CameraManager.C

00001 #include "CameraManager.H"
00002 #include "Camera.H"
00003 
00004 CameraManager::CameraManager() : error(DC1394_SUCCESS), d(NULL) {
00005   error = initialize();
00006 }
00007 
00008 CameraManager::~CameraManager() {
00009   /*for (std::vector<uint64_t>::size_type i = 0; i < freeCameraList.size(); i++) {
00010     dc1394_capture_stop(freeCameraList[i]);
00011     dc1394_camera_free(freeCameraList[i]);
00012   }*/
00013   if (d) dc1394_free(d);
00014 }
00015 
00016 dc1394error_t CameraManager::initialize() {
00017   dc1394error_t err;
00018 
00019   d = dc1394_new();
00020   if (!d) {
00021     err = DC1394_FAILURE;
00022     DC1394_ERR_RTN(err, "Failed to create new dc1394");
00023   }
00024 
00025   err = dc1394_camera_enumerate(d, &list);
00026   DC1394_ERR_RTN(err, "Failed to enumerate cameras");
00027 
00028   if (list->num == 0) {
00029     err = DC1394_CAMERA_NOT_INITIALIZED;
00030     DC1394_ERR_RTN(err, "No cameras found");
00031   }
00032 
00033   return DC1394_SUCCESS;
00034 }
00035 
00036 std::vector<uint64_t> CameraManager::getCameraList() {
00037   std::vector<uint64_t> tempList;
00038   for (uint32_t i = 0; i < list->num; i++) {
00039     tempList.push_back(list->ids[i].guid);
00040   }
00041   return tempList;
00042 }
00043 
00044 Camera* CameraManager::getCamera(uint64_t guid) {
00045   dc1394camera_t* camera1394 = NULL;
00046   dc1394error_t err;
00047   if (!setupSuccessful())  return NULL;
00048   for (uint32_t i = 0; i < list->num; i++) {
00049     if (list->ids[i].guid == guid) {
00050       
00051       camera1394 = dc1394_camera_new(d, list->ids[i].guid);
00052       if (!camera1394) {
00053         err = DC1394_CAMERA_NOT_INITIALIZED;
00054         DC1394_WRN(err, "Failed to initialize camera");
00055       } else {
00056         err = dc1394_reset_bus(camera1394);
00057         DC1394_WRN(err, "Failed to reset bus for camera");
00058       }
00059       break;
00060     }
00061   }
00062 
00063   if (!camera1394)  return NULL;
00064   else              return new Camera(camera1394);
00065 }
00066 
00067 bool CameraManager::setupSuccessful() {
00068   return error == DC1394_SUCCESS;
00069 }
00070 
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