//---------------------------------------------------------------
void
Device1394::initCapture()
{
unsigned int channel;
unsigned int speed;
if (dc1394_get_iso_channel_and_speed(handle_, p_camera_->node, &channel, &speed) != DC1394_SUCCESS)
throw Miro::Exception("Device1394:initDevice: unable to get iso channel number");
MIRO_DBG_OSTR(VIDEO, LL_DEBUG,
"ISO channel: " << channel << " speed: " << speed);
channel = 1;
#if ( LIBDC1394_VERSION == 1 )
// old version
if (dc1394_dma_setup_capture(handle_,
p_camera_->node,
channel,
FORMAT_VGA_NONCOMPRESSED,
imageFormat_,
SPEED_400,
frameRate_,
NUM_BUFFERS,
DROP_FRAMES,
params_.device.c_str(),
p_camera_) != DC1394_SUCCESS)
#elif ( LIBDC1394_VERSION == 2 )
// new version
if (dc1394_dma_setup_capture(handle_,
p_camera_->node,
channel,
FORMAT_VGA_NONCOMPRESSED,
imageFormat_,
SPEED_400,
frameRate_,
NUM_BUFFERS,
1,
DROP_FRAMES,
params_.device.c_str(),
p_camera_) != DC1394_SUCCESS)
#endif
throw Miro::Exception("Device1394::handleConnect: unable to setup camera");
if (dc1394_start_iso_transmission(handle_, p_camera_->node) != DC1394_SUCCESS)
throw Miro::Exception("Device1394::handleConnect: unable to start camera iso transmission");
is_open_ = true;
}
static int cam_setup( struct dc1394_input *conf, int cam, int port,
nodeid_t node, int dma_chan )
{
unsigned int channel;
unsigned int speed;
conf->cam[cam].running = 0;
conf->camera[cam].node = node;
conf->cam[cam].handle = dc1394_create_handle( port );
if( ! conf->cam[cam].handle )
{
spook_log( SL_ERR, "dc1394: unable to create a camera handle" );
return -1;
}
if( dc1394_get_iso_channel_and_speed( conf->cam[cam].handle, node,
&channel, &speed ) != DC1394_SUCCESS )
{
spook_log( SL_ERR, "dc1394: unable to create an ISO channel" );
return -1;
}
if( dc1394_dma_setup_capture( conf->cam[cam].handle, node, dma_chan,
FORMAT_VGA_NONCOMPRESSED, MODE_320x240_YUV422,
SPEED_400, FRAMERATE_30, 8 /* num buffers */,
#ifdef DC1394_EXTRA_BUFFERING_FLAG
0 /* do_extra_buffering */,
#endif
1 /* drop frames */, NULL /* device name */,
&conf->camera[cam] ) != DC1394_SUCCESS )
{
spook_log( SL_ERR, "dc1394: unable to set up DMA for camera" );
return -1;
}
if( dc1394_start_iso_transmission( conf->cam[cam].handle,
conf->camera[cam].node ) != DC1394_SUCCESS )
{
spook_log( SL_ERR,
"dc1394: unable to start ISO transfer from camera" );
return -1;
}
conf->cam[cam].outq = new_soft_queue( 16 );
add_softqueue_event( conf->cam[cam].outq, 0,
get_back_frame, &conf->cam[cam] );
return 0;
}
int CameraDcam::moduleOn(void)
{
unsigned int uvValue, uuValue;
int ret;
RackTask::disableRealtimeMode();
if (lossRate < 1)
{
GDOS_ERROR("Lossrate must not be less than 1!! EXITING! \n");
return -EINVAL;
}
ret = loadCameraParameter(¶m, intrParFile, lossRate, extrParFile);
if(ret)
{
GDOS_ERROR("Couldn't load camera parameter!! code = %d\n", ret);
return ret;
}
if ( getFirewirePortnum() != DC1394_SUCCESS)
return FW_ERROR;
if ( findCameraByGuid() != DC1394_SUCCESS)
{
GDOS_ERROR("Camera by given guid not found. \n");
return FW_ERROR;
}
GDOS_DBG_INFO("camera_dcam initalising dcam part\n");
/*-----------------------------------------------------------------------
* setup capture format 2 + 7
*-----------------------------------------------------------------------*/
if ( dc1394_get_iso_channel_and_speed( porthandle[dc1394CameraPortNo],
camera_node,
&channel,
&speed) !=DC1394_SUCCESS )
{
GDOS_WARNING("Unable to get the iso channel number\n" );
return FW_ERROR;
}
switch(mode) {
case CAMERA_MODE_YUV422:
case CAMERA_MODE_MONO12:
setupCaptureFormat2();
break;
case CAMERA_MODE_MONO8: //format 2 is possible but no external trigger
case CAMERA_MODE_RAW8:
case CAMERA_MODE_RAW12:
setupCaptureFormat7();
break;
default:
GDOS_ERROR("Set undefined ColorMode.\n" );
return -EINVAL;
}
//need to get max size of image from this camera and also set dataBuffer according
if (CAMERA_MAX_WIDTH < (dc1394Camera.frame_width / lossRate) ||
CAMERA_MAX_HEIGHT < (dc1394Camera.frame_height / lossRate) )
{
GDOS_ERROR("Size parameter set too small in camera.h!! EXITING! \n");
return -ENOMEM;
}
if (param.calibration_width != (int)(dc1394Camera.frame_width / lossRate) ||
param.calibration_height != (int)(dc1394Camera.frame_height / lossRate) )
{
GDOS_ERROR("Size parameter of intrinsic parameter file (%i,%i) and camera (%i,%i) doesn't fit together!!\n",
param.calibration_width, param.calibration_height,
dc1394Camera.frame_width / lossRate, dc1394Camera.frame_height / lossRate);
return -EAGAIN;
}
/*-----------------------------------------------------------------------
* have the camera start sending us data
*-----------------------------------------------------------------------*/
if ( dc1394_start_iso_transmission( porthandle[dc1394CameraPortNo], dc1394Camera.node )
!=DC1394_SUCCESS )
{
GDOS_WARNING("Unable to start camera iso transmission\n" );
return DC1394_FAILURE;
}
GDOS_DBG_INFO("Started iso transmission.\n" );
if (dc1394_get_white_balance(porthandle[dc1394CameraPortNo], camera_node, &uuValue, &uvValue) != DC1394_SUCCESS)
{
GDOS_WARNING("getting of white balance failed! ");
return DC1394_FAILURE;
}
uvValue = vValue;
uuValue = uValue;
if (dc1394_set_white_balance(porthandle[dc1394CameraPortNo], camera_node, uuValue, uvValue) != DC1394_SUCCESS)
{
GDOS_WARNING("setting of white balance failed u:%i v:%i!\n", uuValue, uvValue);
return DC1394_FAILURE;
}
GDOS_DBG_INFO("set u:%i v:%i \n", uuValue, uvValue);
return RackDataModule::moduleOn(); // has to be last command in moduleOn();
}
int
main(int argc, char *argv[])
{
XGCValues xgcv;
long background = 0x010203;
unsigned int channel;
unsigned int speed;
int i, p, cn;
raw1394handle_t raw_handle;
struct raw1394_portinfo ports[MAX_PORTS];
get_options(argc, argv);
/* process options */
switch (fps) {
case 1:
fps = FRAMERATE_1_875;
break;
case 3:
fps = FRAMERATE_3_75;
break;
case 15:
fps = FRAMERATE_15;
break;
case 30:
fps = FRAMERATE_30;
break;
case 60:
fps = FRAMERATE_60;
break;
default:
fps = FRAMERATE_7_5;
break;
}
switch (res) {
case 1:
res = MODE_640x480_YUV411;
device_width = 640;
device_height = 480;
format = XV_YUY2;
break;
case 2:
res = MODE_640x480_RGB;
device_width = 640;
device_height = 480;
format = XV_YUY2;
break;
default:
res = MODE_320x240_YUV422;
device_width = 320;
device_height = 240;
format = XV_UYVY;
break;
}
/* get the number of ports (cards) */
raw_handle = raw1394_new_handle();
if (raw_handle == NULL) {
perror("Unable to aquire a raw1394 handle\n");
perror("did you load the drivers?\n");
exit(-1);
}
numPorts = raw1394_get_port_info(raw_handle, ports, numPorts);
raw1394_destroy_handle(raw_handle);
if (verbose) printf("number of ports = %d\n", numPorts);
/* get dc1394 handle to each port */
for (p = 0; p < numPorts; p++) {
int camCount;
handles[p] = dc1394_create_handle(p);
if (handles[p] == NULL) {
perror("Unable to aquire a raw1394 handle\n");
perror("did you load the drivers?\n");
cleanup();
exit(-1);
}
/* get the camera nodes and describe them as we find them */
camera_nodes = dc1394_get_camera_nodes(handles[p], &camCount, verbose);
/* setup cameras for capture */
for (i = 0; i < camCount; i++) {
cameras[numCameras].node = camera_nodes[i];
if (dc1394_get_camera_feature_set
(handles[p], cameras[numCameras].node,
&features) != DC1394_SUCCESS) {
printf("unable to get feature set\n");
} else if (verbose) {
dc1394_print_feature_set(&features);
}
if (dc1394_get_iso_channel_and_speed
(handles[p], cameras[numCameras].node, &channel,
&speed) != DC1394_SUCCESS) {
printf("unable to get the iso channel number\n");
cleanup();
exit(-1);
}
if (dc1394_dma_setup_capture
(handles[p], cameras[numCameras].node, i + 1 /*channel */ ,
FORMAT_VGA_NONCOMPRESSED, res, SPEED_400, fps, NUM_BUFFERS,
DROP_FRAMES, device_name,
&cameras[numCameras]) != DC1394_SUCCESS) {
fprintf(stderr,
"unable to setup camera - check line %d of %s to make sure\n",
__LINE__, __FILE__);
perror("that the video mode, framerate and format are supported\n");
printf("by your camera(s)\n");
cleanup();
exit(-1);
}
/*have the camera start sending us data */
if (dc1394_start_iso_transmission
(handles[p], cameras[numCameras].node) != DC1394_SUCCESS) {
perror("unable to start camera iso transmission\n");
cleanup();
exit(-1);
}
numCameras++;
}
}
fflush(stdout);
if (numCameras < 1) {
perror("no cameras found :(\n");
cleanup();
exit(-1);
}
//set_manual_exposure_gain(0, 440, 30);
switch (format) {
case XV_YV12:
set_frame_length(device_width * device_height * 3 / 2, numCameras);
break;
case XV_YUY2:
case XV_UYVY:
set_frame_length(device_width * device_height * 2, numCameras);
break;
default:
fprintf(stderr, "Unknown format set (internal error)\n");
exit(255);
}
/* create OpenCV image wrappers */
for (cn = 0; cn < MAX_CAMERAS; cn++) {
if (cn < numCameras) {
iplImages[cn] =
cvCreateImage(cvSize(device_width, device_height),
IPL_DEPTH_8U, 3);
readOnlyImg =
cvCreateImageHeader(cvSize(device_width, device_height),
IPL_DEPTH_8U, 3);
} else {
iplImages[cn] = NULL;
}
}
/* initialize handvu */
hvInitialize(device_width, device_height);
hvLoadConductor(string(conductor_fname));
hvStartRecognition();
hvSetOverlayLevel(3);
if (async_processing) {
hvAsyncSetup(num_async_bufs, displayCallback);
hvAsyncGetImageBuffer(&m_async_image, &m_async_bufID);
if (sync_display) async_display_image = cvCloneImage(iplImages[0]);
}
/* make the window */
display = XOpenDisplay(getenv("DISPLAY"));
if (display == NULL) {
fprintf(stderr, "Could not open display \"%s\"\n", getenv("DISPLAY"));
cleanup();
exit(-1);
}
QueryXv();
if (adaptor < 0) {
cleanup();
exit(-1);
}
width = device_width;
height = device_height * numCameras;
window =
XCreateSimpleWindow(display, DefaultRootWindow(display), 0, 0,
width, height, 0, WhitePixel(display,
DefaultScreen
(display)), background);
XSelectInput(display, window, StructureNotifyMask | KeyPressMask);
XMapWindow(display, window);
connection = ConnectionNumber(display);
gc = XCreateGC(display, window, 0, &xgcv);
/* local main event loop */
while (1) {
if (async_processing) {
// asynchronous processing in HandVu
capture_frame();
process_frame();
if (sync_display) display_frame();
handle_events();
} else {
// synchronous processing in HandVu
capture_frame();
process_frame();
display_frame();
handle_events();
}
/* XPending */
} /* while not interrupted */
exit(0);
}
