//--------------------------------------------------------------------
bool ofxVideoGrabberPtgrey::initGrabber(int w, int h, bool setUseTexture){
width = w;
height = h;
bUseTexture = setUseTexture;
// In format_7 the framerate is set by setting the packet_size
// this is used in dc1394_format7_set_roi()
// The following formula is from the libdc1394 faq
// http://damien.douxchamps.net/ieee1394/libdc1394/v2.x/faq/#How_can_I_work_out_the_packet_size_for_a_wanted_frame_rate
float bus_period = 0.000125; // for firewire 400
int frame_rate = 60;
int depth = 3;
int num_packets = (int)(1.0/(bus_period*frame_rate) + 0.5);
//packet_size = (width*height*depth + (num_packets*8) - 1)/(num_packets*8);
packet_size = DC1394_USE_MAX_AVAIL;
//first choose a device to use
if( bChooseDevice ) {
bool bFound = false;
for (uint32_t index = 0; index < deviceList->num; index++) {
if (deviceList->ids[index].unit == deviceID) {
bFound = true;
deviceID = deviceList->ids[index].guid;
}
}
if (!bFound) {
printf("initGrabber warning: Device ID for unit %x not found, using first device\n", deviceID);
deviceID = deviceList->ids[0].guid;
}
} else if(deviceList->num > 0) {
deviceID = deviceList->ids[0].guid;
} else {
ofLog(OF_LOG_ERROR, "in initGrabber, No cameras found");
}
camera = dc1394_camera_new(driver, deviceID);
if (!camera) {
ofLog(OF_LOG_ERROR, "Failed to initialize camera with guid %x", deviceID);
return 1;
}
/*-----------------------------------------------------------------------
* setup capture
*-----------------------------------------------------------------------*/
err = dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400);
if( err != DC1394_SUCCESS ) { ofLog(OF_LOG_ERROR, "failed to set iso speed"); }
err = dc1394_video_set_mode( camera, video_mode );
if( err != DC1394_SUCCESS ) { ofLog(OF_LOG_ERROR, "failed to set format 7 video mode"); }
err = dc1394_format7_set_color_coding(camera, video_mode, color_coding);
if( err != DC1394_SUCCESS ) { ofLog(OF_LOG_ERROR, "failed to set format 7 color coding"); }
err = dc1394_format7_set_packet_size(camera, video_mode, packet_size);
if( err != DC1394_SUCCESS ) { ofLog(OF_LOG_ERROR, "failed to set format 7 packet_size"); }
err = dc1394_format7_set_roi(camera, video_mode, color_coding, packet_size, 0,0, width,height);
if( err != DC1394_SUCCESS ) {
ofLog(OF_LOG_ERROR, "failed to set format 7");
}
//err = dc1394_video_set_framerate(camera, framerate);
//DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set framerate");
err = dc1394_capture_setup(camera,2, DC1394_CAPTURE_FLAGS_DEFAULT);
if( err != DC1394_SUCCESS ) { ofLog(OF_LOG_ERROR, "failed to setup dma capturing"); }
/*-----------------------------------------------------------------------
* set camera's features
*-----------------------------------------------------------------------*/
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_BRIGHTNESS, DC1394_FEATURE_MODE_MANUAL);
err = dc1394_feature_set_value(camera, DC1394_FEATURE_BRIGHTNESS, 200); //1-255
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_EXPOSURE, DC1394_FEATURE_MODE_MANUAL);
err = dc1394_feature_set_value(camera, DC1394_FEATURE_EXPOSURE, 62); //7-62
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);
err = dc1394_feature_set_value(camera, DC1394_FEATURE_SHUTTER, 60); //1-263, 64 being the max for 60fps
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_GAIN, DC1394_FEATURE_MODE_MANUAL);
err = dc1394_feature_set_value(camera, DC1394_FEATURE_GAIN, 50); //16-64
//err = dc1394_feature_set_mode(camera, DC1394_FEATURE_PAN, DC1394_FEATURE_MODE_MANUAL);
//err = dc1394_feature_set_value(camera, DC1394_FEATURE_PAN, 56);
/*-----------------------------------------------------------------------
* report camera's 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);
}
/*-----------------------------------------------------------------------
* have the camera start sending us data
*-----------------------------------------------------------------------*/
err=dc1394_video_set_transmission(camera, DC1394_ON);
//DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not start camera iso transmission");
//create pixel buffer
pixels = new unsigned char[width * height * 3];
//create texture
if (bUseTexture) {
tex.allocate(width,height,GL_LUMINANCE);
memset(pixels, 0, width*height);
tex.loadData(pixels, width, height, GL_LUMINANCE);
}
}
CameraIIDC::CameraIIDC(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode) {
context = dc1394_new();
dc1394camera_list_t *camera_list;
dc1394error_t err;
err = dc1394_camera_enumerate(context, &camera_list);
if(camNum+1 > camera_list->num){
cerr << "libdc1394: Selected camera is not available!";
return;
}
cam = NULL;
cam = dc1394_camera_new(context, camera_list->ids[camNum].guid);
if(!cam){
cerr << "libdc1394: Could not open camera!";
return;
}
dc1394_camera_free_list(camera_list);
// // Get video modes
// dc1394video_modes_t video_modes;
// err=dc1394_video_get_supported_modes(cam, &video_modes);
// DC1394_WRN(err,"Can't get video modes");
// // Select highest res mode
// int i;
// dc1394color_coding_t coding;
// for (i=video_modes.num-1;i>=0;i--) {
// if (!dc1394_is_video_mode_scalable(video_modes.modes[i])) {
// dc1394_get_color_coding_from_video_mode(cam, video_modes.modes[i], &coding);
// DC1394_WRN(err,"libdc1394: Could not get color coding");
// if (coding==DC1394_COLOR_CODING_MONO8) {
// video_mode=video_modes.modes[i];
// break;
// }
// }
// }
// if (i < 0) {
// cerr << "libdc1394: Could not get a valid gray scale mode!";
// return;
// }
// Select format 7 mode 0
video_mode = DC1394_VIDEO_MODE_FORMAT7_0;
// Set bit depth
err = dc1394_format7_set_color_coding(cam, video_mode, DC1394_COLOR_CODING_MONO8);
if (err!=DC1394_SUCCESS)
cerr << "libdc1394: Could not set video mode or color coding!";
// // Set video mode
// err=dc1394_video_set_mode(cam, video_mode);
// if (err!=DC1394_SUCCESS)
// cerr << "libdc1394: Could not set video mode!";
// Setup capture
err=dc1394_video_set_operation_mode(cam, DC1394_OPERATION_MODE_1394B);
if (err!=DC1394_SUCCESS)
cerr << "libdc1394: Could not set operation mode!";
err=dc1394_video_set_iso_speed(cam, DC1394_ISO_SPEED_800);
if (err!=DC1394_SUCCESS)
cerr << "libdc1394: Could not set iso speed!";
// Size of ringbuffer (Note: on OS X 10.9, size must be greater than 1)
#ifdef __APPLE__
unsigned int bufferSize = 2;
#else
unsigned int bufferSize = 1;
#endif
err=dc1394_capture_setup(cam, bufferSize, DC1394_CAPTURE_FLAGS_DEFAULT);
if (err!=DC1394_SUCCESS)
cerr << "libdc1394: Could not set up camera!";
// Disable auto exposure mode
dc1394_feature_set_power(cam, DC1394_FEATURE_EXPOSURE, DC1394_OFF);
// Disable gamma mode
dc1394_feature_set_power(cam, DC1394_FEATURE_GAMMA, DC1394_OFF);
// Disable sharpness mode
dc1394_feature_set_power(cam, DC1394_FEATURE_SHARPNESS, DC1394_OFF);
// Disable frame-rate mode
dc1394_feature_set_power(cam, DC1394_FEATURE_FRAME_RATE, DC1394_OFF);
// Set manual settings
dc1394_feature_set_mode(cam, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);
dc1394_feature_set_mode(cam, DC1394_FEATURE_GAIN, DC1394_FEATURE_MODE_MANUAL);
// Set reasonable default settings
CameraSettings settings;
//settings.shutter = 8.333;
settings.shutter = 16.66;
settings.gain = 0.0;
this->setCameraSettings(settings);
// Print camera features and settings
dc1394featureset_t features;
err=dc1394_feature_get_all(cam, &features);
DC1394_WRN(err, "libdc1394: Could not get feature set.");
dc1394_feature_print_all(&features, stdout);
fflush(stdout);
return;
}
Libdc1394SequenceGrabber::Libdc1394SequenceGrabber(const std::string& name, unsigned int w, unsigned int h, unsigned int rate)
: cefix::SequenceGrabber(name, w, h, rate),
_context(Libdc1394Context::get()),
_camera(NULL),
_firstFrame(true),
_bayerMethod(DC1394_BAYER_METHOD_BILINEAR),
_bayerPattern(DC1394_COLOR_FILTER_RGGB)
{
msg(osg::INFO) << "LibdcSequenceGrabber " << name << std::endl;
setImage(new osg::ImageStream());
getImage()->setOrigin(osg::Image::TOP_LEFT);
uint64_t uid = 0;
bool grey = false;
_format7 = false;
int format_7_format_delta(0);
if (name.empty() == false) {
std::vector<std::string> parts;
cefix::strTokenize(name,parts,":");
uid=cefix::hexToLong(parts[0]);
for(unsigned int i = 1; i < parts.size(); ++i) {
std::string part = cefix::strToLower(parts[i]);
if (part == "grey")
grey = true;
else if (part == "format7") {
_format7 = true;
if (i+1 < parts.size()) {
format_7_format_delta = atoi(parts[i+1].c_str());
++i;
}
}
}
}
if (_roi.height == 0) _roi.height = h;
if (_roi.width == 0) _roi.width = w;
initCamera(uid);
if (_camera) {
unsigned int video_mode(0);
unsigned int color_mode(0);
if (_format7)
{
video_mode = DC1394_VIDEO_MODE_FORMAT7_0+format_7_format_delta;
color_mode = (!grey) ? DC1394_COLOR_CODING_RGB8 : DC1394_COLOR_CODING_MONO8;
}
if (!initVideoMode(w,h, grey, video_mode, color_mode)) {
grey = !grey;
msg(osg::INFO) << " could not find suitable video mode, toggling grey/color " << std::endl;
if (!initVideoMode(w,h, grey)) {
msg(osg::WARN) << "could not find suitable video mode for " << w << "x" << h << std::endl;
}
}
initFrameRate(rate);
dc1394error_t err;
if (_format7) {
err = dc1394_format7_set_color_coding(_camera, _videomode, (dc1394color_coding_t)color_mode);
checkSuccess(err, "dc1394_format7_set_color_coding failed");
}
if (_format7) {
err = dc1394_format7_get_image_size(_camera, _videomode, &w, &h);
checkSuccess(err, "dc1394_format7_get_image_size failed");
}
else
{
err = dc1394_get_image_size_from_video_mode(_camera, _videomode, &w, &h);
checkSuccess(err, "dc1394_get_image_size_from_video_mode failed");
}
}
if (grey) {
getImage()->allocateImage(w,h,1,GL_LUMINANCE, GL_UNSIGNED_BYTE);
} else {
getImage()->allocateImage(w,h,1,GL_RGB, GL_UNSIGNED_BYTE);
}
_grey = grey;
}
