A new and simpler dc1394 based web cam grabber for yarpdev.
The patch archive contains the following:
The code for the grabber device itself. This archive should be extracted into [YARP_BASE_DIR]/src/modules/.
The change needed to the existing CMake build files for including the new device in the build. This patch file should be applied directly from [YARP_BASE_DIR].
This file enables CMake to locate the dc1394 library needed for building this device. Put this file into [YARP_BASE_DIR]/conf/.
* Currently this patch only supports a fixed (hard coded) configuration for the web cam:
int mode = MODE_320x240_YUV422;
int format = FORMAT_VGA_NONCOMPRESSED;
int framerate = FRAMERATE_30;
It is fairly easy to add the ability for the user to specify these settings from the command line.
* The only current conversion algorithm that is included is YUV422->RGB. If non YUV422 modes are to be supported, a conversion algorithm would have to be added as well.
* Has been used on the linux platform but is unlikely to work on any other platform.
The benefits of adding this code and complementing or even replacing the older "firewirecamera" grabber is mainly the following:
* Simpler code.
* Better support for varying sizes of images (the current firewirecamera code seems to need to be changed (and recompiled) if the size of the input image stream changes).