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00038 #ifndef DEVICES_DC1394GRABBER2_C_DEFINED
00039 #define DEVICES_DC1394GRABBER2_C_DEFINED
00040
00041 #include "Devices/DC1394Grabber2.H"
00042
00043 #include "Devices/DeviceOpts.H"
00044 #include "Image/Image.H"
00045 #include "Image/Pixels.H"
00046 #include "Raster/GenericFrame.H"
00047 #include "Transport/TransportOpts.H"
00048 #include "Util/Assert.H"
00049 #include "Util/SimTime.H"
00050 #include "Util/sformat.H"
00051 #include "Video/VideoFrame.H"
00052
00053 #include <unistd.h>
00054
00055
00056 #define IEEE1394WAIT 1
00057
00058
00059
00060
00061 #ifdef HAVE_DC1394V2
00062
00063 namespace
00064 {
00065 std::string convertToString(dc1394video_mode_t mode)
00066 {
00067 switch (mode)
00068 {
00069 case DC1394_VIDEO_MODE_160x120_YUV444: return "160x120_YUV444";
00070 case DC1394_VIDEO_MODE_320x240_YUV422: return "320x240_YUV422";
00071 case DC1394_VIDEO_MODE_640x480_YUV411: return "640x480_YUV411";
00072 case DC1394_VIDEO_MODE_640x480_YUV422: return "640x480_YUV422";
00073 case DC1394_VIDEO_MODE_640x480_RGB8: return "640x480_RGB8";
00074 case DC1394_VIDEO_MODE_640x480_MONO8: return "640x480_MONO8";
00075 case DC1394_VIDEO_MODE_640x480_MONO16: return "640x480_MONO16";
00076 case DC1394_VIDEO_MODE_800x600_YUV422: return "800x600_YUV422";
00077 case DC1394_VIDEO_MODE_800x600_RGB8: return "800x600_RGB8";
00078 case DC1394_VIDEO_MODE_800x600_MONO8: return "800x600_MONO8";
00079 case DC1394_VIDEO_MODE_1024x768_YUV422: return "1024x768_YUV422";
00080 case DC1394_VIDEO_MODE_1024x768_RGB8: return "1024x768_RGB8";
00081 case DC1394_VIDEO_MODE_1024x768_MONO8: return "1024x768_MONO8";
00082 case DC1394_VIDEO_MODE_800x600_MONO16: return "800x600_MONO16";
00083 case DC1394_VIDEO_MODE_1024x768_MONO16: return "1024x768_MONO16";
00084 case DC1394_VIDEO_MODE_1280x960_YUV422: return "1280x960_YUV422";
00085 case DC1394_VIDEO_MODE_1280x960_RGB8: return "1280x960_RGB8";
00086 case DC1394_VIDEO_MODE_1280x960_MONO8: return "1280x960_MONO8";
00087 case DC1394_VIDEO_MODE_1600x1200_YUV422: return "1600x1200_YUV422";
00088 case DC1394_VIDEO_MODE_1600x1200_RGB8: return "1600x1200_RGB8";
00089 case DC1394_VIDEO_MODE_1600x1200_MONO8: return "1600x1200_MONO8";
00090 case DC1394_VIDEO_MODE_1280x960_MONO16: return "1280x960_MONO16";
00091 case DC1394_VIDEO_MODE_1600x1200_MONO16: return "1600x1200_MONO16";
00092 case DC1394_VIDEO_MODE_EXIF: return "EXIF";
00093 case DC1394_VIDEO_MODE_FORMAT7_0: return "FORMAT7_0";
00094 case DC1394_VIDEO_MODE_FORMAT7_1: return "FORMAT7_1";
00095 case DC1394_VIDEO_MODE_FORMAT7_2: return "FORMAT7_2";
00096 case DC1394_VIDEO_MODE_FORMAT7_3: return "FORMAT7_3";
00097 case DC1394_VIDEO_MODE_FORMAT7_4: return "FORMAT7_4";
00098 case DC1394_VIDEO_MODE_FORMAT7_5: return "FORMAT7_5";
00099 case DC1394_VIDEO_MODE_FORMAT7_6: return "FORMAT7_6";
00100 case DC1394_VIDEO_MODE_FORMAT7_7: return "FORMAT7_7";
00101 default: break;
00102 }
00103 return "unknown";
00104 }
00105
00106 std::string convertToString(dc1394framerate_t rate)
00107 {
00108 switch (rate)
00109 {
00110 case DC1394_FRAMERATE_1_875: return "1.875 fps";
00111 case DC1394_FRAMERATE_3_75: return "3.75 fps";
00112 case DC1394_FRAMERATE_7_5: return "7.5 fps";
00113 case DC1394_FRAMERATE_15: return "15 fps";
00114 case DC1394_FRAMERATE_30: return "30 fps";
00115 case DC1394_FRAMERATE_60: return "60 fps";
00116 case DC1394_FRAMERATE_120: return "120 fps";
00117 case DC1394_FRAMERATE_240: return "240 fps";
00118 default: break;
00119 }
00120 return "unknown";
00121 }
00122
00123 std::string convertToString(dc1394speed_t speed)
00124 {
00125 switch (speed)
00126 {
00127 case DC1394_ISO_SPEED_100: return "100";
00128 case DC1394_ISO_SPEED_200: return "200";
00129 case DC1394_ISO_SPEED_400: return "400";
00130 case DC1394_ISO_SPEED_800: return "800";
00131 case DC1394_ISO_SPEED_1600: return "1600";
00132 case DC1394_ISO_SPEED_3200: return "3200";
00133 default: break;
00134 }
00135 return "unknown";
00136 }
00137
00138 struct CameraModeInfo
00139 {
00140 VideoFormat vidfmt;
00141 int w;
00142 int h;
00143 dc1394video_mode_t dc1394mode;
00144 dc1394speed_t dc1394speed;
00145 };
00146
00147
00148
00149 void find1394mode(const VideoFormat vidfmt, const Dims& dims,
00150 dc1394video_mode_t* dc1394mode,
00151 dc1394speed_t* dc1394speed)
00152 {
00153 static const CameraModeInfo modes[] =
00154 {
00155 { VIDFMT_YUV444, 160, 120, DC1394_VIDEO_MODE_160x120_YUV444 , DC1394_ISO_SPEED_400 },
00156 { VIDFMT_YUV422, 320, 240, DC1394_VIDEO_MODE_320x240_YUV422 , DC1394_ISO_SPEED_400 },
00157 { VIDFMT_YUV411, 640, 480, DC1394_VIDEO_MODE_640x480_YUV411 , DC1394_ISO_SPEED_400 },
00158 { VIDFMT_YUV422, 640, 480, DC1394_VIDEO_MODE_640x480_YUV422 , DC1394_ISO_SPEED_400 },
00159 { VIDFMT_RGB24, 640, 480, DC1394_VIDEO_MODE_640x480_RGB8 , DC1394_ISO_SPEED_400 },
00160 { VIDFMT_GREY, 640, 480, DC1394_VIDEO_MODE_640x480_MONO8 , DC1394_ISO_SPEED_400 },
00161 { VIDFMT_YUV422, 800, 600, DC1394_VIDEO_MODE_800x600_YUV422 , DC1394_ISO_SPEED_800 },
00162 { VIDFMT_RGB24, 800, 600, DC1394_VIDEO_MODE_800x600_RGB8 , DC1394_ISO_SPEED_800 },
00163 { VIDFMT_GREY, 800, 600, DC1394_VIDEO_MODE_800x600_MONO8 , DC1394_ISO_SPEED_800 },
00164 { VIDFMT_YUV422, 1024, 768, DC1394_VIDEO_MODE_1024x768_YUV422 , DC1394_ISO_SPEED_800 },
00165 { VIDFMT_RGB24, 1024, 768, DC1394_VIDEO_MODE_1024x768_RGB8 , DC1394_ISO_SPEED_800 },
00166 { VIDFMT_GREY, 1024, 768, DC1394_VIDEO_MODE_1024x768_MONO8 , DC1394_ISO_SPEED_800 },
00167 { VIDFMT_YUV422, 1280, 960, DC1394_VIDEO_MODE_1280x960_YUV422 , DC1394_ISO_SPEED_800 },
00168 { VIDFMT_RGB24, 1280, 960, DC1394_VIDEO_MODE_1280x960_RGB8 , DC1394_ISO_SPEED_800 },
00169 { VIDFMT_GREY, 1280, 960, DC1394_VIDEO_MODE_1280x960_MONO8 , DC1394_ISO_SPEED_800 },
00170 { VIDFMT_YUV422, 1600, 1200, DC1394_VIDEO_MODE_1600x1200_YUV422 , DC1394_ISO_SPEED_800 },
00171 { VIDFMT_RGB24, 1600, 1200, DC1394_VIDEO_MODE_1600x1200_RGB8 , DC1394_ISO_SPEED_800 },
00172 { VIDFMT_GREY, 1600, 1200, DC1394_VIDEO_MODE_1600x1200_MONO8 , DC1394_ISO_SPEED_800 }
00173 };
00174
00175 for (size_t i = 0; i < sizeof(modes) / sizeof(CameraModeInfo); ++i)
00176 {
00177 if (modes[i].vidfmt == vidfmt
00178 && modes[i].w == dims.w()
00179 && modes[i].h == dims.h())
00180 {
00181 *dc1394mode = modes[i].dc1394mode;
00182 *dc1394speed = modes[i].dc1394speed;
00183 return;
00184 }
00185 }
00186
00187 std::string msg =
00188 sformat("Unsupported resolution/format combination %s @ %dx%d"
00189 "\nSupported combinations are:",
00190 convertToString(vidfmt).c_str(), dims.w(), dims.h());
00191 for (size_t i = 0; i < sizeof(modes) / sizeof(CameraModeInfo); ++i)
00192 {
00193 msg += sformat("\n\t%7s @ %dx%d",
00194 convertToString(modes[i].vidfmt).c_str(),
00195 modes[i].w, modes[i].h);
00196 }
00197
00198 LFATAL("%s", msg.c_str());
00199 }
00200
00201 struct FramerateInfo
00202 {
00203 float fps;
00204 dc1394framerate_t dc1394framerate;
00205 };
00206
00207
00208 dc1394framerate_t find1394framerate(const float fps)
00209 {
00210 static const FramerateInfo framerates[] =
00211 {
00212 { 1.875F, DC1394_FRAMERATE_1_875 },
00213 { 3.75F, DC1394_FRAMERATE_3_75 },
00214 { 7.5F, DC1394_FRAMERATE_7_5 },
00215 { 15.0F, DC1394_FRAMERATE_15 },
00216 { 30.0F, DC1394_FRAMERATE_30 },
00217 { 60.0F, DC1394_FRAMERATE_60 },
00218 { 120.0F, DC1394_FRAMERATE_120 },
00219 { 240.0F, DC1394_FRAMERATE_240 }
00220 };
00221
00222 for (size_t i = 0; i < sizeof(framerates) / sizeof(FramerateInfo); ++i)
00223 if (framerates[i].fps == fps)
00224 return framerates[i].dc1394framerate;
00225
00226 std::string msg =
00227 sformat("Unsupported framerate %f fps"
00228 "\nSupported framerates are:", fps);
00229 for (size_t i = 0; i < sizeof(framerates) / sizeof(FramerateInfo); ++i)
00230 msg += sformat("\n\t%.3f fps", framerates[i].fps);
00231
00232 LFATAL("%s", msg.c_str());
00233 return (dc1394framerate_t)-1;
00234 }
00235
00236 }
00237 #endif
00238
00239
00240 DC1394Grabber2::DC1394Grabber2(OptionManager& mgr,
00241 const std::string& descrName,
00242 const std::string& tagName) :
00243 FrameIstream(mgr, descrName, tagName),
00244
00245
00246
00247
00248
00249 itsShowInputDetails(&OPT_ShowInputDetails, this),
00250 itsDevName(&OPT_FrameGrabberDevice, this, "/dev/video1394/0", USE_MY_VAL),
00251 itsChannel(&OPT_FrameGrabberChannel, this, 0, USE_MY_VAL),
00252 itsSubChan(&OPT_FrameGrabberSubChan, this, 0, USE_MY_VAL),
00253 itsDims(&OPT_FrameGrabberDims, this, Dims(320, 240), USE_MY_VAL),
00254 itsGrabMode(&OPT_FrameGrabberMode, this, VIDFMT_YUV422, USE_MY_VAL),
00255 itsByteSwap(&OPT_FrameGrabberByteSwap, this, false, USE_MY_VAL),
00256 itsFPS(&OPT_FrameGrabberFPS, this, 30.0, USE_MY_VAL),
00257 itsNbuf(&OPT_FrameGrabberNbuf, this, 4, USE_MY_VAL),
00258 itsBrightness(&OPT_FrameGrabberBrightness, this, 32768, USE_MY_VAL | ALLOW_ONLINE_CHANGES),
00259 itsHue(&OPT_FrameGrabberHue, this, 32768, USE_MY_VAL | ALLOW_ONLINE_CHANGES),
00260 itsSaturation(&OPT_FrameGrabberSaturation, this, 90, USE_MY_VAL | ALLOW_ONLINE_CHANGES),
00261 itsExposure(&OPT_FrameGrabberExposure, this, 511, USE_MY_VAL | ALLOW_ONLINE_CHANGES),
00262 itsSharpness(&OPT_FrameGrabberSharpness, this, 80, USE_MY_VAL | ALLOW_ONLINE_CHANGES),
00263 itsWhiteBalBU(&OPT_FrameGrabberWhiteBalBU, this, 95, USE_MY_VAL | ALLOW_ONLINE_CHANGES),
00264 itsWhiteBalRV(&OPT_FrameGrabberWhiteBalRV, this, 87, USE_MY_VAL | ALLOW_ONLINE_CHANGES),
00265 itsGamma(&OPT_FrameGrabberGamma, this, 1, USE_MY_VAL | ALLOW_ONLINE_CHANGES),
00266 itsShutter(&OPT_FrameGrabberShutter, this, 6, USE_MY_VAL | ALLOW_ONLINE_CHANGES),
00267 itsGain(&OPT_FrameGrabberGain, this, 87, USE_MY_VAL | ALLOW_ONLINE_CHANGES)
00268 #ifdef HAVE_DC1394V2
00269 , itsDC1394(NULL)
00270 , itsCam(NULL)
00271 #endif
00272 {}
00273
00274
00275 void DC1394Grabber2::start1()
00276 {
00277 #ifndef HAVE_DC1394V2
00278 LFATAL("you must have libdc1394 version 2.x in order to use DC1394Grabber2");
00279 #else
00280 ASSERT(itsDC1394 == 0);
00281
00282 itsDC1394 = dc1394_new();
00283
00284 if (itsDC1394 == 0)
00285 LFATAL("dc1394_new() failed");
00286
00287 {
00288 dc1394camera_list_t* list = 0;
00289 const dc1394error_t err = dc1394_camera_enumerate(itsDC1394, &list);
00290 if (err != DC1394_SUCCESS)
00291 LFATAL("dc1394_camera_enumerate() failed (%s)",
00292 dc1394_error_get_string(err));
00293
00294 if (list->num == 0)
00295 LFATAL("no cameras found by dc1394_camera_enumerate()");
00296
00297 itsCam = dc1394_camera_new(itsDC1394, list->ids[0].guid);
00298 if (itsCam == 0)
00299 LFATAL("failed to initialize camera with guid %llx",
00300 (long long unsigned int)list->ids[0].guid);
00301
00302 LINFO("using the first camera on the bus");
00303
00304 dc1394_camera_free_list(list);
00305 }
00306
00307
00308 dc1394video_mode_t videomode = dc1394video_mode_t();
00309 dc1394speed_t speed = dc1394speed_t();
00310 find1394mode(itsGrabMode.getVal(), itsDims.getVal(),
00311 &videomode, &speed);
00312
00313 dc1394error_t code = DC1394_SUCCESS;
00314
00315 if (speed < DC1394_ISO_SPEED_800)
00316 {
00317 code = dc1394_video_set_operation_mode(itsCam, DC1394_OPERATION_MODE_LEGACY);
00318 if (code != DC1394_SUCCESS) LFATAL("couldn't set camera operation mode to 'legacy'");
00319 }
00320 else
00321 {
00322 code = dc1394_video_set_operation_mode(itsCam, DC1394_OPERATION_MODE_1394B);
00323 if (code != DC1394_SUCCESS) LFATAL("couldn't set camera operation mode to '1394B'");
00324 }
00325
00326 code = dc1394_video_set_iso_speed(itsCam, speed);
00327 if (code != DC1394_SUCCESS) LFATAL("couldn't set camera ISO speed");
00328
00329 code = dc1394_video_set_mode(itsCam, videomode);
00330 if (code != DC1394_SUCCESS) LFATAL("couldn't set camera video mode");
00331
00332 const dc1394framerate_t framerate = find1394framerate(itsFPS.getVal());
00333
00334 code = dc1394_video_set_framerate(itsCam, framerate);
00335 if (code != DC1394_SUCCESS) LFATAL("couldn't set camera framerate");
00336
00337 code = dc1394_capture_setup(itsCam, 4, DC1394_CAPTURE_FLAGS_DEFAULT);
00338 if (code != DC1394_SUCCESS) LFATAL("capture setup failed; check settings");
00339
00340
00341
00342 #define SET_FEATURE(fval, pname, fname) \
00343 do { \
00344 if (dc1394_feature_set_value(itsCam, DC1394_FEATURE_ ## fval, \
00345 pname.getVal()) != DC1394_SUCCESS) \
00346 LERROR("Unable to set " fname); \
00347 } while (0)
00348
00349 SET_FEATURE(BRIGHTNESS, itsBrightness, "brightness");
00350 SET_FEATURE(EXPOSURE, itsExposure, "exposure");
00351 SET_FEATURE(SHARPNESS, itsSharpness, "sharpness");
00352 SET_FEATURE(HUE, itsHue, "hue");
00353 SET_FEATURE(SATURATION, itsSaturation, "saturation");
00354 SET_FEATURE(GAMMA, itsGamma, "gamma");
00355 SET_FEATURE(SHUTTER, itsShutter, "shutter");
00356 SET_FEATURE(GAIN, itsGain, "gain");
00357
00358 #undef SET_FEATURE
00359
00360 if (dc1394_feature_whitebalance_set_value(itsCam,
00361 itsWhiteBalBU.getVal(),
00362 itsWhiteBalRV.getVal())
00363 != DC1394_SUCCESS)
00364 LERROR("Unable to set white balance");
00365
00366
00367 code = dc1394_video_set_transmission(itsCam, DC1394_ON);
00368 if (code != DC1394_SUCCESS) LINFO("unable to start camera iso transmission");
00369
00370
00371 if (itsShowInputDetails.getVal())
00372 {
00373 dc1394_camera_print_info(itsCam, stderr);
00374
00375 dc1394featureset_t features;
00376 if (dc1394_feature_get_all(itsCam, &features) == DC1394_SUCCESS)
00377 dc1394_feature_print_all(&features, stderr);
00378 }
00379
00380 {
00381 std::string info = sformat("vendor: %s; model: %s; ", itsCam->vendor, itsCam->model);
00382
00383 dc1394video_mode_t videomode;
00384 if (dc1394_video_get_mode(itsCam, &videomode) == DC1394_SUCCESS)
00385 info += sformat("video mode: %s; ", convertToString(videomode).c_str());
00386 else
00387 info += "video mode: unknown; ";
00388
00389 dc1394framerate_t framerate;
00390 if (dc1394_video_get_framerate(itsCam, &framerate) == DC1394_SUCCESS)
00391 info += sformat("framerate: %s; ", convertToString(framerate).c_str());
00392 else
00393 info += "framerate: unknown; ";
00394
00395 dc1394speed_t speed;
00396 if (dc1394_video_get_iso_speed(itsCam, &speed) == DC1394_SUCCESS)
00397 info += sformat("speed: %s; ", convertToString(speed).c_str());
00398 else
00399 info += "speed: unknown; ";
00400
00401 uint32_t chan = 0;
00402 if (dc1394_video_get_iso_channel(itsCam, &chan) == DC1394_SUCCESS)
00403 info += sformat("ISO channel: %u; ", (unsigned int) chan);
00404 else
00405 info += "ISO channel: unknown; ";
00406
00407 LINFO("%s", info.c_str());
00408 }
00409 #endif // HAVE_DC1394V2
00410 }
00411
00412
00413 void DC1394Grabber2::stop2()
00414 {
00415 #ifndef HAVE_DC1394V2
00416
00417 LERROR("you must have libdc1394 version 2.x in order to use DC1394Grabber2");
00418 #else
00419 if (itsCam != 0)
00420 {
00421 dc1394_video_set_transmission(itsCam, DC1394_OFF);
00422 dc1394_capture_stop(itsCam);
00423 dc1394_camera_free(itsCam);
00424 itsCam = 0;
00425 }
00426 if (itsDC1394 != 0)
00427 {
00428 dc1394_free(itsDC1394);
00429 itsDC1394 = 0;
00430 }
00431 #endif // HAVE_DC1394V2
00432 }
00433
00434
00435 DC1394Grabber2::~DC1394Grabber2()
00436 { }
00437
00438
00439 GenericFrameSpec DC1394Grabber2::peekFrameSpec()
00440 {
00441 GenericFrameSpec result;
00442
00443 result.nativeType = GenericFrame::VIDEO;
00444 result.videoFormat = itsGrabMode.getVal();
00445 result.videoByteSwap = itsByteSwap.getVal();
00446 result.dims = itsDims.getVal();
00447 result.floatFlags = 0;
00448
00449 return result;
00450 }
00451
00452
00453 SimTime DC1394Grabber2::getNaturalFrameTime() const
00454 {
00455 return SimTime::HERTZ(itsFPS.getVal());
00456 }
00457
00458
00459 GenericFrame DC1394Grabber2::readFrame()
00460 {
00461 return GenericFrame(this->grabRaw());
00462 }
00463
00464
00465 VideoFrame DC1394Grabber2::grabRaw()
00466 {
00467 #ifndef HAVE_DC1394V2
00468 LFATAL("you must have libdc1394 version 2.x in order to use DC1394Grabber2");
00469 return VideoFrame();
00470 #else
00471 dc1394video_frame_t* frame = 0;
00472
00473 int code = dc1394_capture_dequeue(itsCam, DC1394_CAPTURE_POLICY_WAIT, &frame);
00474 if (code != DC1394_SUCCESS) LFATAL("unable to capture video frame");
00475
00476 VideoFrame result(frame->image, frame->total_bytes, itsDims.getVal(),
00477 itsGrabMode.getVal(), itsByteSwap.getVal(), false);
00478
00479 code = dc1394_capture_enqueue(itsCam, frame);
00480 if (code != DC1394_SUCCESS) LFATAL("couldn't re-enqueue frame");
00481
00482 return result;
00483 #endif // HAVE_DC1394V2
00484 }
00485
00486
00487 void DC1394Grabber2::paramChanged(ModelParamBase* const param,
00488 const bool valueChanged,
00489 ParamClient::ChangeStatus* status)
00490 {
00491 #ifndef HAVE_DC1394V2
00492 LFATAL("you must have libdc1394 version 2.x in order to use DC1394Grabber2");
00493 #else
00494
00495 FrameIstream::paramChanged(param, valueChanged, status);
00496
00497
00498
00499
00500
00501
00502 #define HANDLE_PARAM(FVAL, MODELPARAM, FNAME) \
00503 if (valueChanged && param == &MODELPARAM) \
00504 { \
00505 LDEBUG("online change of " FNAME " from %s", \
00506 MODELPARAM.getName().c_str()); \
00507 if (dc1394_feature_set_value \
00508 (itsCam, DC1394_FEATURE_ ## FVAL, \
00509 MODELPARAM.getVal()) \
00510 != DC1394_SUCCESS) \
00511 { \
00512 *status = ParamClient::CHANGE_REJECTED; \
00513 LERROR("Unable to set " FNAME); \
00514 } \
00515 }
00516
00517 HANDLE_PARAM(BRIGHTNESS, itsBrightness, "brightness");
00518 HANDLE_PARAM(EXPOSURE, itsExposure, "exposure");
00519 HANDLE_PARAM(SHARPNESS, itsSharpness, "sharpness");
00520 HANDLE_PARAM(HUE, itsHue, "hue");
00521 HANDLE_PARAM(SATURATION, itsSaturation, "saturation");
00522 HANDLE_PARAM(GAMMA, itsGamma, "gamma");
00523 HANDLE_PARAM(SHUTTER, itsShutter, "shutter");
00524 HANDLE_PARAM(GAIN, itsGain, "gain");
00525
00526 #undef HANDLE_PARAM
00527
00528 if (valueChanged
00529 && (param == &itsWhiteBalBU || param == &itsWhiteBalRV))
00530 {
00531 LDEBUG("online change of white balance from %s",
00532 param->getName().c_str());
00533
00534 if (dc1394_feature_whitebalance_set_value
00535 (itsCam, itsWhiteBalBU.getVal(), itsWhiteBalRV.getVal())
00536 != DC1394_SUCCESS)
00537 {
00538 *status = ParamClient::CHANGE_REJECTED;
00539 LERROR("Unable to set white balance");
00540 }
00541 }
00542
00543 #endif // HAVE_DC1394V2
00544 }
00545
00546
00547
00548
00549
00550
00551
00552
00553 #endif // DEVICES_DC1394GRABBER2_C_DEFINED
1.6.3