[89] | 1 | // 1394Camera.h: interface for the C1394Camera class.
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| 2 | //
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| 3 | // Version 5.2
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| 4 | //
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| 5 | // Copyright 5/2000
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| 6 | //
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| 7 | // Iwan Ulrich
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| 8 | // Robotics Institute
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| 9 | // Carnegie Mellon University
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| 10 | // Pittsburgh, PA
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| 11 | //
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| 12 | // Copyright 3/2002
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| 13 | //
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| 14 | // Christopher Baker
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| 15 | // Robotics Institute
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| 16 | // Carnegie Mellon University
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| 17 | // Pittsburgh, PA
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| 18 | //
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| 19 | // This program is free software; you can redistribute it and/or
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| 20 | // modify it under the terms of the GNU General Public License
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| 21 | // as published by the Free Software Foundation; either version 2
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| 22 | // of the License, or (at your option) any later version.
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| 23 | //
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| 24 | // This program is distributed in the hope that it will be useful,
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| 25 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 26 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 27 | // GNU General Public License for more details.
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| 28 | //
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| 29 | // You should have received a copy of the GNU General Public License
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| 30 | // along with this program; if not, write to the Free Software
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| 31 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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| 32 | //
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| 33 | // Revision History...
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| 34 | //////////////////////////////////////////////////////////////////////
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| 35 |
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| 36 | #ifndef __1394CAMERA_H__
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| 37 | #define __1394CAMERA_H__
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| 38 |
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| 39 | #ifdef MY1394CAMERA_EXPORTS
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| 40 |
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| 41 | // compiling library, reference
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| 42 | // private, potentially modified
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| 43 | // version of the header
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| 44 | #include "1394camapi.h"
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| 45 |
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| 46 | #else
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| 47 |
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| 48 | // using library, use global version
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| 49 | #include "1394camapi.h"
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| 50 |
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| 51 | #endif // MY1394CAMERA_EXPORTS
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| 52 |
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| 53 | #include "1394CameraControl.h"
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| 54 | #include "1394CameraControlTrigger.h"
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| 55 | #include "1394CameraControlSize.h"
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| 56 |
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| 57 | // error codes
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| 58 |
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| 59 | #define CAM_SUCCESS 0
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| 60 | #define CAM_ERROR -1
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| 61 | #define CAM_ERROR_NOT_INITIALIZED 1
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| 62 | #define CAM_ERROR_INVALID_VIDEO_SETTINGS 2
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| 63 | #define CAM_ERROR_BUSY 3
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| 64 | #define CAM_ERROR_INSUFFICIENT_RESOURCES 4
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| 65 | #define CAM_ERROR_PARAM_OUT_OF_RANGE 5
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| 66 | #define CAM_ERROR_FRAME_TIMEOUT 6
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| 67 |
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| 68 | // structures used by C1394Camera
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| 69 |
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| 70 | /*
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| 71 | * ACQUISITION_BUFFER
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| 72 | *
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| 73 | * Associates all the necessary information for an image acquisition buffer
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| 74 | * This includes the overlapped structure used with DeviceIoControl, pointers
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| 75 | * to the buffer and other bookeeping stuff
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| 76 | */
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| 77 |
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| 78 | typedef struct _ACQUISITION_BUFFER {
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| 79 | OVERLAPPED overLapped;
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| 80 | PISOCH_ATTACH_BUFFERS pIsochAttachBuffers;
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| 81 | PUCHAR pDataBuf;
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| 82 | PUCHAR pFrameStart;
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| 83 | int index;
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| 84 | struct _ACQUISITION_BUFFER *pNextBuffer;
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| 85 | } ACQUISITION_BUFFER, *PACQUISITION_BUFFER;
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| 86 |
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| 87 | // the C1394Camera class
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| 88 | // member function implementations are in 1394Camera.cpp unless otherwise noted
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| 89 |
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| 90 | class CAMAPI C1394Camera
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| 91 | {
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| 92 | friend class C1394CameraControlSize;
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| 93 |
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| 94 | public:
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| 95 | // constructor
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| 96 | C1394Camera();
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| 97 | // destructor
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| 98 | ~C1394Camera();
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| 99 |
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| 100 | // Selection/Control
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| 101 | int InitCamera();
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| 102 | int GetNode();
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| 103 | int SelectCamera(int node);
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| 104 | unsigned long GetVersion();
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| 105 | int GetNumberCameras();
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| 106 | int GetMaxSpeed();
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| 107 | int CheckLink();
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| 108 |
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| 109 | // Store/Retrieve Settings from camera EEPROM
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| 110 | int MemGetNumChannels();
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| 111 | int MemGetCurrentChannel();
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| 112 | int MemLoadChannel(int channel);
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| 113 | int MemSaveChannel(int channel);
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| 114 |
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| 115 | // Store/Retrieve Settings from system Registry
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| 116 | int RegLoadSettings(const char *pname);
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| 117 | int RegSaveSettings(const char *pname);
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| 118 |
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| 119 | // Raw register I/O
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| 120 | int WriteQuadlet(unsigned long address, unsigned long data);
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| 121 | int ReadQuadlet(unsigned long address, unsigned long *pData);
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| 122 |
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| 123 | // Video format/mode/rate
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| 124 | int GetVideoFormat();
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| 125 | int SetVideoFormat(unsigned long format);
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| 126 | int GetVideoMode();
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| 127 | int SetVideoMode(unsigned long mode);
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| 128 | int GetVideoFrameRate();
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| 129 | int SetVideoFrameRate(unsigned long rate);
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| 130 |
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| 131 | // Image Capture (1394CamCap.cpp)
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| 132 | int StartImageCapture();
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| 133 | int CaptureImage();
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| 134 | int StopImageCapture();
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| 135 |
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| 136 | // Image Acquisition (1394CamAcq.cpp)
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| 137 | int StartImageAcquisition();
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| 138 | int AcquireImage();
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| 139 | int AcquireImageEx(BOOL DropStaleFrames, int *lpnDroppedFrames);
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| 140 | int StopImageAcquisition();
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| 141 |
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| 142 | // Synchronization Support
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| 143 | HANDLE GetFrameEvent();
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| 144 |
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| 145 | // Color Format Conversion (1394CamRGB.cpp)
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| 146 |
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| 147 | // convert data to standard: RGB, upper-left corner
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| 148 | // based on video format/mode
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| 149 | void getRGB(unsigned char *pBitmap);
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| 150 |
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| 151 | // same as getRGB, except data is returned in the
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| 152 | // bottom-up, BGR format the MS calls a DIB
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| 153 | void getDIB(unsigned char *pBitmap);
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| 154 |
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| 155 | // individual RGB converters
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| 156 | void YtoRGB(unsigned char *pBitmap);
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| 157 | void Y16toRGB(unsigned char *pBitmap);
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| 158 | void YUV411toRGB(unsigned char* pBitmap);
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| 159 | void YUV422toRGB(unsigned char* pBitmap);
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| 160 | void YUV444toRGB(unsigned char* pBitmap);
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| 161 | void RGB16toRGB(unsigned char *pBitmap);
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| 162 |
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| 163 | // Control Wrappers (ControlWrappers.cpp)
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| 164 | void InquireControlRegisters();
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| 165 | void StatusControlRegisters();
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| 166 | void SetIris(int value);
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| 167 | void SetFocus(int value);
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| 168 | void SetZoom(int value);
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| 169 | void SetBrightness(int value);
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| 170 | void SetAutoExposure(int value);
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| 171 | void SetSharpness(int value);
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| 172 | void SetWhiteBalance(int u, int v);
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| 173 | void SetHue(int value);
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| 174 | void SetSaturation(int value);
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| 175 | void SetGamma(int value);
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| 176 | void SetShutter(int value);
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| 177 | void SetGain(int value);
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| 178 |
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| 179 | // Control Members
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| 180 | // Feature_Hi
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| 181 | C1394CameraControl m_controlBrightness;
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| 182 | C1394CameraControl m_controlAutoExposure;
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| 183 | C1394CameraControl m_controlSharpness;
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| 184 | C1394CameraControl m_controlWhiteBalance;
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| 185 | C1394CameraControl m_controlHue;
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| 186 | C1394CameraControl m_controlSaturation;
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| 187 | C1394CameraControl m_controlGamma;
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| 188 | C1394CameraControl m_controlShutter;
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| 189 | C1394CameraControl m_controlGain;
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| 190 | C1394CameraControl m_controlIris;
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| 191 | C1394CameraControl m_controlFocus;
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| 192 | C1394CameraControlTrigger m_controlTrigger;
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| 193 | // there is a temperature control as well to worry about
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| 194 |
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| 195 | // Feature_Lo
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| 196 | C1394CameraControl m_controlZoom;
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| 197 | // there's also pan, tilt, and optical filter controls, but we don't care for now
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| 198 |
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| 199 | // Partial Scan Control class
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| 200 | C1394CameraControlSize m_controlSize;
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| 201 |
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| 202 | // utility members
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| 203 | int m_width;
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| 204 | int m_height;
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| 205 | bool m_linkChecked;
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| 206 | bool m_cameraInitialized;
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| 207 | char m_nameModel[256];
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| 208 | char m_nameVendor[256];
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| 209 | LARGE_INTEGER m_UniqueID;
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| 210 | unsigned char* m_pData;
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| 211 | bool m_bxAvailableFormats[8]; // [format]
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| 212 | bool m_bxAvailableModes[8][8]; //[format][mode]
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| 213 | bool m_videoFlags[8][8][8]; // [format][mode][rate]
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| 214 |
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| 215 | private:
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| 216 | BOOL InitResources();
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| 217 | BOOL FreeResources();
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| 218 | BOOL InquireVideoFormats();
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| 219 | BOOL InquireVideoModes();
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| 220 | BOOL InquireVideoRates();
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| 221 | BOOL OneShot();
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| 222 | void UpdateParameters();
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| 223 | void StopVideoStream();
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| 224 | void StartVideoStream();
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| 225 |
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| 226 | // pertaining to video format/mode/rate
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| 227 | int m_videoFrameRate;
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| 228 | int m_videoMode;
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| 229 | int m_videoFormat;
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| 230 | int m_maxBytes;
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| 231 | int m_maxBufferSize;
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| 232 | ULONG m_maxSpeed;
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| 233 |
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| 234 | // which camera are we using
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| 235 | int m_node;
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| 236 | char* m_pName;
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| 237 |
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| 238 | // camera data grabbed from the driver
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| 239 | CAMERA_SPECIFICATION m_spec;
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| 240 | DEVICE_DATA m_DeviceData;
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| 241 |
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| 242 | // our isochronous resources (to replace the above structs)
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| 243 | HANDLE m_hBandwidth;
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| 244 | HANDLE m_hResource;
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| 245 | LONG m_lChannel;
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| 246 |
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| 247 | // buffer management
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| 248 | PACQUISITION_BUFFER m_pFirstBuffer;
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| 249 | PACQUISITION_BUFFER m_pLastBuffer;
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| 250 | PACQUISITION_BUFFER m_pCurrentBuffer;
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| 251 |
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| 252 | // persistent handles
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| 253 | HANDLE m_hDeviceAcquisition;
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| 254 | HANDLE m_hDeviceCapture;
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| 255 |
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| 256 |
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| 257 | // things that used to be part of the class, but aren't anymore
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| 258 | // they are preserved here partly for posterity, and partly "just in case"
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| 259 |
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| 260 | // resetting the link is no longer necessary, so we do not support it
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| 261 | //void ResetLink(bool root);
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| 262 |
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| 263 | //void DisableVideoMode(int format, int mode);
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| 264 | //void DisableVideoFormat(int format);
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| 265 | // removed private functions
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| 266 | // these functions were no-argument one-liners that used to pop up message boxes
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| 267 | // they have been consolidated directly into the functions that called them.
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| 268 | //void Speed(unsigned char value);
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| 269 | //void AllocateResources();
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| 270 | //void AllocateChannel();
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| 271 | //void AllocateBandwidth();
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| 272 | //void SetChannelSpeed();
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| 273 | //void GetDeviceName();
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| 274 | //void StopListen();
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| 275 | //void Listen();
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| 276 |
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| 277 | // removed members
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| 278 | // for the most part, they were from the old buffer management code
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| 279 | //int m_nBuffers;
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| 280 | //int m_nDescriptors;
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| 281 | //ULONG m_acquisitionBufferSize;
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| 282 | //ULONG m_captureBufferSize;
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| 283 | //OVERLAPPED m_captureOverlapped;
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| 284 | //PISOCH_ATTACH_BUFFERS m_pIsochAttachBuffers;
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| 285 | //ISOCH_GET_IMAGE_PARAMS m_isochGetImageParams;
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| 286 | //ACQUISITION_BUFFER m_acquisitionBuffer[6];
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| 287 | //bool m_allocateMemory;
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| 288 | //HWND m_hWnd;
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| 289 | //ISOCH_LISTEN m_listen;
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| 290 | //ISOCH_STOP m_stop;
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| 291 | // structs for the various Isoch functions we use
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| 292 | //ISOCH_ALLOCATE_BANDWIDTH m_bandwidth;
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| 293 | //ISOCH_ALLOCATE_CHANNEL m_channel;
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| 294 | //ISOCH_ALLOCATE_RESOURCES m_resource;
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| 295 | };
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| 296 |
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| 297 | /*
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| 298 | * CameraControlDialog
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| 299 | *
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| 300 | * This function provides a complete control dialog for
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| 301 | * all the standard controls for a 1394 camera.
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| 302 | *
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| 303 | * Note: this is a non-modal dialog, which means you
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| 304 | * need to do your own message pumping
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| 305 | *
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| 306 | * Arguments:
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| 307 | * - hWndParent: the parent window for this instance
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| 308 | * - pCamera: pointer to the camera to be controlled
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| 309 | * this allows multiple control windows to be open for multiple cameras
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| 310 | * - bLoadDefaultView :
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| 311 | *
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| 312 | * Returns:
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| 313 | * HWND to the control window, NULL on error. GetLastError() should work.
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| 314 | *
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| 315 | * Location: ControlDialog.cpp
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| 316 | *
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| 317 | */
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| 318 |
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| 319 | HWND
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| 320 | CAMAPI
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| 321 | CameraControlDialog(
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| 322 | HWND hWndParent,
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| 323 | C1394Camera *pCamera,
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| 324 | BOOL bLoadDefaultView
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| 325 | );
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| 326 |
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| 327 | extern "C" {
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| 328 |
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| 329 | /*
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| 330 | * CameraDebugDialog
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| 331 | *
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| 332 | * This function provides a dialog to dynamically change the trace level of the DLL.
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| 333 | *
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| 334 | * Arguments:
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| 335 | * - hWndParent: the parent window for this instance
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| 336 | *
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| 337 | * Note: this is a modal dialog, which means it will block until you click "OK"
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| 338 | *
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| 339 | * Location: debug.c
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| 340 | */
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| 341 |
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| 342 | void
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| 343 | CAMAPI
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| 344 | CameraDebugDialog(
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| 345 | HWND hWndParent
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| 346 | );
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| 347 | }
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| 348 |
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| 349 | /*
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| 350 | * CameraControlSizeDialog
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| 351 | *
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| 352 | * This function spawns a modal dialog that is a graphical interface to the
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| 353 | * C1394CameraControlSize class.
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| 354 | *
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| 355 | * Arguments:
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| 356 | * - hWndParent: the parent window for this instance
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| 357 | * - pCamera: pointer to the camera whose size you wish to control
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| 358 | *
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| 359 | * Notes:
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| 360 | * - This is a modal dialog, which means it will block until you click "OK" or "Cancel"
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| 361 | *
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| 362 | * - It is not recommended to futz with the partial scan controls while the camera is sending
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| 363 | * image data.
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| 364 | *
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| 365 | * Location: ControlSizeDialog.cpp
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| 366 | */
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| 367 |
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| 368 |
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| 369 | long
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| 370 | CAMAPI
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| 371 | CameraControlSizeDialog(HWND hWndParent,
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| 372 | C1394Camera *pCamera);
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| 373 |
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| 374 | #endif // __1394CAMERA_H__
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