#include <Camera.h>

Inheritance diagram for nifti::dc1394::Camera:

Public Member Functions
	Camera (dc1394camera_t *camera)
	Camera ()
void	captureColorMat (cv::Mat &bgrMat, uint64_t &timestamp, bool wait=true)
void	debayerFrame (dc1394video_frame_t in, dc1394video_frame_t out)
dc1394video_frame_t *	dequeueFrame (const dc1394capture_policy_t capturePolicy)
void	dropFrames (int n)
void	enqueueFrameLater (const dc1394video_frame_t *frame)
void	enqueueFrames ()
void	flushFrames ()
dc1394bayer_method_t	getBayerMethod ()
uint32_t	getControlRegister (uint64_t offset)
float	getFeatureAbsoluteValue (dc1394feature_t feat)
float	getFeatureMaxAbsoluteBoundary (dc1394feature_t feat)
uint32_t	getFeatureMaxBoundary (dc1394feature_t feat)
float	getFeatureMinAbsoluteBoundary (dc1394feature_t feat)
uint32_t	getFeatureMinBoundary (dc1394feature_t feat)
dc1394feature_mode_t	getFeatureMode (dc1394feature_t feat)
uint32_t	getFeatureValue (dc1394feature_t feat)
dc1394color_coding_t	getFormat7ColorCoding ()
dc1394color_filter_t	getFormat7ColorFilter ()
float	getFormat7FrameInterval ()
uint32_t	getFormat7PacketSize ()
uint32_t	getFormat7PacketsPerFrame ()
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)
dc1394speed_t	getIsoSpeed ()
dc1394operation_mode_t	getOperationMode ()
uint32_t	getRegister (uint64_t offset)
dc1394video_mode_t	getVideoMode ()
uint32_t	getWhiteBalanceBlue ()
uint32_t	getWhiteBalanceRed ()
bool	isFeatureAbsoluteControlAvailable (dc1394feature_t feat)
bool	isFeatureAbsoluteControlOn (dc1394feature_t feat)
bool	isFeaturePowerOn (dc1394feature_t feat)
bool	isFeaturePresent (dc1394feature_t feat)
bool	isFeatureReadable (dc1394feature_t feat)
bool	isFeatureSwitchable (dc1394feature_t feat)
bool	isFrameCorrupt (dc1394video_frame_t *frame)
void	lockCapture ()
void	powerOff ()
void	powerOn ()
void	releaseAll ()
void	reset ()
void	resetBus ()
void	setBayerMethod (dc1394bayer_method_t method)
void	setControlRegister (uint64_t offset, uint32_t value)
void	setFeatureAbsoluteControlOff (dc1394feature_t feat)
void	setFeatureAbsoluteControlOn (dc1394feature_t feat)
void	setFeatureAbsoluteValue (dc1394feature_t feat, float value)
void	setFeaturePowerOff (dc1394feature_t feat)
void	setFeaturePowerOn (dc1394feature_t feat)
void	setFeaturetMode (dc1394feature_t feat, dc1394feature_mode_t mode)
void	setFeatureValue (dc1394feature_t feat, uint32_t value)
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	setIsoSpeed (dc1394speed_t speed)
void	setOperationMode (dc1394operation_mode_t operationMode)
void	setRegister (uint64_t offset, uint32_t value)
void	setup ()
void	setupCapture ()
void	setVideoMode (dc1394video_mode_t videoMode)
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)
void	startOneShot ()
void	startVideoTransmission ()
void	stopCapture ()
void	stopOneShot ()
void	stopVideoTransmission ()
void	unlockCapture ()
virtual	~Camera ()
Private Attributes
dc1394bayer_method_t	bayerMethod
dc1394camera_t *	camera
pthread_mutex_t	captureMutex
std::queue< dc1394video_frame_t * >	dequeuedFrames
std::set< dc1394video_frame_t * >	framesToEnqueue

Detailed Description

Object wrapper for libdc1394 cameras. libdc1394 errors generally result into exceptions.

Thread-safe for capturing from multiple threads. Ensures that frames are enqueued in the same order as they were dequeued. Getters/setters thread-safety depends on libdc1394, which is claimed to be thread-safe too.

Definition at line 28 of file Camera.h.

Constructor & Destructor Documentation

nifti::dc1394::Camera::Camera ( dc1394camera_t * camera )

Definition at line 22 of file Camera.cpp.

nifti::dc1394::Camera::Camera ( )

Definition at line 17 of file Camera.cpp.

nifti::dc1394::Camera::~Camera ( ) [virtual]

Definition at line 27 of file Camera.cpp.

Member Function Documentation

void nifti::dc1394::Camera::captureColorMat	(	cv::Mat &	bgrMat,
		uint64_t &	timestamp,
		bool	wait = `true`
	)

Captures a frame.

Parameters:

bgrMat	color image matrix
timestamp	frame timestamp
wait	'wait for frame' flag

Definition at line 308 of file Camera.cpp.

void nifti::dc1394::Camera::debayerFrame	(	dc1394video_frame_t *	in,
		dc1394video_frame_t *	out
	)

Debayers the in frame, fills the out frame with color image. Output color-coding is DC1394_COLOR_CODING_RGB8. Do not pre-allocate the image buffer of the out frame.

Parameters:

in	pointer to the source frame, not null.
out	pointer to the output frame, not null.

Definition at line 294 of file Camera.cpp.

dc1394video_frame_t * nifti::dc1394::Camera::dequeueFrame ( const dc1394capture_policy_t capturePolicy )

Dequeues a frame from DMA buffer and returns its pointer. Thread-safe. After processing, the frame must be returned back to the buffer by calling enqueueFrameLater and enqueueFrames.

Parameters:

capturePolicy a capture policy to use (wait/poll).

Returns:: pointer to a frame from DMA buffer.

Definition at line 251 of file Camera.cpp.

void nifti::dc1394::Camera::dropFrames ( int n )

Drops the specified number of frames, waits for frames.

Definition at line 212 of file Camera.cpp.

void nifti::dc1394::Camera::enqueueFrameLater ( const dc1394video_frame_t * frame )

Marks the frame as ready for enqueuing. Thread-safe.

Parameters:

frame pointer to the frame.

Definition at line 269 of file Camera.cpp.

void nifti::dc1394::Camera::enqueueFrames ( )

Enqueue all frames marked as ready, e.g. using enqueueFrameLater. Thread-safe.

Definition at line 276 of file Camera.cpp.

void nifti::dc1394::Camera::flushFrames ( )

Flashes all frames, does not wait for frames.

Definition at line 192 of file Camera.cpp.

dc1394bayer_method_t nifti::dc1394::Camera::getBayerMethod ( )

Definition at line 446 of file Camera.cpp.

uint32_t nifti::dc1394::Camera::getControlRegister ( uint64_t offset )

Definition at line 468 of file Camera.cpp.

float nifti::dc1394::Camera::getFeatureAbsoluteValue ( dc1394feature_t feat )

Returns the current absolute value of the feature.

Definition at line 582 of file Camera.cpp.

float nifti::dc1394::Camera::getFeatureMaxAbsoluteBoundary ( dc1394feature_t feat )

Returns the maximum absolute value of the feature.

Definition at line 573 of file Camera.cpp.

uint32_t nifti::dc1394::Camera::getFeatureMaxBoundary ( dc1394feature_t feat )

Returns the maximum value of the feature.

Definition at line 547 of file Camera.cpp.

float nifti::dc1394::Camera::getFeatureMinAbsoluteBoundary ( dc1394feature_t feat )

Returns the minimum absolute value of the feature.

Definition at line 564 of file Camera.cpp.

uint32_t nifti::dc1394::Camera::getFeatureMinBoundary ( dc1394feature_t feat )

Returns the minimum value of the feature.

Definition at line 538 of file Camera.cpp.

dc1394feature_mode_t nifti::dc1394::Camera::getFeatureMode ( dc1394feature_t feat )

Returns the feature mode.

Definition at line 514 of file Camera.cpp.

uint32_t nifti::dc1394::Camera::getFeatureValue ( dc1394feature_t feat )

Returns the current value of the feature.

Definition at line 556 of file Camera.cpp.

dc1394color_coding_t nifti::dc1394::Camera::getFormat7ColorCoding ( )

Returns Format 7 colod coding.

Definition at line 41 of file Camera.cpp.

dc1394color_filter_t nifti::dc1394::Camera::getFormat7ColorFilter ( )

Return Format 7 color filter.

Definition at line 49 of file Camera.cpp.

float nifti::dc1394::Camera::getFormat7FrameInterval ( )

Returns Format 7 frame interval.

Definition at line 57 of file Camera.cpp.

uint32_t nifti::dc1394::Camera::getFormat7PacketSize ( )

Returns current Format 7 packet size.

Definition at line 73 of file Camera.cpp.

uint32_t nifti::dc1394::Camera::getFormat7PacketsPerFrame ( )

Returns number of packets per frame for Format 7.

Definition at line 65 of file Camera.cpp.

uint32_t nifti::dc1394::Camera::getFormat7RecommendedPacketSize ( )

Returns recommended Format 7 packet size.

Definition at line 81 of file Camera.cpp.

void nifti::dc1394::Camera::getFormat7Roi	(	dc1394video_mode_t	videoMode,
		dc1394color_coding_t *	colorCoding,
		uint32_t *	packetSize,
		uint32_t *	left,
		uint32_t *	top,
		uint32_t *	width,
		uint32_t *	height
	)

Returns Format 7 ROI.

Definition at line 140 of file Camera.cpp.

dc1394speed_t nifti::dc1394::Camera::getIsoSpeed ( )

Returns the ISO speed.

Definition at line 106 of file Camera.cpp.

dc1394operation_mode_t nifti::dc1394::Camera::getOperationMode ( )

Returns the operation mode.

Definition at line 89 of file Camera.cpp.

uint32_t nifti::dc1394::Camera::getRegister ( uint64_t offset )

Returns value of the camera register.

Definition at line 454 of file Camera.cpp.

dc1394video_mode_t nifti::dc1394::Camera::getVideoMode ( )

Returns the video mode.

Definition at line 123 of file Camera.cpp.

uint32_t nifti::dc1394::Camera::getWhiteBalanceBlue ( )

Returns the value of the blue (in RGB) (U in YUV) channel.

Definition at line 632 of file Camera.cpp.

uint32_t nifti::dc1394::Camera::getWhiteBalanceRed ( )

Returns the value of the red (in RGB) (V in YUV) channel.

Definition at line 641 of file Camera.cpp.

bool nifti::dc1394::Camera::isFeatureAbsoluteControlAvailable ( dc1394feature_t feat )

Returns true if feature absolute control is available, false otherwise.

Definition at line 522 of file Camera.cpp.

bool nifti::dc1394::Camera::isFeatureAbsoluteControlOn ( dc1394feature_t feat )

Returns true if feature absolute control is on, false otherwise.

Definition at line 530 of file Camera.cpp.

bool nifti::dc1394::Camera::isFeaturePowerOn ( dc1394feature_t feat )

Returns true if the feature is powered on, false otherwise.

Definition at line 506 of file Camera.cpp.

bool nifti::dc1394::Camera::isFeaturePresent ( dc1394feature_t feat )

Returns true if the feature is present, false otherwise.

Definition at line 482 of file Camera.cpp.

bool nifti::dc1394::Camera::isFeatureReadable ( dc1394feature_t feat )

Returns true if the feature is readable, false otherwise.

Definition at line 490 of file Camera.cpp.

bool nifti::dc1394::Camera::isFeatureSwitchable ( dc1394feature_t feat )

Returns true if the feature is switchable, false otherwise. False means that feature is always on.

Definition at line 498 of file Camera.cpp.

bool nifti::dc1394::Camera::isFrameCorrupt ( dc1394video_frame_t * frame )

Definition at line 265 of file Camera.cpp.

void nifti::dc1394::Camera::lockCapture ( )

Captures the dequeue/enqueue lock.

Definition at line 243 of file Camera.cpp.

void nifti::dc1394::Camera::powerOff ( )

Powers off the camera.

Definition at line 418 of file Camera.cpp.

void nifti::dc1394::Camera::powerOn ( )

Powers on the camera.

Definition at line 411 of file Camera.cpp.

void nifti::dc1394::Camera::releaseAll ( )

Releases all previously allocated ISO channels and bandwidth.

Definition at line 439 of file Camera.cpp.

void nifti::dc1394::Camera::reset ( )

Resets the camera to factory default settings.

Definition at line 425 of file Camera.cpp.

void nifti::dc1394::Camera::resetBus ( )

Resets the bus to which this camera is attached.

Definition at line 432 of file Camera.cpp.

void nifti::dc1394::Camera::setBayerMethod ( dc1394bayer_method_t method )

Definition at line 450 of file Camera.cpp.

void nifti::dc1394::Camera::setControlRegister	(	uint64_t	offset,
		uint32_t	value
	)

Definition at line 476 of file Camera.cpp.

void nifti::dc1394::Camera::setFeatureAbsoluteControlOff ( dc1394feature_t feat )

Definition at line 614 of file Camera.cpp.

void nifti::dc1394::Camera::setFeatureAbsoluteControlOn ( dc1394feature_t feat )

Definition at line 608 of file Camera.cpp.

void nifti::dc1394::Camera::setFeatureAbsoluteValue	(	dc1394feature_t	feat,
		float	value
	)

Sets feature absolute value (should be within absolute boundaries & absolute control should be enabled).

Definition at line 626 of file Camera.cpp.

void nifti::dc1394::Camera::setFeaturePowerOff ( dc1394feature_t feat )

Definition at line 596 of file Camera.cpp.

void nifti::dc1394::Camera::setFeaturePowerOn ( dc1394feature_t feat )

Definition at line 590 of file Camera.cpp.

void nifti::dc1394::Camera::setFeaturetMode	(	dc1394feature_t	feat,
		dc1394feature_mode_t	mode
	)

Sets feature mode.

Possible values (for convenience, see dc1394feature_mode_t definition): DC1394_FEATURE_MODE_MANUAL DC1394_FEATURE_MODE_AUTO DC1394_FEATURE_MODE_ONE_PUSH_AUTO

Definition at line 602 of file Camera.cpp.

void nifti::dc1394::Camera::setFeatureValue	(	dc1394feature_t	feat,
		uint32_t	value
	)

Sets feature value (should be within the boundaries).

Definition at line 620 of file Camera.cpp.

void nifti::dc1394::Camera::setFormat7Roi	(	dc1394video_mode_t	videoMode,
		dc1394color_coding_t	colorCoding,
		int32_t	packetSize,
		int32_t	left,
		int32_t	top,
		int32_t	width,
		int32_t	height
	)		`[virtual]`

Sets Format 7 ROI.

Definition at line 151 of file Camera.cpp.

void nifti::dc1394::Camera::setIsoSpeed ( dc1394speed_t speed )

Sets the ISO speed.

Definition at line 116 of file Camera.cpp.

void nifti::dc1394::Camera::setOperationMode ( dc1394operation_mode_t operationMode )

Sets the operation mode.

Definition at line 99 of file Camera.cpp.

void nifti::dc1394::Camera::setRegister	(	uint64_t	offset,
		uint32_t	value
	)

Sets value of the camera register.

Definition at line 462 of file Camera.cpp.

void nifti::dc1394::Camera::setup ( )

Setup operation mode, ISO speed, video mode, ROI etc.

Definition at line 32 of file Camera.cpp.

void nifti::dc1394::Camera::setupCapture ( )

Initializes DMA buffers.

Definition at line 161 of file Camera.cpp.

void nifti::dc1394::Camera::setVideoMode ( dc1394video_mode_t videoMode )

Sets the video mode.

Definition at line 133 of file Camera.cpp.

void nifti::dc1394::Camera::setWhiteBalance	(	uint32_t	u_b_value,
		uint32_t	v_r_value
	)

Sets the value of the blue (in RGB) (U in YUV) and red (in RGB) (V in YUV) channel.

Definition at line 650 of file Camera.cpp.

void nifti::dc1394::Camera::setWhiteBalanceBlue ( uint32_t u_b_value )

Sets the value of the blue (in RGB) (U in YUV) channel.

Definition at line 656 of file Camera.cpp.

void nifti::dc1394::Camera::setWhiteBalanceRed ( uint32_t v_r_value )

Sets the value of the red (in RGB) (V in YUV) channel.

Definition at line 662 of file Camera.cpp.

void nifti::dc1394::Camera::startOneShot ( )

Enables one-shot video. Then a single frame may be captured by captureColorMat.

Not in effect when video transmission is enabled. User may want to flush unwanted frames before.

Definition at line 229 of file Camera.cpp.

void nifti::dc1394::Camera::startVideoTransmission ( )

Starts video transmission using initialized buffers.

Definition at line 178 of file Camera.cpp.

void nifti::dc1394::Camera::stopCapture ( )

Frees initialized DMS buffers.

Definition at line 171 of file Camera.cpp.

void nifti::dc1394::Camera::stopOneShot ( )

Disables one-shot video.

Definition at line 236 of file Camera.cpp.

void nifti::dc1394::Camera::stopVideoTransmission ( )

Stops video transmission.

Definition at line 185 of file Camera.cpp.

void nifti::dc1394::Camera::unlockCapture ( )

Releases the dequeue/enqueue lock.

Definition at line 247 of file Camera.cpp.

Member Data Documentation

dc1394bayer_method_t nifti::dc1394::Camera::bayerMethod [private]

Bayer method to use in capturing.

Definition at line 381 of file Camera.h.

dc1394camera_t* nifti::dc1394::Camera::camera [private]

A dc1394 camera to which dc1394-related operations are delegated.

Definition at line 366 of file Camera.h.

pthread_mutex_t nifti::dc1394::Camera::captureMutex [private]

The synchronization mutex for dequeuing and enqueuing image buffers. Buffers should be enqueued in the same order as they were dequeued.

Definition at line 361 of file Camera.h.

std::queue<dc1394video_frame_t*> nifti::dc1394::Camera::dequeuedFrames [private]

Dequeued frames, maintains correct order.

Definition at line 371 of file Camera.h.

std::set<dc1394video_frame_t*> nifti::dc1394::Camera::framesToEnqueue [private]

Processed frames to enqueue in correct order.

Definition at line 376 of file Camera.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation