dev_camera1394.h

Go to the documentation of this file.

/* -*- mode: C++ -*- */
//
// Copyright (C) 2009, 2010 Patrick Beeson, Jack O'Quin
//  ROS port of the Player 1394 camera driver.
//
// Copyright (C) 2004 Nate Koenig, Andrew Howard
//  Player driver for IEEE 1394 digital camera capture
//
// Copyright (C) 2000-2003 Damien Douxchamps, Dan Dennedy
//  Bayer filtering from libdc1394
//
// NOTE: On 4 Jan. 2011, this file was re-licensed under the GNU LGPL
// with permission of the original GPL authors: Nate Koenig, Andrew
// Howard, Damien Douxchamps and Dan Dennedy.
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public License
// as published by the Free Software Foundation; either version 2 of
// the License, or (at your option) any later version.
// 
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.
// 
// You should have received a copy of the GNU Lesser General Public
// License along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
// 02111-1307, USA.
//

// $Id$

#ifndef DEV_CAMERA1394_HH
#define DEV_CAMERA1394_HH

#include <dc1394/dc1394.h>

// ROS includes
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include "camera1394/Camera1394Config.h"
#include "registers.h"
#include "format7.h"

class Features;                      // actually defined in features.h

namespace camera1394
{
  //  (std::runtime_error should be top parent)
  // code borrowed from drivers/laser/hokuyo_driver/hokuyo.h
#define DEF_EXCEPTION(name, parent)             \
  class name  : public parent {                 \
  public:                                       \
    name (const char* msg) : parent (msg) {}    \
  }

  DEF_EXCEPTION(Exception, std::runtime_error);

  class Camera1394
  {
  public:
    Camera1394();
    ~Camera1394 ();

    int open(camera1394::Camera1394Config &newconfig);
    int close();
    bool readData (sensor_msgs::Image &image);

    bool checkCameraInfo(const sensor_msgs::Image &image,
                         const sensor_msgs::CameraInfo &ci)
                          
    {
      if (format7_.active())
        return format7_.checkCameraInfo(ci);
      else
        return (ci.width == image.width && ci.height == image.height);
    }

    void setOperationalParameters(sensor_msgs::CameraInfo &ci)
    {
      if (format7_.active())
        format7_.setOperationalParameters(ci);
    }

    std::string device_id_;
    boost::shared_ptr<Features> features_;
    boost::shared_ptr<Registers> registers_;

  private:
      
    // private data
    dc1394camera_t *camera_;
    dc1394video_mode_t videoMode_;
    dc1394color_filter_t BayerPattern_;
    dc1394bayer_method_t BayerMethod_;
    bool DoBayerConversion_;
    Format7 format7_;
    bool use_ros_time_;
    float time_offset_;

    void SafeCleanup();
    void findBayerPattern(const char*);
    bool findBayerMethod(const char*);
  };
};

#endif // DEV_CAMERA1394_HH