//--------------------------------------------------------------------
ofxVideoGrabberPtgrey::ofxVideoGrabberPtgrey(){
bIsFrameNew = false;
bVerbose = false;
bGrabberInited = false;
bUseTexture = true;
bChooseDevice = false;
deviceID = 0;
width = 320; // default setting
height = 240; // default setting
pixels = NULL;
frame = NULL;
driver = NULL;
deviceList = NULL;
camera = NULL;
video_mode = DC1394_VIDEO_MODE_FORMAT7_0; //2x2 pixel binning
color_coding = DC1394_COLOR_CODING_MONO8;
framerate = DC1394_FRAMERATE_60;
driver = dc1394_new();
if (!driver) { return; }
err = dc1394_camera_enumerate(driver, &deviceList);
if(err){ ofLog(OF_LOG_ERROR, "Failed to enumerate cameras"); }
if( deviceList->num == 0 ) {
ofLog(OF_LOG_ERROR, "No cameras found");
}
}
vector<CameraInfo> CameraIIDC::getCameraList(){
dc1394_t *context = dc1394_new();
dc1394camera_list_t *camera_list;
dc1394error_t err;
err = dc1394_camera_enumerate(context, &camera_list);
DC1394_WRN(err,"libdc1394: Failed to enumerate cameras!");
vector<CameraInfo> ret;
for (unsigned int i=0; i<camera_list->num; i++) {
CameraInfo info;
dc1394camera_t *cam;
cam = dc1394_camera_new(context, camera_list->ids[i].guid);
//info.vendor = std::string(cam->vendor ? cam->vendor : "");
info.vendor = "IIDC";
info.model = string(cam->model ? cam->model : "");
info.busID = (unsigned int)cam->guid;
dc1394_camera_free(cam);
ret.push_back(info);
}
dc1394_camera_free_list(camera_list);
dc1394_free(context);
return ret;
}
FirewireVideo::FirewireVideo(
unsigned deviceid,
dc1394video_mode_t video_mode,
dc1394framerate_t framerate,
dc1394speed_t iso_speed,
int dma_buffers
) :running(false),top(0),left(0)
{
d = dc1394_new ();
if (!d)
throw VideoException("Failed to get 1394 bus");
err=dc1394_camera_enumerate (d, &list);
if( err != DC1394_SUCCESS )
throw VideoException("Failed to enumerate cameras");
if (list->num == 0)
throw VideoException("No cameras found");
if( deviceid >= list->num )
throw VideoException("Invalid camera index");
const uint64_t guid = list->ids[deviceid].guid;
dc1394_camera_free_list (list);
init_camera(guid,dma_buffers,iso_speed,video_mode,framerate);
}
FirewireVideo::FirewireVideo(
unsigned deviceid,
dc1394video_mode_t video_mode,
float framerate,
uint32_t width, uint32_t height,
uint32_t left, uint32_t top,
dc1394speed_t iso_speed,
int dma_buffers, bool reset_at_boot
) :running(false)
{
d = dc1394_new ();
if (!d)
throw VideoException("Failed to get 1394 bus");
err=dc1394_camera_enumerate (d, &list);
if( err != DC1394_SUCCESS )
throw VideoException("Failed to enumerate cameras");
if (list->num == 0)
throw VideoException("No cameras found");
if( deviceid >= list->num )
throw VideoException("Invalid camera index");
const uint64_t guid = list->ids[deviceid].guid;
dc1394_camera_free_list (list);
init_format7_camera(guid,dma_buffers,iso_speed,video_mode,framerate,width,height,left,top, reset_at_boot);
}
void ofxLibdc::startLibdcContext() {
if(libdcCameras == 0) {
ofLog(OF_LOG_VERBOSE, "Creating libdc1394 context with dc1394_new().");
libdcContext = dc1394_new();
}
libdcCameras++;
}
static dc1394camera_t *open_camera(void)
{
dc1394_t *d;
dc1394camera_list_t * list;
dc1394camera_t *camera;
dc1394error_t err;
d = dc1394_new();
if (!d) {
return NULL;
}
err = dc1394_camera_enumerate(d, &list);
if (err != DC1394_SUCCESS) {
dc1394_free(d);
return NULL;
}
if (list->num == 0) {
dc1394_free(d);
return NULL;
}
camera = dc1394_camera_new(d, list->ids[0].guid);
if (!camera) {
dc1394_free(d);
return NULL;
}
dc1394_camera_free_list(list);
printf("Using camera with GUID %"PRIx64"\n", camera->guid);
return camera;
}
CameraInfo* FWCamera::getCameraInfos(int deviceNumber)
{
#ifdef AVG_ENABLE_1394_2
dc1394_t* pDC1394 = dc1394_new();
if (pDC1394 == 0) {
AVG_ASSERT(false);
return NULL;
}
dc1394camera_list_t * pCameraList;
int err=dc1394_camera_enumerate(pDC1394, &pCameraList);
if (err != DC1394_SUCCESS) {
AVG_ASSERT(false);
return NULL;
}
if (pCameraList->num != 0) {
dc1394camera_id_t id = pCameraList->ids[deviceNumber];
dc1394camera_t * pCamera = dc1394_camera_new_unit(pDC1394, id.guid,
id.unit);
if (pCamera) {
stringstream deviceID;
deviceID << hex << id.guid;//pCamera->guid;
CameraInfo* camInfo = new CameraInfo("Firewire", deviceID.str());
getCameraControls(pCamera, camInfo);
getCameraImageFormats(pCamera, camInfo);
dc1394_camera_free(pCamera);
dc1394_camera_free_list(pCameraList);
dc1394_free(pDC1394);
return camInfo;
}
}
#endif
return NULL;
}
int _setupCam(long yExpo, long yGain, long *sizex, long *sizey, long speed){
dc1394camera_list_t * list;
dc1394_t *d = dc1394_new ();
if (!d)
return -1;
dc1394speed_t iso_speed;
if(speed == 400)
iso_speed = DC1394_ISO_SPEED_400;
else if(speed == 800)
iso_speed = DC1394_ISO_SPEED_800;
else
return -1;
//iso_speed = DC1394_ISO_SPEED_400;
dc1394_log_register_handler(DC1394_LOG_WARNING, NULL, NULL);
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;
}
camera = dc1394_camera_new (d, list->ids[0].guid);
if (!camera) {
dc1394_log_error("Failed to initialize camera with guid %lld", list->ids[0].guid);
return -1;
}
dc1394_camera_free_list (list);
printf("Using camera with GUID %lld\n", camera->guid);
release_iso_and_bw();
uint32_t expo = yExpo;
uint32_t gain = yGain;
/*-----------------------------------------------------------------------
* setup capture
*-----------------------------------------------------------------------*/
dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_1394B);
DC1394_ERR_CLN_RTN(err,_unsetupCam(),"Could not set operation mode");
err=dc1394_video_set_iso_speed(camera, iso_speed);
DC1394_ERR_CLN_RTN(err,_unsetupCam(),"Could not set iso speed");
_setVideoMode(0, sizex, sizey);
err=dc1394_feature_set_value(camera, DC1394_FEATURE_GAIN, gain);
DC1394_ERR_CLN_RTN(err,_unsetupCam(),"Could not define gain");
err=dc1394_feature_set_value(camera, DC1394_FEATURE_SHUTTER, expo);
DC1394_ERR_CLN_RTN(err,_unsetupCam(),"Could not define shutter");
return 0;
}
Camera::Camera() {
camDict = dc1394_new();
error = dc1394_camera_enumerate(camDict, &camList);
if (error != DC1394_SUCCESS) {
std::cerr << "Failed to enumerate cameras." << std::endl;
exit(EXIT_FAILURE);
}
numCams = camList->num;
numDMABuffers = 3;
FRAME_RATE = 15;
/* undistort camera matrices */
K = cv::Mat::eye(3, 3, CV_64FC1);
K.at<double>(0,0) = 751.79662626559286; /* fx */
K.at<double>(1,1) = 750.65231364204442; /* fy */
K.at<double>(0,2) = 306.70009070155015; /* cx */
K.at<double>(1,2) = 216.11302664191402; /* cy */
dist = cv::Mat::zeros(1, 4, CV_64FC1);
dist.at<double>(0,0) = -0.38694196102815248; /* dist1 */
dist.at<double>(0,1) = 0.15311947060864667; /* dist2 */
dist.at<double>(0,2) = 0.002582758567387712; /* dist3 */
dist.at<double>(0,3) = 0.0036405418524754108; /* dist4 */
/* minimum resolution of camera */
camFrameHeight = IMG_HEIGHT;
camFrameWidth = IMG_WIDTH;
/* we crop images to quadratic dimensions for evenly divisable work-group items */
height = width = camFrameHeight;
/* image index iterating modulo 8 */
imgIdx = START_LED;
/* loading images for test mode */
std::stringstream s;
s << PATH_ASSETS << "butterfly/image_ambient.png";
ambientImage = cv::imread(s.str(), CV_LOAD_IMAGE_GRAYSCALE);
avgImgIntensity = cv::mean(ambientImage)[0];
for (int i=0; i<8; i++) {
std::stringstream s;
s << PATH_ASSETS << "butterfly/image" << i << ".png";
cv::Mat img = cv::imread(s.str(), CV_LOAD_IMAGE_GRAYSCALE);
cv::GaussianBlur(img, img, cv::Size(3,3), 1.2);
testImages.push_back(img);
}
/* counter iterating over (modulo 8) LEDs assigning image to current LED */
imgIdx = 3;
testMode = false;
/* setup undistortion */
initUndistLUT();
}
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;
}
void DC1394Camera::initLibDC1394()
{
// Increment reference count
s_camCount++;
if (s_camCount == 1)
{
// Create library handle
LOGGER.infoStream() << "Creating dc1394 library handle";
s_libHandle = dc1394_new();
}
}
bool Libdc1394Grabber::initDc1394System()
{
/* Initialise libdc1394 */
if(!dc1394) {
dc1394 = dc1394_new ();
}
if (!dc1394) {
ofLog(OF_LOG_FATAL_ERROR,"Failed to initialise libdc1394.");
return false;
}
return true;
}
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;
}
FirewireVideo::FirewireVideo(
Guid guid,
dc1394video_mode_t video_mode,
dc1394framerate_t framerate,
dc1394speed_t iso_speed,
int dma_buffers
) :running(false),top(0),left(0)
{
d = dc1394_new ();
if (!d)
throw VideoException("Failed to get 1394 bus");
init_camera(guid.guid,dma_buffers,iso_speed,video_mode,framerate);
}
int FWCamera::countCameras()
{
#ifdef AVG_ENABLE_1394_2
dc1394_t* pDC1394 = dc1394_new();
if (pDC1394 == 0) {
return 0;
}
dc1394camera_list_t * pCameraList;
int err=dc1394_camera_enumerate(pDC1394, &pCameraList);
if (err == DC1394_SUCCESS) {
int numCameras = pCameraList->num;
return numCameras;
}
#endif
return 0;
}
FirewireVideo::FirewireVideo(
Guid guid,
dc1394video_mode_t video_mode,
float framerate,
uint32_t width, uint32_t height,
uint32_t left, uint32_t top,
dc1394speed_t iso_speed,
int dma_buffers, bool reset_at_boot
) :running(false)
{
d = dc1394_new ();
if (!d)
throw VideoException("Failed to get 1394 bus");
init_format7_camera(guid.guid,dma_buffers,iso_speed,video_mode,framerate,width,height,left,top, reset_at_boot);
}
int main(int argc, char *argv[])
{
dc1394camera_t * camera;
dc1394error_t err;
dc1394video_frame_t * frame;
dc1394_t * d;
dc1394camera_list_t * list;
d = dc1394_new (); /* Initialize libdc1394 */
if (!d)
return 1;
err=dc1394_camera_enumerate (d, &list); /* Find cameras */
DC1394_ERR_RTN(err,"Failed to enumerate cameras");
if (list->num == 0) { /* Verify that we have at least one camera */
dc1394_log_error("No cameras found");
return 1;
}
camera = dc1394_camera_new (d, list->ids[0].guid); /* Work with first camera */
if (!camera) {
dc1394_log_error("Failed to initialize camera with guid %llx", list->ids[0].guid);
return 1;
}
dc1394_camera_free_list (list);
err=dc1394_capture_setup(camera, 4, DC1394_CAPTURE_FLAGS_DEFAULT); /* Setup capture */
err=dc1394_video_set_transmission(camera, DC1394_ON); /* Start transmission */
err=dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);/* Capture */
DC1394_ERR_RTN(err,"Problem getting an image");
err=dc1394_capture_enqueue(camera, frame); /* Release the buffer */
err=dc1394_video_set_transmission(camera, DC1394_OFF); /* Stop transmission */
err=dc1394_capture_stop(camera); /* Stop capture */
printf("Hello World\n"); /* Hey, this is a HELLO WORLD program!! */
dc1394_camera_free (camera); /* cleanup and exit */
dc1394_free (d);
return 0;
}
int
main (int argc, char **argv)
{
opts_t opts = OPTS_INIT;
dc1394_t *dc1394_cxt = NULL;
dc1394camera_list_t *cam_list = NULL;
dc1394error_t err;
if (argc < 2)
{
show_help ();
return EXIT_SUCCESS;
}
parse_opts (&opts, argc, argv);
dc1394_cxt = dc1394_new ();
if (dc1394_cxt == NULL)
{
printf ("error: dc1394_new() failed.\n");
return EXIT_FAILURE;
}
err = dc1394_camera_enumerate (dc1394_cxt, &cam_list);
if (err != DC1394_SUCCESS || cam_list == NULL)
{
printf ("error: dc1394_camera_enumerate() failed.\n");
dc1394_free (dc1394_cxt);
return EXIT_FAILURE;
}
/* reset specified buses */
if (opts.show_list == 0)
{
reset_bus (&opts, dc1394_cxt, cam_list);
}
else /* show the list of detected cameras */
{
list_cameras (dc1394_cxt, cam_list);
}
dc1394_camera_free_list (cam_list);
dc1394_free (dc1394_cxt);
return EXIT_SUCCESS;
}
void FWCamera::resetBus()
{
#ifdef AVG_ENABLE_1394_2
dc1394_t* pDC1394 = dc1394_new();
if (pDC1394 == 0) {
return;
}
dc1394camera_list_t * pCameraList;
int err=dc1394_camera_enumerate(pDC1394, &pCameraList);
if (err == DC1394_SUCCESS) {
if (pCameraList->num != 0) {
dc1394camera_t * pCam = dc1394_camera_new(pDC1394, pCameraList->ids[0].guid);
if (pCam) {
dc1394_reset_bus(pCam);
dc1394_camera_free(pCam);
}
}
dc1394_camera_free_list(pCameraList);
}
dc1394_free(pDC1394);
#endif
}
/** Set up device connection to first camera on the bus.
*
* @returns true if successful
*
* Failure cleanup is sketchy, but that is OK because the node
* terminates, anyway.
*/
bool setup(void)
{
dc1394_t *dev = dc1394_new();
if (dev == NULL)
{
ROS_FATAL("Failed to initialize dc1394_context.");
return false;
}
// list all 1394 cameras attached to this computer
dc1394camera_list_t *cameras;
int err = dc1394_camera_enumerate(dev, &cameras);
if (err != DC1394_SUCCESS)
{
ROS_FATAL("Could not get list of cameras");
return false;
}
if (cameras->num == 0)
{
ROS_FATAL("No cameras found");
return false;
}
// attach to first camera found
ROS_INFO_STREAM("Connecting to first camera, GUID: "
<< std::setw(16) << std::setfill('0') << std::hex
<< cameras->ids[0].guid);
camera_ = dc1394_camera_new(dev, cameras->ids[0].guid);
if (!camera_)
{
ROS_FATAL("Failed to initialize camera.");
return false;
}
dc1394_camera_free_list(cameras);
return true;
}
int main(int argc, char *argv[])
{
fitsfile *fptr;
long fpixel=1, nelements, naxes[3];
dc1394camera_t *camera;
int grab_n_frames;
struct timeval start_time, end_time;
time_t start_sec, end_sec;
suseconds_t start_usec, end_usec;
float elapsed_time, fps;
int i, status;
unsigned int min_bytes, max_bytes, max_height, max_width;
unsigned int actual_bytes;
uint64_t total_bytes = 0;
unsigned int width, height;
dc1394video_frame_t *frame=NULL;
dc1394_t * d;
dc1394camera_list_t * list;
dc1394error_t err;
char *filename;
grab_n_frames = atoi(argv[1]);
filename = argv[2];
width = 320;
height = 240;
naxes[0] = width;
naxes[1] = height;
naxes[2] = grab_n_frames;
nelements = naxes[0]*naxes[1]*naxes[2];
stderr = freopen("grab_cube.log", "w", stderr);
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;
}
camera = dc1394_camera_new (d, list->ids[0].guid);
if (!camera) {
dc1394_log_error("Failed to initialize camera with guid %"PRIx64,
list->ids[0].guid);
return 1;
}
dc1394_camera_free_list (list);
printf("Using camera with GUID %"PRIx64"\n", camera->guid);
/*-----------------------------------------------------------------------
* setup capture for format 7
*-----------------------------------------------------------------------*/
// err=dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_1394B);
// DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot operate at 1394B");
// libdc1394 doesn't work well with firewire800 yet so set to legacy 400 mode
dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400);
// configure camera for format7
err = dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_FORMAT7_1);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot choose format7_0");
printf ("I: video mode is format7_0\n");
err = dc1394_format7_get_max_image_size (camera, DC1394_VIDEO_MODE_FORMAT7_1,
&max_width, &max_height);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot get max image size for format7_0");
printf ("I: max image size is: height = %d, width = %d\n", max_height, max_width);
printf ("I: current image size is: height = %d, width = %d\n", height, width);
err = dc1394_format7_set_roi (camera,
DC1394_VIDEO_MODE_FORMAT7_1,
DC1394_COLOR_CODING_MONO16, // not sure why RAW8/16 don't work
DC1394_USE_MAX_AVAIL,
0, 0, // left, top
width, height); // width, height
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set roi");
printf ("I: roi is (0, 0) - (%d, %d)\n", width, height);
// set the frame rate to absolute value in frames/sec
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_FRAME_RATE, DC1394_FEATURE_MODE_MANUAL);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set framerate to manual");
err = dc1394_feature_set_absolute_control(camera, DC1394_FEATURE_FRAME_RATE, DC1394_TRUE);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set framerate to absolute mode");
err = dc1394_feature_set_absolute_value(camera, DC1394_FEATURE_FRAME_RATE, 330.0);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set framerate");
printf("I: framerate is %f fps\n", 330.0);
// set the shutter speed to absolute value in seconds
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set shutter to manual");
err = dc1394_feature_set_absolute_control(camera, DC1394_FEATURE_SHUTTER, DC1394_TRUE);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set shutter to absolute mode");
err = dc1394_feature_set_absolute_value(camera, DC1394_FEATURE_SHUTTER, 3.0e-3);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set shutter");
printf("I: exptime is %f s\n", 3.0e-3);
// set gain manually. use relative value here in range 48 to 730.
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_GAIN, DC1394_FEATURE_MODE_MANUAL);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set gain to manual");
err = dc1394_feature_set_value(camera, DC1394_FEATURE_GAIN, 400);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set gain");
printf ("I: gain is %d\n", 400);
// set brightness manually. use relative value in range 0 to 1023.
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_BRIGHTNESS, DC1394_FEATURE_MODE_MANUAL);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set brightness to manual");
err = dc1394_feature_set_value(camera, DC1394_FEATURE_BRIGHTNESS, 100);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set brightness");
printf ("I: brightness is %d\n", 100);
err = dc1394_format7_get_total_bytes (camera, DC1394_VIDEO_MODE_FORMAT7_1, &total_bytes);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot get total bytes");
printf ("I: total bytes is %"PRIu64" before SFF enabled\n", total_bytes);
err=dc1394_capture_setup(camera, 16, DC1394_CAPTURE_FLAGS_DEFAULT);
DC1394_ERR_CLN_RTN(err, dc1394_camera_free(camera), "Error capturing");
/*-----------------------------------------------------------------------
* print allowed and used packet size
*-----------------------------------------------------------------------*/
err=dc1394_format7_get_packet_parameters(camera, DC1394_VIDEO_MODE_FORMAT7_1, &min_bytes, &max_bytes);
DC1394_ERR_RTN(err,"Packet para inq error");
printf( "camera reports allowed packet size from %d - %d bytes\n", min_bytes, max_bytes);
err=dc1394_format7_get_packet_size(camera, DC1394_VIDEO_MODE_FORMAT7_1, &actual_bytes);
DC1394_ERR_RTN(err,"dc1394_format7_get_packet_size error");
printf( "camera reports actual packet size = %d bytes\n", actual_bytes);
err=dc1394_format7_get_total_bytes(camera, DC1394_VIDEO_MODE_FORMAT7_1, &total_bytes);
DC1394_ERR_RTN(err,"dc1394_query_format7_total_bytes error");
printf( "camera reports total bytes per frame = %"PRId64" bytes\n",
total_bytes);
/*-----------------------------------------------------------------------
* have the camera start sending us data
*-----------------------------------------------------------------------*/
err=dc1394_video_set_transmission(camera,DC1394_ON);
if (err!=DC1394_SUCCESS) {
dc1394_log_error("unable to start camera iso transmission");
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
exit(1);
}
// set up FITS image and capture
fits_create_file(&fptr, filename, &status);
dc1394_get_image_size_from_video_mode(camera, DC1394_VIDEO_MODE_FORMAT7_1, &width, &height);
fits_create_img(fptr, USHORT_IMG, 3, naxes, &status);
/*-----------------------------------------------------------------------
* capture frames and measure the time for this operation
*-----------------------------------------------------------------------*/
gettimeofday(&start_time, NULL);
printf("Start capture:\n");
for( i = 0; i < grab_n_frames; ++i) {
/*-----------------------------------------------------------------------
* capture one frame
*-----------------------------------------------------------------------*/
err=dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
if (err!=DC1394_SUCCESS) {
dc1394_log_error("unable to capture");
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
exit(1);
}
// attempt to preallocate image array and write to memory before dumping to disk.
// turns out to be slow due to large size of images. cfitsio buffering is far
// more efficient.
//memcpy(im_buffer+2*i*naxes[0]*naxes[1],
//frame->image-1,
//naxes[0]*naxes[1]*sizeof(short));
// just writing each frame to the FITS file goes pretty fast
fits_write_img(fptr,
TUSHORT,
fpixel+i*naxes[0]*naxes[1],
naxes[0]*naxes[1],
frame->image-1,
&status);
// release buffer
dc1394_capture_enqueue(camera,frame);
}
gettimeofday(&end_time, NULL);
printf("End capture.\n");
/*-----------------------------------------------------------------------
* stop data transmission
*-----------------------------------------------------------------------*/
start_sec = start_time.tv_sec;
start_usec = start_time.tv_usec;
end_sec = end_time.tv_sec;
end_usec = end_time.tv_usec;
elapsed_time = (float)((end_sec + 1.0e-6*end_usec) - (start_sec + 1.0e-6*start_usec));
fps = grab_n_frames/elapsed_time;
printf("Elapsed time = %g seconds.\n", elapsed_time);
printf("Framerate = %g fps.\n", fps);
err=dc1394_video_set_transmission(camera,DC1394_OFF);
DC1394_ERR_RTN(err,"couldn't stop the camera?");
/*-----------------------------------------------------------------------
* save FITS image to disk
*-----------------------------------------------------------------------*/
//fits_write_img(fptr, TUSHORT, fpixel, naxes[0]*naxes[1]*naxes[2], im_buffer, &status);
fits_close_file(fptr, &status);
fits_report_error(stderr, status);
//free(im_buffer);
printf("wrote: %s\n", filename);
printf("Image is %d bits/pixel.\n", frame->data_depth);
/*-----------------------------------------------------------------------
* close camera, cleanup
*-----------------------------------------------------------------------*/
dc1394_capture_stop(camera);
dc1394_video_set_transmission(camera, DC1394_OFF);
dc1394_camera_free(camera);
dc1394_free (d);
return 0;
}
int main(int argc,char *argv[])
{
XEvent xev;
XGCValues xgcv;
long background=0x010203;
int i, j;
dc1394_t * d;
dc1394camera_list_t * list;
get_options(argc,argv);
/* process options */
switch(fps) {
case 1: fps = DC1394_FRAMERATE_1_875; break;
case 3: fps = DC1394_FRAMERATE_3_75; break;
case 15: fps = DC1394_FRAMERATE_15; break;
case 30: fps = DC1394_FRAMERATE_30; break;
case 60: fps = DC1394_FRAMERATE_60; break;
default: fps = DC1394_FRAMERATE_7_5; break;
}
switch(res) {
case 1:
res = DC1394_VIDEO_MODE_640x480_YUV411;
device_width=640;
device_height=480;
format=XV_YUY2;
break;
case 2:
res = DC1394_VIDEO_MODE_640x480_RGB8;
device_width=640;
device_height=480;
format=XV_YUY2;
break;
case 3:
res = DC1394_VIDEO_MODE_800x600_YUV422;
device_width=800;
device_height=600;
format=XV_UYVY;
break;
default:
res = DC1394_VIDEO_MODE_320x240_YUV422;
device_width=320;
device_height=240;
format=XV_UYVY;
break;
}
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;
}
j = 0;
for (i = 0; i < list->num; i++) {
if (j >= MAX_CAMERAS)
break;
cameras[j] = dc1394_camera_new (d, list->ids[i].guid);
if (!cameras[j]) {
dc1394_log_warning("Failed to initialize camera with guid %llx", list->ids[i].guid);
continue;
}
j++;
}
numCameras = j;
dc1394_camera_free_list (list);
if (numCameras == 0) {
dc1394_log_error("No cameras found");
exit (1);
}
/* setup cameras for capture */
for (i = 0; i < numCameras; i++) {
//err=dc1394_video_set_iso_speed(cameras[i], DC1394_ISO_SPEED_400);
//dc1394_video_set_operation_mode(my_camera_ptr[i], DC1394_OPERATION_MODE_1394B);
err= dc1394_video_set_operation_mode(cameras[i], DC1394_OPERATION_MODE_1394B);
err=dc1394_video_set_iso_speed(cameras[i], DC1394_ISO_SPEED_800);
DC1394_ERR_CLN_RTN(err,cleanup(),"Could not set ISO speed");
err=dc1394_video_set_mode(cameras[i], res);
DC1394_ERR_CLN_RTN(err,cleanup(),"Could not set video mode");
err=dc1394_video_set_framerate(cameras[i], fps);
DC1394_ERR_CLN_RTN(err,cleanup(),"Could not set framerate");
err=dc1394_capture_setup(cameras[i],NUM_BUFFERS, DC1394_CAPTURE_FLAGS_DEFAULT);
DC1394_ERR_CLN_RTN(err,cleanup(),"Could not setup camera-\nmake sure that the video mode and framerate are\nsupported by your camera");
err=dc1394_video_set_transmission(cameras[i], DC1394_ON);
DC1394_ERR_CLN_RTN(err,cleanup(),"Could not start camera iso transmission");
// Camera settings
err = dc1394_feature_set_value(cameras[i],DC1394_FEATURE_SHUTTER,1400);
err = dc1394_feature_set_value(cameras[i],DC1394_FEATURE_BRIGHTNESS,800);
err = dc1394_feature_set_value(cameras[i],DC1394_FEATURE_EXPOSURE,150);
err = dc1394_feature_whitebalance_set_value(cameras[i],500,400);
}
fflush(stdout);
if (numCameras < 1) {
perror("no cameras found :(\n");
cleanup();
exit(-1);
}
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:
dc1394_log_error("Unknown format set (internal error)");
exit(255);
}
/* make the window */
display=XOpenDisplay(getenv("DISPLAY"));
if(display==NULL) {
dc1394_log_error("Could not open display \"%s\"",getenv("DISPLAY"));
cleanup();
exit(-1);
}
QueryXv();
if ( adaptor < 0 ) {
cleanup();
exit(-1);
}
width=device_width;
height=device_height * numCameras;
//width=device_width * numCameras;
//height=device_height;
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);
/* main event loop */
while(1){
for (i = 0; i < numCameras; i++) {
if (dc1394_capture_dequeue(cameras[i], DC1394_CAPTURE_POLICY_WAIT, &frames[i])!=DC1394_SUCCESS)
dc1394_log_error("Failed to capture from camera %d", i);
}
display_frames();
XFlush(display);
while(XPending(display)>0){
XNextEvent(display,&xev);
switch(xev.type){
case ConfigureNotify:
width=xev.xconfigure.width;
height=xev.xconfigure.height;
display_frames();
break;
case KeyPress:
switch(XKeycodeToKeysym(display,xev.xkey.keycode,0)){
case XK_q:
case XK_Q:
cleanup();
exit(0);
break;
case XK_comma:
case XK_less:
//width=width/2;
//height=height/2;
width--;
XResizeWindow(display,window,width,height);
display_frames();
break;
case XK_period:
case XK_greater:
//width=2*width;
//height=2*height;
width++;
XResizeWindow(display,window,width,height);
display_frames();
break;
case XK_0:
freeze = !freeze;
break;
case XK_1:
fps = DC1394_FRAMERATE_1_875;
for (i = 0; i < numCameras; i++)
dc1394_video_set_framerate(cameras[i], fps);
break;
case XK_2:
fps = DC1394_FRAMERATE_3_75;
for (i = 0; i < numCameras; i++)
dc1394_video_set_framerate(cameras[i], fps);
break;
case XK_4:
fps = DC1394_FRAMERATE_15;
for (i = 0; i < numCameras; i++)
dc1394_video_set_framerate(cameras[i], fps);
break;
case XK_5:
fps = DC1394_FRAMERATE_30;
for (i = 0; i < numCameras; i++)
dc1394_video_set_framerate(cameras[i], fps);
break;
case XK_3:
fps = DC1394_FRAMERATE_7_5;
for (i = 0; i < numCameras; i++)
dc1394_video_set_framerate(cameras[i], fps);
break;
}
break;
}
} /* XPending */
for (i = 0; i < numCameras; i++) {
if (frames[i])
dc1394_capture_enqueue (cameras[i], frames[i]);
}
} /* while not interrupted */
exit(0);
}
void *pdp_dc1394_new(t_symbol *vdef)
{
t_pdp_dc1394 *x = (t_pdp_dc1394 *)pd_new(pdp_dc1394_class);
x->x_outlet0 = outlet_new(&x->x_obj, &s_anything);
x->d = dc1394_new ();
x->err=dc1394_camera_enumerate (x->d, &x->list);
//DC1394_ERR_RTN(x->err,"Failed to enumerate cameras");
//post("Failed to enumerate cameras");
if (x->list->num == 0) {
dc1394_log_error("No cameras found");
return 1;
}
x->camera = dc1394_camera_new (x->d, x->list->ids[0].guid);
if (!x->camera) {
//dc1394_log_error("Failed to initialize camera with guid %"PRIx64, list->ids[0].guid);
return 1;
}
dc1394_camera_free_list (x->list);
//printf("Using camera with GUID %"PRIx64"\n", camera->guid);
/*-----------------------------------------------------------------------
* get the best video mode and highest framerate. This can be skipped
* if you already know which mode/framerate you want...
*-----------------------------------------------------------------------*/
// get video modes:
x->err=dc1394_video_get_supported_modes(x->camera,&x->video_modes);
//DC1394_ERR_CLN_RTN(x->err,cleanup_and_exit(x->camera),"Can't get video modes");
// select highest res mode:
for (x->i=x->video_modes.num-1;x->i>=0;x->i--) {
if (!dc1394_is_video_mode_scalable(x->video_modes.modes[x->i])) {
dc1394_get_color_coding_from_video_mode(x->camera,x->video_modes.modes[x->i], &x->coding);
if (x->coding==DC1394_COLOR_CODING_MONO8) {
x->video_mode=x->video_modes.modes[x->i];
fprintf(stderr,"video_mode %d: %d\n",x->i,x->video_modes.modes[x->i]);
break;
}
}
}
if (x->i < 0) {
dc1394_log_error("Could not get a valid MONO8 mode");
cleanup_and_exit(x->camera);
}
x->err=dc1394_get_color_coding_from_video_mode(x->camera, x->video_mode,&x->coding);
//DC1394_ERR_CLN_RTN(x->err,cleanup_and_exit(x->camera),"Could not get color coding");
fprintf(stderr,"color_coding : %d\n",x->coding);
// get highest framerate
x->err=dc1394_video_get_supported_framerates(x->camera,x->video_mode,&x->framerates);
//DC1394_ERR_CLN_RTN(x->err,cleanup_and_exit(x->camera),"Could not get framrates");
x->framerate=x->framerates.framerates[x->framerates.num-1];
fprintf(stderr,"framerate : %d\n",x->framerate);
/*-----------------------------------------------------------------------
* setup capture
*-----------------------------------------------------------------------*/
x->err=dc1394_video_set_iso_speed(x->camera, DC1394_ISO_SPEED_400);
//DC1394_ERR_CLN_RTN(x->err,cleanup_and_exit(x->camera),"Could not set iso speed");
x->err=dc1394_video_set_mode(x->camera, x->video_mode);
//DC1394_ERR_CLN_RTN(x->err,cleanup_and_exit(x->camera),"Could not set video mode");
x->err=dc1394_video_set_framerate(x->camera, x->framerate);
//DC1394_ERR_CLN_RTN(x->err,cleanup_and_exit(x->camera),"Could not set framerate");
x->err=dc1394_capture_setup(x->camera,4, DC1394_CAPTURE_FLAGS_DEFAULT);
//DC1394_ERR_CLN_RTN(x->err,cleanup_and_exit(x->camera),"Could not setup camera-\nmake sure that the video mode and framerate are\nsupported by your camera");
/*-----------------------------------------------------------------------
* report camera's features
*-----------------------------------------------------------------------*/
x->err=dc1394_feature_get_all(x->camera,&x->features);
if (x->err!=DC1394_SUCCESS) {
dc1394_log_warning("Could not get feature set");
}
else {
dc1394_feature_print_all(&x->features, stdout);
}
/*-----------------------------------------------------------------------
* have the camera start sending us data
*-----------------------------------------------------------------------*/
x->err=dc1394_video_set_transmission(x->camera, DC1394_ON);
//DC1394_ERR_CLN_RTN(x->err,cleanup_and_exit(x->camera),"Could not start camera iso transmission");
x->x_initialized = true;
return (void *)x;
}
bool ieee1394capture::init(RoboCompCamera::TCamParams ¶ms_, RoboCompJointMotor::JointMotorPrx head_ , RoboCompDifferentialRobot::DifferentialRobotPrx base_ )
{
params = params_;
head = head_;
base = base_;
int32_t i;
fps = (dc1394framerate_t)params.FPS;//15;
res = (dc1394video_mode_t)0;
switch (fps) {
case 1: fps = DC1394_FRAMERATE_1_875; break;
case 3: fps = DC1394_FRAMERATE_3_75; break;
case 15: fps = DC1394_FRAMERATE_15; break;
case 30: fps = DC1394_FRAMERATE_30; break;
case 60: fps = DC1394_FRAMERATE_60; break;
default: fps = DC1394_FRAMERATE_7_5; break;
}
switch (res) {
case 1:
res = DC1394_VIDEO_MODE_640x480_YUV411;
device_width = 640;
device_height = 480;
break;
case 2:
res = DC1394_VIDEO_MODE_640x480_RGB8;
device_width = 640;
device_height = 480;
break;
default:
res = DC1394_VIDEO_MODE_320x240_YUV422;
device_width = 320;
device_height = 240;
break;
}
/// Get handle
qDebug() << "ieee1394capture::init() -> Initializating first Firewire Card in the system...";
if (!(d = dc1394_new()))
{
qDebug() << "ieee1394capture::init() -> Fatal error: Unable to aquire a handle to the Ieee1394 device";
qDebug() << "Please check if the kernel modules `ieee1394',`raw1394' and `ohci1394' are loaded or if you have read/write access to /dev/raw1394 and to /dev/video1394-0 " ;
return false;
}
CREATED_BUS = true;
/// Create camera interfaces
numCameras = 0;
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;
}
numCameras = 0;
for (uint32_t di = 0; di < list->num; di++)
{
if (numCameras >= MAX_CAMERAS)
break;
cameras[numCameras] = dc1394_camera_new(d, list->ids[di].guid);
if (!cameras[numCameras])
{
dc1394_log_warning("Failed to initialize camera with guid %llx", list->ids[di].guid);
continue;
}
printf("Camera #%d\n", numCameras);
numCameras++;
}
dc1394_camera_free_list(list);
if ( numCameras < 1 )
{
qDebug() << "ieee1394capture::init() -> Fatal error: No cameras found in the bus! Called from ";
cleanup();
return false;
}
/// Check if one camera has become the root node
/* for ( int n=0; n < numCameras; n++ )
{
if ( cameraNodeList[n] == numNodes )
{
qDebug() << "ieee1394capture::init() -> Fatal error: Sorry, your camera is the highest numbered node of the bus, and has therefore become the root node." ;
cleanup();
return false;
}
}*/
CREATED_CAMS = true;
/// Setup cameras for capture
qDebug() << "ieee1394capture::init() -> Searching cameras with requested parameters:";
printf("%s\n",params.mode.c_str());
if (params.mode == "MODE_320x240_YUV422")
{
res = DC1394_VIDEO_MODE_320x240_YUV422;
params.width = 320;
params.height = 240;
}
else if (params.mode == "MODE_640x480_YUV422" )
{
res = DC1394_VIDEO_MODE_640x480_YUV422;
params.width = 640;
params.height = 480;
}
else if (params.mode == "MODE_640x480_RGB" )
{
res = DC1394_VIDEO_MODE_640x480_RGB8;
params.width = 640;
params.height = 480;
}
else if (params.mode == "MODE_640x480_YUV411")
{
res = DC1394_VIDEO_MODE_640x480_YUV411;
params.width = 640;
params.height = 480;
}
else if (params.mode == "MODE_640x480_MONO")
{
res = DC1394_VIDEO_MODE_640x480_MONO8;
params.width = 640;
params.height = 480;
}
else if (params.mode == "MODE_640x480_MONO16")
{
res = DC1394_VIDEO_MODE_640x480_MONO16;
params.width = 640;
params.height = 480;
}
else if (params.mode == "MODE_516x338_YUV422")
{
res = DC1394_VIDEO_MODE_FORMAT7_1;
params.width = 516;
params.height = 338;
}
else qFatal("ieee1394capture::init() -> Image Mode %s not available. Aborting...", params.mode.c_str());
params.size = params.width*params.height;
if (params.FPS!=15 and params.FPS!=30)
{
qWarning("ieee1394capture::init() -> Framerate %d not available. Aborting...", params.FPS );
cleanup();
return false;
}
dc1394format7modeset_t info;
for (i = 0; i < numCameras; i++)
{
if (params.mode == "MODE_516x338_YUV422")
{
err = dc1394_format7_get_modeset(cameras[i], &info);
for( int j=0;j<DC1394_VIDEO_MODE_FORMAT7_NUM;j++)
{
qDebug() << info.mode[j].present;
qDebug() << info.mode[j].size_x;
qDebug() << info.mode[j].size_y;
qDebug() << info.mode[j].max_size_x;
qDebug() << info.mode[j].max_size_y;
qDebug() << info.mode[j].pos_x;
qDebug() << info.mode[j].pos_y;
qDebug() << info.mode[j].unit_size_x;
qDebug() << info.mode[j].unit_size_y;
qDebug() << info.mode[j].unit_pos_x;
qDebug() << info.mode[j].unit_pos_y;
qDebug() << info.mode[j].pixnum;
qDebug() << info.mode[j].packet_size; /* in bytes */
qDebug() << info.mode[j].unit_packet_size;
qDebug() << info.mode[j].max_packet_size;
}
}
release_iso_and_bw(i);
err = dc1394_video_set_mode(cameras[i], res);
DC1394_ERR_CLN_RTN(err, cleanup(), "Could not set video mode");
err = dc1394_video_set_iso_speed(cameras[i], DC1394_ISO_SPEED_400);
DC1394_ERR_CLN_RTN(err, cleanup(), "Could not set ISO speed");
//For format 7 modes only
if (params.mode == "MODE_516x338_YUV422")
{
// uint32_t packet_size;
// err=dc1394_format7_set_image_size(cameras[i], res, 514, 384);
// DC1394_ERR_RTN(err,"Could not set image size");
// err=dc1394_format7_get_recommended_packet_size(cameras[i], res, &packet_size);
// DC1394_ERR_RTN(err,"Could not get format 7 recommended packet size");
// err=dc1394_format7_set_roi(cameras[i], res, DC1394_COLOR_CODING_YUV422, packet_size, 0,0, 514, 384);
// DC1394_ERR_RTN(err,"Could not set ROI");
qDebug() << "ya";
}
err = dc1394_video_set_framerate(cameras[i], fps);
DC1394_ERR_CLN_RTN(err, cleanup(), "Could not set framerate");
err = dc1394_capture_setup(cameras[i], NUM_BUFFERS, DC1394_CAPTURE_FLAGS_DEFAULT);
DC1394_ERR_CLN_RTN(err, cleanup(), "Could not setup camera-\nmake sure that the video mode and framerate are\nsupported by your camera");
err = dc1394_video_set_transmission(cameras[i], DC1394_ON);
DC1394_ERR_CLN_RTN(err, cleanup(), "Could not start camera iso transmission");
}
fflush(stdout);
qDebug() << " ieee1394capture::init() -> Iso transmission started.";
///Buffers de imagen
qDebug() << "BUFFERS DE IMAGEN ------------------------------------------";
for ( int i=0; i < numCameras; i++ )
{
AimgBuffer[i] = ( Ipp8u * ) ippsMalloc_8u ( params.size * 9 );
BimgBuffer[i] = ( Ipp8u * ) ippsMalloc_8u ( params.size * 9 );
img8u_lum[i] = AimgBuffer[i];
img8u_YUV[i] = AimgBuffer[i]+params.size;
localYRGBImgBufferPtr[i] = BimgBuffer[i];
qDebug() << "Reservando" << params.size * 9 <<" para localYRGBImgBufferPtr["<<i<<"]";
printf("(de %p a %p)\n", localYRGBImgBufferPtr[i], localYRGBImgBufferPtr[i]+(params.size*9-1));
}
planos[0]=BimgBuffer[0]+params.size*3;
planos[1]=BimgBuffer[0]+ ( params.size*4 );
planos[2]=BimgBuffer[0]+ ( params.size*5 );
//img8u_aux = BimgBuffer[0]+(params.size*6);
imgSize_ipp.width=params.width;
imgSize_ipp.height=params.height;
return true;
}
CvDC1394::CvDC1394()
{
dc = dc1394_new();
FD_ZERO(&camFds);
}
//--------------------------------------------------------------------
int of1394VideoGrabber::initGrabber()
{
// moved from constructor
int i;
printf("Making new camera\n");
d = dc1394_new ();
err=dc1394_camera_enumerate (d, &list);
DC1394_ERR_RTN(err,"Failed to enumerate cameras");
if (list->num == 0) {
if(err!=0 && bVerbose)printf("\n No cameras found\n ");
return 1;
}
camera = dc1394_camera_new (d, list->ids[0].guid);
if (!camera) {
if(err!=0 && bVerbose)printf("\n Failed to initialize camera with guid %PRIx64", list->ids[0].guid);
return 1;
}
dc1394_camera_free_list (list);
/*-----------------------------------------------------------------------
* setup capture
*-----------------------------------------------------------------------*/
dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_FORMAT7_0);
uint32_t f, f2;
dc1394_format7_get_image_size(camera, DC1394_VIDEO_MODE_FORMAT7_0, &f, &f2);
err=dc1394_capture_setup(camera,4, DC1394_CAPTURE_FLAGS_DEFAULT);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not setup camera-\nmake sure that the video mode and framerate are\nsupported by your camera\n");
/*-----------------------------------------------------------------------
* 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\n");
dc1394_get_image_size_from_video_mode(camera, video_mode, &width, &height);
if(err != DC1394_SUCCESS){
cout<<"get image size error: "<<err<<endl;
}
printf("Size from video mode = %i wide %i high\n", width, height);
pixels = new unsigned char[width*height*3]; // x3 for RGB
pixels2 = new unsigned char[width*height*3]; // x3 for RGB
tex.allocate(width,height,GL_LUMINANCE);
err = dc1394_capture_dequeue( camera, DC1394_CAPTURE_POLICY_WAIT, &frame ) ;
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not capture a frame\n");
memcpy( pixels, frame->image, width * height*3) ;
dc1394_capture_enqueue( camera, frame ) ;
ofSleepMillis(10);
startThread(true, false);
failedToInit = false;
dc1394_feature_set_mode(camera, DC1394_FEATURE_EXPOSURE, DC1394_FEATURE_MODE_MANUAL);
dc1394_feature_set_mode(camera, DC1394_FEATURE_BRIGHTNESS, DC1394_FEATURE_MODE_MANUAL);
dc1394_feature_set_mode(camera, DC1394_FEATURE_GAMMA, DC1394_FEATURE_MODE_AUTO);
dc1394_feature_set_mode(camera, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);
dc1394_feature_set_mode(camera, DC1394_FEATURE_GAIN, DC1394_FEATURE_MODE_AUTO);
dc1394_feature_set_mode(camera, DC1394_FEATURE_IRIS, DC1394_FEATURE_MODE_AUTO);
dc1394_feature_set_mode(camera, DC1394_FEATURE_WHITE_BALANCE, DC1394_FEATURE_MODE_AUTO);
dc1394_feature_set_mode(camera, DC1394_FEATURE_TEMPERATURE, DC1394_FEATURE_MODE_AUTO);
dc1394_feature_set_mode(camera, DC1394_FEATURE_WHITE_SHADING, DC1394_FEATURE_MODE_AUTO);
dc1394_feature_set_mode(camera, DC1394_FEATURE_SATURATION, DC1394_FEATURE_MODE_AUTO);
dc1394_feature_set_mode(camera, DC1394_FEATURE_HUE, DC1394_FEATURE_MODE_AUTO);
//Print features
dc1394_feature_get_all(camera, &features);
dc1394_feature_print_all(&features, stdout);
return 0;
}
/**************************************************************************************
** Client is asking us to establish connection to the device
***************************************************************************************/
bool FFMVCCD::Connect()
{
dc1394camera_list_t *list;
dc1394error_t err;
bool supported;
bool settings_valid;
uint32_t val;
dc1394format7mode_t fm7;
dc1394feature_info_t feature;
float min, max;
dc1394 = dc1394_new();
if (!dc1394) {
return false;
}
err = dc1394_camera_enumerate(dc1394, &list);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Could not find DC1394 cameras!");
return false;
}
if (!list->num) {
IDMessage(getDeviceName(), "No DC1394 cameras found!");
return false;
}
dcam = dc1394_camera_new(dc1394, list->ids[0].guid);
if (!dcam) {
IDMessage(getDeviceName(), "Unable to connect to camera!");
return false;
}
/* Reset camera */
err = dc1394_camera_reset(dcam);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to reset camera!");
return false;
}
/* Set mode */
err = dc1394_video_set_mode(dcam, DC1394_VIDEO_MODE_640x480_MONO16);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to connect to set videomode!");
return false;
}
/* Disable Auto exposure control */
err = dc1394_feature_set_power(dcam, DC1394_FEATURE_EXPOSURE, DC1394_OFF);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to disable auto exposure control");
return false;
}
/* Set frame rate to the lowest possible */
err = dc1394_video_set_framerate(dcam, DC1394_FRAMERATE_7_5);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to connect to set framerate!");
return false;
}
/* Turn frame rate control off to enable extended exposure (subs of 512ms) */
err = dc1394_feature_set_power(dcam, DC1394_FEATURE_FRAME_RATE, DC1394_OFF);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to disable framerate!");
return false;
}
/* Get the longest possible exposure length */
err = dc1394_feature_set_mode(dcam, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Failed to enable manual shutter control.");
}
err = dc1394_feature_set_absolute_control(dcam, DC1394_FEATURE_SHUTTER, DC1394_ON);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Failed to enable absolute shutter control.");
}
err = dc1394_feature_get_absolute_boundaries(dcam, DC1394_FEATURE_SHUTTER, &min, &max);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Could not get max shutter length");
} else {
max_exposure = max;
}
/* Set gain to max. By setting the register directly, we can achieve a
* gain of 24 dB...compared to a gain of 12 dB which is reported as the
* max
*/
err = dc1394_set_control_register(dcam, 0x820, 0x40);
//err = dc1394_set_control_register(dcam, 0x820, 0x7f);
if (err != DC1394_SUCCESS) {
return err;
}
#if 0
/* Set absolute gain to max */
err = dc1394_feature_set_absolute_control(dcam, DC1394_FEATURE_GAIN, DC1394_ON);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Failed to enable ansolute gain control.");
}
err = dc1394_feature_get_absolute_boundaries(dcam, DC1394_FEATURE_GAIN, &min, &max);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Could not get max gain value");
} else {
err = dc1394_feature_set_absolute_value(dcam, DC1394_FEATURE_GAIN, max);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Could not set max gain value");
}
}
#endif
/* Set brightness */
err = dc1394_feature_set_mode(dcam, DC1394_FEATURE_BRIGHTNESS, DC1394_FEATURE_MODE_MANUAL);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Failed to enable manual brightness control.");
}
err = dc1394_feature_set_absolute_control(dcam, DC1394_FEATURE_BRIGHTNESS, DC1394_ON);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Failed to enable ansolute brightness control.");
}
err = dc1394_feature_set_absolute_value(dcam, DC1394_FEATURE_BRIGHTNESS, 1);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Could not set max brightness value");
}
/* Turn gamma control off */
err = dc1394_feature_set_absolute_value(dcam, DC1394_FEATURE_GAMMA, 1);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Could not set gamma value");
}
err = dc1394_feature_set_power(dcam, DC1394_FEATURE_GAMMA, DC1394_OFF);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to disable gamma!");
return false;
}
/* Turn off white balance */
err = dc1394_feature_set_power(dcam, DC1394_FEATURE_WHITE_BALANCE, DC1394_OFF);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to disable white balance!");
return false;
}
err=dc1394_capture_setup(dcam,10, DC1394_CAPTURE_FLAGS_DEFAULT);
return true;
}
VideoIIDC1394::VideoIIDC1394(int source, uint8_t iso, uint8_t vid_mode, uint8_t f_rate, uint32_t w, uint32_t h)
{
#if defined(DUNE_WITH_DC1394)
std::cout << " Entered constructor " << std:: endl;
width = w;
height = h;
iidc = dc1394_new();
frame = NULL;
std::cout << " Built Object " << std:: endl;
dc1394error_t error_code;
if (!iidc)
{
throw std::runtime_error("Failed to start IEEE 1394 IIDC interface");
}
error_code = dc1394_camera_enumerate(iidc, &list);
std::cout << " Enumerated camera objects " << std:: endl;
if (error_code < 0)
{
throw std::runtime_error("Failed to enumerate cameras");
}
std::cout << "Number of cameras found: " << list->num << std:: endl;
camera = dc1394_camera_new(iidc, list->ids[0].guid);
std::cout << " Built new camera object " << std:: endl;
if (!camera)
{
throw std::runtime_error("Failed to initialize camera");
}
dc1394_camera_free_list(list);
error_code = dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400);
if (error_code < 0)
{
throw std::runtime_error("Failed to set ISO SPEED");
}
error_code = dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_640x480_YUV422);
if (error_code < 0)
{
throw std::runtime_error("Failed to set video mode");
}
error_code = dc1394_video_set_framerate(camera, DC1394_FRAMERATE_15);
if (error_code < 0)
{
free(this);
throw std::runtime_error("Failed to set ISO SPEED");
}
error_code = dc1394_capture_setup(camera, 8, DC1394_CAPTURE_FLAGS_DEFAULT);
if (error_code < 0)
{
throw std::runtime_error("Failed to set ISO SPEED");
}
error_code = dc1394_video_set_transmission(camera, DC1394_ON);
if (error_code < 0)
{
throw std::runtime_error("Could not start video capture");
}
converted_frame = new dc1394video_frame_t;
std::memset(converted_frame, 0, sizeof(dc1394video_frame_t));
std::cout << " Finished setting everything up " << std:: endl;
#else
(void)source;
(void)iso;
(void)vid_mode;
(void)f_rate;
(void)w;
(void)h;
throw std::runtime_error("IIDC Firewire Video interface is not yet implemented in this system.");
#endif
}
int main (int argc, char **argv)
{
char* ntry = (char*)"";
if (argc > 1) {
ntry = argv[1];
}
double fps = FPS;
double target_dur = 1.0/fps;
double tol = 1.0e-3;
double total_dur = 0.0;
dc1394_t * d = dc1394_new();
if (!d) {
return 1;
}
dc1394camera_list_t * list;
dc1394error_t err = dc1394_camera_enumerate (d, &list);
DC1394_ERR_RTN(err,"Failed to enumerate cameras");
if (list->num == 0) { /* Verify that we have at least one camera */
dc1394_log_error("No cameras found");
return 1;
}
gCamera.init(d, list->ids[0].guid);
if (!gCamera.cam()) {
dc1394_log_error("Failed to initialize camera with guid %ld", list->ids[0].guid);
dc1394_camera_free_list (list);
return 1;
}
dc1394_camera_free_list (list);
/*-----------------------------------------------------------------------
* have the camera start sending us data
*-----------------------------------------------------------------------*/
err = gCamera.start_transmission();
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(gCamera),"Could not start camera iso transmission");
/*-----------------------------------------------------------------------
* capture one frame
*-----------------------------------------------------------------------*/
uint32_t width = 0;
uint32_t height = 0;
gCamera.get_image_size(&width, &height);
cv::Mat mapping = cv::getRotationMatrix2D(cv::Point2f(width/2.0, height/2.0), 180.0, 1.0);
#ifdef USE_SDL
static char *var = (char*)"SDL_VIDEO_WINDOW_POS=\"1280,480\"";
int ret = putenv(var);
if (SDL_Init(SDL_INIT_VIDEO) != 0) {
std::cerr << "DC1394: Unable to initialize SDL: " << SDL_GetError() << std::endl;
return 1;
}
atexit(SDL_Quit);
SDL_Surface *screen;
screen = SDL_SetVideoMode(width, height, 24, SDL_HWSURFACE);
if (screen == NULL) {
std::cerr << "DC1394: Unable to set SDL video mode:" << SDL_GetError() << std::endl;
}
SDL_Event event;
#endif
#ifndef LICKOMETER
pthread_t save_thread, acq_thread;
pthread_create( &save_thread, NULL, &thread_save_image, NULL);
#endif
pthread_t save_thread, acq_thread;
pthread_create( &acq_thread, NULL, &thread_acq_image, NULL);
timespec t_sleep, t_rem;
t_sleep.tv_sec = 0;
t_sleep.tv_nsec = 1000;
#ifndef STANDALONE
int s;
if ((s = socket(SOCKTYPE, SOCK_STREAM, 0)) < 0) {
perror("DC1394: client: socket");
cleanup_and_exit(gCamera);
return 1;
}
/*
* Create the address we will be connecting to.
*/
#ifndef INET
sockaddr_un sa;
sa.sun_family = AF_UNIX;
std::ostringstream tmpfn;
tmpfn << "fwsocket" << ntry;
std::cout << "DC1394: socket name " << tmpfn.str() << std::endl;
int nameLen = strlen(tmpfn.str().c_str());
if (nameLen >= (int) sizeof(sa.sun_path) -1) { /* too long? */
cleanup_and_exit(gCamera);
return 1;
}
sa.sun_path[0] = '\0'; /* abstract namespace */
strcpy(sa.sun_path+1, tmpfn.str().c_str());
int len = 1 + nameLen + offsetof(struct sockaddr_un, sun_path);
#else
sockaddr_in sa;
bzero((char *) &sa, sizeof(sa));
sa.sin_family = AF_INET;
hostent *server = gethostbyname("128.40.156.129");
bcopy((char *)server->h_addr,
(char *)&sa.sin_addr.s_addr,
server->h_length);
sa.sin_port = htons(35000);
int len = sizeof(sa);
#endif
/*
* Try to connect to the address. For this to
* succeed, the server must already have bound
* this address, and must have issued a listen()
* request.
*
* The third argument indicates the "length" of
* the structure, not just the length of the
* socket name.
*/
std::cout << "DC1394: Waiting for connection... " << std::flush;
while (true) {
// wait for connection:
if (connect(s, (sockaddr*)&sa, len) < 0) {
nanosleep(&t_sleep, &t_rem);
} else {
break;
}
}
std::cout << "done" << std::endl;
bool connected = false;
std::vector<char> data(BUFSIZE);
int nrec = recv(s, &data[0], data.size(), 0);
std::string datastr(data.begin(), data.end());
if (nrec<=0) {
std::cerr << "DC1394: Didn't receive start message; exiting now" << std::endl;
cleanup_and_exit(gCamera);
close(s);
return 1;
}
connected = true;
std::string ready = "ready";
while (send(s, ready.c_str(), ready.size(), 0) < 0) {
perror("DC1394: client: send");
}
int flags = 0;
if (-1 == (flags = fcntl(s, F_GETFL, 0)))
flags = 0;
if (fcntl(s, F_SETFL, flags | O_NONBLOCK)==-1) {
perror("DC1394: client: unblock");
}
#endif
/* pthread_mutex_lock( &camera_mutex );
gCamera.wait_for_trigger();
pthread_mutex_unlock( &camera_mutex );
Wait for acq_frame_buffer to fill instead
*/
int ncount = 0;
cv::Mat im(cv::Size(width, height), CV_8UC1);
cv::Mat thresh = cv::Mat::ones(cv::Size(width, height), CV_8UC1);
cv::Mat prevs(cv::Size(width, height), CV_8UC1);
cv::Mat gray(cv::Size(width, height), CV_8UC1);
// wait for image:
int nframes = get_image(im, mapping, false, -1, "", ncount);
std::cout << "DC1394: Waiting for first image to arrive... " << std::flush;
int nwait = 0;
while (!nframes) {
nanosleep(&t_sleep, &t_rem);
std::cout << "." << std::flush;
nframes = get_image(im, mapping, false, -1, "", ncount);
nwait++;
#ifdef STANDALONE
if (nwait > 1000) {
#else
if (nwait > 100000) {
#endif
std::cout << "Time out, stopping now\n";
cleanup_and_exit(gCamera);
}
}
timespec time0;
clock_gettime(CLOCK_REALTIME, &time0);
std::cout << "DC1394: image arrived: "
<< IplImage(im).depth << " bits, "
<< IplImage(im).nChannels << " channels, "
<< IplImage(im).widthStep << " step width" << std::endl;
#ifdef USE_SDL
SDL_Surface *surface =
SDL_CreateRGBSurfaceFrom((void*)im.data,
im.cols,
im.rows,
IplImage(im).depth*IplImage(im).nChannels,
IplImage(im).widthStep,
0xffffff, 0xffffff, 0xffffff, 0);
screen = SDL_GetVideoSurface();
if(SDL_BlitSurface(surface, NULL, screen, NULL) == 0)
SDL_UpdateRect(screen, 0, 0, 0, 0);
#else
cv::namedWindow("DC1394", CV_WINDOW_AUTOSIZE);
cvMoveWindow("DC1394", 1280, 480);
cv::imshow("DC1394", im);
#endif
timespec time1 = time0;
timespec time2 = time0;
timespec time3 = time0;
timespec time4 = time0;
timespec t_disconnect = time0;
timespec t_notrigger = time0;
#ifdef STANDALONE
int s = -1;
#endif
std::string fn = "";
#ifdef LICKOMETER
std::string fn_lick = "";
FILE* fp_lick = NULL;
#endif
int key = 0;
int nloop = 0;
while (true) {
clock_gettime( CLOCK_REALTIME, &time1);
#ifndef STANDALONE
std::vector<char> data(BUFSIZE);
int nrec = recv(s, &data[0], data.size(), 0);
std::string datastr(data.begin(), data.end());
#endif
nframes += get_image(im, mapping, false, s, fn, ncount);
#ifndef STANDALONE
// no update from blender in a long time, terminate process
if (datastr.find("1")==std::string::npos) {
if (connected) {
t_disconnect = time1;
connected = false;
} else {
if (tdiff(time1, t_disconnect) > TIMEOUT) {
std::cout << "DC1394: Received termination signal" << std::endl;
close(s);
pthread_cancel(acq_thread);
pthread_cancel(save_thread);
return 0;
}
}
} else {
connected = true;
}
/* Explicit termination */
if (datastr.find("quit")!=std::string::npos) {
std::cout << "DC1394: Game over signal." << std::endl;
std::string sclose = "close";
while (send(s, sclose.c_str(), sclose.size(), 0) < 0) {
perror("DC1394: client: send");
}
close(s);
pthread_cancel(acq_thread);
pthread_cancel(save_thread);
return 0;
}
// Stop recording
if (datastr.find("stop") != std::string::npos && fn != "") {
fn = "";
#ifdef LICKOMETER
fn_lick = "";
if (fp_lick) {
fclose(fp_lick);
fp_lick = NULL;
}
#endif
std::cout << "DC1394: Stopping video" << std::endl;
connected = true;
ncount = 0;
}
// Start recording
if (datastr.find("avi") != std::string::npos && datastr.find("stop") == std::string::npos && fn == "") {
std::size_t startpos = datastr.find("begin")+5;
std::size_t endpos = datastr.find("end") - datastr.find("begin") - 5;
fn = datastr.substr(startpos, endpos);
fn = std::string(trunk) + "data/" + fn;
#ifdef LICKOMETER
fn_lick = fn + "_lick";
fp_lick = fopen(fn_lick.c_str(), "wb");
std::cout << "DC1394: Recording lick detection, writing to " << fn_lick << std::endl;
#else
boost::filesystem::path path(fn);
boost::filesystem::path writepath(path);
// Test whether dir exists:
if (!boost::filesystem::exists(writepath)) {
std::cout << "DC1394: Creating directory " << writepath << std::endl;
boost::filesystem::create_directories(writepath);
}
fn += "/";
/* check save frame buffer */
std::size_t nfb = save_frame_buffer.size();
if (nfb)
std::cerr << "DC1394: Frame buffer isn't empty!" << std::endl;
std::cout << "DC1394: Starting video, writing to " << fn << std::endl;
connected = true;
ncount = 0;
#endif
}
#endif // #nstandalone
#ifdef USE_SDL
if (SDL_PollEvent(&event)) {
#ifdef STANDALONE
/* Any of these event types will end the program */
if (event.type == SDL_QUIT
|| event.type == SDL_KEYDOWN
|| event.type == SDL_KEYUP) {
std::cout << std::endl;
std::cout << std::endl << "DC1394: Total number of frames was " << nframes << std::endl;
std::cout << std::endl << "DC1394: Frame buffer: " << acq_frame_buffer.size() << " frames left" << std::endl;
close(s);
pthread_cancel(acq_thread);
pthread_cancel(save_thread);
return 0;
}
#endif // STANDALONE
}
surface->pixels = (void*)im.data;
// SDL_CreateRGBSurfaceFrom((void*)IplImage(im).imageData,
// IplImage(im).width,
// IplImage(im).height,
// IplImage(im).depth*IplImage(im).nChannels,
// IplImage(im).widthStep,
// 1, 1, 1, 0);
screen = SDL_GetVideoSurface();
if(SDL_BlitSurface(surface, NULL, screen, NULL) == 0)
SDL_UpdateRect(screen, 0, 0, 0, 0);
#else // not SDL
key = cv::waitKey(2);
cv::imshow("DC1394", im);
if (key == 1114155 || key == 65579 || key==43 /*+*/) {
uint32_t gain = 0;
err = dc1394_feature_get_value(gCamera.cam(), DC1394_FEATURE_GAIN, &gain);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(gCamera),"Can't get gain");
if (gain < gCamera.get_maxgain()-10) {
gain += 10;
pthread_mutex_lock( &camera_mutex );
err = dc1394_feature_set_value(gCamera.cam(), DC1394_FEATURE_GAIN, gain);
pthread_mutex_unlock( &camera_mutex );
std::cout << "DC1394: New gain value: " << gain << std::endl;
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(gCamera),"Can't set gain");
}
}
if (key == 1114207 || key == 45 /*-*/) {
uint32_t gain = 0;
err = dc1394_feature_get_value(gCamera.cam(), DC1394_FEATURE_GAIN, &gain);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(gCamera),"Can't get gain");
if (gain > gCamera.get_mingain()+10) {
gain -= 10;
pthread_mutex_lock( &camera_mutex );
err = dc1394_feature_set_value(gCamera.cam(), DC1394_FEATURE_GAIN, gain);
pthread_mutex_unlock( &camera_mutex );
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(gCamera),"Can't set gain");
}
}
#endif // not SDL
#ifdef LICKOMETER
/* IS THIS ALL YOU NEED THEN?
Lick detection */
/* Not required because the captured image is already gray
cv::Mat gray = bgr2gray(im); */
gray = thresholding(im, LICK_FRAME_THRESHOLD);
if (nloop != 0) {
cv::absdiff(prevs, gray, thresh);
double pixel_sum_thresh = cv::sum(thresh)[0];
double pixel_sum_gray = cv::sum(gray)[0];
if (pixel_sum_thresh > LICK_SUM_THRESHOLD) {
std::cout << "DC1394: Lick" << std::endl;
}
if (fp_lick != NULL) {
fwrite(&pixel_sum_thresh, sizeof(pixel_sum_thresh), 1, fp_lick);
fwrite(&pixel_sum_gray, sizeof(pixel_sum_gray), 1, fp_lick);
}
}
prevs = gray.clone();
nloop++;
#endif
#ifdef STANDALONE
if (key == 1048689 || key == 113 /*q*/) {
std::cout << "DC1394: Mean frame rate was " << nframes/total_dur << " fps" << std::endl;
pthread_cancel(acq_thread);
pthread_cancel(save_thread);
return 0;
}
if (key == 1048691 /*s*/) {
fn = "";
std::cout << "DC1394: Stopping video" << std::endl;
ncount = 0;
}
if (key == 1048690 /*r*/) {
fn = trunk + std::string("tmp/");
std::cout << "DC1394: Starting video, writing to " << fn << std::endl;
ncount = 0;
}
#endif // #standalone
clock_gettime( CLOCK_REALTIME, &time2);
double loop_dur = tdiff(time2, time3);
clock_gettime( CLOCK_REALTIME, &time3);
double meanfps = 0;
total_dur = tdiff(time3, time0);
if (total_dur > 0)
meanfps = nframes / total_dur;
double currentfps = ret / loop_dur;
std::cout << "DC1394: Current fps: " << std::setprecision(7) << currentfps
<< " Average fps: " << std::setprecision(7) << meanfps << "\r" << std::flush;
#ifdef STANDALONE
// std::cout << capture_dur << "\t" << target_dur << "\t" << rem << "\t" << loop_dur << std::endl;
#endif
}
if (d) {
dc1394_free(d);
}
#ifndef STANDALONE
close(s);
#endif
return 0;
}
int main(int argc, char *argv[])
{
FILE* imagefile;
dc1394camera_t *camera;
unsigned int width, height;
dc1394video_frame_t *frame=NULL;
//dc1394featureset_t features;
dc1394_t * d;
dc1394camera_list_t * list;
dc1394error_t err;
int counter = 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");
return 1;
}
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);
return 1;
}
dc1394_camera_free_list (list);
printf("Using camera with GUID %" PRIx64 "\n", camera->guid);
/*-----------------------------------------------------------------------
* setup capture
*-----------------------------------------------------------------------*/
err=dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set iso speed");
err=dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_FORMAT7_7);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set video mode\n");
err=dc1394_video_set_framerate(camera, DC1394_FRAMERATE_7_5);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set framerate\n");
err=dc1394_capture_setup(camera,4, DC1394_CAPTURE_FLAGS_DEFAULT);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not setup camera-\nmake sure that the video mode and framerate are\nsupported by your camera\n");
/*-----------------------------------------------------------------------
* 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\n");
for(;;){
/*-----------------------------------------------------------------------
* capture one frame
*-----------------------------------------------------------------------*/
err=dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not capture a frame\n");
dc1394_get_image_size_from_video_mode(camera, DC1394_VIDEO_MODE_FORMAT7_7, &width, &height);
cv::Mat img = cv::Mat(height, width, CV_8U, frame->image);
err = dc1394_capture_enqueue(camera, frame);
frame=NULL;
cv::imshow("Image", img);
printf("Frame %d\n", counter);
counter++;
cv::waitKey(10);
}
/*-----------------------------------------------------------------------
* stop data transmission
*-----------------------------------------------------------------------*/
err=dc1394_video_set_transmission(camera,DC1394_OFF);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not stop the camera?\n");
/*-----------------------------------------------------------------------
* close camera
*-----------------------------------------------------------------------*/
dc1394_video_set_transmission(camera, DC1394_OFF);
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
dc1394_free (d);
return 0;
}
