vp1394CMUGrabber.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Firewire cameras video capture based on CMU 1394 Digital Camera SDK.
 */
 
#include <visp3/core/vpConfig.h>
 
#ifdef VISP_HAVE_CMU1394
 
#include <iostream>
 
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/sensor/vp1394CMUGrabber.h>
 
BEGIN_VISP_NAMESPACE
  vp1394CMUGrabber::vp1394CMUGrabber()
  : index(0), // If a camera was not selected the first one (index = 0) will
              // be used
  _format(-1), _mode(-1), _fps(-1), _modeauto(true), _gain(0), _shutter(0), _color(vp1394CMUGrabber::UNKNOWN)
{
  // public members
  init = false;
 
  // protected members
  width = height = -1;
 
  // private members
  camera = new C1394Camera;
}

vp1394CMUGrabber::~vp1394CMUGrabber()
{
  close();
  // delete camera instance
  if (camera) {
    delete camera;
    camera = nullptr;
  }
}

void vp1394CMUGrabber::selectCamera(int cam_id)
{
  int camerror;
 
  index = cam_id;
 
  camerror = camera->SelectCamera(index);
  if (camerror != CAM_SUCCESS) {
    switch (camerror) {
    case CAM_ERROR_PARAM_OUT_OF_RANGE:
      vpERROR_TRACE("vp1394CMUGrabber error: Found no camera number %i", index);
      throw(
          vpFrameGrabberException(vpFrameGrabberException::initializationError, "The required camera is not present"));
      break;
    case CAM_ERROR_BUSY:
      vpERROR_TRACE("vp1394CMUGrabber error: The camera %i is busy", index);
      throw(vpFrameGrabberException(vpFrameGrabberException::initializationError,
                                    "The required camera is in use by other application"));
      break;
    case CAM_ERROR:
      vpERROR_TRACE("vp1394CMUGrabber error: General I/O error when "
                    "selecting camera number %i",
                    index);
      throw(vpFrameGrabberException(vpFrameGrabberException::initializationError, "Resolve camera can not be used"));
      break;
    }
    close();
  }
} // end camera select

void vp1394CMUGrabber::initCamera()
{
  if (init == false) {
    int camerror;
 
    if (camera->CheckLink() != CAM_SUCCESS) {
      vpERROR_TRACE("C1394Camera error: Found no cameras on the 1394 bus");
      throw(vpFrameGrabberException(vpFrameGrabberException::initializationError, "The is no detected camera"));
    }
 
    camerror = camera->InitCamera();
    if (camerror != CAM_SUCCESS) {
      switch (camerror) {
      case CAM_ERROR_NOT_INITIALIZED:
        vpERROR_TRACE("vp1394CMUGrabber error: No camera selected", index);
        throw(vpFrameGrabberException(vpFrameGrabberException::initializationError, "The is no selected camera"));
        break;
      case CAM_ERROR_BUSY:
        vpERROR_TRACE("vp1394CMUGrabber error: The camera %i is busy", index);
        throw(vpFrameGrabberException(vpFrameGrabberException::initializationError,
                                      "The required camera is in use by other application"));
        break;
      case CAM_ERROR:
        vpERROR_TRACE("vp1394CMUGrabber error: General I/O error when "
                      "selecting camera number %i",
                      index);
        throw(vpFrameGrabberException(vpFrameGrabberException::initializationError, "Resolve camera can not be used"));
        break;
      }
      close();
    }
 
    if (camera->Has1394b())
      camera->Set1394b(TRUE);
 
    // Get the current settings
    _format = camera->GetVideoFormat();
    _mode = camera->GetVideoMode();
    _color = getVideoColorCoding();
    // std::cout << "format: " << _format << std::endl;
    // std::cout << "mode: " << _mode << std::endl;
    // std::cout << "color coding: " << _color << std::endl;
 
    // Set trigger off
    camera->GetCameraControlTrigger()->SetOnOff(false);
 
    unsigned long w, h;
    camera->GetVideoFrameDimensions(&w, &h);
    this->width = w;
    this->height = h;
 
    // start acquisition
    if (camera->StartImageAcquisition() != CAM_SUCCESS) {
      close();
      vpERROR_TRACE("vp1394CMUGrabber error: Can't start image acquisition "
                    "from IEEE 1394 camera number %i",
                    index);
      throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Error while starting image acquisition"));
    }
 
    init = true;
  }
 
} // end camera init

void vp1394CMUGrabber::open(vpImage<unsigned char> &I)
{
  initCamera();
  I.resize(this->height, this->width);
}

void vp1394CMUGrabber::open(vpImage<vpRGBa> &I)
{
  initCamera();
  I.resize(this->height, this->width);
}

void vp1394CMUGrabber::acquire(vpImage<unsigned char> &I)
{
  // get image data
  unsigned long length;
  unsigned char *rawdata = nullptr;
  int dropped;
  unsigned int size;
 
  open(I);
 
  camera->AcquireImageEx(TRUE, &dropped);
  rawdata = camera->GetRawData(&length);
 
  size = I.getSize();
  switch (_color) {
  case vp1394CMUGrabber::MONO8:
    memcpy(I.bitmap, (unsigned char *)rawdata, size);
    break;
  case vp1394CMUGrabber::MONO16:
    vpImageConvert::MONO16ToGrey(rawdata, I.bitmap, size);
    break;
 
  case vp1394CMUGrabber::YUV411:
    vpImageConvert::YUV411ToGrey(rawdata, I.bitmap, size);
    break;
 
  case vp1394CMUGrabber::YUV422:
    vpImageConvert::YUV422ToGrey(rawdata, I.bitmap, size);
    break;
 
  case vp1394CMUGrabber::YUV444:
    vpImageConvert::YUV444ToGrey(rawdata, I.bitmap, size);
    break;
 
  case vp1394CMUGrabber::RGB8:
    vpImageConvert::RGBToGrey(rawdata, I.bitmap, size);
    break;
 
  default:
    close();
    vpERROR_TRACE("Format conversion not implemented. Acquisition failed.");
    throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Format conversion not implemented. "
                                  "Acquisition failed."));
    break;
  };
}

void vp1394CMUGrabber::acquire(vpImage<vpRGBa> &I)
{
  // get image data
  unsigned long length;
  unsigned char *rawdata = nullptr;
  int dropped;
  unsigned int size;
 
  open(I);
 
  camera->AcquireImageEx(TRUE, &dropped);
  rawdata = camera->GetRawData(&length);
  size = I.getWidth() * I.getHeight();
 
  switch (_color) {
  case vp1394CMUGrabber::MONO8:
    vpImageConvert::GreyToRGBa(rawdata, (unsigned char *)I.bitmap, size);
    break;
 
  case vp1394CMUGrabber::MONO16:
    vpImageConvert::MONO16ToRGBa(rawdata, (unsigned char *)I.bitmap, size);
    break;
 
  case vp1394CMUGrabber::YUV411:
    vpImageConvert::YUV411ToRGBa(rawdata, (unsigned char *)I.bitmap, size);
    break;
 
  case vp1394CMUGrabber::YUV422:
    vpImageConvert::YUV422ToRGBa(rawdata, (unsigned char *)I.bitmap, size);
    break;
 
  case vp1394CMUGrabber::YUV444:
    vpImageConvert::YUV444ToRGBa(rawdata, (unsigned char *)I.bitmap, size);
    break;
 
  case vp1394CMUGrabber::RGB8:
    size = length / 3;
    vpImageConvert::RGBToRGBa(rawdata, (unsigned char *)I.bitmap, size);
    break;
 
  default:
    close();
    vpERROR_TRACE("Format conversion not implemented. Acquisition failed.");
    throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Format conversion not implemented. "
                                  "Acquisition failed."));
    break;
  };
}

void vp1394CMUGrabber::close()
{
  // stop acquisition
  if (camera->IsAcquiring()) {
    // stop acquisition
    if (camera->StopImageAcquisition() != CAM_SUCCESS) {
      close();
      vpERROR_TRACE("vp1394CMUGrabber error: Can't stop image acquisition "
                    "from IEEE 1394 camera number %i",
                    index);
      throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Error while stopping image acquisition"));
    }
  }
 
  init = false;
}

void vp1394CMUGrabber::setControl(unsigned short gain, unsigned short shutter)
{
  setShutter(shutter);
  setGain(gain);
}

int vp1394CMUGrabber::getNumberOfConnectedCameras() const
{
  int n_cam = camera->RefreshCameraList();
 
  return n_cam;
}

void vp1394CMUGrabber::getGainMinMax(unsigned short &min, unsigned short &max)
{
  initCamera();
 
  C1394CameraControl *Control;
  Control = camera->GetCameraControl(FEATURE_GAIN);
  Control->Inquire();
  Control->GetRange(&min, &max);
}

void vp1394CMUGrabber::setAutoGain()
{
  initCamera();
  camera->GetCameraControl(FEATURE_GAIN)->SetAutoMode(true);
}

void vp1394CMUGrabber::setGain(unsigned short gain)
{
  initCamera();
  _gain = gain;
 
  unsigned short min, max;
  C1394CameraControl *Control;
 
  Control = camera->GetCameraControl(FEATURE_GAIN);
  Control->Inquire();
  Control->GetRange(&min, &max);
 
  if (_gain < min) {
    _gain = min;
    std::cout << "vp1394CMUGrabber warning: Desired gain register value of "
      "IEEE 1394 camera number "
      << index << " can't be less than " << _gain << std::endl;
  }
  else if (_gain > max) {
    _gain = max;
    std::cout << "vp1394CMUGrabber warning: Desired gain register value of "
      "IEEE 1394 camera number "
      << index << " can't be greater than " << _gain << std::endl;
  }
 
  Control->SetAutoMode(false);
  if (Control->SetValue(_gain) != CAM_SUCCESS) {
    std::cout << "vp1394CMUGrabber warning: Can't set gain register value of "
      "IEEE 1394 camera number "
      << index << std::endl;
  }
}

void vp1394CMUGrabber::getShutterMinMax(unsigned short &min, unsigned short &max)
{
  initCamera();
 
  C1394CameraControl *Control;
  Control = camera->GetCameraControl(FEATURE_SHUTTER);
  Control->Inquire();
  Control->GetRange(&min, &max);
}

void vp1394CMUGrabber::setAutoShutter()
{
  initCamera();
  camera->GetCameraControl(FEATURE_SHUTTER)->SetAutoMode(true);
}

void vp1394CMUGrabber::setShutter(unsigned short shutter)
{
  initCamera();
 
  _shutter = shutter;
 
  unsigned short min, max;
  C1394CameraControl *Control;
 
  Control = camera->GetCameraControl(FEATURE_SHUTTER);
  Control->Inquire();
  Control->GetRange(&min, &max);
 
  if (_shutter < min) {
    _shutter = min;
    std::cout << "vp1394CMUGrabber warning: Desired exposure time register "
      "value of IEEE 1394 camera number "
      << index << " can't be less than " << _shutter << std::endl;
  }
  else if (_shutter > max) {
    _shutter = max;
    std::cout << "vp1394CMUGrabber warning: Desired exposure time register "
      "value of IEEE 1394 camera number "
      << index << " can't be greater than " << _shutter << std::endl;
  }
  Control->SetAutoMode(false);
  if (Control->SetValue(_shutter) != CAM_SUCCESS) {
    std::cout << "vp1394CMUGrabber warning: Can't set exposure time register "
      "value of IEEE 1394 camera number "
      << index << std::endl;
  }
}

void vp1394CMUGrabber::displayCameraDescription(int cam_id)
{
  if (camera->GetNumberCameras() > cam_id) {
    char buf[512];
    camera->GetNodeDescription(cam_id, buf, 512);
    std::cout << "Camera " << cam_id << ": " << buf << std::endl;
 
  }
  else {
    std::cout << "Camera " << cam_id << ": camera not found" << std::endl;
  }
}

void vp1394CMUGrabber::displayCameraModel()
{
  char vendor[256], model[256], buf[256];
  LARGE_INTEGER ID;
 
  camera->GetCameraName(model, sizeof(model));
  camera->GetCameraVendor(vendor, sizeof(vendor));
  camera->GetCameraUniqueID(&ID);
 
  std::cout << "Vendor: " << vendor << std::endl;
  std::cout << "Model: " << model << std::endl;
 
  snprintf(buf, 256, "%08X%08X", ID.HighPart, ID.LowPart);
  std::cout << "UniqueID: " << buf << std::endl;
}

void vp1394CMUGrabber::setVideoMode(unsigned long format, unsigned long mode)
{
  initCamera();
 
  _format = format;
  _mode = mode;
 
  // Set format and mode
  if ((_format != -1) && (_mode != -1)) {
    if (!camera->HasVideoMode(_format, _mode)) {
      close();
      vpERROR_TRACE("vp1394CMUGrabber error: The image format is not "
                    "supported by the IEEE 1394 camera number %i",
                    index);
      throw(vpFrameGrabberException(vpFrameGrabberException::settingError, "Video mode not supported"));
    }
 
    if (camera->IsAcquiring()) {
      // stop acquisition
      if (camera->StopImageAcquisition() != CAM_SUCCESS) {
        close();
        vpERROR_TRACE("vp1394CMUGrabber error: Can't stop image acquisition "
                      "from IEEE 1394 camera number %i",
                      index);
        throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Error while stopping image acquisition"));
      }
    }
 
    if (camera->SetVideoFormat(_format) != CAM_SUCCESS) {
      close();
      vpERROR_TRACE("vp1394CMUGrabber error: Can't set video format of IEEE "
                    "1394 camera number %i",
                    index);
      throw(vpFrameGrabberException(vpFrameGrabberException::settingError, "Can't set video format"));
    }
 
    if (camera->SetVideoMode(_mode) != CAM_SUCCESS) {
      close();
      vpERROR_TRACE("vp1394CMUGrabber error: Can't set video mode of IEEE "
                    "1394 camera number %i",
                    index);
      throw(vpFrameGrabberException(vpFrameGrabberException::settingError, "Can't set video mode"));
    }
 
    // start acquisition
    if (camera->StartImageAcquisition() != CAM_SUCCESS) {
      close();
      vpERROR_TRACE("vp1394CMUGrabber error: Can't start image acquisition "
                    "from IEEE 1394 camera number %i",
                    index);
      throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Error while starting image acquisition"));
    }
 
    // Update Image dimension
    unsigned long w, h;
    camera->GetVideoFrameDimensions(&w, &h);
    this->width = w;
    this->height = h;
 
    // Update the color coding
    _color = getVideoColorCoding();
  }
}

void vp1394CMUGrabber::setFramerate(unsigned long fps)
{
  initCamera();
 
  _fps = fps;
 
  // Set fps
  if (_fps != -1) {
    if (!camera->HasVideoFrameRate(_format, _mode, _fps)) {
      close();
      vpERROR_TRACE("vp1394CMUGrabber error: The frame rate is not supported "
                    "by the IEEE 1394 camera number %i for the selected "
                    "image format",
                    index);
      throw(vpFrameGrabberException(vpFrameGrabberException::settingError, "The frame rate is not supported"));
    }
 
    if (camera->IsAcquiring()) {
      // stop acquisition
      if (camera->StopImageAcquisition() != CAM_SUCCESS) {
        close();
        vpERROR_TRACE("vp1394CMUGrabber error: Can't stop image acquisition "
                      "from IEEE 1394 camera number %i",
                      index);
        throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Error while stopping image acquisition"));
      }
    }
    if (camera->SetVideoFrameRate(_fps) != CAM_SUCCESS) {
      close();
      vpERROR_TRACE("vp1394CMUGrabber error: Can't set video frame rate of "
                    "IEEE 1394 camera number %i",
                    index);
      throw(vpFrameGrabberException(vpFrameGrabberException::settingError, "Can't set video frame rate"));
    }
    // start acquisition
    if (camera->StartImageAcquisition() != CAM_SUCCESS) {
      close();
      vpERROR_TRACE("vp1394CMUGrabber error: Can't start image acquisition "
                    "from IEEE 1394 camera number %i",
                    index);
      throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Error while starting image acquisition"));
    }
  }
}

int vp1394CMUGrabber::getFramerate()
{
  initCamera();
  int fps = camera->GetVideoFrameRate();
  return fps;
}

vp1394CMUGrabber &vp1394CMUGrabber::operator>>(vpImage<unsigned char> &I)
{
  this->acquire(I);
  return *this;
}

vp1394CMUGrabber &vp1394CMUGrabber::operator>>(vpImage<vpRGBa> &I)
{
  this->acquire(I);
  return *this;
}
END_VISP_NAMESPACE
#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work around to avoid warning: libvisp_sensor.a(vp1394CMUGrabber.cpp.o) has
// no symbols
void dummy_vp1394CMUGrabber() { }
#endif