1 | /*********************************************************************
|
---|
2 | // created: 2006/06/08 - 21:45
|
---|
3 | // filename: Camera1394.h
|
---|
4 | //
|
---|
5 | // author: Gerald Dherbomez
|
---|
6 | //
|
---|
7 | // version: $Id: Camera1394.h 1199 2012-08-01 08:51:24Z kurdejma $
|
---|
8 | //
|
---|
9 | // purpose: Interface with the CMU driver
|
---|
10 | //
|
---|
11 | //
|
---|
12 | // Below are the format, mode and framerate supported by the driver:
|
---|
13 | //
|
---|
14 | // -----------------------------------------
|
---|
15 | // Format Mode Image Size Color Format
|
---|
16 | // -----------------------------------------
|
---|
17 | // 0 0 160x120 YUV(4:4:4)
|
---|
18 | // 1 320x240 YUV(4:2:2)
|
---|
19 | // 2 640x480 YUV(4:1:1)
|
---|
20 | // 3 640x480 YUV(4:2:2)
|
---|
21 | // 4 640x480 RGB
|
---|
22 | // 5 640x480 Mono (8-bit)
|
---|
23 | // 6 640x480 Mono (16-bit)
|
---|
24 | // -----------------------------------------
|
---|
25 | // 1 0 800x600 YUV(4:2:2)
|
---|
26 | // 1 800x600 RGB
|
---|
27 | // 2 800x600 Mono (8-bit)
|
---|
28 | // 3 1024x768 YUV(4:2:2)
|
---|
29 | // 4 1024x768 RGB
|
---|
30 | // 5 1024x768 Mono (8-bit)
|
---|
31 | // 6 800x600 Mono (16-bit)
|
---|
32 | // 7 1024x768 Mono (16-bit)
|
---|
33 | // -----------------------------------------
|
---|
34 | // 2 0 1280x960 YUV(4:2:2)
|
---|
35 | // 1 1280x960 RGB
|
---|
36 | // 2 1280x960 Mono (8-bit)
|
---|
37 | // 3 1600x1200 YUV(4:2:2)
|
---|
38 | // 4 1600x1200 RGB
|
---|
39 | // 5 1600x1200 Mono (8-bit)
|
---|
40 | // 6 1280x960 Mono (16-bit)
|
---|
41 | // 7 1600x1200 Mono (16-bit)
|
---|
42 | // -----------------------------------------
|
---|
43 | // 7 0-7 Partial Scan Selectable
|
---|
44 | // -----------------------------------------
|
---|
45 | //
|
---|
46 | //
|
---|
47 | // ------------------
|
---|
48 | // Code Rate (fps)
|
---|
49 | // ------------------
|
---|
50 | // 0 1.875
|
---|
51 | // 1 3.75
|
---|
52 | // 2 7.5
|
---|
53 | // 3 15
|
---|
54 | // 4 30
|
---|
55 | // 5 60
|
---|
56 | // ------------------
|
---|
57 | //
|
---|
58 | //
|
---|
59 | *********************************************************************/
|
---|
60 |
|
---|
61 | #ifndef _CAMERA1394_H_
|
---|
62 | #define _CAMERA1394_H_
|
---|
63 |
|
---|
64 | //# include "../../include/VisualMemoryManager/struct.h"
|
---|
65 |
|
---|
66 | #include <qthread.h>
|
---|
67 | #include <qimage.h>
|
---|
68 | #include <qmutex.h>
|
---|
69 |
|
---|
70 | #include "kernel/ComponentBase.h"
|
---|
71 | #include "kernel/DbiteFile.h"
|
---|
72 | #include "../DbtPlyPluginVision/ImageViewer.h"
|
---|
73 |
|
---|
74 | #ifdef WIN32
|
---|
75 | # include <windows.h>
|
---|
76 | # include "C1394Camera/1394Camera.h"
|
---|
77 | #endif
|
---|
78 |
|
---|
79 | namespace pacpus {
|
---|
80 |
|
---|
81 | #define MAX_CHAR_PICTURE_NAME 64
|
---|
82 | #define MAX_CHAR_DIRECTORY_NAME 64
|
---|
83 |
|
---|
84 | class Camera1394
|
---|
85 | : public QThread
|
---|
86 | , public ComponentBase
|
---|
87 | {
|
---|
88 | Q_OBJECT
|
---|
89 |
|
---|
90 | public:
|
---|
91 | Camera1394(QString name);
|
---|
92 | ~Camera1394();
|
---|
93 | void run();
|
---|
94 |
|
---|
95 | bool fillRGB32Image(unsigned char * buffer);
|
---|
96 | void YUV444toRGB32(unsigned char* buffer);
|
---|
97 | void YUV422toRGB32(unsigned char *buffer);
|
---|
98 | void YUV411toRGB32(unsigned char* buffer);
|
---|
99 | void YtoRGB32(unsigned char * buffer);
|
---|
100 | void Y16toRGB32(unsigned char * buffer); // not tested, no camera with this mode available
|
---|
101 | void RGB16toRGB32(unsigned char * buffer); // not tested, no camera with this mode available
|
---|
102 | void RGB24toRGB32(unsigned char * buffer);
|
---|
103 |
|
---|
104 | inline void startAcquiring() { acquiring_ = TRUE; };
|
---|
105 | inline void stopAcquiring() { acquiring_ = FALSE; };
|
---|
106 | inline void startRecording() { recording_ = TRUE; };
|
---|
107 | inline void stopRecording() { recording_ = FALSE; };
|
---|
108 |
|
---|
109 | virtual void stopActivity(); /*!< to stop the processing thread */
|
---|
110 | virtual void startActivity(); /*!< to start the processing thread */
|
---|
111 | virtual ComponentBase::COMPONENT_CONFIGURATION configureComponent(XmlComponentConfig config);
|
---|
112 |
|
---|
113 | // return the period in µs corresponding to the framerate parameter
|
---|
114 | double getPeriod();
|
---|
115 | bool recordImage(QString format);
|
---|
116 |
|
---|
117 | Q_SIGNALS:
|
---|
118 | void newImage(QImage*);
|
---|
119 | void corruptedImage();
|
---|
120 |
|
---|
121 | protected:
|
---|
122 | C1394Camera * theCamera;
|
---|
123 | unsigned char * image_;
|
---|
124 | QImage * qimage_;
|
---|
125 |
|
---|
126 | private:
|
---|
127 | // Initialize the camera
|
---|
128 | bool initCamera();
|
---|
129 |
|
---|
130 | // return true if the period T (µs) corresponds to the framerate (at +/-20%)
|
---|
131 | bool isPeriodGood(int T);
|
---|
132 |
|
---|
133 | // properties
|
---|
134 | int cameraNode_;
|
---|
135 | int videoFormat_;
|
---|
136 | int videoMode_;
|
---|
137 | int frameRate_;
|
---|
138 | bool reverseImage_;
|
---|
139 | bool acquiring_;
|
---|
140 | bool displaying_;
|
---|
141 | bool recording_;
|
---|
142 | int zoom_;
|
---|
143 |
|
---|
144 | int imageCounter_;
|
---|
145 | QString recordFormat_;
|
---|
146 |
|
---|
147 | char imageName_[MAX_CHAR_PICTURE_NAME+MAX_CHAR_DIRECTORY_NAME];
|
---|
148 | QMutex* imageMutex_;
|
---|
149 |
|
---|
150 | road_time_t time_;
|
---|
151 | road_time_t prevTime_;
|
---|
152 | road_timerange_t tr_;
|
---|
153 |
|
---|
154 | pacpus::DbiteFile file_;
|
---|
155 |
|
---|
156 | ImageViewer * viewer_;
|
---|
157 |
|
---|
158 | };
|
---|
159 |
|
---|
160 | } // namespace pacpus
|
---|
161 |
|
---|
162 | #endif // _CAMERA1394_H_
|
---|