int main(int argc, char *argv[]) {
unsigned int i;
dc1394_t * d;
dc1394camera_list_t * list;
dc1394error_t err;
dc1394featureset_t features;
d = dc1394_new();
if(!d)
return 1;
err = dc1394_camera_enumerate(d, &list);
DC1394_ERR_RTN(err,"Failed to enumerate cameras");
if(list->num == 0) {
dc1394_log_error("No cameras found");
return 1;
}
for(i = 0; i < list->num; i++) {
dc1394camera_t *camera = dc1394_camera_new(d, list->ids[i].guid);
if(camera) {
unsigned int j;
dc1394video_modes_t modes;
// Print hardware informations.
dc1394_camera_print_info(camera, stdout);
// Print supported camera features.
err = dc1394_feature_get_all(camera,&features);
if(err != DC1394_SUCCESS) {
dc1394_log_warning("Could not get feature set");
} else {
dc1394_feature_print_all(&features, stdout);
}
// Print a list of supported modes.
printf("------ Supported Video Modes ------\n");
err = dc1394_video_get_supported_modes(camera, &modes);
DC1394_ERR_RTN(err,"Could not get list of modes");
for(j = 0; j < modes.num; j++) {
print_video_mode_info(camera, modes.modes[j]);
}
dc1394_camera_free(camera);
}
}
dc1394_camera_free_list (list);
dc1394_free (d);
return 0;
}
bool Camera::Init()
{
// VideoCapture Interface
cv_image_ = cvCreateImage(cvSize(640,480), IPL_DEPTH_8U, 3);
// Initialize libdc1394
if ((d = dc1394_new ()) == NULL)
return false;
// Find cameras
err = dc1394_camera_enumerate(d, &list);
DC1394_ERR_RTN(err, "Failed to enumerate cameras");
// Verify that we have at least one cameraDC1394_BYTE_ORDER_YUYV
if(list->num == 0)
{
dc1394_log_error("No cameras found");
return false;
}
// Work with first camera found
if ((camera = dc1394_camera_new (d, list->ids[0].guid)) == NULL)
{
dc1394_log_error("Failed to initialize camera with guid %llx", list->ids[0].guid);
return false;
}
// Not using the list anymore, clean it up
dc1394_camera_free_list(list);
// Power ON
dc1394_camera_set_power(camera, DC1394_ON);
// Print camera info
dc1394_camera_print_info(camera, stdout);
// Setup capture
err = dc1394_capture_setup(camera, 4, DC1394_CAPTURE_FLAGS_DEFAULT);
// Set video mode
dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_640x480_YUV422);
// Start transmission
err = dc1394_video_set_transmission(camera, DC1394_ON);
// VideoCapture Interface
init_ = true;
return true;
}
void CameraIIDC::startCapture(){
dc1394error_t err;
// Print camera information
dc1394_camera_print_info(cam, stdout);
fflush(stdout);
if(triggerMode == triggerModeHardware){
// Set hardware trigger
err=dc1394_external_trigger_set_power(cam, DC1394_ON);
if (err!=DC1394_SUCCESS)
cerr << "libdc1394: Could not set external trigger on!";
err=dc1394_external_trigger_set_source(cam, DC1394_TRIGGER_SOURCE_0);
if (err!=DC1394_SUCCESS)
cerr << "libdc1394: Could not set external trigger source!";
err=dc1394_external_trigger_set_mode(cam, DC1394_TRIGGER_MODE_14);
if (err!=DC1394_SUCCESS)
cerr << "libdc1394: Could not set external trigger mode!";
err=dc1394_external_trigger_set_polarity(cam, DC1394_TRIGGER_ACTIVE_HIGH);
if (err!=DC1394_SUCCESS)
cerr << "libdc1394: Could not set external trigger polarity!";
} else if(triggerMode == triggerModeSoftware) {
// Disable hardware trigger
err=dc1394_external_trigger_set_power(cam, DC1394_OFF);
if (err!=DC1394_SUCCESS)
cerr << "libdc1394: Could not set external trigger off!";
}
// Begin transmission
err = dc1394_video_set_transmission(cam, DC1394_ON);
if (err!=DC1394_SUCCESS)
{
cerr << "ERROR: Could not begin transmission!" << endl;
}
capturing = true;
}
/*****************************************************************************
* Open:
*****************************************************************************/
static int Open( vlc_object_t *p_this )
{
demux_t *p_demux = (demux_t*)p_this;
demux_sys_t *p_sys;
es_format_t fmt;
dc1394error_t res;
int i_width;
int i_height;
if( strncmp(p_demux->psz_access, "dc1394", 6) != 0 )
return VLC_EGENERIC;
/* Set up p_demux */
p_demux->pf_demux = Demux;
p_demux->pf_control = Control;
p_demux->info.i_update = 0;
p_demux->info.i_title = 0;
p_demux->info.i_seekpoint = 0;
p_demux->p_sys = p_sys = calloc( 1, sizeof( demux_sys_t ) );
if( !p_sys )
return VLC_ENOMEM;
memset( &fmt, 0, sizeof( es_format_t ) );
/* DEFAULTS */
p_sys->video_mode = DC1394_VIDEO_MODE_640x480_YUV422;
p_sys->width = 640;
p_sys->height = 480;
p_sys->frame_rate = DC1394_FRAMERATE_15;
p_sys->brightness = 200;
p_sys->focus = 0;
p_sys->fd_audio = -1;
p_sys->p_dccontext = NULL;
p_sys->camera = NULL;
p_sys->selected_camera = -1;
p_sys->dma_buffers = 1;
p_sys->reset_bus = 0;
/* PROCESS INPUT OPTIONS */
if( process_options(p_demux) != VLC_SUCCESS )
{
msg_Err( p_demux, "Bad MRL, please check the option line "
"(MRL was: %s)",
p_demux->psz_path );
free( p_sys );
return VLC_EGENERIC;
}
p_sys->p_dccontext = dc1394_new();
if( !p_sys->p_dccontext )
{
msg_Err( p_demux, "Failed to initialise libdc1394");
free( p_sys );
return VLC_EGENERIC;
}
if( FindCamera( p_sys, p_demux ) != VLC_SUCCESS )
{
dc1394_free( p_sys->p_dccontext );
free( p_sys );
return VLC_EGENERIC;
}
if( !p_sys->camera )
{
msg_Err( p_demux, "No camera found !!" );
dc1394_free( p_sys->p_dccontext );
free( p_sys );
return VLC_EGENERIC;
}
if( p_sys->reset_bus )
{
if( dc1394_reset_bus( p_sys->camera ) != DC1394_SUCCESS )
{
msg_Err( p_demux, "Unable to reset IEEE 1394 bus");
Close( p_this );
return VLC_EGENERIC;
}
else msg_Dbg( p_demux, "Successfully reset IEEE 1394 bus");
}
if( dc1394_camera_reset( p_sys->camera ) != DC1394_SUCCESS )
{
msg_Err( p_demux, "Unable to reset camera");
Close( p_this );
return VLC_EGENERIC;
}
if( dc1394_camera_print_info( p_sys->camera,
stderr ) != DC1394_SUCCESS )
{
msg_Err( p_demux, "Unable to print camera info");
Close( p_this );
return VLC_EGENERIC;
}
if( dc1394_feature_get_all( p_sys->camera,
&p_sys->features ) != DC1394_SUCCESS )
{
msg_Err( p_demux, "Unable to get feature set");
Close( p_this );
return VLC_EGENERIC;
}
// TODO: only print features if verbosity increased
dc1394_feature_print_all(&p_sys->features, stderr);
#if 0 //"Note that you need to execute this function only if you use exotic video1394 device names. /dev/video1394, /dev/video1394/* and /dev/video1394-* are automatically recognized." http://damien.douxchamps.net/ieee1394/libdc1394/v2.x/api/capture/
if( p_sys->video_device )
{
if( dc1394_capture_set_device_filename( p_sys->camera,
p_sys->video_device ) != DC1394_SUCCESS )
{
msg_Err( p_demux, "Unable to set video device");
Close( p_this );
return VLC_EGENERIC;
}
}
#endif
if( p_sys->focus )
{
if( dc1394_feature_set_value( p_sys->camera,
DC1394_FEATURE_FOCUS,
p_sys->focus ) != DC1394_SUCCESS )
{
msg_Err( p_demux, "Unable to set initial focus to %u",
p_sys->focus );
}
else
msg_Dbg( p_demux, "Initial focus set to %u", p_sys->focus );
}
if( dc1394_feature_set_value( p_sys->camera,
DC1394_FEATURE_FOCUS,
p_sys->brightness ) != DC1394_SUCCESS )
{
msg_Err( p_demux, "Unable to set initial brightness to %u",
p_sys->brightness );
}
else
msg_Dbg( p_demux, "Initial brightness set to %u", p_sys->brightness );
if( dc1394_video_set_framerate( p_sys->camera,
p_sys->frame_rate ) != DC1394_SUCCESS )
{
msg_Err( p_demux, "Unable to set framerate");
Close( p_this );
return VLC_EGENERIC;
}
if( dc1394_video_set_mode( p_sys->camera,
p_sys->video_mode ) != DC1394_SUCCESS )
{
msg_Err( p_demux, "Unable to set video mode");
Close( p_this );
return VLC_EGENERIC;
}
if( dc1394_video_set_iso_speed( p_sys->camera,
DC1394_ISO_SPEED_400 ) != DC1394_SUCCESS )
{
msg_Err( p_demux, "Unable to set iso speed");
Close( p_this );
return VLC_EGENERIC;
}
/* and setup capture */
res = dc1394_capture_setup( p_sys->camera,
p_sys->dma_buffers,
DC1394_CAPTURE_FLAGS_DEFAULT);
if( res != DC1394_SUCCESS )
{
if( res == DC1394_NO_BANDWIDTH )
{
msg_Err( p_demux ,"No bandwidth: try adding the "
"\"resetbus\" option" );
}
else
{
msg_Err( p_demux ,"Unable to setup capture" );
}
Close( p_this );
return VLC_EGENERIC;
}
/* TODO - UYV444 chroma converter is missing, when it will be available
* fourcc will become variable (and not just a fixed value for UYVY)
*/
i_width = p_sys->width;
i_height = p_sys->height;
if( picture_Setup( &p_sys->pic, VLC_CODEC_UYVY,
i_width, i_height, 1, 1 ) )
{
msg_Err( p_demux ,"unknown chroma" );
Close( p_this );
return VLC_EGENERIC;
}
es_format_Init( &fmt, VIDEO_ES, VLC_CODEC_UYVY );
fmt.video.i_width = i_width;
fmt.video.i_height = i_height;
msg_Dbg( p_demux, "Added new video es %4.4s %dx%d",
(char*)&fmt.i_codec, fmt.video.i_width, fmt.video.i_height );
p_sys->p_es_video = es_out_Add( p_demux->out, &fmt );
if( p_sys->audio_device )
{
if( OpenAudioDev( p_demux ) == VLC_SUCCESS )
{
es_format_t fmt;
es_format_Init( &fmt, AUDIO_ES, VLC_CODEC_S16L ); /* FIXME: hmm, ?? */
fmt.audio.i_channels = p_sys->channels ? p_sys->channels : 1;
fmt.audio.i_rate = p_sys->i_sample_rate;
fmt.audio.i_bitspersample = 16;
fmt.audio.i_blockalign = fmt.audio.i_channels *
fmt.audio.i_bitspersample / 8;
fmt.i_bitrate = fmt.audio.i_channels * fmt.audio.i_rate *
fmt.audio.i_bitspersample;
msg_Dbg( p_demux, "New audio es %d channels %dHz",
fmt.audio.i_channels, fmt.audio.i_rate );
p_sys->p_es_audio = es_out_Add( p_demux->out, &fmt );
}
}
/* have the camera start sending us data */
if( dc1394_video_set_transmission( p_sys->camera,
DC1394_ON ) != DC1394_SUCCESS )
{
msg_Err( p_demux, "Unable to start camera iso transmission" );
dc1394_capture_stop( p_sys->camera );
Close( p_this );
return VLC_EGENERIC;
}
msg_Dbg( p_demux, "Set iso transmission" );
// TODO: reread camera
return VLC_SUCCESS;
}
int main (int argc, char **argv)
{
dc1394camera_t *camera = NULL;
uint64_t guid = 0x0LL;
dc1394_t * d;
dc1394camera_list_t * list;
dc1394error_t err;
d = dc1394_new ();
if (!d)
return 1;
err=dc1394_camera_enumerate (d, &list);
DC1394_ERR_RTN(err,"Failed to enumerate cameras");
if (list->num == 0) {
dc1394_log_error("No cameras found");
return 1;
}
/* parse arguments */
if (argc == 2) {
if (!strcmp (argv[1], "--list-cameras"))
list_cameras (d, list);
else
print_usage();
dc1394_camera_free_list (list);
dc1394_free (d);
return 0;
} else if (argc == 3) {
if (!strcmp (argv[1], "--guid")) {
if (sscanf (argv[2], "0x%"PRIx64, &guid) == 1) {
} else {
dc1394_camera_free_list (list);
dc1394_free (d);
return print_usage();
}
}
} else if (argc != 1) {
dc1394_camera_free_list (list);
dc1394_free (d);
return print_usage();
}
if (guid == 0x0LL) {
printf ("I: found %d camera%s, working with camera 0\n", list->num,
list->num == 1 ? "" : "s");
camera = dc1394_camera_new (d, list->ids[0].guid);
} else {
camera = dc1394_camera_new (d, guid);
if (camera == NULL) {
dc1394_log_error("no camera with guid 0x%"PRIx64" found", guid);
return 1;
}
printf ("I: found camera with guid 0x%"PRIx64"\n", guid);
}
dc1394_camera_print_info (camera, stdout);
printf ("\nSFF feature info:\n");
dc1394_basler_sff_feature_print_all (camera, stdout);
dc1394_camera_free (camera);
dc1394_camera_free_list (list);
dc1394_free (d);
return 0;
}
void Libdc1394SequenceGrabber::populateDeviceInfoList(cefix::SequenceGrabberDeviceInfoList& devices)
{
dc1394_t * d;
dc1394camera_list_t * list;
dc1394error_t err;
dc1394video_modes_t video_modes;
dc1394framerates_t framerates;
d = Libdc1394Context::get();
if (!d)
return;
err=dc1394_camera_enumerate (d, &list);
for(unsigned int i = 0; i < list->num; ++i) {
osg::notify(osg::INFO) << "UID: " << list->ids[i].guid << std::endl;
dc1394camera_t* camera = dc1394_camera_new (d, list->ids[i].guid);
if (!camera) continue;
devices.push_back(cefix::SequenceGrabber::DeviceInfo(getGrabberId(), cefix::longToHexString(list->ids[i].guid)));
dc1394_camera_print_info(camera, stdout);
err=dc1394_video_get_supported_modes(camera,&video_modes);
osg::notify(osg::INFO) << "available video-modes: " << std::endl;
for (int j = 0;j < video_modes.num;j++)
{
osg::notify(osg::INFO) << "* " << getVideoMode(video_modes.modes[j]);
if (dc1394_video_get_supported_framerates(camera, video_modes.modes[j], &framerates) == DC1394_SUCCESS) {
osg::notify(osg::INFO) << " fps: ";
for(unsigned int k = 0; k < framerates.num; ++k) {
osg::notify(osg::INFO) << " " << getFrameRate(framerates.framerates[k]);
}
}
osg::notify(osg::INFO) << std::endl;
}
dc1394featureset_t features;
dc1394_feature_get_all(camera, &features);
dc1394_feature_print_all(&features, stdout);
/*
for( int j = 0; j < DC1394_FEATURE_NUM; j++ )
{
const dc1394feature_info_t& f = features.feature[j];
if( f.available )
{
std::cout << getNameOfFeature(f.id) << std::endl;
std::cout << " current mode: ";
switch(f.current_mode) {
case DC1394_FEATURE_MODE_MANUAL:
std::cout << "manual";
break;
case DC1394_FEATURE_MODE_AUTO:
std::cout << "auto";
break;
case DC1394_FEATURE_MODE_ONE_PUSH_AUTO:
std::cout << "one-push";
break;
}
std::cout << std::endl;
std::cout << " min: " << f.min << " max: " << f.max << " value: " << f.value << std::endl;
if (f.absolute_capable==DC1394_TRUE) {
std::cout << " abs:min: " << f.abs_min << " max: " << f.abs_max << " value: " << f.abs_value << std::endl;
}
}
}
*/
dc1394_camera_free(camera);
}
dc1394_camera_free_list(list);
}
int main(int argc, const char * argv[]) {
dc1394_t *d;
dc1394camera_list_t *list;
dc1394error_t err;
dc1394camera_t *camera;
dc1394format7modeset_t modeset;
dc1394video_frame_t *frame;
FILE* imagefile;
char filename[256];
int i = 0;
d = dc1394_new();
if (!d) {
return 1;
}
err = dc1394_camera_enumerate(d, &list);
DC1394_ERR_RTN(err, "Failed to enumerate cameras");
if (list->num == 0) {
dc1394_log_error("No cameras found");
dc1394_free(d);
return 1;
}
printf("Detected %d cameras\n", list->num);
// Assume that Ladybug 5 is detected as camera #0
camera = dc1394_camera_new(d, list->ids[0].guid);
if (!camera) {
dc1394_log_error("Failed to initialize camera with guid %llx", list->ids[0].guid);
dc1394_free(d);
}
dc1394_camera_free_list(list);
printf("Using camera %s %s\n", camera->vendor, camera->model);
// Report camera info
err = dc1394_camera_print_info(camera, stdout);
DC1394_ERR_RTN(err, "Could not print camera info");
// Setup video mode, etc...
err = dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_1394B);
DC1394_ERR_RTN(err, "Could not set B mode");
err = dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_MAX);
DC1394_ERR_RTN(err, "Could not set max speed");
err = dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_FORMAT7_0);
DC1394_ERR_RTN(err, "Could not set DC1394_VIDEO_MODE_FORMAT7_0");
// Get format7 mode info
err = dc1394_format7_get_modeset(camera, &modeset);
DC1394_ERR_RTN(err, "Could not get format 7 mode info\n");
print_format7_info(&modeset);
// Set format 7 roi
err = dc1394_format7_set_roi(camera,
DC1394_VIDEO_MODE_FORMAT7_0,
modeset.mode[0].color_coding,
modeset.mode[0].max_packet_size,
modeset.mode[0].pos_x,
modeset.mode[0].pos_y,
modeset.mode[0].max_size_x,
modeset.mode[0].max_size_y);
DC1394_ERR_RTN(err, "Could not set max ROI");
// Set capture
err = dc1394_capture_setup(camera, 10, DC1394_CAPTURE_FLAGS_DEFAULT);
DC1394_ERR_RTN(err, "Could not setup capture");
err = dc1394_video_set_transmission(camera, DC1394_ON);
DC1394_ERR_RTN(err, "Could not start transmission");
while (i < NFRAMES) {
// Capture image
printf("Capturing image %d\n", i);
err = dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
DC1394_ERR_RTN(err, "Could not dequeue a frame");
// Do something with the image
print_frame_info(frame);
// Save the image
sprintf(filename, "%05d.pgm",i);
imagefile = fopen(filename, "wb");
if ( imagefile == NULL ) {
printf("Could not save image\n");
continue;
}
fprintf(imagefile, "P5\n%u %u 255\n", frame->size[0], frame->size[1]);
fwrite(frame->image, 1, frame->image_bytes, imagefile);
fclose(imagefile);
printf("Saved image %s\n", filename);
err = dc1394_capture_enqueue(camera, frame);
DC1394_ERR_RTN(err, "Could enqueue a frame");
i++;
}
dc1394_camera_free(camera);
dc1394_free(d);
return 0;
}
