAILED;
00351 }
00352
00353
00354 err=m_cam.StartDevice();
00355 if(err!=FCE_NOERROR)
00356 {
00357 std::cerr << "ERROR - AVTPikeCam::Open:" << std::endl;
00358 std::cerr << "\t ... Could not start camera device ( error " << err << " )" << std::endl;
00359 return RET_FAILED;
00360 }
00361
00362 #endif
00363 std::cout << "**************************************************" << std::endl;
00364 std::cout << "AVTPikeCam::Open: AVT Pike 145C camera device OPEN" << std::endl;
00365 std::cout << "**************************************************" << std::endl << std::endl;
00366 m_open = true;
00367 return RET_OK;
00368 }
00369
00370
00371 unsigned long AVTPikeCam::SaveParameters(const char* filename)
00372 {
00373 return RET_FAILED;
00374 }
00375
00376
00377
00378
00379
00380 unsigned long AVTPikeCam::Close()
00381 {
00382 if (!isOpen())
00383 {
00384 return (RET_OK);
00385 }
00386
00387 #ifdef __LINUX__
00388 if (m_cam != 0)
00389 {
00390
00391 dc1394error_t err;
00392 err=dc1394_video_set_transmission(m_cam, DC1394_OFF);
00393 if (err!=DC1394_SUCCESS)
00394 {
00395 std::cerr << "ERROR - AVTPikeCam::Close:" << std::endl;
00396 std::cerr << "\t ... 'dc1394_video_set_transmission' failed." << std::endl;
00397 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
00398 return RET_FAILED;
00399 }
00400 dc1394_capture_stop(m_cam);
00401 dc1394_camera_free(m_cam);
00402 m_cam = 0;
00403 }
00404 #else
00405
00406 UINT32 err;
00407 err=m_cam.StopDevice();
00408 if(err!=FCE_NOERROR)
00409 {
00410 std::cerr << "ERROR - AVTPikeCam::Close:" << std::endl;
00411 std::cerr << "\t ... Could not stop camera device ( error " << err << " )" << std::endl;
00412 }
00413
00414
00415
00416 err=m_cam.CloseCapture();
00417 if(err!=FCE_NOERROR)
00418 {
00419 std::cerr << "ERROR - AVTPikeCam::Close:" << std::endl;
00420 std::cerr << "\t ... Could not close capture logic. ( error " << err << " )" << std::endl; return RET_FAILED;
00421 }
00422
00423
00424 err=m_cam.Disconnect();
00425 if(err!=FCE_NOERROR)
00426 {
00427 std::cerr << "ERROR - AVTPikeCam::Close:" << std::endl;
00428 std::cerr << "\t ... Could not disconnect camera. ( error " << err << " )" << std::endl; return RET_FAILED;
00429 }
00430
00431
00432 #endif
00433
00434 m_open = false;
00435 return RET_OK;
00436 }
00437
00438
00439
00440 unsigned long AVTPikeCam::SetPropertyDefaults()
00441 {
00442 return RET_FUNCTION_NOT_IMPLEMENTED;
00443 }
00444
00445 unsigned long AVTPikeCam::GetProperty(t_cameraProperty* cameraProperty)
00446 {
00447 #ifdef __LINUX__
00448 dc1394error_t err;
00449 switch (cameraProperty->propertyID)
00450 {
00451 case PROP_DMA_BUFFER_SIZE:
00452 cameraProperty->u_integerData = m_BufferSize;
00453 return RET_OK;
00454 break;
00455 case PROP_CAMERA_RESOLUTION:
00456 if (isOpen())
00457 {
00458 uint32_t imageWidth = -1;
00459 uint32_t imageHeight = -1;
00460 dc1394video_mode_t videoMode;
00461 err=dc1394_video_get_mode(m_cam, &videoMode);
00462 if (err!=DC1394_SUCCESS)
00463 {
00464 std::cerr << "ERROR - AVTPikeCam::GetProperty:" << std::endl;
00465 std::cerr << "\t ... Failed to get video mode." << std::endl;
00466 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
00467 return RET_FAILED;
00468 }
00469
00470 err = dc1394_get_image_size_from_video_mode(m_cam, videoMode, &imageWidth, &imageHeight);
00471 if (err!=DC1394_SUCCESS)
00472 {
00473 std::cerr << "ERROR - AVTPikeCam::GetProperty:" << std::endl;
00474 std::cerr << "\t ... Failed to get image size." << std::endl;
00475 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
00476 return RET_FAILED;
00477 }
00478 cameraProperty->cameraResolution.xResolution = (int) imageWidth;
00479 cameraProperty->cameraResolution.yResolution = (int) imageHeight;
00480 }
00481 else
00482 {
00483 std::cout << "WARNING - AVTPikeCam::GetProperty:" << std::endl;
00484 std::cout << "\t ... Camera not open" << std::endl;
00485 std::cout << "\t ... Resetting width and height to '1388'x'1038'" << std::endl;
00486 cameraProperty->cameraResolution.xResolution = 1388;
00487 cameraProperty->cameraResolution.yResolution = 1038;
00488 cameraProperty->propertyType = TYPE_CAMERA_RESOLUTION;
00489 }
00490
00491 return RET_OK;
00492 break;
00493 default:
00494 std::cerr << "ERROR - AVTPikeCam::GetProperty:" << std::endl;
00495 std::cerr << "\t ... Property " << cameraProperty->propertyID << " unspecified" << std::endl;
00496 return RET_FAILED;
00497 break;
00498 }
00499 return RET_OK;
00500 #endif
00501 #ifndef __LINUX__
00502 UINT32 err;
00503 switch (cameraProperty->propertyID)
00504 {
00505 case PROP_BRIGHTNESS:
00506
00507 break;
00508 case PROP_EXPOSURE_TIME:
00509
00510 break;
00511 case PROP_WHITE_BALANCE_U:
00512
00513 break;
00514 case PROP_WHITE_BALANCE_V:
00515
00516 break;
00517 case PROP_HUE:
00518
00519 break;
00520 case PROP_SATURATION:
00521
00522 break;
00523 case PROP_GAMMA:
00524
00525 break;
00526 case PROP_GAIN:
00527
00528 break;
00529 case PROP_CAMERA_RESOLUTION:
00530 if (isOpen())
00531 {
00532 UINT32 x;
00533 UINT32 y;
00534
00535 err = m_cam.GetParameter(FGP_XSIZE, &x);
00536 if(err!=FCE_NOERROR)
00537 {
00538 std::cerr << "ERROR - AVTPikeCam::GetProperty:" << std::endl;
00539 std::cerr << "\t ... Could not read image width ( error " << err << " )" << std::endl;
00540 return RET_FAILED;
00541 }
00542 m_cam.GetParameter(FGP_YSIZE, &y);
00543 if(err!=FCE_NOERROR)
00544 {
00545 std::cerr << "ERROR - AVTPikeCam::GetProperty:" << std::endl;
00546 std::cerr << "\t ... Could not read image height ( error " << err << " )" << std::endl;
00547 return RET_FAILED;
00548 }
00549 cameraProperty->cameraResolution.xResolution = x;
00550 cameraProperty->cameraResolution.yResolution = y;
00551 }
00552 else
00553 {
00554 std::cout << "WARNING - AVTPikeCam::GetProperty:" << std::endl;
00555 std::cout << "\t ... Camera not open" << std::endl;
00556 std::cout << "\t ... Resetting width and height to '1388'x'1038'" << std::endl;
00557 cameraProperty->cameraResolution.xResolution = 1388;
00558 cameraProperty->cameraResolution.yResolution = 1038;
00559 cameraProperty->propertyType = TYPE_CAMERA_RESOLUTION;
00560 }
00561
00562 return RET_OK;
00563 break;
00564 case PROP_FW_OPERATION_MODE:
00565 cameraProperty->propertyType = TYPE_STRING;
00566 if (m_operationMode_B == false) cameraProperty->stringData == "A";
00567 else if (m_operationMode_B == true) cameraProperty->stringData == "B";
00568 break;
00569 case PROP_DMA_BUFFER_SIZE:
00570 cameraProperty->u_integerData = m_BufferSize;
00571 return RET_OK;
00572 break;
00573 case PROP_ISO_SPEED:
00574
00575 break;
00576 default:
00577 std::cerr << "ERROR - AVTPikeCam::GetProperty:" << std::endl;
00578 std::cerr << "\t ... Property " << cameraProperty->propertyID << " unspecified";
00579 return RET_FAILED;
00580 break;
00581
00582 }
00583
00584 return RET_OK;
00585 #endif
00586 }
00587
00588
00589 unsigned long AVTPikeCam::GetColorImage(char* colorImageData, bool getLatestFrame)
00590 {
00591 if (!isOpen())
00592 {
00593 std::cerr << "ERROR - AVTPikeCam::GetColorImage:" << std::endl;
00594 std::cerr << "\t ... Color camera not open." << std::endl;
00595 return (RET_FAILED | RET_CAMERA_NOT_OPEN);
00596 }
00597 #ifdef __LINUX__
00598
00599 dc1394error_t err;
00600
00601 if (m_Frame)
00602 {
00603
00604 err=dc1394_capture_enqueue(m_cam, m_Frame);
00605 if (err!=DC1394_SUCCESS)
00606 {
00607 std::cerr << "AVTPikeCam::GetColorImage:" << std::endl;
00608 std::cerr << "\t ... 'dc1394_capture_enqueue' failed." << std::endl;
00609 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
00610 return RET_FAILED;
00611 }
00612 }
00613
00614
00615
00616
00617 if (getLatestFrame)
00618 {
00619
00620 do
00621 {
00622 m_Frame = 0;
00623 err=dc1394_capture_dequeue(m_cam, DC1394_CAPTURE_POLICY_POLL, &m_Frame);
00624 if (err!=DC1394_SUCCESS)
00625 {
00626 std::cerr << "ERROR - AVTPikeCam::GetColorImage:" << std::endl;
00627 std::cerr << "\t ... 'dc1394_capture_dequeue' failed." << std::endl;
00628 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
00629 return RET_FAILED;
00630 }
00631
00632 if (m_Frame == 0)
00633 {
00634 break;
00635 }
00636
00637 err=dc1394_capture_enqueue(m_cam, m_Frame);
00638 if (err!=DC1394_SUCCESS)
00639 {
00640 std::cerr << "ERROR - AVTPikeCam::GetColorImage:" << std::endl;
00641 std::cerr << "\t ... 'dc1394_capture_enqueue' failed." << std::endl;
00642 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
00643 return RET_FAILED;
00644 }
00645 }
00646 while (true);
00647 }
00648
00649
00650
00651
00652
00653 err=dc1394_capture_dequeue(m_cam, DC1394_CAPTURE_POLICY_WAIT, &m_Frame);
00654 if (err!=DC1394_SUCCESS)
00655 {
00656 std::cerr << "ERROR - AVTPikeCam::GetColorImage:" << std::endl;
00657 std::cerr << "\t ... 'dc1394_capture_dequeue' failed." << std::endl;
00658 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
00659 return RET_FAILED;
00660 }
00661 unsigned char * src = (unsigned char *)m_Frame->image;
00662 unsigned char * dst = (unsigned char *)colorImageData;
00663
00664
00665 int width;
00666 int height;
00667 ipa_CameraSensors::t_cameraProperty cameraProperty;
00668 cameraProperty.propertyID = PROP_CAMERA_RESOLUTION;
00669 if (GetProperty(&cameraProperty) & RET_FAILED) return RET_FAILED;
00670 width = cameraProperty.cameraResolution.xResolution;
00671 height = cameraProperty.cameraResolution.yResolution;
00672
00673 for (int i=0;i<width*height*3;i+=6)
00674 {
00675 dst[i] = src[i+2];
00676 dst[i+1] = src[i+1];
00677 dst[i+2] = src[i];
00678 dst[i+3] = src[i+5];
00679 dst[i+4] = src[i+4];
00680 dst[i+5] = src[i+3];
00681 }
00682
00683 return RET_OK;
00684
00685 #else
00686
00687 UINT32 err;
00688
00689
00690 if (m_Frame.pData != 0)
00691 {
00692
00693 err=m_cam.PutFrame(&m_Frame);
00694 if(err!=FCE_NOERROR)
00695 {
00696 std::cerr << "ERROR - AVTPikeCam::GetColorImage:" << std::endl;
00697 std::cerr << "\t ... Could not release image buffer ( error " << err << " )" << std::endl;
00698 return RET_FAILED;
00699 }
00700 }
00701
00702 if (getLatestFrame)
00703 {
00704
00705
00706 err = m_cam.DiscardFrames();
00707 if(err!=FCE_NOERROR)
00708 {
00709 std::cerr << "ERROR - AVTPikeCam::GetColorImage:" << std::endl;
00710 std::cerr << "\t ... Could not reset image buffers ( error " << err << " )" << std::endl;
00711 return RET_FAILED;
00712 }
00713 }
00714
00715
00716
00717 err = m_cam.GetFrame(&m_Frame);
00718 if(err!=FCE_NOERROR)
00719 {
00720 std::cerr << "AVTPikeCam::GetColorImage:" << std::endl;
00721 std::cerr << "\t ... Could not acquire image ( error " << err << " )" << std::endl;
00722 return RET_FAILED;
00723 }
00724
00725 unsigned char * src = (unsigned char *)m_Frame.pData;
00726 unsigned char * dst = (unsigned char *)colorImageData;
00727
00728
00729 int width;
00730 int height;
00731 ipa_CameraSensors::t_cameraProperty cameraProperty;
00732 cameraProperty.propertyID = PROP_CAMERA_RESOLUTION;
00733 if (GetProperty(&cameraProperty) & RET_FAILED) return RET_FAILED;
00734 width = cameraProperty.cameraResolution.xResolution;
00735 height = cameraProperty.cameraResolution.yResolution;
00736
00737 for (int i=0; i<width*height*3; i+=6)
00738 {
00739 dst[i] = src[i+2];
00740 dst[i+1] = src[i+1];
00741 dst[i+2] = src[i];
00742 dst[i+3] = src[i+5];
00743 dst[i+4] = src[i+4];
00744 dst[i+5] = src[i+3];
00745 }
00746
00747 return RET_OK;
00748
00749 #endif
00750 }
00751
00752 unsigned long AVTPikeCam::GetColorImage(cv::Mat* colorImage, bool getLatestFrame)
00753 {
00754 if (!isOpen())
00755 {
00756 std::cerr << "ERROR - AVTPikeCam::GetColorImage:" << std::endl;
00757 std::cerr << "\t ... Color camera not open." << std::endl;
00758 return (RET_FAILED | RET_CAMERA_NOT_OPEN);
00759 }
00760
00761 CV_Assert(colorImage != 0);
00762
00763 int width;
00764 int height;
00765 ipa_CameraSensors::t_cameraProperty cameraProperty;
00766 cameraProperty.propertyID = PROP_CAMERA_RESOLUTION;
00767 if (GetProperty(&cameraProperty) & RET_FAILED) return RET_FAILED;
00768 width = cameraProperty.cameraResolution.xResolution;
00769 height = cameraProperty.cameraResolution.yResolution;
00770
00771
00772 colorImage->create(height, width, CV_8UC3);
00773 return GetColorImage(colorImage->ptr<char>(0), getLatestFrame);
00774 }
00775
00776 unsigned long AVTPikeCam::PrintCameraInformation()
00777 {
00778 #ifndef __LINUX__
00779 FGPINFO info;
00780 string parameterName;
00781 std::cout << "INFO - AVTPikeCam::PrintCameraInformation:" << std::endl;
00782
00783 for (int ID = FGP_BRIGHTNESS; ID <= FGP_BRIGHTNESS+10; ID++)
00784 {
00785 switch (ID)
00786 {
00787 case 0: parameterName = "FGP_IMAGEFORMAT"; break;
00788 case 1: parameterName = "FGP_ENUMIMAGEFORMAT"; break;
00789 case 2: parameterName = "FGP_BRIGHTNESS"; break;
00790 case 3: parameterName = "FGP_AUTOEXPOSURE"; break;
00791 case 4: parameterName = "FGP_SHARPNESS"; break;
00792 case 5: parameterName = "FGP_WHITEBALCB"; break;
00793 case 6: parameterName = "FGP_WHITEBALCR"; break;
00794 case 7: parameterName = "FGP_HUE"; break;
00795 case 8: parameterName = "FGP_SATURATION"; break;
00796 case 9: parameterName = "FGP_GAMMA"; break;
00797 case 10: parameterName = "FGP_SHUTTER"; break;
00798 case 11: parameterName = "FGP_GAIN"; break;
00799 case 12: parameterName = "FGP_IRIS"; break;
00800 case 13: parameterName = "FGP_FOCUS"; break;
00801 case 14: parameterName = "FGP_TEMPERATURE"; break;
00802 case 15: parameterName = "FGP_TRIGGER"; break;
00803 case 16: parameterName = "FGP_TRIGGERDLY"; break;
00804 case 17: parameterName = "FGP_WHITESHD"; break;
00805 case 18: parameterName = "FGP_FRAMERATE"; break;
00806 case 19: parameterName = "FGP_ZOOM"; break;
00807 case 20: parameterName = "FGP_PAN"; break;
00808 case 21: parameterName = "FGP_TILT"; break;
00809 case 22: parameterName = "FGP_OPTICALFILTER"; break;
00810 case 23: parameterName = "FGP_CAPTURESIZE"; break;
00811 case 24: parameterName = "FGP_CAPTUREQUALITY"; break;
00812 case 25: parameterName = "FGP_PHYSPEED"; break;
00813 case 26: parameterName = "FGP_XSIZE"; break;
00814 case 27: parameterName = "FGP_YSIZE"; break;
00815 case 28: parameterName = "FGP_XPOSITION"; break;
00816 case 29: parameterName = "FGP_YPOSITION"; break;
00817 case 30: parameterName = "FGP_PACKETSIZE"; break;
00818 case 31: parameterName = "FGP_DMAMODE"; break;
00819 case 32: parameterName = "FGP_BURSTCOUNT"; break;
00820 case 33: parameterName = "FGP_FRAMEBUFFERCOUNT"; break;
00821 case 34: parameterName = "FGP_USEIRMFORBW"; break;
00822 case 35: parameterName = "FGP_ADJUSTPARAMETERS"; break;
00823 case 36: parameterName = "FGP_STARTIMMEDIATELY"; break;
00824 case 37: parameterName = "FGP_FRAMEMEMORYSIZE"; break;
00825 case 38: parameterName = "FGP_COLORFORMAT"; break;
00826 case 39: parameterName = "FGP_IRMFREEBW"; break;
00827 case 40: parameterName = "FGP_DO_FASTTRIGGER"; break;
00828 case 41: parameterName = "FGP_DO_BUSTRIGGER"; break;
00829 case 42: parameterName = "FGP_RESIZE"; break;
00830 case 43: parameterName = "FGP_USEIRMFORCHN"; break;
00831 case 44: parameterName = "FGP_CAMACCEPTDELAY"; break;
00832 case 45: parameterName = "FGP_ISOCHANNEL"; break;
00833 case 46: parameterName = "FGP_CYCLETIME"; break;
00834 case 47: parameterName = "FGP_DORESET"; break;
00835 case 48: parameterName = "FGP_DMAFLAGS"; break;
00836 case 49: parameterName = "FGP_R0C"; break;
00837 case 50: parameterName = "FGP_BUSADDRESS"; break;
00838 case 51: parameterName = "FGP_CMDTIMEOUT"; break;
00839 case 52: parameterName = "FGP_CARD"; break;
00840 case 53: parameterName = "FGP_LICENSEINFO"; break;
00841 case 54: parameterName = "FGP_PACKETCOUNT"; break;
00842 case 55: parameterName = "FGP_DO_MULTIBUSTRIGGER"; break;
00843 case 56: parameterName = "FGP_LAST"; break;
00844
00845 default: parameterName = "Unknown parameter";
00846 }
00847
00848 m_cam.GetParameterInfo(ID, &info);
00849 std::cout << parameterName << std::endl;
00850 std::cout << "\t ... Value: " << info.IsValue << std::endl;
00851 std::cout << "\t ... Max: " << info.MaxValue << std::endl;
00852 std::cout << "\t ... Min: " << info.MinValue << std::endl;
00853 std::cout << "\t ... Unit: " << info.Unit << std::endl;
00854 if (info.Specific.Data.FeatureInfo.AutoCap)
00855 std::cout << "\t ... Auto state: " << (bool) info.Specific.Data.FeatureInfo.AutoState << std::endl;
00856 std::cout << "\n" << std::endl;
00857 }
00858 #endif
00859 return RET_OK;
00860 }
00861
00862 unsigned long AVTPikeCam::TestCamera(const char* filename)
00863 {
00864 if (AbstractColorCamera::TestCamera(filename) & RET_FAILED)
00865 {
00866 return RET_FAILED;
00867 }
00868
00869 return RET_OK;
00870 }
00871
00872
00873 unsigned long AVTPikeCam::SetProperty(t_cameraProperty* cameraProperty)
00874
00875 {
00876 #ifdef __LINUX__
00877 dc1394error_t err;
00878 #else
00879 UINT32 err;
00880 FGPINFO info;
00881 #endif
00882
00883 switch (cameraProperty->propertyID)
00884 {
00886
00888 case PROP_AMPLITUDE_THRESHOLD:
00889 case PROP_INTEGRATION_TIME:
00890 case PROP_VIDEO_MODE:
00891 case PROP_COLOR_MODE:
00892 case PROP_VIDEO_FORMAT:
00893 case PROP_CAMERA_RESOLUTION:
00894 case PROP_TIMEOUT:
00895 case PROP_REGISTER:
00896 case PROP_OPTICAL_FILTER:
00897 case PROP_SHARPNESS:
00898 case PROP_MODULATION_FREQUENCY:
00899
00900 break;
00901 case PROP_SHUTTER:
00902 if (cameraProperty->propertyType & ipa_CameraSensors::TYPE_SPECIAL)
00903 {
00904 if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_AUTO)
00905 {
00906 #ifdef __LINUX__
00907 err=dc1394_feature_set_mode(m_cam, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_AUTO);
00908 if (err!=DC1394_SUCCESS)
00909 {
00910 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
00911 std::cerr << "\t ... Failed to set shutter to AUTO mode." << std::endl;
00912 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
00913 return RET_FAILED;
00914 }
00915 #else
00916 err = m_cam.SetParameter(FGP_SHUTTER, PVAL_AUTO);
00917 if(err!=FCE_NOERROR)
00918 {
00919 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
00920 std::cerr << "\t ... Could not set shutter time to AUTO mode ( error " << err << " )" << std::endl;
00921 return RET_FAILED;
00922 }
00923 #endif
00924 }
00925 else if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_DEFAULT)
00926 {
00927
00928 }
00929 else
00930 {
00931 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
00932 std::cerr << "\t ... Special value 'VALUE_AUTO' or 'VALUE_DEFAULT' expected." << std::endl;
00933 return RET_FAILED;
00934 }
00935 }
00936 else if (cameraProperty->propertyType & (ipa_CameraSensors::TYPE_LONG | ipa_CameraSensors::TYPE_UNSIGNED))
00937 {
00938 #ifdef __LINUX__
00939 uint32_t min;
00940 uint32_t max;
00941 dc1394_feature_get_boundaries(m_cam, DC1394_FEATURE_SHUTTER, &min, &max);
00942 if ((cameraProperty->u_longData < min) | (cameraProperty->u_longData > max))
00943 {
00944 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
00945 std::cerr << "\t ... Shutter time " << cameraProperty->u_longData
00946 << " has to be a value between " << min << " and " << max << "." << std::endl;
00947 return RET_FAILED;
00948 }
00949 else
00950 {
00951 err=dc1394_feature_set_value(m_cam, DC1394_FEATURE_SHUTTER, (uint32_t) cameraProperty->u_longData);
00952 if (err!=DC1394_SUCCESS)
00953 {
00954 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
00955 std::cerr << "\t ... Could not set shutter time "
00956 << cameraProperty->u_longData << " ( error " << err << " )" << std::endl;
00957 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
00958 return RET_FAILED;
00959 }
00960 }
00961 #else
00962 m_cam.GetParameterInfo(FGP_SHUTTER, &info);
00963 if ((cameraProperty->u_longData < info.MinValue) | (cameraProperty->u_longData > info.MaxValue))
00964 {
00965 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
00966 std::cerr << "\t ... Shutter time " << cameraProperty->u_longData
00967 << " has to be a value between " << info.MinValue << " and " << info.MaxValue << "." << std::endl;
00968 return RET_FAILED;
00969 }
00970 else
00971 {
00972 err = m_cam.SetParameter(FGP_SHUTTER, cameraProperty->u_longData);
00973 if(err!=FCE_NOERROR)
00974 {
00975 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
00976 std::cerr << "\t ... Could not set shutter time "
00977 << cameraProperty->u_longData << " ( error " << err << " )" << std::endl;
00978 return RET_FAILED;
00979 }
00980 }
00981 #endif
00982 }
00983 else
00984 {
00985 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
00986 std::cerr << "\t ... Wrong property type. '(TYPE_LONG|TYPE_UNSIGNED)' or special value 'TYPE_SPECIAL' expected." << std::endl;
00987 return RET_FAILED;
00988 }
00989 break;
00991
00993 case PROP_BRIGHTNESS:
00994 if (cameraProperty->propertyType & ipa_CameraSensors::TYPE_SPECIAL)
00995 {
00996 if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_AUTO)
00997 {
00998 #ifdef __LINUX__
00999 err=dc1394_feature_set_mode(m_cam, DC1394_FEATURE_BRIGHTNESS, DC1394_FEATURE_MODE_AUTO);
01000 if (err!=DC1394_SUCCESS)
01001 {
01002 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01003 std::cerr << "\t ... Failed to set brightness to AUTO mode." << std::endl;
01004 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01005 return RET_FAILED;
01006 }
01007 #else
01008 err = m_cam.SetParameter(FGP_BRIGHTNESS, PVAL_AUTO);
01009 if(err!=FCE_NOERROR)
01010 {
01011 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01012 std::cerr << "\t ... Could not set brightness time to AUTO mode ( error " << err << " )" << std::endl;
01013 return RET_FAILED;
01014 }
01015 #endif
01016 }
01017 else if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_DEFAULT)
01018 {
01019
01020 }
01021 else
01022 {
01023 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01024 std::cerr << "\t ... Special value 'VALUE_AUTO' or 'VALUE_DEFAULT' expected." << std::endl;
01025 return RET_FAILED;
01026 }
01027 }
01028 else if (cameraProperty->propertyType & (ipa_CameraSensors::TYPE_LONG | ipa_CameraSensors::TYPE_UNSIGNED))
01029 {
01030 #ifdef __LINUX__
01031 uint32_t min;
01032 uint32_t max;
01033 dc1394_feature_get_boundaries(m_cam, DC1394_FEATURE_BRIGHTNESS, &min, &max);
01034 if ((cameraProperty->u_longData < min) | (cameraProperty->u_longData > max))
01035 {
01036 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01037 std::cerr << "\t ... Brighness " << cameraProperty->u_longData
01038 << " has to be a value between " << min << " and " << max << "." << std::endl;
01039 return RET_FAILED;
01040 }
01041 else
01042 {
01043 err=dc1394_feature_set_value(m_cam, DC1394_FEATURE_BRIGHTNESS, (uint32_t) cameraProperty->u_longData);
01044 if (err!=DC1394_SUCCESS)
01045 {
01046 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01047 std::cerr << "\t ... Could not set brighness "
01048 << cameraProperty->u_longData << " ( error " << err << " )" << std::endl;
01049 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01050 return RET_FAILED;
01051 }
01052 }
01053 #else
01054 m_cam.GetParameterInfo(FGP_BRIGHTNESS, &info);
01055 if ((cameraProperty->u_longData < info.MinValue) | (cameraProperty->u_longData > info.MaxValue))
01056 {
01057 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01058 std::cerr << "\t ... Brigthness " << cameraProperty->u_longData << " has to be a value between " << info.MinValue << " and " << info.MaxValue << "." << std::endl;
01059 return RET_FAILED;
01060 }
01061 else
01062 {
01063 err = m_cam.SetParameter(FGP_BRIGHTNESS, cameraProperty->u_longData);
01064 if(err!=FCE_NOERROR)
01065 {
01066 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01067 std::cerr << "\t ... Could not set brightness ( error " << err << " )" << std::endl;
01068 return RET_FAILED;
01069 }
01070 }
01071 #endif
01072 }
01073 else
01074 {
01075 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01076 std::cerr << "\t ... Wrong property type. '(TYPE_LONG|TYPE_UNSIGNED)' or special value 'TYPE_SPECIAL' expected." << std::endl;
01077 return RET_FAILED;
01078 }
01079 break;
01081
01083 case PROP_EXPOSURE_TIME:
01084 if (cameraProperty->propertyType & ipa_CameraSensors::TYPE_SPECIAL)
01085 {
01086 if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_AUTO)
01087 {
01088 #ifdef __LINUX__
01089 err=dc1394_feature_set_mode(m_cam, DC1394_FEATURE_EXPOSURE, DC1394_FEATURE_MODE_AUTO);
01090 if (err!=DC1394_SUCCESS)
01091 {
01092 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01093 std::cerr << "\t ... Failed to set exposure time to AUTO mode." << std::endl;
01094 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01095 return RET_FAILED;
01096 }
01097 #else
01098 err = m_cam.SetParameter(FGP_AUTOEXPOSURE, PVAL_AUTO);
01099 if(err!=FCE_NOERROR)
01100 {
01101 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01102 std::cerr << "\t ... Could not set exposure time to AUTO mode ( error " << err << " )" << std::endl;
01103 return RET_FAILED;
01104 }
01105 #endif
01106 }
01107 else if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_DEFAULT)
01108 {
01109
01110 }
01111 else
01112 {
01113 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01114 std::cerr << "\t ... Special value 'VALUE_AUTO' or 'VALUE_DEFAULT' expected." << std::endl;
01115 return RET_FAILED;
01116 }
01117 }
01118 else if (cameraProperty->propertyType & (ipa_CameraSensors::TYPE_LONG | ipa_CameraSensors::TYPE_UNSIGNED))
01119 {
01120 #ifdef __LINUX__
01121 uint32_t min;
01122 uint32_t max;
01123 dc1394_feature_get_boundaries(m_cam, DC1394_FEATURE_EXPOSURE, &min, &max);
01124 if ((cameraProperty->u_longData < min) | (cameraProperty->u_longData > max))
01125 {
01126 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01127 std::cerr << "\t ... Exposure time " << cameraProperty->u_longData
01128 << " has to be a value between " << min << " and " << max << "." << std::endl;
01129 return RET_FAILED;
01130 }
01131 else
01132 {
01133 err=dc1394_feature_set_value(m_cam, DC1394_FEATURE_EXPOSURE, (uint32_t) cameraProperty->u_longData);
01134 if (err!=DC1394_SUCCESS)
01135 {
01136 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01137 std::cerr << "\t ... Could not set exposure time "
01138 << cameraProperty->u_longData << " ( error " << err << " )" << std::endl;
01139 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01140 return RET_FAILED;
01141 }
01142 }
01143 #else
01144 m_cam.GetParameterInfo(FGP_AUTOEXPOSURE, &info);
01145 if ((cameraProperty->u_longData < info.MinValue) | (cameraProperty->u_longData > info.MaxValue))
01146 {
01147 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01148 std::cerr << "\t ... Exposure time " << cameraProperty->u_longData
01149 << " has to be a value between " << info.MinValue << " and " << info.MaxValue << "." << std::endl;
01150 return RET_FAILED;
01151 }
01152 else
01153 {
01154 err = m_cam.SetParameter(FGP_AUTOEXPOSURE, cameraProperty->u_longData);
01155 if(err!=FCE_NOERROR)
01156 {
01157 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01158 std::cerr << "\t ... Could not set exposure time ( error " << err << " )" << std::endl;
01159 return RET_FAILED;
01160 }
01161 }
01162 #endif
01163 }
01164 else
01165 {
01166 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01167 std::cerr << "\t ... Wrong property type. '(TYPE_LONG|TYPE_UNSIGNED)' or special value 'TYPE_SPECIAL' expected." << std::endl;
01168 return RET_FAILED;
01169 }
01170 break;
01172
01174 case PROP_WHITE_BALANCE_U:
01175 if (cameraProperty->propertyType & ipa_CameraSensors::TYPE_SPECIAL)
01176 {
01177 if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_AUTO)
01178 {
01179 #ifdef __LINUX__
01180 err=dc1394_feature_set_mode(m_cam, DC1394_FEATURE_WHITE_BALANCE, DC1394_FEATURE_MODE_AUTO);
01181 if (err!=DC1394_SUCCESS)
01182 {
01183 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01184 std::cerr << "\t ... Failed to set white balance U to AUTO mode." << std::endl;
01185 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01186 return RET_FAILED;
01187 }
01188 #else
01189 err = m_cam.SetParameter(FGP_WHITEBALCB, PVAL_AUTO);
01190 if(err!=FCE_NOERROR)
01191 {
01192 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01193 std::cerr << "\t ... Could not set white balance U to AUTO mode ( error " << err << " )" << std::endl;
01194 return RET_FAILED;
01195 }
01196 #endif
01197 }
01198 else if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_DEFAULT)
01199 {
01200
01201 }
01202 else
01203 {
01204 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01205 std::cerr << "\t ... Special value 'VALUE_AUTO' or 'VALUE_DEFAULT' expected." << std::endl;
01206 return RET_FAILED;
01207 }
01208 }
01209 else if (cameraProperty->propertyType & (ipa_CameraSensors::TYPE_LONG | ipa_CameraSensors::TYPE_UNSIGNED))
01210 {
01211 #ifdef __LINUX__
01212 uint32_t min;
01213 uint32_t max;
01214 dc1394_feature_get_boundaries(m_cam, DC1394_FEATURE_WHITE_BALANCE, &min, &max);
01215 if ((cameraProperty->u_longData < min) | (cameraProperty->u_longData > max))
01216 {
01217 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01218 std::cerr << "\t ... White balance U " << cameraProperty->u_longData
01219 << " has to be a value between " << min << " and " << max << "." << std::endl;
01220 return RET_FAILED;
01221 }
01222 else
01223 {
01224 uint32_t whiteU;
01225 uint32_t whiteV;
01226 dc1394_feature_whitebalance_get_value(m_cam, &whiteU, &whiteV);
01227 err=dc1394_feature_whitebalance_set_value(m_cam, (uint32_t) cameraProperty->u_longData, whiteV);
01228 if (err!=DC1394_SUCCESS)
01229 {
01230 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01231 std::cerr << "\t ... Could not set white balance U "
01232 << cameraProperty->u_longData << " ( error " << err << " )" << std::endl;
01233 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01234 return RET_FAILED;
01235 }
01236 }
01237 #else
01238 m_cam.GetParameterInfo(FGP_WHITEBALCB, &info);
01239 if ((cameraProperty->u_longData < info.MinValue) | (cameraProperty->u_longData > info.MaxValue))
01240 {
01241 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01242 std::cerr << "\t ... White balance U value " << cameraProperty->u_longData
01243 << " has to be a value between " << info.MinValue << " and " << info.MaxValue << "." << std::endl;
01244 return RET_FAILED;
01245 }
01246 else
01247 {
01248 err = m_cam.SetParameter(FGP_WHITEBALCB, cameraProperty->u_longData);
01249 if(err!=FCE_NOERROR)
01250 {
01251 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01252 std::cerr << "\t ... Could not set white balance U value ( error " << err << " )" << std::endl;
01253 return RET_FAILED;
01254 }
01255 }
01256 #endif
01257 }
01258 else
01259 {
01260 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01261 std::cerr << "\t ... Wrong property type. '(TYPE_LONG|TYPE_UNSIGNED)' or special value 'TYPE_SPECIAL' expected." << std::endl;
01262 return RET_FAILED;
01263 }
01264 break;
01266
01268 case PROP_WHITE_BALANCE_V:
01269 if (cameraProperty->propertyType & ipa_CameraSensors::TYPE_SPECIAL)
01270 {
01271 if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_AUTO)
01272 {
01273 #ifdef __LINUX__
01274 err=dc1394_feature_set_mode(m_cam, DC1394_FEATURE_WHITE_BALANCE, DC1394_FEATURE_MODE_AUTO);
01275 if (err!=DC1394_SUCCESS)
01276 {
01277 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01278 std::cerr << "\t ... Failed to set white balance V to AUTO mode." << std::endl;
01279 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01280 return RET_FAILED;
01281 }
01282 #else
01283 err = m_cam.SetParameter(FGP_WHITEBALCR, PVAL_AUTO);
01284 if(err!=FCE_NOERROR)
01285 {
01286 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01287 std::cerr << "\t ... Could not set white balance V to AUTO mode ( error " << err << " )" << std::endl;
01288 return RET_FAILED;
01289 }
01290 #endif
01291 }
01292 else if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_DEFAULT)
01293 {
01294
01295 }
01296 else
01297 {
01298 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01299 std::cerr << "\t ... Special value 'VALUE_AUTO' or 'VALUE_DEFAULT' expected." << std::endl;
01300 return RET_FAILED;
01301 }
01302 }
01303 else if (cameraProperty->propertyType & (ipa_CameraSensors::TYPE_LONG | ipa_CameraSensors::TYPE_UNSIGNED))
01304 {
01305 #ifdef __LINUX__
01306 uint32_t min;
01307 uint32_t max;
01308 dc1394_feature_get_boundaries(m_cam, DC1394_FEATURE_WHITE_BALANCE, &min, &max);
01309 if ((cameraProperty->u_longData < min) | (cameraProperty->u_longData > max))
01310 {
01311 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01312 std::cerr << "\t ... white balance V " << cameraProperty->u_longData
01313 << " has to be a value between " << min << " and " << max << "." << std::endl;
01314 return RET_FAILED;
01315 }
01316 else
01317 {
01318 uint32_t whiteU;
01319 uint32_t whiteV;
01320 dc1394_feature_whitebalance_get_value(m_cam, &whiteU, &whiteV);
01321 err=dc1394_feature_whitebalance_set_value(m_cam, whiteU, (uint32_t) cameraProperty->u_longData);
01322 if (err!=DC1394_SUCCESS)
01323 {
01324 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01325 std::cerr << "\t ... Could not set white balance V "
01326 << cameraProperty->u_longData << " ( error " << err << " )" << std::endl;
01327 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01328 return RET_FAILED;
01329 }
01330 }
01331 #else
01332 m_cam.GetParameterInfo(FGP_WHITEBALCR, &info);
01333 if ((cameraProperty->u_longData < info.MinValue) | (cameraProperty->u_longData > info.MaxValue))
01334 {
01335 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01336 std::cerr << "\t ... White balance V value " << cameraProperty->u_longData
01337 << " has to be a value between " << info.MinValue << " and " << info.MaxValue << "." << std::endl;
01338 return RET_FAILED;
01339 }
01340 else
01341 {
01342 err = m_cam.SetParameter(FGP_WHITEBALCR, cameraProperty->u_longData);
01343 if(err!=FCE_NOERROR)
01344 {
01345 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01346 std::cerr << "\t ... Could not set white balance V value ( error " << err << " )" << std::endl;
01347 return RET_FAILED;
01348 }
01349 }
01350 #endif
01351 }
01352 else
01353 {
01354 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01355 std::cerr << "\t ... Wrong property type. 'unsigned int' or special value 'TYPE_SPECIAL' expected." << std::endl;
01356 return RET_FAILED;
01357 }
01358 break;
01360
01362 case PROP_HUE:
01363 if (cameraProperty->propertyType & ipa_CameraSensors::TYPE_SPECIAL)
01364 {
01365 if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_AUTO)
01366 {
01367 #ifdef __LINUX__
01368 err=dc1394_feature_set_mode(m_cam, DC1394_FEATURE_HUE, DC1394_FEATURE_MODE_AUTO);
01369 if (err!=DC1394_SUCCESS)
01370 {
01371 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01372 std::cerr << "\t ... Failed to set hue to AUTO mode." << std::endl;
01373 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01374 return RET_FAILED;
01375 }
01376 #else
01377 err = m_cam.SetParameter(FGP_HUE, PVAL_AUTO);
01378 if(err!=FCE_NOERROR)
01379 {
01380 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01381 std::cerr << "\t ... Could not set image hue to AUTO ( error " << err << " )" << std::endl;
01382 return RET_FAILED;
01383 }
01384 #endif
01385 }
01386 else if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_DEFAULT)
01387 {
01388
01389 }
01390 else
01391 {
01392 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01393 std::cerr << "\t ... Special value 'VALUE_AUTO' or 'VALUE_DEFAULT' expected." << std::endl;
01394 return RET_FAILED;
01395 }
01396 }
01397 else if (cameraProperty->propertyType & (ipa_CameraSensors::TYPE_LONG | ipa_CameraSensors::TYPE_UNSIGNED))
01398 {
01399 #ifdef __LINUX__
01400 uint32_t min;
01401 uint32_t max;
01402 dc1394_feature_get_boundaries(m_cam, DC1394_FEATURE_HUE, &min, &max);
01403 if ((cameraProperty->u_longData < min) | (cameraProperty->u_longData > max))
01404 {
01405 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01406 std::cerr << "\t ... Hue " << cameraProperty->u_longData
01407 << " has to be a value between " << min << " and " << max << "." << std::endl;
01408 return RET_FAILED;
01409 }
01410 else
01411 {
01412 err=dc1394_feature_set_value(m_cam, DC1394_FEATURE_HUE, (uint32_t) cameraProperty->u_longData);
01413 if (err!=DC1394_SUCCESS)
01414 {
01415 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01416 std::cerr << "\t ... Could not set hue "
01417 << cameraProperty->u_longData << " ( error " << err << " )" << std::endl;
01418 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01419 return RET_FAILED;
01420 }
01421 }
01422 #else
01423 m_cam.GetParameterInfo(FGP_HUE, &info);
01424 if ((cameraProperty->u_longData < info.MinValue) | (cameraProperty->u_longData > info.MaxValue))
01425 {
01426 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01427 std::cerr << "\t ... Hue " << cameraProperty->u_longData
01428 << " has to be a value between " << info.MinValue << " and " << info.MaxValue << "." << std::endl;
01429 }
01430 else
01431 {
01432 err = m_cam.SetParameter(FGP_HUE, cameraProperty->u_longData);
01433 if(err!=FCE_NOERROR)
01434 {
01435 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01436 std::cerr << "\t ... Could not set image hue to " << cameraProperty->u_longData
01437 << " ( error " << err << " )" << std::endl;
01438 return RET_FAILED;
01439 }
01440 }
01441 #endif
01442 }
01443 else
01444 {
01445 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01446 std::cerr << "\t ... Wrong property type. '(TYPE_LONG|TYPE_UNSIGNED)' or special value 'TYPE_SPECIAL' expected." << std::endl;
01447 return RET_FAILED;
01448 }
01449 break;
01451
01453 case PROP_SATURATION:
01454 if (cameraProperty->propertyType & ipa_CameraSensors::TYPE_SPECIAL)
01455 {
01456 if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_AUTO)
01457 {
01458 #ifdef __LINUX__
01459 err=dc1394_feature_set_mode(m_cam, DC1394_FEATURE_SATURATION, DC1394_FEATURE_MODE_AUTO);
01460 if (err!=DC1394_SUCCESS)
01461 {
01462 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01463 std::cerr << "\t ... Failed to set saturation to AUTO mode." << std::endl;
01464 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01465 return RET_FAILED;
01466 }
01467 #else
01468 err = m_cam.SetParameter(FGP_SATURATION, PVAL_AUTO);
01469 if(err!=FCE_NOERROR)
01470 {
01471 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01472 std::cerr << "\t ... << Could not set saturation to AUTO ( error " << err << " )" << std::endl;
01473 return RET_FAILED;
01474 }
01475 #endif
01476 }
01477 else if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_DEFAULT)
01478 {
01479
01480 }
01481 else
01482 {
01483 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01484 std::cerr << "\t ... Special value 'VALUE_AUTO' or 'VALUE_DEFAULT' expected." << std::endl;
01485 return RET_FAILED;
01486 }
01487 }
01488 else if (cameraProperty->propertyType & (ipa_CameraSensors::TYPE_LONG | ipa_CameraSensors::TYPE_UNSIGNED))
01489 {
01490 #ifdef __LINUX__
01491 uint32_t min;
01492 uint32_t max;
01493 dc1394_feature_get_boundaries(m_cam, DC1394_FEATURE_SATURATION, &min, &max);
01494 if ((cameraProperty->u_longData < min) | (cameraProperty->u_longData > max))
01495 {
01496 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01497 std::cerr << "\t ... Saturation " << cameraProperty->u_longData
01498 << " has to be a value between " << min << " and " << max << "." << std::endl;
01499 return RET_FAILED;
01500 }
01501 else
01502 {
01503 err=dc1394_feature_set_value(m_cam, DC1394_FEATURE_SATURATION, (uint32_t) cameraProperty->u_longData);
01504 if (err!=DC1394_SUCCESS)
01505 {
01506 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01507 std::cerr << "\t ... Could not set saturation "
01508 << cameraProperty->u_longData << " ( error " << err << " )" << std::endl;
01509 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01510 return RET_FAILED;
01511 }
01512 }
01513 #else
01514 m_cam.GetParameterInfo(FGP_SATURATION, &info);
01515 if ((cameraProperty->u_longData < info.MinValue) | (cameraProperty->u_longData > info.MaxValue))
01516 {
01517 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01518 std::cerr << "\t ... Saturation has to be a value between " << info.MinValue << " and " << info.MaxValue << "." << std::endl;
01519 }
01520 else
01521 {
01522 err = m_cam.SetParameter(FGP_SATURATION, cameraProperty->u_longData);
01523 if(err!=FCE_NOERROR)
01524 {
01525 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01526 std::cerr << "\t ... Could not set saturation ( error " << err << " )" << std::endl;
01527 return RET_FAILED;
01528 }
01529 }
01530 #endif
01531 }
01532 else
01533 {
01534 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01535 std::cerr << "\t ... Wrong property type. '(TYPE_LONG|TYPE_UNSIGNED)' or special value 'TYPE_SPECIAL' expected." << std::endl;
01536 return RET_FAILED;
01537 }
01538 break;
01540
01542 case PROP_GAMMA:
01543 if (cameraProperty->propertyType & ipa_CameraSensors::TYPE_SPECIAL)
01544 {
01545 if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_AUTO)
01546 {
01547 #ifdef __LINUX__
01548 err=dc1394_feature_set_mode(m_cam, DC1394_FEATURE_GAMMA, DC1394_FEATURE_MODE_AUTO);
01549 if (err!=DC1394_SUCCESS)
01550 {
01551 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01552 std::cerr << "\t ... Failed to set gamma to AUTO mode." << std::endl;
01553 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01554 return RET_FAILED;
01555 }
01556 #else
01557 err = m_cam.SetParameter(FGP_GAMMA, PVAL_AUTO);
01558 if(err!=FCE_NOERROR)
01559 {
01560 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01561 std::cerr << "\t ... << Could not set gamma to AUTO ( error " << err << " )" << std::endl;
01562 return RET_FAILED;
01563 }
01564 #endif
01565 }
01566 else if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_DEFAULT)
01567 {
01568
01569 }
01570 else
01571 {
01572 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01573 std::cerr << "\t ... Special value 'VALUE_AUTO' or 'VALUE_DEFAULT' expected." << std::endl;
01574 return RET_FAILED;
01575 }
01576 }
01577 else if (cameraProperty->propertyType & (ipa_CameraSensors::TYPE_LONG | ipa_CameraSensors::TYPE_UNSIGNED))
01578 {
01579 #ifdef __LINUX__
01580 uint32_t min;
01581 uint32_t max;
01582 dc1394_feature_get_boundaries(m_cam, DC1394_FEATURE_GAMMA, &min, &max);
01583 if ((cameraProperty->u_longData < min) | (cameraProperty->u_longData > max))
01584 {
01585 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01586 std::cerr << "\t ... Gamma " << cameraProperty->u_longData
01587 << " has to be a value between " << min << " and " << max << "." << std::endl;
01588 return RET_FAILED;
01589 }
01590 else
01591 {
01592 err=dc1394_feature_set_value(m_cam, DC1394_FEATURE_GAMMA, (uint32_t) cameraProperty->u_longData);
01593 if (err!=DC1394_SUCCESS)
01594 {
01595 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01596 std::cerr << "\t ... Could not set gamma "
01597 << cameraProperty->u_longData << " ( error " << err << " )" << std::endl;
01598 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01599 return RET_FAILED;
01600 }
01601 }
01602 #else
01603 m_cam.GetParameterInfo(FGP_GAMMA, &info);
01604 if ((cameraProperty->u_longData < info.MinValue) | (cameraProperty->u_longData > info.MaxValue))
01605 {
01606 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01607 std::cerr << "\t ... Gamma has to be a value between " << info.MinValue << " and " << info.MaxValue << "." << std::endl;
01608 return RET_FAILED;
01609 }
01610 else
01611 {
01612 err = m_cam.SetParameter(FGP_GAMMA, cameraProperty->u_longData);
01613 if(err!=FCE_NOERROR)
01614 {
01615 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01616 std::cerr << "\t ... << Could not set gamma to " << cameraProperty->u_longData << " ( error " << err << " )" << std::endl;
01617 return RET_FAILED;
01618 }
01619 }
01620 #endif
01621 }
01622 else
01623 {
01624 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01625 std::cerr << "\t ... Wrong property type. '(TYPE_LONG|TYPE_UNSIGNED)' or special value 'TYPE_SPECIAL' expected." << std::endl;
01626 return RET_FAILED;
01627 }
01628 break;
01630
01632 case PROP_GAIN:
01633 if (cameraProperty->propertyType & ipa_CameraSensors::TYPE_SPECIAL)
01634 {
01635 if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_AUTO)
01636 {
01637 #ifdef __LINUX__
01638 err=dc1394_feature_set_mode(m_cam, DC1394_FEATURE_GAIN, DC1394_FEATURE_MODE_AUTO);
01639 if (err!=DC1394_SUCCESS)
01640 {
01641 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01642 std::cerr << "\t ... Failed to set gamma to AUTO mode." << std::endl;
01643 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01644 return RET_FAILED;
01645 }
01646 #else
01647 err = m_cam.SetParameter(FGP_GAIN, PVAL_AUTO);
01648 if(err!=FCE_NOERROR)
01649 {
01650 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01651 std::cerr << "\t ... Could not set gain (on auto mode) ( error " << err << " )" << std::endl;
01652 return RET_FAILED;
01653 }
01654 #endif
01655 }
01656 else if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_DEFAULT)
01657 {
01658
01659 }
01660 else
01661 {
01662 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01663 std::cerr << "\t ... Special value 'VALUE_AUTO' or 'VALUE_DEFAULT' expected." << std::endl;
01664 return RET_FAILED;
01665 }
01666 }
01667 else if (cameraProperty->propertyType & (ipa_CameraSensors::TYPE_LONG | ipa_CameraSensors::TYPE_UNSIGNED))
01668 {
01669 #ifdef __LINUX__
01670 uint32_t min;
01671 uint32_t max;
01672 dc1394_feature_get_boundaries(m_cam, DC1394_FEATURE_GAIN, &min, &max);
01673 if ((cameraProperty->u_longData < min) | (cameraProperty->u_longData > max))
01674 {
01675 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01676 std::cerr << "\t ... Gamma " << cameraProperty->u_longData
01677 << " has to be a value between " << min << " and " << max << "." << std::endl;
01678 return RET_FAILED;
01679 }
01680 else
01681 {
01682 err=dc1394_feature_set_value(m_cam, DC1394_FEATURE_GAIN, (uint32_t) cameraProperty->u_longData);
01683 if (err!=DC1394_SUCCESS)
01684 {
01685 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01686 std::cerr << "\t ... Could not set gamma "
01687 << cameraProperty->u_longData << " ( error " << err << " )" << std::endl;
01688 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01689 return RET_FAILED;
01690 }
01691 }
01692 #else
01693 m_cam.GetParameterInfo(FGP_GAIN, &info);
01694 if ((cameraProperty->u_longData < info.MinValue) | (cameraProperty->u_longData > info.MaxValue))
01695 {
01696 std::cerr << "ERROR - AVTPikeCam::SetProperty: " << std::endl;
01697 std::cerr << "\t ... Gain has to be a value between " << info.MinValue << " and " << info.MaxValue << "." << std::endl;
01698 return RET_FAILED;
01699 }
01700 else
01701 {
01702 err = m_cam.SetParameter(FGP_GAIN, cameraProperty->u_longData);
01703 if(err!=FCE_NOERROR)
01704 {
01705 std::cerr << "ERROR - AVTPikeCam::SetProperty: " << std::endl;
01706 std::cerr << "\t ... Could not set gain to value " << cameraProperty->u_longData << " ( error " << err << " )" << std::endl;
01707 return RET_FAILED;
01708 }
01709 }
01710 #endif
01711 }
01712 else
01713 {
01714 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01715 std::cerr << "\t ... Wrong property type. '(TYPE_LONG|TYPE_UNSIGNED)' or special value 'TYPE_SPECIAL' expected." << std::endl;
01716 return RET_FAILED;
01717 }
01718 break;
01720
01722 case PROP_VIDEO_ALL:
01723 if (cameraProperty->propertyType ==
01724 (ipa_CameraSensors::TYPE_VIDEO_FORMAT |
01725 ipa_CameraSensors::TYPE_VIDEO_MODE |
01726 ipa_CameraSensors::TYPE_COLOR_MODE))
01727 {
01728 #ifdef __LINUX__
01729 dc1394color_coding_t colorMode;
01730 dc1394video_mode_t videoMode;
01731 switch(cameraProperty->videoFormat)
01732 {
01733 case FORMAT_0:
01734 switch(cameraProperty->videoMode)
01735 {
01736 case MODE_1:
01737 videoMode = DC1394_VIDEO_MODE_320x240_YUV422;
01738 break;
01739 case MODE_2:
01740 videoMode = DC1394_VIDEO_MODE_640x480_YUV411;
01741 break;
01742 case MODE_3:
01743 videoMode = DC1394_VIDEO_MODE_640x480_YUV422;
01744 break;
01745 case MODE_4:
01746 case MODE_DEFAULT:
01747 videoMode = DC1394_VIDEO_MODE_640x480_RGB8;
01748 break;
01749 case MODE_5:
01750 videoMode = DC1394_VIDEO_MODE_640x480_MONO8;
01751 break;
01752 default:
01753 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01754 std::cerr << "\t ... Specified video mode unknown." << std::endl;
01755 return RET_FAILED;
01756 }
01757
01758 err=dc1394_video_set_mode(m_cam, videoMode);
01759 if (err!=DC1394_SUCCESS)
01760 {
01761 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01762 std::cerr << "\t ... Failed to setup video mode for format 0" << std::endl;
01763 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01764 return RET_FAILED;
01765 }
01766
01767 break;
01768 case FORMAT_1:
01769 switch(cameraProperty->videoMode)
01770 {
01771 case MODE_0:
01772 videoMode = DC1394_VIDEO_MODE_800x600_YUV422;
01773 break;
01774 case MODE_1:
01775 videoMode = DC1394_VIDEO_MODE_800x600_RGB8;
01776 break;
01777 case MODE_2:
01778 videoMode = DC1394_VIDEO_MODE_800x600_MONO8;
01779 break;
01780 case MODE_3:
01781 videoMode = DC1394_VIDEO_MODE_1024x768_YUV422;
01782 break;
01783 case MODE_4:
01784 case MODE_DEFAULT:
01785 videoMode = DC1394_VIDEO_MODE_1024x768_RGB8;
01786 break;
01787 case MODE_5:
01788 videoMode = DC1394_VIDEO_MODE_1024x768_MONO8;
01789 break;
01790 default:
01791 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01792 std::cerr << "\t ... Specified video mode not supported." << std::endl;
01793 return RET_FAILED;
01794 }
01795
01796 err=dc1394_video_set_mode(m_cam, videoMode);
01797 if (err!=DC1394_SUCCESS)
01798 {
01799 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01800 std::cerr << "\t ... Failed to setup video for format 1" << std::endl;
01801 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01802 return RET_FAILED;
01803 }
01804
01805 break;
01806 case FORMAT_2:
01807 switch(cameraProperty->videoMode)
01808 {
01809 case MODE_0:
01810 videoMode = DC1394_VIDEO_MODE_1280x960_YUV422;
01811 break;
01812 case MODE_1:
01813 case MODE_DEFAULT:
01814 videoMode = DC1394_VIDEO_MODE_1280x960_RGB8;
01815 break;
01816 case MODE_2:
01817 videoMode = DC1394_VIDEO_MODE_1280x960_MONO8;
01818 break;
01819 default:
01820 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01821 std::cerr << "\t ... Specified video mode not supported." << std::endl;
01822 return RET_FAILED;
01823 }
01824
01825 err=dc1394_video_set_mode(m_cam, videoMode);
01826 if (err!=DC1394_SUCCESS)
01827 {
01828 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01829 std::cerr << "\t ... Failed to setup video for format 1" << std::endl;
01830 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01831 return RET_FAILED;
01832 }
01833
01834 break;
01835 case FORMAT_DEFAULT:
01836 case FORMAT_7:
01837 switch(cameraProperty->colorMode)
01838 {
01839 case COLOR_YUV411:
01840 colorMode = DC1394_COLOR_CODING_YUV411;
01841 break;
01842 case COLOR_YUV422:
01843 colorMode = DC1394_COLOR_CODING_YUV422;
01844 break;
01845 case COLOR_YUV444:
01846 colorMode = DC1394_COLOR_CODING_YUV444;
01847 break;
01848 case COLOR_DEFAULT:
01849 case COLOR_RGB8:
01850 colorMode = DC1394_COLOR_CODING_RGB8;
01851 break;
01852 case COLOR_RGB16S:
01853 colorMode = DC1394_COLOR_CODING_RGB16S;
01854 break;
01855 case COLOR_RGB16:
01856 colorMode = DC1394_COLOR_CODING_RGB16;
01857 break;
01858 case COLOR_MONO8:
01859 colorMode = DC1394_COLOR_CODING_MONO8;
01860 break;
01861 case COLOR_MONO16S:
01862 colorMode = DC1394_COLOR_CODING_MONO16S;
01863 break;
01864 case COLOR_MONO16:
01865 colorMode = DC1394_COLOR_CODING_MONO16;
01866 break;
01867 case COLOR_RAW8:
01868 colorMode = DC1394_COLOR_CODING_RAW8;
01869 break;
01870 case COLOR_RAW16:
01871 colorMode = DC1394_COLOR_CODING_RAW16;
01872 break;
01873 default:
01874 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01875 std::cerr << "\t ... Specified color mode not supported." << std::endl;
01876 return RET_FAILED;
01877 }
01878
01879
01880 switch(cameraProperty->videoMode)
01881 {
01882 case MODE_DEFAULT:
01883 case MODE_0:
01884 videoMode = DC1394_VIDEO_MODE_FORMAT7_0;
01885 break;
01886 case MODE_4:
01887 videoMode = DC1394_VIDEO_MODE_FORMAT7_4;
01888 break;
01889 case MODE_5:
01890 videoMode = DC1394_VIDEO_MODE_FORMAT7_5;
01891 break;
01892 case MODE_6:
01893 videoMode = DC1394_VIDEO_MODE_FORMAT7_6;
01894 break;
01895 default:
01896 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01897 std::cerr << "\t ... Specified video mode not supported." << std::endl;
01898 return RET_FAILED;
01899 }
01900
01901
01902 err = dc1394_video_set_mode(m_cam, videoMode);
01903 if (err!=DC1394_SUCCESS)
01904 {
01905 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01906 std::cerr << "\t ... Failed to setup video mode." << std::endl;
01907 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01908 return RET_FAILED;
01909 }
01910 err = dc1394_format7_set_color_coding(m_cam, videoMode, colorMode);
01911 if (err!=DC1394_SUCCESS)
01912 {
01913 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01914 std::cerr << "\t ... Failed to setup color coding." << std::endl;
01915 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
01916 return RET_FAILED;
01917 }
01918
01919 break;
01920 default:
01921 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01922 std::cerr << "\t ... Specified video format unknown." << std::endl;
01923 return RET_FAILED;
01924 }
01925 #else
01926
01927 FG_RESOLUTION resolution;
01928 FG_COLORMODE colorMode;
01929 int videoMode = -1;
01930 switch(cameraProperty->videoFormat)
01931 {
01932 case FORMAT_0:
01933 switch(cameraProperty->videoMode)
01934 {
01935 case MODE_1:
01936 resolution = RES_320_240;
01937 colorMode = CM_YUV422;
01938 break;
01939 case MODE_2:
01940 resolution = RES_640_480;
01941 colorMode = CM_YUV411;
01942 break;
01943 case MODE_3:
01944 resolution = RES_640_480;
01945 colorMode = CM_YUV422;
01946 break;
01947 case MODE_4:
01948 case MODE_DEFAULT:
01949 resolution = RES_640_480;
01950 colorMode = CM_RGB8;
01951 break;
01952 case MODE_5:
01953 resolution = RES_640_480;
01954 colorMode = CM_Y8;
01955 break;
01956 default:
01957 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01958 std::cerr << "\t ... Specified video mode unknown." << std::endl;
01959 return RET_FAILED;
01960 }
01961
01962 err = m_cam.SetParameter(FGP_IMAGEFORMAT, MAKEIMAGEFORMAT(resolution, colorMode, FR_30));
01963 if(err!=FCE_NOERROR)
01964 {
01965 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
01966 std::cerr << "\t ... Could not set video format and mode ( error " << err << " )" << std::endl;
01967 return RET_FAILED;
01968 }
01969
01970 break;
01971 case FORMAT_1:
01972 switch(cameraProperty->videoMode)
01973 {
01974 case MODE_0:
01975 resolution = RES_800_600;
01976 colorMode = CM_YUV422;
01977 break;
01978 case MODE_1:
01979 resolution = RES_800_600;
01980 colorMode = CM_RGB8;
01981 break;
01982 case MODE_2:
01983 resolution = RES_800_600;
01984 colorMode = CM_Y8;
01985 break;
01986 case MODE_3:
01987 resolution = RES_1024_768;
01988 colorMode = CM_YUV422;
01989 break;
01990 case MODE_4:
01991 case MODE_DEFAULT:
01992 resolution = RES_1024_768;
01993 colorMode = CM_RGB8;
01994 break;
01995 case MODE_5:
01996 resolution = RES_1024_768;
01997 colorMode = CM_Y8;
01998 break;
01999 default:
02000 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02001 std::cerr << "\t ... Specified video mode not supported." << std::endl;
02002 return RET_FAILED;
02003 }
02004
02005 err = m_cam.SetParameter(FGP_IMAGEFORMAT, MAKEIMAGEFORMAT(resolution, colorMode, FR_15));
02006 if(err!=FCE_NOERROR)
02007 {
02008 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02009 std::cerr << "\t ... Could not set video format and mode ( error " << err << " )" << std::endl;
02010 return RET_FAILED;
02011 }
02012
02013 break;
02014 case FORMAT_2:
02015 switch(cameraProperty->videoMode)
02016 {
02017 case MODE_0:
02018 resolution = RES_1280_960;
02019 colorMode = CM_YUV422;
02020 break;
02021 case MODE_1:
02022 case MODE_DEFAULT:
02023 resolution = RES_1280_960;
02024 colorMode = CM_RGB8;
02025 break;
02026 case MODE_2:
02027 resolution = RES_1280_960;
02028 colorMode = CM_Y8;
02029 break;
02030 default:
02031 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02032 std::cerr << "\t ... Specified video mode not supported." << std::endl;
02033 return RET_FAILED;
02034 }
02035
02036 err = m_cam.SetParameter(FGP_IMAGEFORMAT, MAKEIMAGEFORMAT(resolution, colorMode, FR_15));
02037 if(err!=FCE_NOERROR)
02038 {
02039 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02040 std::cerr << "\t ... Could not set video format and mode ( error " << err << " )" << std::endl;
02041 return RET_FAILED;
02042 }
02043
02044 break;
02045 case FORMAT_DEFAULT:
02046 case FORMAT_7:
02047 switch(cameraProperty->colorMode)
02048 {
02049 case COLOR_YUV444:
02050 colorMode = CM_YUV444;
02051 break;
02052 case COLOR_YUV422:
02053 colorMode = CM_YUV422;
02054 break;
02055 case COLOR_YUV411:
02056 colorMode = CM_YUV411;
02057 break;
02058 case COLOR_DEFAULT:
02059 case COLOR_RGB8:
02060 colorMode = CM_RGB8;
02061 break;
02062 case COLOR_RGB16S:
02063 colorMode = CM_SRGB16;
02064 break;
02065 case COLOR_RGB16:
02066 colorMode = CM_RGB16;
02067 break;
02068 case COLOR_MONO8:
02069 colorMode = CM_Y8;
02070 break;
02071 case COLOR_MONO16S:
02072 colorMode = CM_SY16;
02073 break;
02074 case COLOR_MONO16:
02075 colorMode = CM_Y16;
02076 break;
02077 case COLOR_RAW8:
02078 colorMode = CM_RAW8;
02079 break;
02080 case COLOR_RAW16:
02081 colorMode = CM_RAW16;
02082 break;
02083 default:
02084 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02085 std::cerr << "\t ... Specified color mode not supported." << std::endl;
02086 return RET_FAILED;
02087 }
02088
02089 switch(cameraProperty->videoMode)
02090 {
02091 case MODE_0:
02092 case COLOR_DEFAULT:
02093 videoMode = 0;
02094 break;
02095 case MODE_4:
02096 videoMode = 4;
02097 break;
02098 case MODE_5:
02099 videoMode = 5;
02100 break;
02101 case MODE_6:
02102 videoMode = 6;
02103 break;
02104 default:
02105 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02106 std::cerr << "\t ... Specified video mode not supported." << std::endl;
02107 return RET_FAILED;
02108 }
02109
02110 err = m_cam.SetParameter(FGP_IMAGEFORMAT, MAKEDCAMFORMAT(RES_SCALABLE, videoMode, colorMode));
02111 if(err!=FCE_NOERROR)
02112 {
02113 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02114 std::cerr << "\t ... Could not set video format and mode ( error " << err << " )" << std::endl;
02115 return RET_FAILED;
02116 }
02117
02118 break;
02119 default:
02120 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02121 std::cerr << "\t ... Specified video format not supported." << std::endl;
02122 return RET_FAILED;
02123 }
02124 #endif
02125 }
02126 else
02127 {
02128 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02129 std::cerr << "\t ... Wrong property type. 'TYPE_VIDEO_MODE' or special value 'TYPE_SPECIAL' expected." << std::endl;
02130 return RET_FAILED;
02131 }
02132 break;
02133
02135
02137 case PROP_FRAME_RATE:
02138 #ifdef __LINUX__
02139 dc1394video_mode_t videoMode;
02140 err=dc1394_video_get_mode(m_cam, &videoMode);
02141 if(err!=DC1394_SUCCESS)
02142 {
02143 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02144 std::cerr << "\t ... Could not get video mode ( error " << err << " )" << std::endl;
02145 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
02146 return RET_FAILED;
02147 }
02148
02149
02150
02151 if (videoMode==DC1394_VIDEO_MODE_FORMAT7_0 ||
02152 videoMode==DC1394_VIDEO_MODE_FORMAT7_1 ||
02153 videoMode==DC1394_VIDEO_MODE_FORMAT7_2 ||
02154 videoMode==DC1394_VIDEO_MODE_FORMAT7_3 ||
02155 videoMode==DC1394_VIDEO_MODE_FORMAT7_4 ||
02156 videoMode==DC1394_VIDEO_MODE_FORMAT7_5 ||
02157 videoMode==DC1394_VIDEO_MODE_FORMAT7_6 ||
02158 videoMode==DC1394_VIDEO_MODE_FORMAT7_7)
02159 {
02160 #else
02161 UINT32 imageFormat;
02162 FGPINFO packetSizeInfo;
02163 err = m_cam.GetParameter(FGP_IMAGEFORMAT, &imageFormat);
02164 if(err!=FCE_NOERROR)
02165 {
02166 std::cout << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02167 std::cerr << "\t ... Could not read image format ( error " << err << " )" << std::endl;
02168 return RET_FAILED;
02169 }
02170
02171
02172
02173 if (IMGRES(imageFormat)==RES_SCALABLE)
02174 {
02175 #endif
02176 if (cameraProperty->propertyType & ipa_CameraSensors::TYPE_SPECIAL)
02177 {
02178 if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_AUTO ||
02179 cameraProperty->specialValue == ipa_CameraSensors::VALUE_DEFAULT)
02180 {
02181
02182 }
02183 }
02184 else if (cameraProperty->propertyType & ipa_CameraSensors::TYPE_FLOAT)
02185 {
02186 #ifdef __LINUX__
02187 uint64_t bytesPerFrame;
02188
02189 err = dc1394_format7_get_total_bytes(m_cam, videoMode, &bytesPerFrame);
02190 if (err!=DC1394_SUCCESS)
02191 {
02192 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02193 std::cerr << "\t ... Could not get bytes per image ( error " << err << " )" << std::endl;
02194 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
02195 return RET_FAILED;
02196 }
02197
02198 if (cameraProperty->floatData > 0 && cameraProperty->floatData <= 60)
02199 {
02200 double fps = cameraProperty->floatData;
02201 uint32_t min = 0;
02202 uint32_t max = 0;
02203 uint64_t bytesPerFrame = 0;
02204 uint32_t bytesPerPacket = 0;
02205 unsigned long packetsPerFrame = 0;
02206 double busPeriodInSeconds = 0;
02207 dc1394speed_t isoSpeed;
02208
02209 err = dc1394_format7_get_packet_parameters(m_cam, videoMode, &min, &max);
02210 if (err!=DC1394_SUCCESS)
02211 {
02212 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02213 std::cerr << "\t ... Could not get min/max bytes per packet ( error " << err << " )" << std::endl;
02214 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
02215 return RET_FAILED;
02216 }
02217 err = dc1394_format7_get_total_bytes(m_cam, videoMode, &bytesPerFrame);
02218 if (err!=DC1394_SUCCESS)
02219 {
02220 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02221 std::cerr << "\t ... Could not get total bytes per frame ( error " << err << " )" << std::endl;
02222 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
02223 return RET_FAILED;
02224 }
02225
02226 err = dc1394_video_get_iso_speed(m_cam, &isoSpeed);
02227 if (err!=DC1394_SUCCESS)
02228 {
02229 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02230 std::cerr << "\t ... Could not get iso speed ( error " << err << " )" << std::endl;
02231 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
02232 return RET_FAILED;
02233 }
02234
02235 if (isoSpeed == DC1394_ISO_SPEED_100)
02236 {
02237 busPeriodInSeconds = 500.0/1000000.0;
02238 }
02239 else if(isoSpeed == DC1394_ISO_SPEED_200)
02240 {
02241 busPeriodInSeconds = 250.0/1000000.0;
02242 }
02243 else if(isoSpeed == DC1394_ISO_SPEED_400)
02244 {
02245 busPeriodInSeconds = 125.0/1000000.0;
02246 }
02247 else
02248 {
02249 busPeriodInSeconds = 62.5/1000000.0;
02250 }
02251
02252 packetsPerFrame = (int) (1.0/(busPeriodInSeconds*fps) + 0.5);
02253 bytesPerPacket = (uint32_t) ((bytesPerFrame + packetsPerFrame - 1)/(packetsPerFrame));
02254
02255 if (bytesPerPacket < min || bytesPerPacket > max)
02256 {
02257 std::cout << "WARNING - AVTPikeCam::SetProperty:" << std::endl;
02258 std::cout << "\t ... Desired packet size out of bounds. Resetting packet size to max value" << std::endl;
02259 bytesPerPacket = max;
02260 }
02261
02262
02263 bytesPerPacket = ((int)(bytesPerPacket/min))*min;
02264
02265 err = dc1394_format7_set_packet_size(m_cam, videoMode, bytesPerPacket);
02266 if (err!=DC1394_SUCCESS)
02267 {
02268 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02269 std::cerr << "\t ... Could not set packet size " << bytesPerPacket << " ( error " << err << " )" << std::endl;
02270 return RET_FAILED;
02271 }
02272 }
02273 #else
02274 UINT32 bytesPerImage = 0;
02275 UINT32 isoSpeed = 0;
02276 double busPeriodInSeconds = 0;
02277 err = m_cam.GetParameter(FGP_FRAMEMEMORYSIZE, &bytesPerImage);
02278 if(err!=FCE_NOERROR)
02279 {
02280 std::cout << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02281 std::cerr << "\t ... Could not read image size ( error " << err << " )" << std::endl;
02282 return RET_FAILED;
02283 }
02284
02285 err = m_cam.GetParameter(FGP_PHYSPEED, &isoSpeed);
02286 if (err!=FCE_NOERROR)
02287 {
02288 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02289 std::cerr << "\t ... Could not read iso speed info ( error " << err << " )" << std::endl;
02290 return RET_FAILED;
02291 }
02292
02293 if (isoSpeed == PS_100MBIT)
02294 {
02295 busPeriodInSeconds = 500.0/1000000.0;
02296 }
02297 else if(isoSpeed == PS_200MBIT)
02298 {
02299 busPeriodInSeconds = 250.0/1000000.0;
02300 }
02301 else if(isoSpeed == PS_400MBIT)
02302 {
02303 busPeriodInSeconds = 125.0/1000000.0;
02304 }
02305 else
02306 {
02307 busPeriodInSeconds = 62.5/1000000.0;
02308 }
02309
02310 if (cameraProperty->floatData > 0 && cameraProperty->floatData <= 60)
02311 {
02312 double fps = cameraProperty->floatData;
02313 UINT32 bytesPerPacket = (UINT32) (fps * busPeriodInSeconds * (double)bytesPerImage);
02314
02315 err = m_cam.GetParameterInfo(FGP_PACKETSIZE, &packetSizeInfo);
02316 if(err!=FCE_NOERROR)
02317 {
02318 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02319 std::cerr << "\t ... Could not read packet size info ( error " << err << " )" << std::endl;
02320 return RET_FAILED;
02321 }
02322
02323 if (bytesPerPacket < packetSizeInfo.MinValue || bytesPerPacket > packetSizeInfo.MaxValue)
02324 {
02325 std::cout << "WARNING - AVTPikeCam::SetProperty:" << std::endl;
02326 std::cout << "\t ... Desired packet size out of bounds. Resetting packet size to max value" << std::endl;
02327 bytesPerPacket = packetSizeInfo.MaxValue;
02328 }
02329
02330
02331 bytesPerPacket = ((int)(bytesPerPacket/packetSizeInfo.MinValue))*packetSizeInfo.MinValue;
02332
02333 err = m_cam.SetParameter(FGP_PACKETSIZE, bytesPerPacket);
02334 if(err!=FCE_NOERROR)
02335 {
02336 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02337 std::cerr << "\t ... Could not set packet size " << bytesPerPacket << " ( error " << err << " )" << std::endl;
02338 return RET_FAILED;
02339 }
02340 }
02341 #endif
02342
02343 else
02344 {
02345 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02346 std::cerr << "\t ... Specified framerate out of range ( error " << err << " )" << std::endl;
02347 return RET_FAILED;
02348 }
02349 }
02350 else
02351 {
02352 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02353 std::cerr << "\t ... Wrong property type. 'TYPE_FLOAT' or special values 'TYPE_SPECIAL' expected." << std::endl;
02354 return RET_FAILED;
02355 }
02356 }
02357
02358 else
02359 {
02360 if (cameraProperty->propertyType & ipa_CameraSensors::TYPE_SPECIAL)
02361 {
02362 if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_AUTO)
02363 {
02364 #ifdef __LINUX__
02365 err=dc1394_video_set_framerate(m_cam, DC1394_FRAMERATE_7_5);
02366 if (err!=DC1394_SUCCESS)
02367 {
02368 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02369 std::cerr << "\t ... Failed to set framerate to AUTO mode." << std::endl;
02370 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
02371 return RET_FAILED;
02372 }
02373 #else
02374 err = m_cam.SetParameter(FGP_FRAMERATE, PVAL_AUTO);
02375 if(err!=FCE_NOERROR)
02376 {
02377 std::cout << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02378 std::cerr << "\t ... Could not set framerate to AUTO ( error " << err << " )" << std::endl;
02379 return RET_FAILED;
02380 }
02381 #endif
02382 }
02383 if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_DEFAULT)
02384 {
02385
02386 }
02387 else
02388 {
02389 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02390 std::cerr << "\t ... Special value 'VALUE_AUTO' or 'VALUE_DEFAULT' expected." << std::endl;
02391 return RET_FAILED;
02392 }
02393 }
02394 else if (cameraProperty->propertyType & ipa_CameraSensors::TYPE_FLOAT)
02395 {
02396 #ifdef __LINUX__
02397 dc1394framerate_t framerate;
02398 if (cameraProperty->floatData <= 1.875)
02399 {
02400 framerate = DC1394_FRAMERATE_1_875;
02401 }
02402 else if (cameraProperty->floatData <= 3.75)
02403 {
02404 framerate = DC1394_FRAMERATE_3_75;
02405 }
02406 else if (cameraProperty->floatData <= 7.5)
02407 {
02408 framerate = DC1394_FRAMERATE_7_5;
02409 }
02410 else if (cameraProperty->floatData <= 15)
02411 {
02412 framerate = DC1394_FRAMERATE_15;
02413 }
02414 else if (cameraProperty->floatData <= 30)
02415 {
02416 framerate = DC1394_FRAMERATE_30;
02417 }
02418 else if (cameraProperty->floatData <= 60)
02419 {
02420 framerate = DC1394_FRAMERATE_60;
02421 }
02422 else
02423 {
02424 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02425 std::cerr << "\t ... Specified framerate " << cameraProperty->floatData << " out of range ( error " << err << " )" << std::endl;
02426 return RET_FAILED;
02427 }
02428 err=dc1394_video_set_framerate(m_cam, framerate);
02429 if (err!=DC1394_SUCCESS)
02430 {
02431 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02432 std::cerr << "\t ... Could not set specified framerate " << cameraProperty->floatData << " ( error " << err << " )" << std::endl;
02433 return RET_FAILED;
02434 }
02435 #else
02436 UINT32 framerate;
02437 if (cameraProperty->floatData <= 1.875)
02438 {
02439 framerate = FR_1_875;
02440 }
02441 else if (cameraProperty->floatData <= 3.75)
02442 {
02443 framerate = FR_3_75;
02444 }
02445 else if (cameraProperty->floatData <= 7.5)
02446 {
02447 framerate = FR_7_5;
02448 }
02449 else if (cameraProperty->floatData <= 15)
02450 {
02451 framerate = FR_15;
02452 }
02453 else if (cameraProperty->floatData <= 30)
02454 {
02455 framerate = FR_30;
02456 }
02457 else if (cameraProperty->floatData <= 60)
02458 {
02459 framerate = FR_60;
02460 }
02461 else
02462 {
02463 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02464 std::cerr << "\t ... Specified framerate " << cameraProperty->floatData << " out of range ( error " << err << " )" << std::endl;
02465 return RET_FAILED;
02466 }
02467 err = m_cam.SetParameter(FGP_FRAMERATE, framerate);
02468 if(err!=FCE_NOERROR)
02469 {
02470 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02471 std::cerr << "\t ... Could not set specified framerate " << cameraProperty->floatData << " ( error " << err << " )" << std::endl;
02472 return RET_FAILED;
02473 }
02474 #endif
02475 }
02476 else
02477 {
02478 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02479 std::cerr << "\t ... Wrong property type. 'TYPE_FLOAT' or special values 'TYPE_SPECIAL' expected." << std::endl;
02480 return RET_FAILED;
02481 }
02482 }
02483 return RET_OK;
02484 break;
02486
02488 case PROP_FW_OPERATION_MODE:
02489 if (cameraProperty->propertyType & ipa_CameraSensors::TYPE_SPECIAL)
02490 {
02491 if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_AUTO)
02492 {
02493 m_operationMode_B = false;
02494 return RET_OK;
02495 }
02496 else if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_DEFAULT)
02497 {
02498 m_operationMode_B = false;
02499 return RET_OK;
02500 }
02501 else
02502 {
02503 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02504 std::cerr << "\t ... Special value 'VALUE_AUTO' or 'VALUE_DEFAULT' expected." << std::endl;
02505 return RET_FAILED;
02506 }
02507
02508 }
02509 else if (cameraProperty->propertyType & TYPE_STRING)
02510 {
02511 if (cameraProperty->stringData == "A")
02512 {
02513 m_operationMode_B = false;
02514 return RET_OK;
02515 }
02516 else if (cameraProperty->stringData == "B")
02517 {
02518 m_operationMode_B = true;
02519 return RET_OK;
02520 }
02521 else
02522 {
02523 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02524 std::cerr << "\t ... FireWire operation mode " << cameraProperty->stringData << " unknown." << std::endl;
02525 return RET_FAILED;
02526 }
02527 }
02528 else
02529 {
02530 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02531 std::cerr << "\t ... Wrong property type. 'TYPE_STRING' or special values 'TYPE_SPECIAL' expected." << std::endl;
02532 return RET_FAILED;
02533 }
02534 break;
02536
02538 case PROP_ISO_SPEED:
02539 if (cameraProperty->propertyType & ipa_CameraSensors::TYPE_SPECIAL)
02540 {
02541 if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_AUTO)
02542 {
02543 #ifdef __LINUX__
02544 err=dc1394_video_set_iso_speed(m_cam, DC1394_ISO_SPEED_400);
02545 if (err!=DC1394_SUCCESS)
02546 {
02547 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02548 std::cerr << "\t ... Failed to setup iso speed." << std::endl;
02549 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
02550 return RET_FAILED;
02551 }
02552 #else
02553 err = m_cam.SetParameter(FGP_PHYSPEED, PS_AUTO);
02554 if(err!=FCE_NOERROR)
02555 {
02556 std::cerr<< "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02557 std::cerr << "\t ... Could not set iso speed to AUTO mode ( error " << err << " )" << std::endl;
02558 return RET_FAILED;
02559 }
02560 #endif
02561 }
02562 else if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_DEFAULT)
02563 {
02564 #ifdef __LINUX__
02565 #else
02566 err = m_cam.SetParameter(FGP_PHYSPEED, PS_LAST);
02567 if(err!=FCE_NOERROR)
02568 {
02569 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02570 std::cerr << "\t ... Could not set iso speed to DEFAULT mode ( error " << err << " )" << std::endl;
02571 return RET_FAILED;
02572 }
02573 #endif
02574 }
02575 else
02576 {
02577 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02578 std::cerr << "\t ... Special value 'VALUE_AUTO' or 'VALUE_DEFAULT' expected." << std::endl;
02579 return RET_FAILED;
02580 }
02581 }
02582 else if (cameraProperty->propertyType & (ipa_CameraSensors::TYPE_LONG | ipa_CameraSensors::TYPE_UNSIGNED))
02583 {
02584 #ifdef __LINUX__
02585 err = DC1394_FAILURE;
02586 if (cameraProperty->u_longData <= 100)
02587 {
02588 err=dc1394_video_set_iso_speed(m_cam, DC1394_ISO_SPEED_100);
02589 }
02590 else if (cameraProperty->u_longData <= 200)
02591 {
02592 err=dc1394_video_set_iso_speed(m_cam, DC1394_ISO_SPEED_200);
02593 }
02594 else if (cameraProperty->u_longData <= 400)
02595 {
02596 err=dc1394_video_set_iso_speed(m_cam, DC1394_ISO_SPEED_400);
02597 }
02598 else if (cameraProperty->u_longData <= 800)
02599 {
02600 err=dc1394_video_set_iso_speed(m_cam, DC1394_ISO_SPEED_800);
02601 }
02602 if (err!=DC1394_SUCCESS)
02603 {
02604 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02605 std::cerr << "\t ... Failed to setup iso speed " << cameraProperty->u_longData << std::endl;
02606 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
02607 return RET_FAILED;
02608 }
02609 #else
02610 err = 1;
02611 if (cameraProperty->u_longData <= 100)
02612 {
02613 err = m_cam.SetParameter(FGP_PHYSPEED, PS_100MBIT);
02614 }
02615 else if (cameraProperty->u_longData <= 200)
02616 {
02617 err = m_cam.SetParameter(FGP_PHYSPEED, PS_200MBIT);
02618 }
02619 else if (cameraProperty->u_longData <= 400)
02620 {
02621 err = m_cam.SetParameter(FGP_PHYSPEED, PS_400MBIT);
02622 }
02623 else if (cameraProperty->u_longData <= 800)
02624 {
02625 err = m_cam.SetParameter(FGP_PHYSPEED, PS_800MBIT);
02626 }
02627 if(err!=FCE_NOERROR)
02628 {
02629 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02630 std::cerr << "\t ... Could not set iso speed to " <<
02631 cameraProperty->u_longData << " ( error " << err << " )" << std::endl;
02632 return RET_FAILED;
02633 }
02634 #endif
02635 }
02636 else
02637 {
02638 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02639 std::cerr << "\t ... Wrong property type. '(TYPE_LONG|TYPE_UNSIGNED)' or 'TYPE_SPECIAL' expected." << std::endl;
02640 return RET_FAILED;
02641 }
02642 break;
02644
02646 case PROP_RESOLUTION:
02647 if (cameraProperty->propertyType & ipa_CameraSensors::TYPE_SPECIAL)
02648 {
02649 if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_AUTO)
02650 {
02651 #ifdef __LINUX__
02652 #else
02653 err = m_cam.SetParameter(FGP_XSIZE, PVAL_AUTO);
02654 if(err!=FCE_NOERROR)
02655 {
02656 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02657 std::cerr << "\t ... Could not set x resolution to AUTO mode ( error " << err << " )" << std::endl;
02658 return RET_FAILED;
02659 }
02660 err = m_cam.SetParameter(FGP_YSIZE, PVAL_AUTO);
02661 if(err!=FCE_NOERROR)
02662 {
02663 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02664 std::cerr << "\t ... Could not set y resolution to AUTO mode ( error " << err << " )" << std::endl;
02665 return RET_FAILED;
02666 }
02667 #endif
02668 }
02669 else if(cameraProperty->specialValue == ipa_CameraSensors::VALUE_DEFAULT)
02670 {
02671
02672 }
02673 else
02674 {
02675 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02676 std::cerr << "\t ... Special value 'VALUE_AUTO' or 'VALUE_DEFAULT' expected." << std::endl;
02677 return RET_FAILED;
02678 }
02679 }
02680 else if (cameraProperty->propertyType & ipa_CameraSensors::TYPE_CAMERA_RESOLUTION)
02681 {
02682 #ifdef __LINUX__
02683 #else
02684 m_cam.GetParameterInfo(FGP_XSIZE, &info);
02685 if (((unsigned int) cameraProperty->cameraResolution.xResolution < info.MinValue) ||
02686 ((unsigned int) cameraProperty->cameraResolution.xResolution > info.MaxValue))
02687 {
02688 std::cout << "WARNING - AVTPikeCam::SetProperty:" << std::endl;
02689 std::cout << "\t ... x resolution " << cameraProperty->cameraResolution.xResolution
02690 << " has to be a value between " << info.MinValue << " and " << info.MaxValue << "." << std::endl;
02691 std::cout << "\t ... Setting maximal x resolution" << std::endl;
02692 }
02693 m_cam.GetParameterInfo(FGP_YSIZE, &info);
02694 if (((unsigned int) cameraProperty->cameraResolution.yResolution < info.MinValue) ||
02695 ((unsigned int) cameraProperty->cameraResolution.yResolution > info.MaxValue))
02696 {
02697 std::cout << "WARNING - AVTPikeCam::SetProperty:" << std::endl;
02698 std::cout << "\t ... y resolution " << cameraProperty->cameraResolution.yResolution
02699 << " has to be a value between " << info.MinValue << " and " << info.MaxValue << "." << std::endl;
02700 std::cout << "\t ... Setting maximal y resolution" << std::endl;
02701 }
02702
02703
02704
02705 err = m_cam.SetParameter(FGP_XSIZE, cameraProperty->cameraResolution.xResolution);
02706 if(err!=FCE_NOERROR)
02707 {
02708 std::cout << "WARNING - AVTPikeCam::SetProperty:" << std::endl;
02709 std::cout << "\t ... Could not set image width ( error " << err << " )" << std::endl;
02710 }
02711
02712 err = m_cam.SetParameter(FGP_YSIZE, cameraProperty->cameraResolution.yResolution);
02713 if(err!=FCE_NOERROR)
02714 {
02715 std::cout << "WARNING - AVTPikeCam::SetProperty:" << std::endl;
02716 std::cout << "\t ... Could not set image height ( error " << err << " )" << std::endl;
02717 }
02718 #endif
02719
02720 }
02721 else
02722 {
02723 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02724 std::cerr << "\t ... Wrong property type. 'TYPE_CAMERA_RESOLUTION' or 'TYPE_SPECIAL' expected." << std::endl;
02725 return RET_FAILED;
02726 }
02727 break;
02729
02731 default:
02732 std::cerr << "ERROR - VTPikeCam::SetProperty:" << std::endl;
02733 std::cerr << "\t ... Property " << cameraProperty->propertyID << " unspecified." << std::endl;
02734 return RET_FAILED;
02735 break;
02736 }
02737
02738 return RET_OK;
02739 }
02740
02741 unsigned long AVTPikeCam::SetParameters()
02742 {
02743 ipa_CameraSensors::t_cameraProperty cameraProperty;
02744
02745
02746
02747
02748 if (m_ColorCameraParameters.m_CameraRole == MASTER)
02749 {
02750 std::cout << "Info - AVTPikeCam::SetProperty:" << std::endl;
02751 std::cout << "\t ... Setting camera in MASTER mode." << std::endl;
02752 #ifdef __LINUX__
02753
02754
02755 dc1394error_t err;
02756 err = dc1394_external_trigger_set_power(m_cam, DC1394_OFF);
02757 if (err!=DC1394_SUCCESS)
02758 {
02759 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02760 std::cerr << "\t ... Failed to deactivate external trigger." << std::endl;
02761 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
02762 return RET_FAILED;
02763 }
02764 err = dc1394_external_trigger_set_mode(m_cam, DC1394_TRIGGER_MODE_3);
02765 if (err!=DC1394_SUCCESS)
02766 {
02767 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02768 std::cerr << "\t ... Failed to set trigger mode." << std::endl;
02769 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
02770 return RET_FAILED;
02771 }
02772 #else
02773 UINT32 err;
02774
02775 UINT32 triggerValue;
02776 triggerValue=MAKETRIGGER(0, 0, 0, 0, 0);
02777 err = m_cam.SetParameter(FGP_TRIGGER,triggerValue);
02778 if(err!=FCE_NOERROR)
02779 {
02780 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02781 std::cerr << "\t ... Could not set Slave trigger mode ( error " << err << " )" << std::endl;
02782 return RET_FAILED;
02783 }
02784 #endif
02785 }
02786 else if (m_ColorCameraParameters.m_CameraRole == SLAVE)
02787 {
02788 std::cout << "Info - AVTPikeCam::SetProperty:" << std::endl;
02789 std::cout << "\t ... Setting camera in SLAVE mode." << std::endl;
02790 #ifdef __LINUX__
02791
02792 dc1394error_t err;
02793 err = dc1394_external_trigger_set_power(m_cam, DC1394_ON);
02794 if (err!=DC1394_SUCCESS)
02795 {
02796 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02797 std::cerr << "\t ... Failed to activate external trigger." << std::endl;
02798 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
02799 return RET_FAILED;
02800 }
02801
02802 err = dc1394_external_trigger_set_polarity(m_cam, DC1394_TRIGGER_ACTIVE_HIGH);
02803 if (err!=DC1394_SUCCESS)
02804 {
02805 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02806 std::cerr << "\t ... Failed to set trigger polarity." << std::endl;
02807 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
02808 return RET_FAILED;
02809 }
02810
02811 err = dc1394_external_trigger_set_mode(m_cam, DC1394_TRIGGER_MODE_0);
02812 if (err!=DC1394_SUCCESS)
02813 {
02814 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02815 std::cerr << "\t ... Failed to set trigger mode." << std::endl;
02816 std::cerr << "\t ... " << dc1394_error_get_string(err) << std::endl;
02817 return RET_FAILED;
02818 }
02819 #else
02820 UINT32 err;
02821 UINT32 nOn=1;
02822 UINT32 nPolarity=1;
02823 UINT32 nSrc=0;
02824 UINT32 nMode=0;
02825 UINT32 nParm=0;
02826 UINT32 triggerValue;
02827 triggerValue=MAKETRIGGER(nOn, nPolarity, nSrc, nMode, nParm);
02828 err = m_cam.SetParameter(FGP_TRIGGER,triggerValue);
02829 if(err!=FCE_NOERROR)
02830 {
02831 std::cerr << "ERROR - AVTPikeCam::SetProperty:" << std::endl;
02832 std::cerr << "\t ... Could not set Slave trigger mode ( error " << err << " )" << std::endl;
02833 return RET_FAILED;
02834 }
02835 #endif
02836 }
02837
02838
02839
02840
02841 cameraProperty.propertyID = ipa_CameraSensors::PROP_ISO_SPEED;
02842 std::string sIsoSpeed = "";
02843 m_ColorCameraParameters.m_IsoSpeed.clear();
02844 m_ColorCameraParameters.m_IsoSpeed.seekg(0);
02845 m_ColorCameraParameters.m_IsoSpeed >> sIsoSpeed;
02846 if (sIsoSpeed == "AUTO")
02847 {
02848 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
02849 cameraProperty.specialValue = VALUE_AUTO;
02850 }
02851 else if (sIsoSpeed == "DEFAULT")
02852 {
02853 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
02854 cameraProperty.specialValue = VALUE_DEFAULT;
02855 }
02856 else
02857 {
02858 cameraProperty.propertyType = (ipa_CameraSensors::TYPE_UNSIGNED | ipa_CameraSensors::TYPE_LONG);
02859 m_ColorCameraParameters.m_IsoSpeed.clear();
02860 m_ColorCameraParameters.m_IsoSpeed.seekg(0);
02861 m_ColorCameraParameters.m_IsoSpeed >> cameraProperty.u_longData;
02862 }
02863
02864 if (SetProperty(&cameraProperty) & ipa_CameraSensors::RET_FAILED)
02865 {
02866 std::cout << "WARNING - AVTPikeCam::SetParameters:" << std::endl;
02867 std::cout << "\t ... Could not set ISO speed." << std::endl;
02868 }
02869
02870
02871
02872
02873 cameraProperty.propertyID = ipa_CameraSensors::PROP_VIDEO_ALL;
02874 cameraProperty.propertyType = (ipa_CameraSensors::TYPE_VIDEO_FORMAT |
02875 ipa_CameraSensors::TYPE_VIDEO_MODE |
02876 ipa_CameraSensors::TYPE_COLOR_MODE);
02877 std::string sVideoFormat = "";
02878 std::string sVideoMode = "";
02879 std::string sColorMode = "";
02880
02881 m_ColorCameraParameters.m_VideoFormat.clear();
02882 m_ColorCameraParameters.m_VideoFormat.seekg(0);
02883 m_ColorCameraParameters.m_VideoFormat >> sVideoFormat;
02884 if (sVideoFormat == "FORMAT_DEFAULT")
02885 {
02886 cameraProperty.videoFormat = FORMAT_DEFAULT;
02887 }
02888 else if (sVideoFormat == "FORMAT_0")
02889 {
02890 cameraProperty.videoFormat = FORMAT_0;
02891 }
02892 else if (sVideoFormat == "FORMAT_1")
02893 {
02894 cameraProperty.videoFormat = FORMAT_1;
02895 }
02896 else if (sVideoFormat == "FORMAT_2")
02897 {
02898 cameraProperty.videoFormat = FORMAT_2;
02899 }
02900 else if (sVideoFormat == "FORMAT_7")
02901 {
02902 cameraProperty.videoFormat = FORMAT_7;
02903 }
02904
02905 m_ColorCameraParameters.m_VideoMode.clear();
02906 m_ColorCameraParameters.m_VideoMode.seekg(0);
02907 m_ColorCameraParameters.m_VideoMode >> sVideoMode;
02908 if (sVideoMode == "MODE_DEFAULT")
02909 {
02910 cameraProperty.videoMode = MODE_DEFAULT;
02911 }
02912 else if (sVideoMode == "MODE_0")
02913 {
02914 cameraProperty.videoMode = MODE_0;
02915 }
02916 else if (sVideoMode == "MODE_1")
02917 {
02918 cameraProperty.videoMode = MODE_1;
02919 }
02920 else if (sVideoMode == "MODE_2")
02921 {
02922 cameraProperty.videoMode = MODE_2;
02923 }
02924 else if (sVideoMode == "MODE_3")
02925 {
02926 cameraProperty.videoMode = MODE_3;
02927 }
02928 else if (sVideoMode == "MODE_4")
02929 {
02930 cameraProperty.videoMode = MODE_4;
02931 }
02932 else if (sVideoMode == "MODE_5")
02933 {
02934 cameraProperty.videoMode = MODE_5;
02935 }
02936 else if (sVideoMode == "MODE_6")
02937 {
02938 cameraProperty.videoMode = MODE_6;
02939 }
02940 else if (sVideoMode == "MODE_7")
02941 {
02942 cameraProperty.videoMode = MODE_7;
02943 }
02944
02945 m_ColorCameraParameters.m_ColorMode.clear();
02946 m_ColorCameraParameters.m_ColorMode.seekg(0);
02947 m_ColorCameraParameters.m_ColorMode >> sColorMode;
02948 if (sColorMode == "COLOR_DEFAULT")
02949 {
02950 cameraProperty.colorMode = COLOR_DEFAULT;
02951 }
02952 else if (sColorMode == "COLOR_YUV422")
02953 {
02954 cameraProperty.colorMode = COLOR_YUV422;
02955 }
02956 else if (sColorMode == "COLOR_YUV411")
02957 {
02958 cameraProperty.colorMode = COLOR_YUV411;
02959 }
02960 else if (sColorMode == "COLOR_RGB8")
02961 {
02962 cameraProperty.colorMode = COLOR_RGB8;
02963 }
02964 else if (sColorMode == "COLOR_RGB16S")
02965 {
02966 cameraProperty.colorMode = COLOR_RGB16S;
02967 }
02968 else if (sColorMode == "COLOR_RGB16")
02969 {
02970 cameraProperty.colorMode = COLOR_RGB16;
02971 }
02972 else if (sColorMode == "COLOR_MONO8")
02973 {
02974 cameraProperty.colorMode = COLOR_MONO8;
02975 }
02976 else if (sColorMode == "COLOR_MONO16")
02977 {
02978 cameraProperty.colorMode = COLOR_MONO16;
02979 }
02980 else if (sColorMode == "COLOR_MONO16S")
02981 {
02982 cameraProperty.colorMode = COLOR_MONO16S;
02983 }
02984 else if (sColorMode == "COLOR_RAW8")
02985 {
02986 cameraProperty.colorMode = COLOR_RAW8;
02987 }
02988 else if (sColorMode == "COLOR_RAW16")
02989 {
02990 cameraProperty.colorMode = COLOR_RAW16;
02991 }
02992
02993 if (SetProperty(&cameraProperty) & ipa_CameraSensors::RET_FAILED)
02994 {
02995 std::cout << "WARNING - AVTPikeCam::SetParameters:" << std::endl;
02996 std::cout << "\t ... Could not set video format, video mode and color mode" << std::endl;
02997 }
02998
02999
03000
03001
03002
03003 cameraProperty.propertyID = ipa_CameraSensors::PROP_RESOLUTION;
03004 std::string sImageWidth = "";
03005 std::string sImageHeight = "";
03006 int iImageWidth = -1;
03007 int iImageHeight = -1;
03008
03009 m_ColorCameraParameters.m_ImageWidth.clear();
03010 m_ColorCameraParameters.m_ImageWidth.seekg(0);
03011 m_ColorCameraParameters.m_ImageWidth >> sImageWidth;
03012 m_ColorCameraParameters.m_ImageHeight.clear();
03013 m_ColorCameraParameters.m_ImageHeight.seekg(0);
03014 m_ColorCameraParameters.m_ImageHeight >> sImageHeight;
03015
03016 if (sImageWidth == "AUTO" || sImageHeight == "Auto")
03017 {
03018 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03019 cameraProperty.specialValue = VALUE_AUTO;
03020 }
03021 else if (sImageWidth == "DEFAULT" || sImageHeight == "DEFAULT")
03022 {
03023 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03024 cameraProperty.specialValue = VALUE_DEFAULT;
03025 }
03026 else
03027 {
03028 cameraProperty.propertyType = (ipa_CameraSensors::TYPE_UNSIGNED | ipa_CameraSensors::TYPE_LONG);
03029 m_ColorCameraParameters.m_ImageWidth.clear();
03030 m_ColorCameraParameters.m_ImageWidth.seekg(0);
03031 m_ColorCameraParameters.m_ImageWidth >> iImageWidth;
03032 m_ColorCameraParameters.m_ImageHeight.clear();
03033 m_ColorCameraParameters.m_ImageHeight.seekg(0);
03034 m_ColorCameraParameters.m_ImageHeight >> iImageHeight;
03035 }
03036
03037 if (SetProperty(&cameraProperty) & ipa_CameraSensors::RET_FAILED)
03038 {
03039 std::cout << "WARNING - AVTPikeCam::SetParameters:" << std::endl;
03040 std::cout << "\t ... Could not set resolution." << std::endl;
03041 }
03042
03043
03044
03045
03046
03047 cameraProperty.propertyID = ipa_CameraSensors::PROP_EXPOSURE_TIME;
03048 std::string sExposureTime = "";
03049
03050 m_ColorCameraParameters.m_ExposureTime.clear();
03051 m_ColorCameraParameters.m_ExposureTime.seekg(0);
03052 m_ColorCameraParameters.m_ExposureTime >> sExposureTime;
03053
03054 if (sExposureTime == "AUTO")
03055 {
03056 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03057 cameraProperty.specialValue = VALUE_AUTO;
03058 }
03059 else if (sExposureTime == "DEFAULT")
03060 {
03061 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03062 cameraProperty.specialValue = VALUE_DEFAULT;
03063 }
03064 else
03065 {
03066 cameraProperty.propertyType = (ipa_CameraSensors::TYPE_UNSIGNED | ipa_CameraSensors::TYPE_LONG);
03067 m_ColorCameraParameters.m_ExposureTime.clear();
03068 m_ColorCameraParameters.m_ExposureTime.seekg(0);
03069 m_ColorCameraParameters.m_ExposureTime >> cameraProperty.u_longData;
03070 }
03071
03072 if (SetProperty(&cameraProperty) & ipa_CameraSensors::RET_FAILED)
03073 {
03074 std::cout << "WARNING - AVTPikeCam::SetParameters:" << std::endl;
03075 std::cout << "\t ... Could not set auto exposure." << std::endl;
03076 }
03077
03078
03079
03080
03081 cameraProperty.propertyID = ipa_CameraSensors::PROP_FRAME_RATE;
03082 std::string sFrameRate = "";
03083
03084 m_ColorCameraParameters.m_FrameRate.clear();
03085 m_ColorCameraParameters.m_FrameRate.seekg(0);
03086 m_ColorCameraParameters.m_FrameRate >> sFrameRate;
03087
03088 if (sFrameRate == "AUTO")
03089 {
03090 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03091 cameraProperty.specialValue = VALUE_AUTO;
03092 }
03093 else if (sFrameRate == "DEFAULT")
03094 {
03095 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03096 cameraProperty.specialValue = VALUE_DEFAULT;
03097 }
03098 else
03099 {
03100 cameraProperty.propertyType = ipa_CameraSensors::TYPE_FLOAT;
03101 m_ColorCameraParameters.m_FrameRate.clear();
03102 m_ColorCameraParameters.m_FrameRate.seekg(0);
03103 m_ColorCameraParameters.m_FrameRate >> cameraProperty.floatData;
03104 }
03105
03106 if (SetProperty(&cameraProperty) & ipa_CameraSensors::RET_FAILED)
03107 {
03108 std::cout << "WARNING - AVTPikeCam::SetParameters:" << std::endl;
03109 std::cout << "\t ... Could not set frame rate." << std::endl;
03110 }
03111
03112
03113
03114
03115
03116 cameraProperty.propertyID = ipa_CameraSensors::PROP_SHUTTER;
03117 std::string sShutter = "";
03118
03119 m_ColorCameraParameters.m_Shutter.clear();
03120 m_ColorCameraParameters.m_Shutter.seekg(0);
03121 m_ColorCameraParameters.m_Shutter >> sShutter;
03122
03123 if (sShutter == "AUTO")
03124 {
03125 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03126 cameraProperty.specialValue = VALUE_AUTO;
03127 }
03128 else if (sShutter == "DEFAULT")
03129 {
03130 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03131 cameraProperty.specialValue = VALUE_DEFAULT;
03132 }
03133 else
03134 {
03135 cameraProperty.propertyType = (ipa_CameraSensors::TYPE_UNSIGNED | ipa_CameraSensors::TYPE_LONG);
03136 m_ColorCameraParameters.m_Shutter.clear();
03137 m_ColorCameraParameters.m_Shutter.seekg(0);
03138 m_ColorCameraParameters.m_Shutter >> cameraProperty.u_longData;
03139 }
03140
03141 if (SetProperty(&cameraProperty) & ipa_CameraSensors::RET_FAILED)
03142 {
03143 std::cout << "WARNING - AVTPikeCam::SetParameters:" << std::endl;
03144 std::cout << "\t ... Could not set shutter." << std::endl;
03145 }
03146
03147
03148
03149
03150 cameraProperty.propertyID = ipa_CameraSensors::PROP_BRIGHTNESS;
03151 std::string sBrightness = "";
03152
03153 m_ColorCameraParameters.m_Brightness.clear();
03154 m_ColorCameraParameters.m_Brightness.seekg(0);
03155 m_ColorCameraParameters.m_Brightness >> sBrightness;
03156
03157 if (sBrightness == "AUTO")
03158 {
03159 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03160 cameraProperty.specialValue = VALUE_AUTO;
03161 }
03162 else if (sBrightness == "DEFAULT")
03163 {
03164 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03165 cameraProperty.specialValue = VALUE_DEFAULT;
03166 }
03167 else
03168 {
03169 cameraProperty.propertyType = (ipa_CameraSensors::TYPE_UNSIGNED | ipa_CameraSensors::TYPE_LONG);
03170 m_ColorCameraParameters.m_Brightness.clear();
03171 m_ColorCameraParameters.m_Brightness.seekg(0);
03172 m_ColorCameraParameters.m_Brightness >> cameraProperty.u_longData;
03173 }
03174
03175 if (SetProperty(&cameraProperty) & ipa_CameraSensors::RET_FAILED)
03176 {
03177 std::cout << "WARNING - AVTPikeCam::SetParameters:" << std::endl;
03178 std::cout << "\t ... Could not set brightness." << std::endl;
03179 }
03180
03181
03182
03183
03184 cameraProperty.propertyID = ipa_CameraSensors::PROP_GAIN;
03185 std::string sGain = "";
03186
03187 m_ColorCameraParameters.m_Gain.clear();
03188 m_ColorCameraParameters.m_Gain.seekg(0);
03189 m_ColorCameraParameters.m_Gain >> sGain;
03190
03191 if (sGain == "AUTO")
03192 {
03193 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03194 cameraProperty.specialValue = VALUE_AUTO;
03195 }
03196 else if (sGain == "DEFAULT")
03197 {
03198 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03199 cameraProperty.specialValue = VALUE_DEFAULT;
03200 }
03201 else
03202 {
03203 cameraProperty.propertyType = (ipa_CameraSensors::TYPE_UNSIGNED | ipa_CameraSensors::TYPE_LONG);
03204 m_ColorCameraParameters.m_Gain.clear();
03205 m_ColorCameraParameters.m_Gain.seekg(0);
03206 m_ColorCameraParameters.m_Gain >> cameraProperty.u_longData;
03207 }
03208
03209 if (SetProperty(&cameraProperty) & ipa_CameraSensors::RET_FAILED)
03210 {
03211 std::cout << "WARNING - AVTPikeCam::SetParameters:" << std::endl;
03212 std::cout << "\t ... Could not set gain." << std::endl;
03213 }
03214
03215
03216
03217
03218 cameraProperty.propertyID = ipa_CameraSensors::PROP_GAMMA;
03219 std::string sGamma = "";
03220
03221 m_ColorCameraParameters.m_Gamma.clear();
03222 m_ColorCameraParameters.m_Gamma.seekg(0);
03223 m_ColorCameraParameters.m_Gamma >> sGamma;
03224
03225 if (sGamma == "AUTO")
03226 {
03227 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03228 cameraProperty.specialValue = VALUE_AUTO;
03229 }
03230 else if (sGamma == "DEFAULT")
03231 {
03232 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03233 cameraProperty.specialValue = VALUE_DEFAULT;
03234 }
03235 else
03236 {
03237 cameraProperty.propertyType = (ipa_CameraSensors::TYPE_UNSIGNED | ipa_CameraSensors::TYPE_LONG);
03238 m_ColorCameraParameters.m_Gamma.clear();
03239 m_ColorCameraParameters.m_Gamma.seekg(0);
03240 m_ColorCameraParameters.m_Gamma >> cameraProperty.u_longData;
03241 }
03242
03243 if (SetProperty(&cameraProperty) & ipa_CameraSensors::RET_FAILED)
03244 {
03245 std::cout << "WARNING - AVTPikeCam::SetParameters:" << std::endl;
03246 std::cout << "\t ... Could not set gamma." << std::endl;
03247 }
03248
03249
03250
03251
03252 cameraProperty.propertyID = ipa_CameraSensors::PROP_HUE;
03253 std::string sHue = "";
03254
03255 m_ColorCameraParameters.m_Hue.clear();
03256 m_ColorCameraParameters.m_Hue.seekg(0);
03257 m_ColorCameraParameters.m_Hue >> sHue;
03258
03259 if (sHue == "AUTO")
03260 {
03261 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03262 cameraProperty.specialValue = VALUE_AUTO;
03263 }
03264 else if (sHue == "DEFAULT")
03265 {
03266 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03267 cameraProperty.specialValue = VALUE_DEFAULT;
03268 }
03269 else
03270 {
03271 cameraProperty.propertyType = (ipa_CameraSensors::TYPE_UNSIGNED | ipa_CameraSensors::TYPE_LONG);
03272 m_ColorCameraParameters.m_Hue.clear();
03273 m_ColorCameraParameters.m_Hue.seekg(0);
03274 m_ColorCameraParameters.m_Hue >> cameraProperty.u_longData;
03275 }
03276
03277 if (SetProperty(&cameraProperty) & ipa_CameraSensors::RET_FAILED)
03278 {
03279 std::cout << "WARNING - AVTPikeCam::SetParameters:" << std::endl;
03280 std::cout << "\t ... Could not set hue." << std::endl;
03281 }
03282
03283
03284
03285
03286 cameraProperty.propertyID = ipa_CameraSensors::PROP_SATURATION;
03287 std::string sSaturation = "";
03288
03289 m_ColorCameraParameters.m_Saturation.clear();
03290 m_ColorCameraParameters.m_Saturation.seekg(0);
03291 m_ColorCameraParameters.m_Saturation >> sSaturation;
03292
03293 if (sSaturation == "AUTO")
03294 {
03295 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03296 cameraProperty.specialValue = VALUE_AUTO;
03297 }
03298 else if (sSaturation == "DEFAULT")
03299 {
03300 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03301 cameraProperty.specialValue = VALUE_DEFAULT;
03302 }
03303 else
03304 {
03305 cameraProperty.propertyType = (ipa_CameraSensors::TYPE_UNSIGNED | ipa_CameraSensors::TYPE_LONG);
03306 m_ColorCameraParameters.m_Saturation.clear();
03307 m_ColorCameraParameters.m_Saturation.seekg(0);
03308 m_ColorCameraParameters.m_Saturation >> cameraProperty.u_longData;
03309 }
03310
03311 if (SetProperty(&cameraProperty) & ipa_CameraSensors::RET_FAILED)
03312 {
03313 std::cout << "WARNING - AVTPikeCam::SetParameters:" << std::endl;
03314 std::cout << "\t ... Could not set saturation." << std::endl;
03315 }
03316
03317
03318
03319
03320 cameraProperty.propertyID = ipa_CameraSensors::PROP_WHITE_BALANCE_U;
03321 std::string sWhiteBalanceU = "";
03322
03323 m_ColorCameraParameters.m_WhiteBalanceU.clear();
03324 m_ColorCameraParameters.m_WhiteBalanceU.seekg(0);
03325 m_ColorCameraParameters.m_WhiteBalanceU >> sWhiteBalanceU;
03326
03327 if (sWhiteBalanceU == "AUTO")
03328 {
03329 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03330 cameraProperty.specialValue = VALUE_AUTO;
03331 }
03332 else if (sWhiteBalanceU == "DEFAULT")
03333 {
03334 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03335 cameraProperty.specialValue = VALUE_DEFAULT;
03336 }
03337 else
03338 {
03339 cameraProperty.propertyType = (ipa_CameraSensors::TYPE_UNSIGNED | ipa_CameraSensors::TYPE_LONG);
03340 m_ColorCameraParameters.m_WhiteBalanceU.clear();
03341 m_ColorCameraParameters.m_WhiteBalanceU.seekg(0);
03342 m_ColorCameraParameters.m_WhiteBalanceU >> cameraProperty.u_longData;
03343 }
03344
03345 if (SetProperty(&cameraProperty) & ipa_CameraSensors::RET_FAILED)
03346 {
03347 std::cout << "WARNING - AVTPikeCam::SetParameters:" << std::endl;
03348 std::cout << "\t ... Could not set white balance U." << std::endl;
03349 }
03350
03351
03352
03353
03354 cameraProperty.propertyID = ipa_CameraSensors::PROP_WHITE_BALANCE_V;
03355 std::string sWhiteBalanceV = "";
03356
03357 m_ColorCameraParameters.m_WhiteBalanceV.clear();
03358 m_ColorCameraParameters.m_WhiteBalanceV.seekg(0);
03359 m_ColorCameraParameters.m_WhiteBalanceV >> sWhiteBalanceV;
03360
03361 if (sWhiteBalanceV == "AUTO")
03362 {
03363 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03364 cameraProperty.specialValue = VALUE_AUTO;
03365 }
03366 else if (sWhiteBalanceV == "DEFAULT")
03367 {
03368 cameraProperty.propertyType = ipa_CameraSensors::TYPE_SPECIAL;
03369 cameraProperty.specialValue = VALUE_DEFAULT;
03370 }
03371 else
03372 {
03373 cameraProperty.propertyType = (ipa_CameraSensors::TYPE_UNSIGNED | ipa_CameraSensors::TYPE_LONG);
03374 m_ColorCameraParameters.m_WhiteBalanceV.clear();
03375 m_ColorCameraParameters.m_WhiteBalanceV.seekg(0);
03376 m_ColorCameraParameters.m_WhiteBalanceV >> cameraProperty.u_longData;
03377 }
03378
03379 if (SetProperty(&cameraProperty) & ipa_CameraSensors::RET_FAILED)
03380 {
03381 std::cout << "WARNING - AVTPikeCam::SetParameters:" << std::endl;
03382 std::cout << "\t ... Could not set white balance V." << std::endl;
03383 }
03384 return RET_OK;
03385 }
03386
03387 unsigned long AVTPikeCam::LoadParameters(const char* filename, int cameraIndex)
03388 {
03389 boost::shared_ptr<TiXmlDocument> p_configXmlDocument (new TiXmlDocument( filename ));
03390
03391 if (!p_configXmlDocument->LoadFile())
03392 {
03393 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03394 std::cerr << "\t ... Error while loading xml configuration file (Check filename and syntax of the file):\n";
03395 std::cerr << "\t ... '" << filename << "'" << std::endl;
03396 return (RET_FAILED | RET_FAILED_OPEN_FILE);
03397 }
03398 std::cout << "INFO - AVTPikeCam::LoadParameters:" << std::endl;
03399 std::cout << "\t ... Parsing xml configuration file:" << std::endl;
03400 std::cout << "\t ... '" << filename << "'" << std::endl;
03401
03402 if ( p_configXmlDocument )
03403 {
03404
03405
03406
03407
03408
03409 TiXmlElement *p_xmlElement_Root = NULL;
03410 p_xmlElement_Root = p_configXmlDocument->FirstChildElement( "LibCameraSensors" );
03411 if ( p_xmlElement_Root )
03412 {
03413
03414
03415
03416
03417
03418 TiXmlElement *p_xmlElement_Root_AVTPikeCam = NULL;
03419 std::stringstream ss;
03420 ss << "AVTPikeCam_" << cameraIndex;
03421 p_xmlElement_Root_AVTPikeCam = p_xmlElement_Root->FirstChildElement( ss.str() );
03422 if ( p_xmlElement_Root_AVTPikeCam )
03423 {
03424
03425
03426
03427
03428
03429 TiXmlElement *p_xmlElement_Child = NULL;
03430 std::string tempString;
03431 p_xmlElement_Child = p_xmlElement_Root_AVTPikeCam->FirstChildElement( "GUID" );
03432 if ( p_xmlElement_Child )
03433 {
03434
03435 if ( p_xmlElement_Child->QueryValueAttribute( "high", &tempString ) != TIXML_SUCCESS)
03436 {
03437 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03438 std::cerr << "\t ... Can't find attribute 'high' of tag 'GUID'." << std::endl;
03439 return (RET_FAILED | RET_XML_ATTR_NOT_FOUND);
03440 }
03441 m_GUID.High = strtoul(tempString.c_str(),NULL,16);
03442
03443
03444 if ( p_xmlElement_Child->QueryValueAttribute( "low", &tempString ) != TIXML_SUCCESS)
03445 {
03446 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03447 std::cerr << "\t ... Can't find attribute 'low' of tag 'GUID'." << std::endl;
03448 return (RET_FAILED | RET_XML_ATTR_NOT_FOUND);
03449 }
03450 m_GUID.Low = strtoul(tempString.c_str(),NULL,16);
03451 }
03452 else
03453 {
03454 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03455 std::cerr << "\t ... Can't find tag 'GUID'." << std::endl;
03456 return (RET_FAILED | RET_XML_TAG_NOT_FOUND);
03457 }
03458
03459
03460
03461
03462 p_xmlElement_Child = NULL;
03463 p_xmlElement_Child = p_xmlElement_Root_AVTPikeCam->FirstChildElement( "Role" );
03464 if ( p_xmlElement_Child )
03465 {
03466
03467 if ( p_xmlElement_Child->QueryValueAttribute( "value", &tempString ) != TIXML_SUCCESS)
03468 {
03469 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03470 std::cerr << "\t ... Can't find attribute 'value' of tag 'Role'." << std::endl;
03471 return (RET_FAILED | RET_XML_ATTR_NOT_FOUND);
03472 }
03473
03474 if (tempString == "MASTER") m_ColorCameraParameters.m_CameraRole = MASTER;
03475 else if (tempString == "SLAVE") m_ColorCameraParameters.m_CameraRole = SLAVE;
03476 else
03477 {
03478 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03479 std::cerr << "\t ... Role " << tempString << " unspecified." << std::endl;
03480 return (RET_FAILED);
03481 }
03482
03483 }
03484 else
03485 {
03486 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03487 std::cerr << "\t ... Can't find tag 'Role'." << std::endl;
03488 return (RET_FAILED | RET_XML_TAG_NOT_FOUND);
03489 }
03490
03491
03492
03493
03494
03495 p_xmlElement_Child = NULL;
03496 p_xmlElement_Child = p_xmlElement_Root_AVTPikeCam->FirstChildElement( "VideoFormat" );
03497 if ( p_xmlElement_Child )
03498 {
03499
03500 if ( p_xmlElement_Child->QueryValueAttribute( "type", &tempString) != TIXML_SUCCESS)
03501 {
03502 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03503 std::cerr << "\t ... Can't find attribute 'type' of tag 'VideoFormat'." << std::endl;
03504 return (RET_FAILED | RET_XML_ATTR_NOT_FOUND);
03505 }
03506 else
03507 {
03508 m_ColorCameraParameters.m_VideoFormat.str( " " );
03509 m_ColorCameraParameters.m_VideoFormat.clear();
03510 m_ColorCameraParameters.m_VideoFormat << tempString;
03511 }
03512 }
03513 else
03514 {
03515 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03516 std::cerr << "\t ... Can't find tag 'VideoFormat'." << std::endl;
03517 return (RET_FAILED | RET_XML_TAG_NOT_FOUND);
03518 }
03519
03520
03521
03522
03523
03524 p_xmlElement_Child = NULL;
03525 p_xmlElement_Child = p_xmlElement_Root_AVTPikeCam->FirstChildElement( "VideoMode" );
03526 if ( p_xmlElement_Child )
03527 {
03528
03529 if ( p_xmlElement_Child->QueryValueAttribute( "type", &tempString ) != TIXML_SUCCESS)
03530 {
03531 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03532 std::cerr << "\t ... Can't find attribute 'type' of tag 'VideoMode'." << std::endl;
03533 return (RET_FAILED | RET_XML_ATTR_NOT_FOUND);
03534 }
03535 else
03536 {
03537 m_ColorCameraParameters.m_VideoMode.str( " " );
03538 m_ColorCameraParameters.m_VideoMode.clear();
03539 m_ColorCameraParameters.m_VideoMode << tempString;
03540 }
03541
03542 }
03543 else
03544 {
03545 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03546 std::cerr << "\t ... Can't find tag 'VideoMode'." << std::endl;
03547 return (RET_FAILED | RET_XML_TAG_NOT_FOUND);
03548 }
03549
03550
03551
03552
03553
03554 p_xmlElement_Child = NULL;
03555 p_xmlElement_Child = p_xmlElement_Root_AVTPikeCam->FirstChildElement( "Resolution" );
03556 if ( p_xmlElement_Child )
03557 {
03558
03559 if ( p_xmlElement_Child->QueryValueAttribute("width", &tempString) != TIXML_SUCCESS)
03560 {
03561 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03562 std::cerr << "\t ... Can't find attribute 'width' of tag 'Resolution'." << std::endl;
03563 return (RET_FAILED | RET_XML_ATTR_NOT_FOUND);
03564 }
03565 else
03566 {
03567 m_ColorCameraParameters.m_ImageWidth.str( " " );
03568 m_ColorCameraParameters.m_ImageWidth.clear();
03569 m_ColorCameraParameters.m_ImageWidth << tempString;
03570 }
03571
03572 if ( p_xmlElement_Child->QueryValueAttribute("height", &tempString) != TIXML_SUCCESS)
03573 {
03574 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03575 std::cerr << "\t ... Can't find attribute 'height' of tag 'Resolution'." << std::endl;
03576 return (RET_FAILED | RET_XML_ATTR_NOT_FOUND);
03577 }
03578 else
03579 {
03580 m_ColorCameraParameters.m_ImageHeight.str( " " );
03581 m_ColorCameraParameters.m_ImageHeight.clear();
03582 m_ColorCameraParameters.m_ImageHeight << tempString;
03583 }
03584 }
03585 else
03586 {
03587 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03588 std::cerr << "\t ... Can't find tag 'Resolution'." << std::endl;
03589 return (RET_FAILED | RET_XML_TAG_NOT_FOUND);
03590 }
03591
03592
03593
03594
03595
03596 p_xmlElement_Child = NULL;
03597 p_xmlElement_Child = p_xmlElement_Root_AVTPikeCam->FirstChildElement( "FrameRate" );
03598 if ( p_xmlElement_Child )
03599 {
03600
03601 if ( p_xmlElement_Child->QueryValueAttribute("fps", &tempString) != TIXML_SUCCESS)
03602 {
03603 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03604 std::cerr << "\t ... Can't find attribute 'fps' of tag 'FrameRate'." << std::endl;
03605 return (RET_FAILED | RET_XML_ATTR_NOT_FOUND);
03606 }
03607 else
03608 {
03609 m_ColorCameraParameters.m_FrameRate.str( " " );
03610 m_ColorCameraParameters.m_FrameRate.clear();
03611 m_ColorCameraParameters.m_FrameRate << tempString;
03612 }
03613
03614 }
03615 else
03616 {
03617 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03618 std::cerr << "\t ... Can't find tag 'FrameRate'." << std::endl;
03619 return (RET_FAILED | RET_XML_TAG_NOT_FOUND);
03620 }
03621
03622
03623
03624
03625
03626
03627 p_xmlElement_Child = NULL;
03628 p_xmlElement_Child = p_xmlElement_Root_AVTPikeCam->FirstChildElement( "ColorMode" );
03629 if ( p_xmlElement_Child )
03630 {
03631
03632 if ( p_xmlElement_Child->QueryValueAttribute( "type", &tempString ) != TIXML_SUCCESS)
03633 {
03634 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03635 std::cerr << "\t ... Can't find attribute 'type' of tag 'ColorMode'." << std::endl;
03636 return (RET_FAILED | RET_XML_ATTR_NOT_FOUND);
03637 }
03638 else
03639 {
03640 m_ColorCameraParameters.m_ColorMode.str( " " );
03641 m_ColorCameraParameters.m_ColorMode.clear();
03642 m_ColorCameraParameters.m_ColorMode << tempString;
03643 }
03644
03645 }
03646 else
03647 {
03648 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03649 std::cerr << "\t ... Can't find tag 'ColorMode'." << std::endl;
03650 return (RET_FAILED | RET_XML_TAG_NOT_FOUND);
03651 }
03652
03653
03654
03655
03656
03657 p_xmlElement_Child = NULL;
03658 p_xmlElement_Child = p_xmlElement_Root_AVTPikeCam->FirstChildElement( "IsoSpeed" );
03659 if ( p_xmlElement_Child )
03660 {
03661
03662 if ( p_xmlElement_Child->QueryValueAttribute( "speed", &tempString ) != TIXML_SUCCESS)
03663 {
03664 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03665 std::cerr << "\t ... Can't find attribute 'speed' of tag 'IsoSpeed'." << std::endl;
03666 return (RET_FAILED | RET_XML_ATTR_NOT_FOUND);
03667 }
03668 else
03669 {
03670 m_ColorCameraParameters.m_IsoSpeed.str( " " );
03671 m_ColorCameraParameters.m_IsoSpeed.clear();
03672 m_ColorCameraParameters.m_IsoSpeed << tempString;
03673 }
03674
03675 }
03676 else
03677 {
03678 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03679 std::cerr << "\t ... Can't find tag 'IsoSpeed'." << std::endl;
03680 return (RET_FAILED | RET_XML_TAG_NOT_FOUND);
03681 }
03682
03683
03684
03685
03686
03687 p_xmlElement_Child = NULL;
03688 p_xmlElement_Child = p_xmlElement_Root_AVTPikeCam->FirstChildElement( "OperationMode" );
03689 if ( p_xmlElement_Child )
03690 {
03691
03692 if ( p_xmlElement_Child->QueryValueAttribute( "value", &tempString ) != TIXML_SUCCESS)
03693 {
03694 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03695 std::cerr << "\t ... Can't find attribute 'value' of tag 'OperationMode'." << std::endl;
03696 return (RET_FAILED | RET_XML_ATTR_NOT_FOUND);
03697 }
03698 if (tempString == "A") m_operationMode_B = false;
03699 else if (tempString == "B") m_operationMode_B = true;
03700 else
03701 {
03702 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03703 std::cerr << "\t ... FireWire operation mode " << tempString << " unspecified." << std::endl;
03704 return (RET_FAILED);
03705 }
03706 }
03707 else
03708 {
03709 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03710 std::cerr << "\t ... Can't find tag 'OperationMode'." << std::endl;
03711 return (RET_FAILED | RET_XML_TAG_NOT_FOUND);
03712 }
03713
03714
03715
03716
03717
03718 p_xmlElement_Child = NULL;
03719 p_xmlElement_Child = p_xmlElement_Root_AVTPikeCam->FirstChildElement( "PROP_SHUTTER" );
03720 if ( p_xmlElement_Child )
03721 {
03722
03723 if ( p_xmlElement_Child->QueryValueAttribute( "value", &tempString) != TIXML_SUCCESS)
03724 {
03725 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03726 std::cerr << "\t ... Can't find attribute 'value' of tag 'PROP_SHUTTER'." << std::endl;
03727 return (RET_FAILED | RET_XML_ATTR_NOT_FOUND);
03728 }
03729 else
03730 {
03731 m_ColorCameraParameters.m_Shutter.str( " " );
03732 m_ColorCameraParameters.m_Shutter.clear();
03733 m_ColorCameraParameters.m_Shutter << tempString;
03734 }
03735 }
03736 else
03737 {
03738 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03739 std::cerr << "\t ... Can't find tag 'PROP_SHUTTER'." << std::endl;
03740 return (RET_FAILED | RET_XML_TAG_NOT_FOUND);
03741 }
03742
03743
03744
03745
03746
03747 p_xmlElement_Child = NULL;
03748 p_xmlElement_Child = p_xmlElement_Root_AVTPikeCam->FirstChildElement( "PROP_BRIGHTNESS" );
03749 if ( p_xmlElement_Child )
03750 {
03751
03752 if ( p_xmlElement_Child->QueryValueAttribute( "value", &tempString) != TIXML_SUCCESS)
03753 {
03754 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03755 std::cerr << "\t ... Can't find attribute 'value' of tag 'PROP_BRIGHTNESS'." << std::endl;
03756 return (RET_FAILED | RET_XML_ATTR_NOT_FOUND);
03757 }
03758 else
03759 {
03760 m_ColorCameraParameters.m_Brightness.str( " " );
03761 m_ColorCameraParameters.m_Brightness.clear();
03762 m_ColorCameraParameters.m_Brightness << tempString;
03763 }
03764
03765 }
03766 else
03767 {
03768 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03769 std::cerr << "\t ... Can't find tag 'PROP_BRIGHTNES'." << std::endl;
03770 return (RET_FAILED | RET_XML_TAG_NOT_FOUND);
03771 }
03772
03773
03774
03775
03776
03777 p_xmlElement_Child = NULL;
03778 p_xmlElement_Child = p_xmlElement_Root_AVTPikeCam->FirstChildElement( "PROP_EXPOSURE_TIME" );
03779 if ( p_xmlElement_Child )
03780 {
03781
03782 if ( p_xmlElement_Child->QueryValueAttribute( "value", &tempString) != TIXML_SUCCESS)
03783 {
03784 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03785 std::cerr << "\t ... Can't find attribute 'value' of tag 'PROP_EXPOSURE_TIME'." << std::endl;
03786 return (RET_FAILED | RET_XML_ATTR_NOT_FOUND);
03787 }
03788 else
03789 {
03790 m_ColorCameraParameters.m_ExposureTime.str( " " );
03791 m_ColorCameraParameters.m_ExposureTime.clear();
03792 m_ColorCameraParameters.m_ExposureTime << tempString;
03793 }
03794
03795 }
03796 else
03797 {
03798 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03799 std::cerr << "\t ... Can't find tag 'PROP_EXPOSURE_TIME'." << std::endl;
03800 return (RET_FAILED | RET_XML_TAG_NOT_FOUND);
03801 }
03802
03803
03804
03805
03806
03807 p_xmlElement_Child = NULL;
03808 p_xmlElement_Child = p_xmlElement_Root_AVTPikeCam->FirstChildElement("PROP_WHITE_BALANCE_U");
03809 if ( p_xmlElement_Child )
03810 {
03811
03812 if ( p_xmlElement_Child->QueryValueAttribute("value", &tempString) != TIXML_SUCCESS)
03813 {
03814 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03815 std::cerr << "\t ... Can't find attribute 'value' of tag 'PROP_WHITE_BALANCE_U'." << std::endl;
03816 return (RET_FAILED | RET_XML_ATTR_NOT_FOUND);
03817 }
03818 else
03819 {
03820 m_ColorCameraParameters.m_WhiteBalanceU.str( " " );
03821 m_ColorCameraParameters.m_WhiteBalanceU.clear();
03822 m_ColorCameraParameters.m_WhiteBalanceU << tempString;
03823 }
03824 }
03825 else
03826 {
03827 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03828 std::cerr << "\t ... Can't find tag 'PROP_WHITE_BALANCE_U'." << std::endl;
03829 return (RET_FAILED | RET_XML_TAG_NOT_FOUND);
03830 }
03831
03832
03833
03834
03835
03836 p_xmlElement_Child = NULL;
03837 p_xmlElement_Child = p_xmlElement_Root_AVTPikeCam->FirstChildElement( "PROP_WHITE_BALANCE_V" );
03838 if ( p_xmlElement_Child )
03839 {
03840
03841 if ( p_xmlElement_Child->QueryValueAttribute( "value", &tempString) != TIXML_SUCCESS)
03842 {
03843 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03844 std::cerr << "\t ... Can't find attribute 'value' of tag 'PROP_WHITE_BALANCE_V'." << std::endl;
03845 return (RET_FAILED | RET_XML_ATTR_NOT_FOUND);
03846 }
03847 else
03848 {
03849 m_ColorCameraParameters.m_WhiteBalanceV.str( " " );
03850 m_ColorCameraParameters.m_WhiteBalanceV.clear();
03851 m_ColorCameraParameters.m_WhiteBalanceV << tempString;
03852 }
03853 }
03854 else
03855 {
03856 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03857 std::cerr << "\t ... Can't find tag 'PROP_WHITE_BALANCE_V'." << std::endl;
03858 return (RET_FAILED | RET_XML_TAG_NOT_FOUND);
03859 }
03860
03861
03862
03863
03864
03865 p_xmlElement_Child = NULL;
03866 p_xmlElement_Child = p_xmlElement_Root_AVTPikeCam->FirstChildElement( "PROP_HUE" );
03867 if ( p_xmlElement_Child )
03868 {
03869
03870 if ( p_xmlElement_Child->QueryValueAttribute( "value", &tempString) != TIXML_SUCCESS)
03871 {
03872 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03873 std::cerr << "\t ... Can't find attribute 'value' of tag 'PROP_HUE'." << std::endl;
03874 return (RET_FAILED | RET_XML_ATTR_NOT_FOUND);
03875 }
03876 else
03877 {
03878 m_ColorCameraParameters.m_Hue.str( " " );
03879 m_ColorCameraParameters.m_Hue.clear();
03880 m_ColorCameraParameters.m_Hue << tempString;
03881 }
03882 }
03883 else
03884 {
03885 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03886 std::cerr << "\t ... Can't find tag 'PROP_HUE'." << std::endl;
03887 return (RET_FAILED | RET_XML_TAG_NOT_FOUND);
03888 }
03889
03890
03891
03892
03893
03894 p_xmlElement_Child = NULL;
03895 p_xmlElement_Child = p_xmlElement_Root_AVTPikeCam->FirstChildElement( "PROP_SATURATION" );
03896 if ( p_xmlElement_Child )
03897 {
03898
03899 if ( p_xmlElement_Child->QueryValueAttribute( "value", &tempString) != TIXML_SUCCESS)
03900 {
03901 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03902 std::cerr << "\t ... Can't find attribute 'value' of tag 'PROP_SATURATION'." << std::endl;
03903 return (RET_FAILED | RET_XML_ATTR_NOT_FOUND);
03904 }
03905 else
03906 {
03907 m_ColorCameraParameters.m_Saturation.str( " " );
03908 m_ColorCameraParameters.m_Saturation.clear();
03909 m_ColorCameraParameters.m_Saturation << tempString;
03910 }
03911 }
03912 else
03913 {
03914 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03915 std::cerr << "\t ... Can't find tag 'PROP_SATURATION'." << std::endl;
03916 return (RET_FAILED | RET_XML_TAG_NOT_FOUND);
03917 }
03918
03919
03920
03921
03922
03923 p_xmlElement_Child = NULL;
03924 p_xmlElement_Child = p_xmlElement_Root_AVTPikeCam->FirstChildElement( "PROP_GAMMA" );
03925 if ( p_xmlElement_Child )
03926 {
03927
03928 if ( p_xmlElement_Child->QueryValueAttribute( "value", &tempString) != TIXML_SUCCESS)
03929 {
03930 std::cerr << "AVTPikeCam::LoadParameters:" << std::endl;
03931 std::cerr << "\t ... Can't find attribute 'value' of tag 'PROP_GAMMA'." << std::endl;
03932 return (RET_FAILED | RET_XML_ATTR_NOT_FOUND);
03933 }
03934 else
03935 {
03936 m_ColorCameraParameters.m_Gamma.str( " " );
03937 m_ColorCameraParameters.m_Gamma.clear();
03938 m_ColorCameraParameters.m_Gamma << tempString;
03939 }
03940 }
03941 else
03942 {
03943 std::cerr << "AVTPikeCam::LoadParameters:" << std::endl;
03944 std::cerr << "\t ... Can't find tag 'PROP_GAMMA'." << std::endl;
03945 return (RET_FAILED | RET_XML_TAG_NOT_FOUND);
03946 }
03947
03948
03949
03950
03951
03952 p_xmlElement_Child = NULL;
03953 p_xmlElement_Child = p_xmlElement_Root_AVTPikeCam->FirstChildElement( "PROP_GAIN" );
03954 if ( p_xmlElement_Child )
03955 {
03956
03957 if ( p_xmlElement_Child->QueryValueAttribute( "value", &tempString) != TIXML_SUCCESS)
03958 {
03959 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03960 std::cerr << "\t ... Can't find attribute 'value' of tag 'PROP_GAIN '." << std::endl;
03961 return (RET_FAILED | RET_XML_ATTR_NOT_FOUND);
03962 }
03963 else
03964 {
03965 m_ColorCameraParameters.m_Gain.str( " " );
03966 m_ColorCameraParameters.m_Gain.clear();
03967 m_ColorCameraParameters.m_Gain << tempString;
03968 }
03969 }
03970 else
03971 {
03972 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03973 std::cerr << "\t ... Can't find tag 'PROP_EXPOSURE_TIME'." << std::endl;
03974 return (RET_FAILED | RET_XML_TAG_NOT_FOUND);
03975 }
03976 }
03977
03978
03979
03980
03981 else
03982 {
03983 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03984 std::cerr << "\t ... Can't find tag '" << ss.str() << "'" << std::endl;
03985 return (RET_FAILED | RET_XML_TAG_NOT_FOUND);
03986 }
03987 }
03988
03989
03990
03991
03992 else
03993 {
03994 std::cerr << "ERROR - AVTPikeCam::LoadParameters:" << std::endl;
03995 std::cerr << "\t ... Can't find tag 'LibCameraSensors'." << std::endl;
03996 return (RET_FAILED | RET_XML_TAG_NOT_FOUND);
03997 }
03998 }
03999
04000
04001
04002 return RET_OK;
04003 }
04004
