[89] | 1 | /// Purpose Interface with dc1394
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| 2 | ///
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| 3 | /// @date created: 2011/02/28 - 15:17
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| 4 | /// @author: Sergio Rodriguez
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| 5 | /// @version: $Id: Camera1394Unix.h srodrigu $
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| 6 | ///
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| 7 | /// Below are the format, mode and framerate supported by the driver:
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| 8 | ///
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| 9 | /// -----------------------------------------
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| 10 | /// Format Mode Image Size Color Format
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| 11 | /// -----------------------------------------
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| 12 | /// 0 0 160x120 YUV(4:4:4)
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| 13 | /// 1 320x240 YUV(4:2:2)
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| 14 | /// 2 640x480 YUV(4:1:1)
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| 15 | /// 3 640x480 YUV(4:2:2)
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| 16 | /// 4 640x480 RGB
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| 17 | /// 5 640x480 Mono (8-bit)
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| 18 | /// 6 640x480 Mono (16-bit)
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| 19 | /// -----------------------------------------
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| 20 | /// 1 0 800x600 YUV(4:2:2)
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| 21 | /// 1 800x600 RGB
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| 22 | /// 2 800x600 Mono (8-bit)
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| 23 | /// 3 1024x768 YUV(4:2:2)
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| 24 | /// 4 1024x768 RGB
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| 25 | /// 5 1024x768 Mono (8-bit)
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| 26 | /// 6 800x600 Mono (16-bit)
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| 27 | /// 7 1024x768 Mono (16-bit)
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| 28 | /// -----------------------------------------
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| 29 | /// 2 0 1280x960 YUV(4:2:2)
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| 30 | /// 1 1280x960 RGB
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| 31 | /// 2 1280x960 Mono (8-bit)
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| 32 | /// 3 1600x1200 YUV(4:2:2)
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| 33 | /// 4 1600x1200 RGB
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| 34 | /// 5 1600x1200 Mono (8-bit)
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| 35 | /// 6 1280x960 Mono (16-bit)
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| 36 | /// 7 1600x1200 Mono (16-bit)
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| 37 | /// -----------------------------------------
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| 38 | /// 7 0-7 Partial Scan Selectable
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| 39 | /// -----------------------------------------
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| 40 | ///
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| 41 | /// ------------------
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| 42 | /// Code Rate (fps)
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| 43 | /// ------------------
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| 44 | /// 0 1.875
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| 45 | /// 1 3.75
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| 46 | /// 2 7.5
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| 47 | /// 3 15
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| 48 | /// 4 30
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| 49 | /// 5 60
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| 50 | /// ------------------
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| 51 |
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| 52 | #ifndef CAMERA1394UNIX_H
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| 53 | #define CAMERA1394UNIX_H
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| 54 |
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| 55 | #include <iostream>
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| 56 | #include <qthread.h>
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| 57 | #include "kernel/ComponentBase.h"
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| 58 | #include "kernel/DbiteFile.h"
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| 59 | #include "ImageViewer.h"
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| 60 |
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| 61 | #include <dc1394/conversions.h>
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| 62 | #include <dc1394/control.h>
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| 63 | #include <dc1394/utils.h>
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| 64 |
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| 65 | #define MAX_CHAR_PICTURE_NAME 64
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| 66 | #define MAX_CHAR_DIRECTORY_NAME 64
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| 67 | #define TRUE true
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| 68 | #define FALSE false
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| 69 |
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| 70 | class QImage;
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| 71 | class QMutex;
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| 72 |
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| 73 | namespace pacpus {
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| 74 |
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| 75 | class Camera1394
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| 76 | : public QThread
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| 77 | , public ComponentBase
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| 78 | {
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| 79 | Q_OBJECT
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| 80 |
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| 81 | public:
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| 82 | Camera1394(QString name);
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| 83 | ~Camera1394();
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| 84 | void run();
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| 85 |
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| 86 | bool fillRGB32Image(unsigned char * buffer);
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| 87 | void YUV444toRGB32(unsigned char* buffer);
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| 88 | void YUV422toRGB32(unsigned char *buffer);
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| 89 | void YUV411toRGB32(unsigned char* buffer);
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| 90 | void YtoRGB32(unsigned char * buffer);
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| 91 | void Y16toRGB32(unsigned char * buffer); // not tested, no camera with this mode available
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| 92 | void RGB16toRGB32(unsigned char * buffer); // not tested, no camera with this mode available
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| 93 | void RGB24toRGB32(unsigned char * buffer);
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| 94 |
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| 95 | inline void startAcquiring() { acquiring_ = TRUE; }
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| 96 | inline void stopAcquiring() { acquiring_ = FALSE; }
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| 97 | inline void startRecording() { recording_ = TRUE; }
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| 98 | inline void stopRecording() { recording_ = FALSE; }
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| 99 |
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| 100 | virtual void stopActivity(); /*!< to stop the processing thread */
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| 101 | virtual void startActivity(); /*!< to start the processing thread */
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| 102 | virtual ComponentBase::COMPONENT_CONFIGURATION configureComponent(XmlComponentConfig config);
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| 103 |
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| 104 | // return the period in µs corresponding to the framerate parameter
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| 105 | double getPeriod();
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| 106 | bool recordImage(QString format);
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| 107 |
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| 108 | signals:
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| 109 | void newImage(QImage *);
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| 110 | void corruptedImage();
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| 111 |
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| 112 | protected:
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| 113 | //C1394Camera * theCamera;
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| 114 | dc1394camera_t* theCamera;
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| 115 | dc1394video_mode_t theCamera_video_mode;
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| 116 | dc1394video_frame_t* theFrame;
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| 117 | dc1394framerate_t theFramerate;
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| 118 | int width_;
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| 119 | int height_;
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| 120 |
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| 121 | QImage * qimage_;
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| 122 |
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| 123 | private:
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| 124 | // Initialize the camera
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| 125 | bool initCamera();
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| 126 |
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| 127 | // return true if the period T (µs) corresponds to the framerate (at +/-20%)
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| 128 | bool isPeriodGood(int T);
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| 129 |
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| 130 | void addInputOutput();
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| 131 |
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| 132 | // properties
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| 133 | int cameraNode_;
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| 134 | int videoFormat_;
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| 135 | int videoMode_;
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| 136 | int frameRate_;
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| 137 | bool reverseImage_;
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| 138 | bool acquiring_;
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| 139 | bool displaying_;
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| 140 | bool recording_;
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| 141 | int zoom_;
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| 142 |
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| 143 | int imageCounter_;
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| 144 | QString recordFormat_;
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| 145 |
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| 146 | QMutex * imageMutex_;
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| 147 |
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| 148 | road_time_t time_;
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| 149 | road_time_t prevTime_;
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| 150 | road_timerange_t tr_;
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| 151 |
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| 152 | DbiteFile file_;
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| 153 | QString dbtFileName_;
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| 154 |
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| 155 | ImageViewer * viewer_;
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| 156 | };
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| 157 |
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| 158 | } // namespace pacpus
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| 159 |
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| 160 | #endif // CAMERA1394UNIX_H
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