/home/fwph/code/wurde/rde/utils/1394Camera.H

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#ifndef _1394_CAMERA_H
#define _1394_CAMERA_H

#include <opencv/cv.h>
#include <dc1394/dc1394_control.h>
#include <vector>
#include <string>
#include <list>
#include <Time.H>

#define MAX_1394_PORTS 4
#define NUM_DMA_BUFFERS 8
namespace RobotVision {

       void convert_yuv411_to_yuv24(IplImage *img, unsigned char *src);

       void convert_yuv422_to_yuv24(IplImage *img, unsigned char *src);

       void convert_yuv411_to_gray(IplImage *img, unsigned char *src);
       void convert_yuv422_to_gray(IplImage *img, unsigned char *src);

       struct Calibration {
              int centerX;
              int centerY;
              double focalLength;
       };

       class WURDE1394Camera {
       public:
              WURDE1394Camera(dc1394camera_t *cameraStruct);
              ~WURDE1394Camera(){stopCapture();}
              bool init();
              bool startCapture();
              void stopCapture();

              std::string getName(){return m_name;}
              u_int64_t getID(){return m_camera->euid_64;}
              
              void setName(std::string value){m_name=value;}

              WURDE::Time getTimestamp(){return m_timestamp;}

              IplImage *captureYUV24();
              IplImage *captureYUV422();
              IplImage *captureGray();
              IplImage *captureRGB(); 

              void resetFrame();

              
              void setCameraDefaults();

              void setFramerate(dc1394framerate_t value){m_framerate=value;}

              void setMode(dc1394video_mode_t value){m_mode=value;}

              void setSpeed(dc1394speed_t value){m_speed=value;}

              dc1394framerate_t getFramerate(){return m_framerate;}
              dc1394video_mode_t getMode(){return m_mode;}
              dc1394speed_t getSpeed(){return m_speed;}
              

              unsigned int getBrightness();
              unsigned int getExposure();
              unsigned int getSharpness();
              unsigned int getHue();
              unsigned int getSaturation();
              unsigned int getGamma();
              unsigned int getShutter();
              unsigned int getGain();
              unsigned int getIris();
              unsigned int getFocus();
              unsigned int getZoom();         
              unsigned int getTriggerDelay();
              unsigned int getPan();
              unsigned int getTilt();
              unsigned int getOpticalFilter();

              bool setBrightness(unsigned int);
              bool setExposure(unsigned int);
              bool setSharpness(unsigned int);
              bool setHue(unsigned int);
              bool setSaturation(unsigned int);
              bool setGamma(unsigned int);
              bool setShutter(unsigned int);
              bool setGain(unsigned int);
              bool setIris(unsigned int);
              bool setAutoIris(bool value);
              bool setFocus(unsigned int);
              bool setTriggerMode(unsigned int);
              bool setZoom(unsigned int);
              bool setTriggerDelay(unsigned int value);
              bool setPan(unsigned int value);
              bool setTilt(unsigned int value);
              bool setOpticalFilter(unsigned int value);

              void setCalibration(Calibration val){m_calib=val;}
              Calibration getCalibration(){return m_calib;}
       protected:

       private:
              std::string m_name;

              dc1394camera_t * m_camera;

              dc1394video_mode_t m_mode;
              dc1394framerate_t m_framerate;
              dc1394speed_t m_speed;
              
              bool m_haveFrame;
              bool m_init;
              unsigned char *m_imBuffer; 

              IplImage *m_imageYUV422;
              bool m_haveYUV422;

              IplImage *m_imageYUV24;
              bool m_haveYUV24;

              IplImage *m_imageGray;
              bool m_haveGray;

              IplImage *m_imageRGB;
              bool m_haveRGB;

              WURDE::Time m_timestamp;

              Calibration m_calib;
              
       };

       class WURDECameraFinder {
       public:
              WURDECameraFinder(){}

              void init();
              RobotVision::WURDE1394Camera *getCameraByID(u_int64_t id);
              std::vector< RobotVision::WURDE1394Camera * > getAllCameras();
       protected:

       private:
              raw1394handle_t m_rawHandle;
              struct raw1394_portinfo m_ports[MAX_1394_PORTS];
              int m_numPorts;
              int m_camCount;
       };

}

//static std::list< RobotVision::WURDE1394Camera * > _robotVision_global_cameraList;
//void _robotVision_global_cleanUpCameraList();

#endif

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