Camera.h

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/*
 * Camera.h
 *
 *  Created on: Jul 9, 2010
 *      Author: petrito1@cmp.felk.cvut.cz
 */

#ifndef NIFTI_CAMERA_CAMERA_H_
#define NIFTI_CAMERA_CAMERA_H_

#include <queue>
#include <set>

#include <dc1394/dc1394.h>
#include <opencv2/core/core.hpp>

namespace nifti {
namespace dc1394 {

class Camera {

public:
  Camera(dc1394camera_t* camera);
  Camera();
  virtual ~Camera();

  void setup();

  dc1394operation_mode_t getOperationMode();
  void setOperationMode(dc1394operation_mode_t operationMode);

  dc1394speed_t getIsoSpeed();
  void setIsoSpeed(dc1394speed_t speed);

  dc1394video_mode_t getVideoMode();
  void setVideoMode(dc1394video_mode_t videoMode);

  dc1394color_coding_t getFormat7ColorCoding();
  dc1394color_filter_t getFormat7ColorFilter();
  float getFormat7FrameInterval();
  uint32_t getFormat7PacketsPerFrame();
  uint32_t getFormat7PacketSize();
  uint32_t getFormat7RecommendedPacketSize();

  void getFormat7Roi(dc1394video_mode_t videoMode, dc1394color_coding_t* colorCoding, uint32_t* packetSize,
      uint32_t* left, uint32_t* top, uint32_t* width, uint32_t* height);
  virtual void setFormat7Roi(dc1394video_mode_t videoMode, dc1394color_coding_t colorCoding, int32_t packetSize, int32_t left,
      int32_t top, int32_t width, int32_t height);

  void setupCapture();

  void stopCapture();

  void flushFrames();

  void dropFrames(int n);

  void startVideoTransmission();
  void stopVideoTransmission();

  void startOneShot();

  void stopOneShot();

  void debayerFrame(dc1394video_frame_t* in, dc1394video_frame_t* out);

  void captureColorMat(cv::Mat& bgrMat, uint64_t& timestamp, bool wait = true);

  void powerOn();
  void powerOff();

  void reset();

  void resetBus();

  void releaseAll();

  dc1394bayer_method_t getBayerMethod();
  void setBayerMethod(dc1394bayer_method_t method);

  dc1394video_frame_t* dequeueFrame(const dc1394capture_policy_t capturePolicy);

  bool isFrameCorrupt(dc1394video_frame_t* frame);

  void enqueueFrameLater(const dc1394video_frame_t* frame);

  void enqueueFrames();

  uint32_t getRegister(uint64_t offset);

  void setRegister(uint64_t offset, uint32_t value);

  uint32_t getControlRegister(uint64_t offset);
  void setControlRegister(uint64_t offset, uint32_t value);

  void lockCapture();

  void unlockCapture();

  bool isFeaturePresent(dc1394feature_t feat);

  bool isFeatureReadable(dc1394feature_t feat);

  bool isFeatureSwitchable(dc1394feature_t feat);

  bool isFeaturePowerOn(dc1394feature_t feat);

  dc1394feature_mode_t getFeatureMode(dc1394feature_t feat);

  bool isFeatureAbsoluteControlAvailable(dc1394feature_t feat);

  bool isFeatureAbsoluteControlOn(dc1394feature_t feat);

  uint32_t getFeatureMinBoundary(dc1394feature_t feat);

  uint32_t getFeatureMaxBoundary(dc1394feature_t feat);

  uint32_t getFeatureValue(dc1394feature_t feat);

  float getFeatureMinAbsoluteBoundary(dc1394feature_t feat);

  float getFeatureMaxAbsoluteBoundary(dc1394feature_t feat);

  float getFeatureAbsoluteValue(dc1394feature_t feat);

  void setFeaturePowerOn(dc1394feature_t feat);

  void setFeaturePowerOff(dc1394feature_t feat);

  void setFeaturetMode(dc1394feature_t feat, dc1394feature_mode_t mode);

  void setFeatureAbsoluteControlOn(dc1394feature_t feat);

  void setFeatureAbsoluteControlOff(dc1394feature_t feat);

  void setFeatureValue(dc1394feature_t feat, uint32_t value);

  void setFeatureAbsoluteValue(dc1394feature_t feat, float value);

  uint32_t getWhiteBalanceBlue();

  uint32_t getWhiteBalanceRed();

  void setWhiteBalance(uint32_t u_b_value, uint32_t v_r_value);

  void setWhiteBalanceBlue(uint32_t u_b_value);

  void setWhiteBalanceRed(uint32_t v_r_value);

private:
  pthread_mutex_t captureMutex;

  dc1394camera_t* camera;

  std::queue<dc1394video_frame_t*> dequeuedFrames;

  std::set<dc1394video_frame_t*> framesToEnqueue;

  dc1394bayer_method_t bayerMethod;

};

}
}

#endif /* NIFTI_CAMERA_CAMERA_H_ */