1 | /// purpose: Definition of the Camera1394 class
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2 | ///
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3 | /// @date created 2011/02/28 - 15:21
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4 | /// @author Sergio Rodriguez
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5 | /// @copyright Heudiasyc UMR UTC/CNRS 6599
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6 | /// @version: $Id$
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7 |
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8 | #include "Camera1394Unix.h"
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9 |
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10 | #include "structure/genericStructures.h"
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11 | #include <kernel/inputOutputInterface.h>
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12 | //#include <qimage.h>
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13 | #include <qimagewriter.h>
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14 | #include <qmutex.h>
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15 |
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16 | #include "kernel/ComponentFactory.h"
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17 | #include "kernel/DbiteFileTypes.h"
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18 | #include "kernel/Log.h"
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19 | #include "PacpusTools/ShMem.h"
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20 |
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21 | namespace pacpus {
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22 |
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23 | using namespace std;
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24 |
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25 | DECLARE_STATIC_LOGGER("pacpus.base.Camera1394");
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26 |
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27 | // Construct the factory
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28 | ComponentFactory<Camera1394> sFactory("Camera1394");
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29 |
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30 | void Camera1394::addInputOutput()
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31 | {
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32 | output.insert("image",new OutputInterface<PacpusImage,Camera1394> ("image",this));
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33 | }
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34 |
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35 | //////////////////////////////////////////////////////////////////////////
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36 | // Contructor
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37 | //////////////////////////////////////////////////////////////////////////
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38 | Camera1394::Camera1394(QString name)
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39 | : ComponentBase(name)
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40 | {
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41 | qimage_ = NULL;
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42 | acquiring_ = FALSE;
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43 | recording_ = FALSE;
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44 |
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45 | width_ = 0;
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46 | height_ = 0;
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47 |
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48 | tr_ = 0;
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49 | addInputOutput();
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50 | }
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51 |
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52 | //////////////////////////////////////////////////////////////////////////
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53 | // Destructor
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54 | //////////////////////////////////////////////////////////////////////////
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55 | Camera1394::~Camera1394()
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56 | {
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57 | // verify that the camera has been initialized
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58 | //if (theCamera->m_cameraInitialized)
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59 | //if (theCamera->StopImageAcquisition() != CAM_SUCCESS)
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60 | // qFatal("Problem Stopping Image Acquisition");
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61 |
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62 | delete qimage_;
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63 | qimage_ = NULL;
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64 | }
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65 |
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66 | //////////////////////////////////////////////////////////////////////////
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67 | // Configure the component
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68 | // Parameters are:
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69 | // - node: the number of the camera in the driver list. Normally, node 0
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70 | // is for the first camera connected, node is incremented for other
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71 | //////////////////////////////////////////////////////////////////////////
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72 | ComponentBase::COMPONENT_CONFIGURATION Camera1394::configureComponent(XmlComponentConfig config)
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73 | {
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74 | cameraNode_ = param.getProperty("node").toInt();
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75 | videoFormat_ = param.getProperty("format").toInt();
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76 | videoMode_ = param.getProperty("mode").toInt();
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77 | frameRate_ = param.getProperty("framerate").toInt();
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78 | recording_ = (param.getProperty("recording") == "true" ? true : false );
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79 | recordFormat_ = param.getProperty("recordFormat");
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80 | reverseImage_ = (param.getProperty("reverseImage") == "true" ? true : false);
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81 | displaying_ = (param.getProperty("display") == "true" ? true : false);
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82 | zoom_ = param.getProperty("zoom").toInt();
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83 |
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84 | imageMutex_ = new QMutex;
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85 |
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86 | if (displaying_)
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87 | {
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88 | viewer_ = new ImageViewer;
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89 | viewer_->setMutex(imageMutex_);
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90 | viewer_->show();
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91 | viewer_->setWindowTitle(componentName);
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92 | connect(this, SIGNAL( newImage(QImage*) ), viewer_, SLOT( display(QImage*) ) );
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93 | }
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94 |
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95 | switch(frameRate_){
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96 | case 0:
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97 | theFramerate = DC1394_FRAMERATE_1_875;
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98 | break;
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99 | case 1:
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100 | theFramerate = DC1394_FRAMERATE_3_75;
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101 | break;
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102 | case 2:
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103 | theFramerate = DC1394_FRAMERATE_7_5;
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104 | break;
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105 | case 3:
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106 | theFramerate = DC1394_FRAMERATE_15;
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107 | break;
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108 | case 4:
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109 | theFramerate = DC1394_FRAMERATE_30;
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110 | break;
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111 | case 5:
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112 | theFramerate = DC1394_FRAMERATE_60;
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113 | break;
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114 | default:
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115 | qFatal("Framerate not supported");
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116 | break;
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117 | }
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118 |
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119 | return ComponentBase::CONFIGURED_OK;
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120 | }
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121 |
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122 | //////////////////////////////////////////////////////////////////////////
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123 | // Stop the acquisition of data
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124 | //////////////////////////////////////////////////////////////////////////
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125 | void Camera1394::stopActivity()
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126 | {
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127 | stopAcquiring();
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128 |
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129 | // wait the thread termination
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130 | if (!wait(3000)) {
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131 | terminate();
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132 | LOG_WARN(componentName << ": The thread doesn't respond for 1 second, it has been terminated");
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133 | }
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134 | if (recording_) {
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135 | file_.close();
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136 | }
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137 | }
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138 |
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139 | //////////////////////////////////////////////////////////////////////////
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140 | // Start the camera
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141 | // Set all video parameters (resolution, mode and framerate)
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142 | //////////////////////////////////////////////////////////////////////////
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143 | void Camera1394::startActivity()
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144 | {
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145 | dc1394error_t err;
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146 |
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147 | if (recording_) {
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148 | dbtFileName_ = componentName + ".dbt";
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149 | file_.open(dbtFileName_.toStdString(), WriteMode, FILE_JPEG, MAX_CHAR_DIRECTORY_NAME+MAX_CHAR_PICTURE_NAME);
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150 | }
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151 | if(!initCamera())
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152 | return;
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153 |
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154 | // make the calls to set up the capture mode
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155 | dc1394_video_set_iso_speed( theCamera, DC1394_ISO_SPEED_400 );
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156 | dc1394_video_set_mode( theCamera, theCamera_video_mode );
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157 | dc1394_video_set_framerate( theCamera, theFramerate);
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158 |
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159 | err = dc1394_capture_setup( theCamera, 8, DC1394_CAPTURE_FLAGS_DEFAULT );
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160 | if ( err != DC1394_SUCCESS )
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161 | {
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162 | cout << "Can't setup capture" << endl;
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163 | return;
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164 | }
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165 | // have the camera start sending us data
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166 | err = dc1394_video_set_transmission( theCamera, DC1394_ON );
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167 | if ( err != DC1394_SUCCESS )
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168 | {
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169 | fprintf( stderr, "Unable to start camera iso transmission\n" );
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170 | return;
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171 | }
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172 | printf( "Waiting for transmission... \n" );
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173 | // Sleep untill the camera has a transmission
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174 | dc1394switch_t status = DC1394_OFF;
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175 |
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176 | for ( int i = 0; i <= 5; i++ )
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177 | {
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178 | usleep(50000);
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179 | err = dc1394_video_get_transmission( theCamera, &status );
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180 | if ( err != DC1394_SUCCESS )
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181 | {
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182 | fprintf( stderr, "Unable to get transmision status\n" );
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183 | return;
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184 | }
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185 | if ( status != DC1394_OFF )
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186 | break;
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187 |
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188 | if( i == 5 )
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189 | {
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190 | fprintf(stderr,"Camera doesn't seem to want to turn on!\n");
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191 | return;
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192 | }
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193 | }
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194 |
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195 | // // switch some controls in Automatic mode
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196 | // theCamera->m_controlWhiteBalance.SetAutoMode(TRUE);
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197 | // theCamera->m_controlShutter.SetAutoMode(TRUE);
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198 | // theCamera->m_controlGain.SetAutoMode(TRUE);
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199 | // theCamera->m_controlIris.SetAutoMode(TRUE);
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200 | //
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201 | // theCamera->SetZoom(zoom_);
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202 |
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203 | // alloc images
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204 | if (!qimage_)
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205 | qimage_ = new QImage( width_, height_, QImage::Format_RGB32 );
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206 |
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207 | startAcquiring();
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208 | start();
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209 | }
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210 |
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211 | //////////////////////////////////////////////////////////////////////////
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212 | // Initialize the C1394Camera Driver
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213 | // Verify the presence of a compatible camera and select it
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214 | // If it doesn't work, please have a look on the Windows driver in the
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215 | // hardware manager
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216 | //////////////////////////////////////////////////////////////////////////
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217 | bool Camera1394::initCamera()
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218 | {
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219 | dc1394error_t err;
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220 | dc1394_t * d;
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221 | dc1394camera_list_t * list;
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222 |
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223 | dc1394video_modes_t video_modes;
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224 | dc1394video_mode_t required_video_mode;
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225 | dc1394color_coding_t coding;
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226 |
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227 | bool printSupportedFormats = false;
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228 | bool foundFormatVideoMode = false;
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229 |
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230 | // Find cameras on the 1394 buses
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231 | d = dc1394_new ();
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232 |
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233 | // Enumerate cameras connected to the PC
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234 | err = dc1394_camera_enumerate (d, &list);
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235 | if ( err != DC1394_SUCCESS )
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236 | {
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237 | fprintf( stderr, "Unable to look for cameras\n\n"
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238 | "Please check \n"
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239 | " - if the kernel modules `ieee1394',`raw1394' and `ohci1394' "
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240 | "are loaded \n"
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241 | " - if you have read/write access to /dev/raw1394\n\n");
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242 | return false;
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243 | }
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244 |
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245 | if (list->num == 0)
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246 | {
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247 | cout << "No cameras found!" << endl;
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248 | return false;
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249 | }
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250 |
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251 | cout << "There is(are)" << list->num <<" camera(s) connected"<< endl;
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252 | if(list->num>cameraNode_){
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253 | theCamera = dc1394_camera_new(d, list->ids[cameraNode_].guid);
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254 | if (!theCamera){
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255 | LOG_ERROR("Failed to initialize camera with guid " << list->ids[cameraNode_].guid);
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256 | } else {
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257 | LOG_INFO("Camera model = '"<< theCamera->model << " was initialized");
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258 | }
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259 | }
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260 |
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261 | err = dc1394_video_get_supported_modes( theCamera, &video_modes );
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262 | if ( err != DC1394_SUCCESS )
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263 | {
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264 | fprintf( stderr, "Can't get video modes\n" );
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265 | return err;
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266 | }
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267 |
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268 | //Camera video mode selection
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269 | switch(videoFormat_){
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270 | case 0:
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271 | switch(videoMode_){
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272 | case 0:
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273 | required_video_mode = DC1394_VIDEO_MODE_160x120_YUV444;
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274 | width_ = 160;
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275 | height_ = 120;
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276 | break;
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277 | case 1:
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278 | required_video_mode = DC1394_VIDEO_MODE_320x240_YUV422;
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279 | width_ = 320;
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280 | height_ = 240;
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281 | break;
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282 | case 2:
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283 | required_video_mode = DC1394_VIDEO_MODE_640x480_YUV411;
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284 | width_ = 640;
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285 | height_ = 480;
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286 | break;
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287 | case 3:
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288 | required_video_mode = DC1394_VIDEO_MODE_640x480_YUV422;
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289 | width_ = 640;
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290 | height_ = 480;
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291 | break;
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292 | case 4:
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293 | required_video_mode = DC1394_VIDEO_MODE_640x480_RGB8;
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294 | width_ = 640;
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295 | height_ = 480;
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296 | break;
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297 | case 5:
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298 | required_video_mode = DC1394_VIDEO_MODE_640x480_MONO8;
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299 | width_ = 640;
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300 | height_ = 480;
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301 | break;
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302 | case 6:
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303 | required_video_mode = DC1394_VIDEO_MODE_640x480_MONO16;
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304 | width_ = 640;
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305 | height_ = 480;
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306 | break;
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307 | default:
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308 | cout << "The selected video mode is not supported or available"<< endl;
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309 | return false;
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310 | break;
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311 | }
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312 | break;
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313 | case 1:
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314 | switch(videoMode_){
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315 | case 0:
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316 | required_video_mode = DC1394_VIDEO_MODE_800x600_YUV422;
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317 | width_ = 800;
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318 | height_ = 600;
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319 | break;
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320 | case 1:
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321 | required_video_mode = DC1394_VIDEO_MODE_800x600_RGB8;
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322 | width_ = 800;
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323 | height_ = 600;
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324 | break;
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325 | case 2:
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326 | required_video_mode = DC1394_VIDEO_MODE_800x600_MONO8;
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327 | width_ = 800;
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328 | height_ = 600;
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329 | break;
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330 | case 3:
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331 | required_video_mode = DC1394_VIDEO_MODE_1024x768_YUV422;
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332 | width_ = 1024;
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333 | height_ = 768;
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334 | break;
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335 | case 4:
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336 | required_video_mode = DC1394_VIDEO_MODE_1024x768_RGB8;
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337 | width_ = 1024;
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338 | height_ = 768;
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339 | break;
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340 | case 5:
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341 | required_video_mode = DC1394_VIDEO_MODE_1024x768_MONO8;
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342 | width_ = 1024;
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343 | height_ = 768;
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344 | break;
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345 | case 6:
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346 | required_video_mode = DC1394_VIDEO_MODE_800x600_MONO16;
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347 | width_ = 800;
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348 | height_ = 600;
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349 | break;
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350 | case 7:
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351 | required_video_mode = DC1394_VIDEO_MODE_1024x768_MONO16;
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352 | width_ = 1024;
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353 | height_ = 768;
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354 | break;
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355 | default:
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356 | cout << "The selected video mode is not supported or available"<< endl;
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357 | printSupportedFormats =true;
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358 | break;
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359 | }
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360 | break;
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361 | case 2:
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362 | switch(videoMode_){
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363 | case 0:
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364 | required_video_mode = DC1394_VIDEO_MODE_1280x960_YUV422;
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365 | width_ = 1280;
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366 | height_ = 960;
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367 | break;
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368 | case 1:
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369 | required_video_mode = DC1394_VIDEO_MODE_1280x960_RGB8;
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370 | width_ = 1280;
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371 | height_ = 960;
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372 | break;
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373 | case 2:
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374 | required_video_mode = DC1394_VIDEO_MODE_1280x960_MONO8;
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375 | width_ = 1280;
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376 | height_ = 960;
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377 | break;
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378 | case 6:
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379 | required_video_mode = DC1394_VIDEO_MODE_1280x960_MONO16;
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380 | width_ = 1280;
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381 | height_ = 960;
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382 | break;
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383 | default:
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384 | cout << "The selected video mode is not supported or available"<< endl;
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385 | printSupportedFormats =true;
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386 | break;
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387 | }
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388 | break;
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389 | default:
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390 | cout << "The selected format is not supported or available"<< endl;
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391 | printSupportedFormats =true;
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392 | break;
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393 | }
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394 |
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395 | //looking for selected mode on camera
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396 | for ( int i = video_modes.num-1; i >= 0; i-- )
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397 | {
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398 | // don't consider FORMAT 7 modes (i.e. "scalable")
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399 | if ( !dc1394_is_video_mode_scalable( video_modes.modes[i] ) )
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400 | {
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401 | dc1394_get_color_coding_from_video_mode( theCamera, video_modes.modes[i], &coding );
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402 | if(required_video_mode==video_modes.modes[i]){
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403 | foundFormatVideoMode=true;
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404 | theCamera_video_mode=required_video_mode;
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405 | cout << "Correct format/video mode." << endl;
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406 | }
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407 | }
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408 | }
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409 | if (!foundFormatVideoMode)
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410 | printSupportedFormats=true;
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411 |
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412 | if (printSupportedFormats){
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413 | cout << "Error, only the followng format/video modes are supported: " << endl;
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414 | //Supported modes
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415 | for ( int i = video_modes.num-1; i >= 0; i-- )
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416 | {
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417 | // don't consider FORMAT 7 modes (i.e. "scalable")
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418 | if ( !dc1394_is_video_mode_scalable( video_modes.modes[i] ) )
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419 | {
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420 | dc1394_get_color_coding_from_video_mode( theCamera, video_modes.modes[i], &coding );
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421 |
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422 | switch(video_modes.modes[i])
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423 | {
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424 | case (DC1394_VIDEO_MODE_160x120_YUV444):
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425 | cout << "DC1394_VIDEO_MODE_160x120_YUV444" << endl;
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426 | break;
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427 | case (DC1394_VIDEO_MODE_320x240_YUV422):
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428 | cout << "DC1394_VIDEO_MODE_320x240_YUV422 " << endl;
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429 | break;
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430 | case (DC1394_VIDEO_MODE_640x480_YUV411):
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431 | cout << "DC1394_VIDEO_MODE_640x480_YUV411 " << endl;
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432 | break;
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433 | case (DC1394_VIDEO_MODE_640x480_YUV422):
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434 | cout << "DC1394_VIDEO_MODE_640x480_YUV422 " << endl;
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435 | break;
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436 | case (DC1394_VIDEO_MODE_640x480_RGB8):
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437 | cout << "DC1394_VIDEO_MODE_640x480_RGB8 " << endl;
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438 | break;
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439 | case (DC1394_VIDEO_MODE_640x480_MONO8):
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440 | cout << "DC1394_VIDEO_MODE_640x480_MONO8 " << endl;
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441 | break;
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442 | case (DC1394_VIDEO_MODE_640x480_MONO16):
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443 | cout << "DC1394_VIDEO_MODE_640x480_MONO16 " << endl;
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444 | break;
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445 | case (DC1394_VIDEO_MODE_800x600_YUV422):
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446 | cout << "DC1394_VIDEO_MODE_800x600_YUV422 " << endl;
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447 | break;
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448 | case (DC1394_VIDEO_MODE_800x600_RGB8):
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449 | cout << "DC1394_VIDEO_MODE_800x600_RGB8 " << endl;
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450 | break;
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451 | case (DC1394_VIDEO_MODE_800x600_MONO8):
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452 | cout << "DC1394_VIDEO_MODE_800x600_MONO8 " << endl;
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453 | break;
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454 | case (DC1394_VIDEO_MODE_1024x768_YUV422):
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455 | cout << "DC1394_VIDEO_MODE_1024x768_YUV422 " << endl;
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456 | break;
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457 | case (DC1394_VIDEO_MODE_1024x768_RGB8):
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---|
458 | cout << "DC1394_VIDEO_MODE_1024x768_RGB8 " << endl;
|
---|
459 | break;
|
---|
460 | case (DC1394_VIDEO_MODE_1024x768_MONO8):
|
---|
461 | cout << "DC1394_VIDEO_MODE_1024x768_MONO8 " << endl;
|
---|
462 | break;
|
---|
463 | case (DC1394_VIDEO_MODE_800x600_MONO16):
|
---|
464 | cout << "DC1394_VIDEO_MODE_800x600_MONO16 " << endl;
|
---|
465 | break;
|
---|
466 | case (DC1394_VIDEO_MODE_1024x768_MONO16):
|
---|
467 | cout << "DC1394_VIDEO_MODE_1024x768_MONO16 " << endl;
|
---|
468 | break;
|
---|
469 | case (DC1394_VIDEO_MODE_1280x960_YUV422):
|
---|
470 | cout << "DC1394_VIDEO_MODE_1280x960_YUV422 " << endl;
|
---|
471 | break;
|
---|
472 | case (DC1394_VIDEO_MODE_1280x960_RGB8):
|
---|
473 | cout << "DC1394_VIDEO_MODE_1280x960_RGB8 " << endl;
|
---|
474 | break;
|
---|
475 | case (DC1394_VIDEO_MODE_1280x960_MONO8):
|
---|
476 | cout << "DC1394_VIDEO_MODE_1280x960_MONO8 " << endl;
|
---|
477 | break;
|
---|
478 | case (DC1394_VIDEO_MODE_1280x960_MONO16):
|
---|
479 | cout << "DC1394_VIDEO_MODE_1280x960_MONO16 " << endl;
|
---|
480 | break;
|
---|
481 |
|
---|
482 | }
|
---|
483 | }
|
---|
484 |
|
---|
485 | }
|
---|
486 | return false;
|
---|
487 | }
|
---|
488 |
|
---|
489 | if(recording_){
|
---|
490 | char commandline[64];
|
---|
491 | sprintf(commandline,"mkdir %s\n",componentName.toLatin1().data());
|
---|
492 | system(commandline);
|
---|
493 | puts(commandline);
|
---|
494 | }
|
---|
495 |
|
---|
496 | // FIXME: uncomplete type of d: dc1394_t
|
---|
497 | delete d;
|
---|
498 | delete list;
|
---|
499 | return true;
|
---|
500 | }
|
---|
501 |
|
---|
502 | bool Camera1394::recordImage(QString format)
|
---|
503 | {
|
---|
504 | imageCounter_=imageCounter_+1;
|
---|
505 | bool formatSupported = false;
|
---|
506 |
|
---|
507 | format = format.toLower();
|
---|
508 |
|
---|
509 | if (format == "jpeg")
|
---|
510 | format = "jpg";
|
---|
511 |
|
---|
512 | QImageWriter imageWriter;
|
---|
513 | if( imageWriter.supportedImageFormats().contains(format.toLatin1()) )
|
---|
514 | formatSupported = true;
|
---|
515 |
|
---|
516 | if (formatSupported == false) {
|
---|
517 | LOG_ERROR(componentName << "Format" << format << "not supported for recording");
|
---|
518 | } else {
|
---|
519 | // write in the dbt file
|
---|
520 | stringstream imageNameSs;
|
---|
521 | imageNameSs << componentName.toStdString();
|
---|
522 | imageNameSs << "/" << imageCounter_ << "." << format.toStdString();
|
---|
523 | const char * imageName = imageNameSs.str().c_str();
|
---|
524 | imageWriter.setFileName(imageName);
|
---|
525 | imageWriter.setFormat( format.toLatin1() );
|
---|
526 | imageWriter.write(*qimage_);
|
---|
527 | file_.writeRecord(time_, tr_, imageName, MAX_CHAR_DIRECTORY_NAME+MAX_CHAR_PICTURE_NAME);
|
---|
528 | }
|
---|
529 | return formatSupported;
|
---|
530 | }
|
---|
531 |
|
---|
532 | //#define MEASURE_TIME
|
---|
533 |
|
---|
534 | //////////////////////////////////////////////////////////////////////////
|
---|
535 | // Main loop for acquisition
|
---|
536 | //////////////////////////////////////////////////////////////////////////
|
---|
537 | void Camera1394::run()
|
---|
538 | {
|
---|
539 | dc1394error_t err;
|
---|
540 |
|
---|
541 | bool firstTime = true;
|
---|
542 | ShMem * shMem;
|
---|
543 | imageCounter_ = 0;
|
---|
544 | time_ = road_time();
|
---|
545 |
|
---|
546 | road_time_t t;
|
---|
547 |
|
---|
548 | while (acquiring_)
|
---|
549 | {
|
---|
550 | err = dc1394_capture_dequeue( theCamera, DC1394_CAPTURE_POLICY_WAIT, &theFrame );//DC1394_CAPTURE_POLICY_POLL
|
---|
551 | if ( err != DC1394_SUCCESS ){
|
---|
552 | fprintf( stderr, "Camera acquisition: Cannot dequeue image!\n" );
|
---|
553 | return;
|
---|
554 | }
|
---|
555 |
|
---|
556 | prevTime_ = time_;
|
---|
557 | time_ = road_time();
|
---|
558 |
|
---|
559 | // verify that the acquisition period is good relatively to the selected format
|
---|
560 | if ( isPeriodGood((int)(time_ - prevTime_)) )
|
---|
561 | setState(MONITOR_OK);
|
---|
562 | else
|
---|
563 | setState(MONITOR_NOK);
|
---|
564 |
|
---|
565 | t = road_time();
|
---|
566 | if ( !fillRGB32Image(qimage_->bits()) ) continue;
|
---|
567 |
|
---|
568 | // return buffer for use
|
---|
569 | dc1394_capture_enqueue( theCamera, theFrame );
|
---|
570 |
|
---|
571 | #ifdef MEASURE_TIME
|
---|
572 | LOG_INFO(componentName << "duration conversion: " << static_cast<int64_t>(road_time() - t) ;
|
---|
573 | #endif
|
---|
574 |
|
---|
575 | imageMutex_->lock();
|
---|
576 |
|
---|
577 | t = road_time();
|
---|
578 | if (reverseImage_)
|
---|
579 | *qimage_ = qimage_->mirrored(true,true);
|
---|
580 |
|
---|
581 | // send image in shared memory
|
---|
582 | if (firstTime)
|
---|
583 | {
|
---|
584 | shMem = new ShMem("IMAGE", qimage_->byteCount());
|
---|
585 | firstTime = false;
|
---|
586 | }
|
---|
587 | shMem->write(qimage_->bits(), qimage_->byteCount());
|
---|
588 |
|
---|
589 | #ifdef MEASURE_TIME
|
---|
590 | LOG_INFO(componentName << "duration mirror: " << static_cast<int64_t>(road_time() - t) ;
|
---|
591 | #endif
|
---|
592 |
|
---|
593 | imageMutex_->unlock();
|
---|
594 | emit newImage(qimage_);
|
---|
595 |
|
---|
596 | t = road_time();
|
---|
597 | PacpusImage data;
|
---|
598 | data.time = t;
|
---|
599 | data.image = *qimage_;
|
---|
600 | OutputInterface<PacpusImage,Camera1394> * out = static_cast<OutputInterface<PacpusImage,Camera1394> *> (output.value("image"));
|
---|
601 | out->send(data);
|
---|
602 |
|
---|
603 | #ifdef MEASURE_TIME
|
---|
604 | LOG_INFO(componentName << "duration mirror: " << static_cast<int64_t>(road_time() - t) ;
|
---|
605 | #endif
|
---|
606 |
|
---|
607 | t = road_time();
|
---|
608 | if (recording_)
|
---|
609 | {
|
---|
610 | recordImage(recordFormat_);
|
---|
611 | }
|
---|
612 | #ifdef MEASURE_TIME
|
---|
613 | LOG_INFO(componentName << "duration record: " << static_cast<int64_t>(road_time() - t));
|
---|
614 | #endif
|
---|
615 |
|
---|
616 | } // END while (acquiring_)
|
---|
617 |
|
---|
618 | LOG_INFO(componentName << ":Stopping the camera");
|
---|
619 |
|
---|
620 | dc1394_capture_stop(theCamera);
|
---|
621 | dc1394_video_set_transmission(theCamera,DC1394_OFF);
|
---|
622 | dc1394_camera_free(theCamera);
|
---|
623 |
|
---|
624 | //if (theCamera->StopImageAcquisition() != CAM_SUCCESS)
|
---|
625 | // qFatal("Problem Stopping Image Acquisition");
|
---|
626 |
|
---|
627 | if (!firstTime)
|
---|
628 | delete shMem;
|
---|
629 | setState(STOPPED);
|
---|
630 | }
|
---|
631 |
|
---|
632 | //////////////////////////////////////////////////////////////////////////
|
---|
633 | // return the actual period in µs corresponding to the framerate code
|
---|
634 | //////////////////////////////////////////////////////////////////////////
|
---|
635 | double Camera1394::getPeriod()
|
---|
636 | {
|
---|
637 | switch(frameRate_) {
|
---|
638 | case 0:
|
---|
639 | return 1.0e6/1.875;
|
---|
640 | break;
|
---|
641 |
|
---|
642 | case 1:
|
---|
643 | return 1.0e6/3.75;
|
---|
644 | break;
|
---|
645 |
|
---|
646 | case 2:
|
---|
647 | return 1.0e6/7.5;
|
---|
648 | break;
|
---|
649 |
|
---|
650 | case 3:
|
---|
651 | return 1.0e6/15;
|
---|
652 | break;
|
---|
653 |
|
---|
654 | case 4:
|
---|
655 | return 1.0e6/30;
|
---|
656 | break;
|
---|
657 |
|
---|
658 | case 5:
|
---|
659 | return 1.0e6/60;
|
---|
660 | break;
|
---|
661 |
|
---|
662 | default:
|
---|
663 | LOG_WARN("Unknown framerate. The component " << componentName << " may encounter a problem !");
|
---|
664 | return 0;
|
---|
665 | }
|
---|
666 | }
|
---|
667 |
|
---|
668 | //////////////////////////////////////////////////////////////////////////
|
---|
669 | // retrn true if the period T corresponds to the framerate (at +/-20%)
|
---|
670 | // T is given in microseconds
|
---|
671 | //////////////////////////////////////////////////////////////////////////
|
---|
672 | bool Camera1394::isPeriodGood(int T)
|
---|
673 | {
|
---|
674 | float period = getPeriod();
|
---|
675 | if ( (T < period*0.8) || (T > period*1.2) )
|
---|
676 | return false;
|
---|
677 | else
|
---|
678 | return true;
|
---|
679 | }
|
---|
680 |
|
---|
681 | //////////////////////////////////////////////////////////////////////////
|
---|
682 | // useful macro to keep 'a' between 0 and 255
|
---|
683 | //////////////////////////////////////////////////////////////////////////
|
---|
684 | #define CLAMP_TO_UCHAR(a) (unsigned char)((a) < 0 ? 0 : ((a) > 255 ? 255 : (a)))
|
---|
685 |
|
---|
686 | //////////////////////////////////////////////////////////////////////////
|
---|
687 | // Convert the image from YUV444 to RGB32
|
---|
688 | // The image is stored using a 32-bit RGB format (0xffRRGGBB)
|
---|
689 | //////////////////////////////////////////////////////////////////////////
|
---|
690 | void Camera1394::YUV444toRGB32(unsigned char* buffer)
|
---|
691 | {
|
---|
692 | long Y, U, V, deltaG;
|
---|
693 | unsigned char *srcptr, *srcend, *destptr;
|
---|
694 |
|
---|
695 | // single-stage idiotproofing
|
---|
696 | // if(theCamera->m_pData == NULL || buffer == NULL)
|
---|
697 | // return;
|
---|
698 |
|
---|
699 | srcptr = theFrame->image;
|
---|
700 | srcend = srcptr + (width_ * height_ * 3);
|
---|
701 | destptr = buffer;
|
---|
702 |
|
---|
703 | // data pattern: UYV
|
---|
704 | // unroll it to 4 pixels/round
|
---|
705 |
|
---|
706 | while(srcptr < srcend)
|
---|
707 | {
|
---|
708 | U = (*srcptr++) - 128;
|
---|
709 | Y = (*srcptr++);
|
---|
710 | V = (*srcptr++) - 128;
|
---|
711 |
|
---|
712 | deltaG = (12727 * U + 33384 * V);
|
---|
713 | deltaG += (deltaG > 0 ? 32768 : -32768);
|
---|
714 | deltaG >>= 16;
|
---|
715 |
|
---|
716 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
|
---|
717 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
|
---|
718 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
|
---|
719 | destptr++;//A
|
---|
720 |
|
---|
721 | U = (*srcptr++) - 128;
|
---|
722 | Y = (*srcptr++);
|
---|
723 | V = (*srcptr++) - 128;
|
---|
724 |
|
---|
725 | deltaG = (12727 * U + 33384 * V);
|
---|
726 | deltaG += (deltaG > 0 ? 32768 : -32768);
|
---|
727 | deltaG >>= 16;
|
---|
728 |
|
---|
729 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
|
---|
730 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
|
---|
731 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
|
---|
732 | destptr++;//A
|
---|
733 |
|
---|
734 | U = (*srcptr++) - 128;
|
---|
735 | Y = (*srcptr++);
|
---|
736 | V = (*srcptr++) - 128;
|
---|
737 |
|
---|
738 | deltaG = (12727 * U + 33384 * V);
|
---|
739 | deltaG += (deltaG > 0 ? 32768 : -32768);
|
---|
740 | deltaG >>= 16;
|
---|
741 |
|
---|
742 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
|
---|
743 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
|
---|
744 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
|
---|
745 | destptr++;//A
|
---|
746 |
|
---|
747 | U = (*srcptr++) - 128;
|
---|
748 | Y = (*srcptr++);
|
---|
749 | V = (*srcptr++) - 128;
|
---|
750 |
|
---|
751 | deltaG = (12727 * U + 33384 * V);
|
---|
752 | deltaG += (deltaG > 0 ? 32768 : -32768);
|
---|
753 | deltaG >>= 16;
|
---|
754 |
|
---|
755 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
|
---|
756 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
|
---|
757 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
|
---|
758 | destptr++;//A
|
---|
759 | }
|
---|
760 | }
|
---|
761 |
|
---|
762 | //////////////////////////////////////////////////////////////////////////
|
---|
763 | // Convert the image from YUV422 to RGB32
|
---|
764 | // The image is stored using a 32-bit RGB format (0xffRRGGBB)
|
---|
765 | //////////////////////////////////////////////////////////////////////////
|
---|
766 | void Camera1394::YUV422toRGB32(unsigned char *buffer)
|
---|
767 | {
|
---|
768 | long Y, U, V, deltaG;
|
---|
769 | unsigned char *srcptr, *srcend, *destptr;
|
---|
770 |
|
---|
771 | srcptr = theFrame->image;
|
---|
772 | srcend = srcptr + ((width_ * height_) << 1);
|
---|
773 | destptr = buffer;
|
---|
774 |
|
---|
775 | // single-stage idiotproofing
|
---|
776 | // if(theCamera->m_pData == NULL || buffer == NULL)
|
---|
777 | // {
|
---|
778 | // return;
|
---|
779 | // }
|
---|
780 |
|
---|
781 | // data pattern: UYVY
|
---|
782 |
|
---|
783 | while(srcptr < srcend)
|
---|
784 | {
|
---|
785 | U = *srcptr;
|
---|
786 | U -= 128;
|
---|
787 | V = *(srcptr+2);
|
---|
788 | V -= 128;
|
---|
789 |
|
---|
790 | deltaG = (12727 * U + 33384 * V);
|
---|
791 | deltaG += (deltaG > 0 ? 32768 : -32768);
|
---|
792 | deltaG >>= 16;
|
---|
793 |
|
---|
794 | Y = *(srcptr + 1);
|
---|
795 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
|
---|
796 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
|
---|
797 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
|
---|
798 | destptr++;//A
|
---|
799 |
|
---|
800 |
|
---|
801 | Y = *(srcptr + 3);
|
---|
802 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
|
---|
803 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
|
---|
804 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
|
---|
805 | destptr++;//A
|
---|
806 |
|
---|
807 | srcptr += 4;
|
---|
808 |
|
---|
809 | // twice in the same loop... just like halving the loop overhead
|
---|
810 |
|
---|
811 | U = (*srcptr) - 128;
|
---|
812 | V = (*(srcptr+2)) - 128;
|
---|
813 |
|
---|
814 | deltaG = (12727 * U + 33384 * V);
|
---|
815 | deltaG += (deltaG > 0 ? 32768 : -32768);
|
---|
816 | deltaG >>= 16;
|
---|
817 |
|
---|
818 | Y = *(srcptr + 1);
|
---|
819 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
|
---|
820 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
|
---|
821 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
|
---|
822 | destptr++;//A
|
---|
823 |
|
---|
824 | Y = *(srcptr + 3);
|
---|
825 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
|
---|
826 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
|
---|
827 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
|
---|
828 | destptr++;//A
|
---|
829 |
|
---|
830 | srcptr += 4;
|
---|
831 |
|
---|
832 | }
|
---|
833 | }
|
---|
834 |
|
---|
835 | //////////////////////////////////////////////////////////////////////////
|
---|
836 | // Convert the image from YUV411 to RGB32
|
---|
837 | // The image is stored using a 32-bit RGB format (0xffRRGGBB)
|
---|
838 | //////////////////////////////////////////////////////////////////////////
|
---|
839 | void Camera1394::YUV411toRGB32(unsigned char *buffer)
|
---|
840 | {
|
---|
841 | long Y, U, V, deltaG;
|
---|
842 | unsigned char *srcptr, *srcend, *destptr;
|
---|
843 |
|
---|
844 | // single-stage idiotproofing
|
---|
845 | // if(theCamera->m_pData == NULL || buffer == NULL)
|
---|
846 | // return;
|
---|
847 |
|
---|
848 | // data pattern: UYYVYY
|
---|
849 |
|
---|
850 | srcptr = theFrame->image;
|
---|
851 | srcend = srcptr + ((width_ * height_ * 3) >> 1);
|
---|
852 | destptr = buffer;
|
---|
853 |
|
---|
854 | while(srcptr < srcend)
|
---|
855 | {
|
---|
856 | U = (*srcptr) - 128;
|
---|
857 | V = (*(srcptr+3)) - 128;
|
---|
858 |
|
---|
859 | deltaG = (12727 * U + 33384 * V);
|
---|
860 | deltaG += (deltaG > 0 ? 32768 : -32768);
|
---|
861 | deltaG >>= 16;
|
---|
862 |
|
---|
863 | Y = *(srcptr + 1);
|
---|
864 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
|
---|
865 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
|
---|
866 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
|
---|
867 | destptr++;//A
|
---|
868 |
|
---|
869 | Y = *(srcptr + 2);
|
---|
870 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
|
---|
871 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
|
---|
872 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
|
---|
873 | destptr++;//A
|
---|
874 |
|
---|
875 | Y = *(srcptr + 4);
|
---|
876 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
|
---|
877 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
|
---|
878 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
|
---|
879 | destptr++;//A
|
---|
880 |
|
---|
881 | Y = *(srcptr + 5);
|
---|
882 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
|
---|
883 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
|
---|
884 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
|
---|
885 | destptr++;//A
|
---|
886 |
|
---|
887 | srcptr += 6;
|
---|
888 | }
|
---|
889 | }
|
---|
890 |
|
---|
891 | //////////////////////////////////////////////////////////////////////////
|
---|
892 | // Convert the image from Y to RGB32
|
---|
893 | // The image is stored using a 32-bit RGB format (0xffRRGGBB)
|
---|
894 | //////////////////////////////////////////////////////////////////////////
|
---|
895 | void Camera1394::YtoRGB32(unsigned char * buffer)
|
---|
896 | {
|
---|
897 | unsigned char *srcptr, *srcend, *destptr;
|
---|
898 |
|
---|
899 | srcptr = theFrame->image;
|
---|
900 | srcend = srcptr + (width_ * height_);
|
---|
901 | destptr = buffer;
|
---|
902 |
|
---|
903 | // single-stage idiotproofing
|
---|
904 | // if(theCamera->m_pData == NULL || buffer == NULL)
|
---|
905 | // return;
|
---|
906 |
|
---|
907 | // just Y's (monochrome)
|
---|
908 |
|
---|
909 | // unroll it to 4 per cycle
|
---|
910 |
|
---|
911 | while(srcptr < srcend)
|
---|
912 | {
|
---|
913 | *destptr++ = *srcptr;
|
---|
914 | *destptr++ = *srcptr;
|
---|
915 | *destptr++ = *srcptr;
|
---|
916 | destptr++;//A
|
---|
917 | srcptr++;
|
---|
918 |
|
---|
919 | *destptr++ = *srcptr;
|
---|
920 | *destptr++ = *srcptr;
|
---|
921 | *destptr++ = *srcptr;
|
---|
922 | destptr++;//A
|
---|
923 | srcptr++;
|
---|
924 |
|
---|
925 | *destptr++ = *srcptr;
|
---|
926 | *destptr++ = *srcptr;
|
---|
927 | *destptr++ = *srcptr;
|
---|
928 | destptr++;//A
|
---|
929 | srcptr++;
|
---|
930 |
|
---|
931 | *destptr++ = *srcptr;
|
---|
932 | *destptr++ = *srcptr;
|
---|
933 | *destptr++ = *srcptr;
|
---|
934 | destptr++;//A
|
---|
935 | srcptr++;
|
---|
936 | }
|
---|
937 | }
|
---|
938 |
|
---|
939 | //////////////////////////////////////////////////////////////////////////
|
---|
940 | // Convert the image from Y16 to RGB32
|
---|
941 | // The image is stored using a 32-bit RGB format (0xffRRGGBB)
|
---|
942 | // 16-bit monochrome (new to spec 1.3)
|
---|
943 | // the first of each pair of bytes is the high byte, so just copy those to RGB
|
---|
944 | //////////////////////////////////////////////////////////////////////////
|
---|
945 | void Camera1394::Y16toRGB32(unsigned char *buffer)
|
---|
946 | {
|
---|
947 | unsigned char *srcptr, *srcend, *destptr;
|
---|
948 |
|
---|
949 | srcptr = theFrame->image;
|
---|
950 | srcend = srcptr + 2 * (width_ * height_);
|
---|
951 | destptr = buffer;
|
---|
952 |
|
---|
953 | // single-stage idiotproofing
|
---|
954 | // if(theCamera->m_pData == NULL || buffer == NULL)
|
---|
955 | // return;
|
---|
956 |
|
---|
957 | // just Y's (monochrome, 16-bit little endian)
|
---|
958 |
|
---|
959 | // unroll it to 4 per cycle
|
---|
960 |
|
---|
961 | while(srcptr < srcend)
|
---|
962 | {
|
---|
963 | *destptr++ = *srcptr;
|
---|
964 | *destptr++ = *srcptr;
|
---|
965 | *destptr++ = *srcptr;
|
---|
966 | destptr++;//A
|
---|
967 | srcptr += 2;
|
---|
968 |
|
---|
969 | *destptr++ = *srcptr;
|
---|
970 | *destptr++ = *srcptr;
|
---|
971 | *destptr++ = *srcptr;
|
---|
972 | destptr++;//A
|
---|
973 | srcptr += 2;
|
---|
974 |
|
---|
975 | *destptr++ = *srcptr;
|
---|
976 | *destptr++ = *srcptr;
|
---|
977 | *destptr++ = *srcptr;
|
---|
978 | destptr++;//A
|
---|
979 | srcptr += 2;
|
---|
980 |
|
---|
981 | *destptr++ = *srcptr;
|
---|
982 | *destptr++ = *srcptr;
|
---|
983 | *destptr++ = *srcptr;
|
---|
984 | destptr++;//A
|
---|
985 | srcptr += 2;
|
---|
986 | }
|
---|
987 | }
|
---|
988 |
|
---|
989 | //////////////////////////////////////////////////////////////////////////
|
---|
990 | // Convert the image from RGB16 to RGB32
|
---|
991 | // The image is stored using a 32-bit RGB format (0xffRRGGBB)
|
---|
992 | // 16-bit RGB (new to spec 1.3)
|
---|
993 | // the first of each pair of bytes is the high byte, so just copy those to RGB
|
---|
994 | // near duplicate of Y16toRGB
|
---|
995 | //////////////////////////////////////////////////////////////////////////
|
---|
996 | void Camera1394::RGB16toRGB32(unsigned char * buffer)
|
---|
997 | {
|
---|
998 | unsigned char *srcptr, *srcend, *destptr;
|
---|
999 |
|
---|
1000 | srcptr = theFrame->image;
|
---|
1001 | srcend = srcptr + 6 * (width_ * height_);
|
---|
1002 | destptr = buffer;
|
---|
1003 |
|
---|
1004 | // single-stage idiotproofing
|
---|
1005 | // if(theCamera->m_pData == NULL || buffer == NULL)
|
---|
1006 | // return;
|
---|
1007 |
|
---|
1008 | // R,G,B are 16-bit source, chop of the top 8 and feed
|
---|
1009 |
|
---|
1010 | // unroll it to 3 per cycle
|
---|
1011 |
|
---|
1012 | while(srcptr < srcend)
|
---|
1013 | {
|
---|
1014 | *destptr++ = *srcptr;
|
---|
1015 | *destptr++ = *srcptr;
|
---|
1016 | *destptr++ = *srcptr;
|
---|
1017 | destptr++;//A
|
---|
1018 | srcptr += 2;
|
---|
1019 |
|
---|
1020 | *destptr++ = *srcptr;
|
---|
1021 | *destptr++ = *srcptr;
|
---|
1022 | *destptr++ = *srcptr;
|
---|
1023 | destptr++;//A
|
---|
1024 | srcptr += 2;
|
---|
1025 |
|
---|
1026 | *destptr++ = *srcptr;
|
---|
1027 | *destptr++ = *srcptr;
|
---|
1028 | *destptr++ = *srcptr;
|
---|
1029 | destptr++;//A
|
---|
1030 | srcptr += 2;
|
---|
1031 | }
|
---|
1032 | }
|
---|
1033 |
|
---|
1034 |
|
---|
1035 |
|
---|
1036 | //////////////////////////////////////////////////////////////////////////
|
---|
1037 | // Convert the image from RGB24 to RGB32
|
---|
1038 | // The image is stored using a 32-bit RGB format (0xffRRGGBB)
|
---|
1039 | //////////////////////////////////////////////////////////////////////////
|
---|
1040 | void Camera1394::RGB24toRGB32(unsigned char * buffer)
|
---|
1041 | {
|
---|
1042 | unsigned char *srcptr, *srcend, *destptr;
|
---|
1043 |
|
---|
1044 | srcptr = theFrame->image;
|
---|
1045 | srcend = srcptr + 3 * (width_ * height_);
|
---|
1046 | destptr = buffer;
|
---|
1047 |
|
---|
1048 | // single-stage idiotproofing
|
---|
1049 | // if(theCamera->m_pData == NULL || buffer == NULL)
|
---|
1050 | // return;
|
---|
1051 |
|
---|
1052 | // unroll it to 3 per cycle
|
---|
1053 |
|
---|
1054 | while(srcptr < srcend)
|
---|
1055 | {
|
---|
1056 | *destptr++ = *(srcptr+2); //B
|
---|
1057 | *destptr++ = *(srcptr+1); //G
|
---|
1058 | *destptr++ = *srcptr; //R
|
---|
1059 | destptr++;//A
|
---|
1060 | srcptr += 3;
|
---|
1061 |
|
---|
1062 | *destptr++ = *(srcptr+2);
|
---|
1063 | *destptr++ = *(srcptr+1);
|
---|
1064 | *destptr++ = *srcptr;
|
---|
1065 | destptr++;//A
|
---|
1066 | srcptr += 3;
|
---|
1067 |
|
---|
1068 | *destptr++ = *(srcptr+2);
|
---|
1069 | *destptr++ = *(srcptr+1);
|
---|
1070 | *destptr++ = *srcptr;
|
---|
1071 | destptr++;//A
|
---|
1072 | srcptr += 3;
|
---|
1073 | }
|
---|
1074 | }
|
---|
1075 |
|
---|
1076 |
|
---|
1077 | bool Camera1394::fillRGB32Image(unsigned char * buffer)
|
---|
1078 | {
|
---|
1079 | if(buffer == NULL)
|
---|
1080 | return false;
|
---|
1081 |
|
---|
1082 | bool retValue = true;
|
---|
1083 |
|
---|
1084 | switch(videoFormat_)
|
---|
1085 | {
|
---|
1086 | case 0:
|
---|
1087 | switch(videoMode_)
|
---|
1088 | {
|
---|
1089 | case 0:
|
---|
1090 | // 160x120 YUV444
|
---|
1091 | YUV444toRGB32(buffer);
|
---|
1092 | break;
|
---|
1093 | case 1:
|
---|
1094 | // 320x240 YUV222
|
---|
1095 | YUV422toRGB32(buffer);
|
---|
1096 | break;
|
---|
1097 | case 2:
|
---|
1098 | // 640x480 YUV411
|
---|
1099 | YUV411toRGB32(buffer);
|
---|
1100 | break;
|
---|
1101 | case 3:
|
---|
1102 | // 640x480 YUV422
|
---|
1103 | YUV422toRGB32(buffer);
|
---|
1104 | break;
|
---|
1105 | case 4:
|
---|
1106 | // 640x480 RGB
|
---|
1107 | RGB24toRGB32(buffer);
|
---|
1108 | //memcpy(buffer,theCamera->m_pData,640 * 480 * 3);
|
---|
1109 | break;
|
---|
1110 | case 5:
|
---|
1111 | // 640x480 MONO
|
---|
1112 | YtoRGB32(buffer);
|
---|
1113 | break;
|
---|
1114 | case 6:
|
---|
1115 | // 640x480 MONO16
|
---|
1116 | Y16toRGB32(buffer);
|
---|
1117 | break;
|
---|
1118 | default:
|
---|
1119 | retValue = false;
|
---|
1120 | qWarning("Current video mode is not supported for display and recording");
|
---|
1121 | break;
|
---|
1122 | } break;
|
---|
1123 |
|
---|
1124 | case 1:
|
---|
1125 | switch(videoMode_)
|
---|
1126 | {
|
---|
1127 | case 0:
|
---|
1128 | // 800x600 YUV422
|
---|
1129 | YUV422toRGB32(buffer);
|
---|
1130 | break;
|
---|
1131 | case 1:
|
---|
1132 | // 800x600 RGB
|
---|
1133 | //memcpy(buffer,theCamera->m_pData,800 * 600 * 3);
|
---|
1134 | break;
|
---|
1135 | case 2:
|
---|
1136 | // 800x600 MONO
|
---|
1137 | YtoRGB32(buffer);
|
---|
1138 | break;
|
---|
1139 | case 3:
|
---|
1140 | // 1024x768 YUV422
|
---|
1141 | YUV422toRGB32(buffer);
|
---|
1142 | break;
|
---|
1143 | case 4:
|
---|
1144 | // 1024x768 RGB
|
---|
1145 | //memcpy(buffer,theCamera->m_pData,1024 * 768 * 3);
|
---|
1146 | break;
|
---|
1147 | case 5:
|
---|
1148 | // 1024x768 MONO
|
---|
1149 | YtoRGB32(buffer);
|
---|
1150 | break;
|
---|
1151 | case 6:
|
---|
1152 | // 800x600 MONO16
|
---|
1153 | case 7:
|
---|
1154 | // 1024x768 MONO16
|
---|
1155 | Y16toRGB32(buffer);
|
---|
1156 | break;
|
---|
1157 | default:
|
---|
1158 | retValue = false;
|
---|
1159 | qWarning("Current video mode is not supported for display and recording");
|
---|
1160 | break;
|
---|
1161 | } break;
|
---|
1162 |
|
---|
1163 | case 2:
|
---|
1164 | switch(videoMode_)
|
---|
1165 | {
|
---|
1166 | case 0:
|
---|
1167 | // 1280x960 YUV422
|
---|
1168 | YUV422toRGB32(buffer);
|
---|
1169 | break;
|
---|
1170 | case 1:
|
---|
1171 | // 1280x960 RGB
|
---|
1172 | //memcpy(buffer,theCamera->m_pData,1280 * 960 * 3);
|
---|
1173 | break;
|
---|
1174 | case 2:
|
---|
1175 | // 1280x960 MONO
|
---|
1176 | YtoRGB32(buffer);
|
---|
1177 | break;
|
---|
1178 | case 3:
|
---|
1179 | // 1600x1200 YUV422
|
---|
1180 | YUV422toRGB32(buffer);
|
---|
1181 | break;
|
---|
1182 | case 4:
|
---|
1183 | // 1600x1200 RGB
|
---|
1184 | //memcpy(buffer,theCamera->m_pData,1600 * 1200 * 3);
|
---|
1185 | break;
|
---|
1186 | case 5:
|
---|
1187 | // 1600x1200 MONO
|
---|
1188 | YtoRGB32(buffer);
|
---|
1189 | break;
|
---|
1190 | case 6:
|
---|
1191 | // 1280x1024 MONO16
|
---|
1192 | case 7:
|
---|
1193 | // 1600x1200 MONO16
|
---|
1194 | Y16toRGB32(buffer);
|
---|
1195 | break;
|
---|
1196 | default:
|
---|
1197 | retValue = false;
|
---|
1198 | qWarning("Current video mode is not supported for display and recording");
|
---|
1199 | break;
|
---|
1200 | } break;
|
---|
1201 |
|
---|
1202 | case 7:
|
---|
1203 | // switch(theCamera->m_controlSize.m_colorCode)
|
---|
1204 | // {
|
---|
1205 | // case 0:
|
---|
1206 | // // Mono8
|
---|
1207 | // YtoRGB32(buffer);
|
---|
1208 | // break;
|
---|
1209 | // case 1:
|
---|
1210 | // // YUV 411
|
---|
1211 | // YUV411toRGB32(buffer);
|
---|
1212 | // break;
|
---|
1213 | // case 2:
|
---|
1214 | // // YUV 422
|
---|
1215 | // YUV422toRGB32(buffer);
|
---|
1216 | // break;
|
---|
1217 | // case 3:
|
---|
1218 | // // YUV 444
|
---|
1219 | // YUV444toRGB32(buffer);
|
---|
1220 | // break;
|
---|
1221 | // case 4:
|
---|
1222 | // // RGB8
|
---|
1223 | // memcpy(buffer,theCamera->m_pData,1280 * 960 * 3);
|
---|
1224 | // break;
|
---|
1225 | // case 5:
|
---|
1226 | // // Mono16
|
---|
1227 | // Y16toRGB32(buffer);
|
---|
1228 | // break;
|
---|
1229 | // case 6:
|
---|
1230 | // // RGB16
|
---|
1231 | // RGB16toRGB32(buffer);
|
---|
1232 | // break;
|
---|
1233 | // default:
|
---|
1234 | // // unsupported
|
---|
1235 | // retValue = false;
|
---|
1236 | // qWarning("Current video mode is not supported for display and recording");
|
---|
1237 | // break;
|
---|
1238 | // }
|
---|
1239 | break;
|
---|
1240 |
|
---|
1241 | default:
|
---|
1242 | retValue = false;
|
---|
1243 | qWarning("Current video mode is not supported for display and recording");
|
---|
1244 | break;
|
---|
1245 | }
|
---|
1246 |
|
---|
1247 | return retValue;
|
---|
1248 | }
|
---|
1249 |
|
---|
1250 | } // namespace pacpus
|
---|