Fawkes API
Fawkes Development Version
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24 #ifndef _FIREVISION_CAMS_FIREWIRE_H_
25 #define _FIREVISION_CAMS_FIREWIRE_H_
27 #include <dc1394/dc1394.h>
28 #include <fvcams/camera.h>
29 #include <fvcams/control/focus.h>
31 #ifndef __STDC_LIMIT_MACROS
32 # define __STDC_LIMIT_MACROS
36 namespace firevision {
38 class CameraArgumentParser;
44 dc1394video_mode_t mode = DC1394_VIDEO_MODE_640x480_YUV422,
45 dc1394speed_t speed = DC1394_ISO_SPEED_400,
62 virtual unsigned char *
buffer();
77 virtual unsigned int focus();
91 virtual void white_balance(
unsigned int *ub,
unsigned int *vr);
94 virtual void set_gain(
unsigned int gain);
100 virtual uint64_t
guid()
const;
101 virtual const char *
model()
const;
virtual unsigned int pixel_width()
Width of image in pixels.
dc1394camera_t * _camera
DC1394 camera handle.
virtual void set_shutter(unsigned int shutter)
Set shutter value.
dc1394camera_t * camera_cobj() const
Get underlying libdc1394 camera C handle.
virtual const char * model() const
Get camera model.
bool iso_mode_enabled()
Check if ISO mode is enabled.
virtual void flush()
Flush image queue.
int _num_buffers
Number of DMA buffers.
virtual void set_focus(unsigned int focus)
Set new focus value.
Camera focus control interface.
virtual void set_auto_white_balance(bool enabled)
Set status of auto white balance.
virtual bool ready()
Camera is ready for taking pictures.
virtual void parse_set_focus(const char *focus)
Parse focus and set value.
virtual void white_balance(unsigned int *ub, unsigned int *vr)
Get white balance values.
int _format7_starty
Format7 ROI Start Y coordinate.
unsigned int _white_balance_ub
White balance U/B value.
bool _device_opened
true if device has been opened, false otherwise
bool _opened
true if camera has been opened, false otherwise
bool _valid_frame_received
true, if a valid frame has been received, false otherwise
dc1394video_frame_t * _frame
Last captured DC1394 video frame.
virtual uint64_t guid() const
Get Firewire GUID of camera.
dc1394video_mode_t _mode
DC1394 video mode.
bool _do_set_shutter
true if the shutter should actually be set, false otherwise
dc1394speed_t _speed
DC1394 speed.
virtual bool auto_white_balance()
Get status of auto white balance.
virtual void dispose_buffer()
Dispose current buffer.
virtual unsigned int pixel_height()
Height of image in pixels.
unsigned int _focus
Focus value.
virtual void close()
Close camera.
virtual colorspace_t colorspace()
Colorspace of returned image.
static void print_available_fwcams()
Print list of cameras.
int _format7_height
Format7 height.
virtual void print_info()
Print out camera information.
virtual void parse_set_shutter(const char *shutter)
Parse shutter and set value.
unsigned int _shutter
Shutter value.
virtual void set_white_balance(unsigned int ub, unsigned int vr)
Set white balance values.
virtual void open()
Open the camera.
virtual void stop()
Stop image transfer from the camera.
virtual unsigned int focus()
Get current focus value.
int _format7_bpp
Format7 bytes per packet.
virtual unsigned char * buffer()
Get access to current image buffer.
virtual unsigned int buffer_size()
Size of buffer.
dc1394_t * cobj() const
Get underlying libdc1394 C handle.
bool _auto_white_balance
true if auto white balance is enabled, false if disabled
virtual unsigned int focus_max()
Get maximum focus value.
bool _auto_focus
true if auto focus is enabled, false if disabled
unsigned int _white_balance_vr
White balance V/R value.
virtual void open_device()
Open the desired device.
virtual void parse_set_white_balance(const char *white_balance)
Parse white balance and set value.
virtual void set_gain(unsigned int gain)
Set the gain.
bool _started
true if camera has been started, false otherwise
unsigned int _gain
Gain value.
virtual unsigned int focus_min()
Get minimum focus value.
virtual ~FirewireCamera()
Empty destructor.
char * _model
Camera model, used in open to identify the camera, if empty first found camera is used.
bool _format7_mode_enabled
Indicator of Format7 status.
FirewireCamera(dc1394framerate_t framerate=DC1394_FRAMERATE_30, dc1394video_mode_t mode=DC1394_VIDEO_MODE_640x480_YUV422, dc1394speed_t speed=DC1394_ISO_SPEED_400, int num_buffers=8)
Constructor.
dc1394color_coding_t _format7_coding
Format7 color coding.
virtual unsigned int shutter()
Get shutter value.
virtual void capture()
Capture an image.
virtual void set_auto_focus(bool enabled)
Enable or disable auto focus.
virtual bool auto_shutter()
Get status of auto shutter.
bool _do_set_white_balance
true if the white balance should actually be set, false otherwise
Camera interface for image aquiring devices in FireVision.
virtual void set_image_number(unsigned int n)
Set image number to retrieve.
int _format7_startx
Format7 ROI Start X coordinate.
virtual void set_auto_shutter(bool enabled)
Set status of auto shutter.
bool _do_set_focus
true if the focus should actually be set, false otherwise
dc1394_t * _dc1394
DC1394 main context.
virtual bool auto_focus()
Check if auto focus is enabled.
bool _auto_gain
True, if gain is set automatically.
virtual void start()
Start image transfer from the camera.
bool _auto_shutter
true if auto shutter is enabled, false if disabled
int _format7_width
Format7 width.
dc1394framerate_t _framerate
DC1394 framerate.