CvCapture * cvCaptureFromCAM_DC1394 (int index)
{
quadlet_t modes[8], formats;
int i;
if (numPorts<0) icvInitCapture_DC1394();
if (numPorts==0)
return 0; /* No i1394 ports found */
if (numCameras<1)
return 0;
if (index>=numCameras)
return 0;
if (index<0)
return 0;
CvCaptureCAM_DC1394 * pcap = (CvCaptureCAM_DC1394*)cvAlloc(sizeof(CvCaptureCAM_DC1394));
pcap->vtable = &captureCAM_DC1394_vtable;
/* Select a port and camera */
pcap->device_name = videodev[cameras[index].portnum];
pcap->handle = handles[cameras[index].portnum];
pcap->camera = &cameras[index].cam;
// get supported formats
if (dc1394_query_supported_formats(pcap->handle, pcap->camera->node, &formats)<0) {
fprintf(stderr,"%s:%d: Could not query supported formats\n",__FILE__,__LINE__);
formats=0x0;
}
for (i=0; i < NUM_FORMATS; i++) {
modes[i]=0;
if (icvFormatSupportedCAM_DC1394(i+FORMAT_MIN, formats)){
if (dc1394_query_supported_modes(pcap->handle, pcap->camera->node, i+FORMAT_MIN, &modes[i])<0) {
fprintf(stderr,"%s:%d: Could not query Format%d modes\n",__FILE__,__LINE__,i);
}
}
}
pcap->format = 0;
pcap->mode = 0;
pcap->color_mode = 0;
pcap->frame_rate = 0;
int format_idx = -1;
// scan the list of preferred modes, and find a supported one
for(i=0; (pcap->mode == 0) && (preferred_modes[i] != 0); i++) {
if((preferred_modes[i] >= FORMAT_MIN) && (preferred_modes[i] <= FORMAT_MAX)) {
pcap->format = preferred_modes[i];
format_idx = preferred_modes[i] - FORMAT_MIN;
continue;
}
assert(format_idx != -1);
if ( ! icvFormatSupportedCAM_DC1394(pcap->format, formats) )
continue;
if ( icvModeSupportedCAM_DC1394(pcap->format, preferred_modes[i], modes[format_idx]) ){
pcap->mode = preferred_modes[i];
}
}
if (pcap->mode == 0) {
fprintf(stderr,"%s:%d: Could not find a supported mode for this camera\n",__FILE__,__LINE__);
goto ERROR;
}
pcap->color_mode = icvColorMode( pcap->mode );
if( pcap->color_mode == -1){
fprintf(stderr,"%s:%d: ERROR: BPP is Unsupported!!\n",__FILE__,__LINE__);
goto ERROR;
}
// set frame rate to optimal value given format and mode
pcap->frame_rate = icvGetBestFrameRate(pcap, pcap->format, pcap->mode);
if (pcap->format!=FORMAT_SCALABLE_IMAGE_SIZE) { // everything except Format 7
if (dc1394_dma_setup_capture(pcap->handle, pcap->camera->node, index+1 /*channel*/,
pcap->format, pcap->mode, SPEED_400,
pcap->frame_rate, NUM_BUFFERS,
#ifdef HAVE_DC1394_095
0 /*do_extra_buffering*/,
#endif
1 /*DROP_FRAMES*/,
pcap->device_name, pcap->camera) != DC1394_SUCCESS) {
fprintf(stderr,"%s:%d: Failed to setup DMA capture with VIDEO1394\n",__FILE__,__LINE__);
goto ERROR;
}
}
else {
if(dc1394_dma_setup_format7_capture(pcap->handle,pcap->camera->node,index+1 /*channel*/,
pcap->mode, SPEED_400, QUERY_FROM_CAMERA,
(unsigned int)QUERY_FROM_CAMERA, (unsigned int)QUERY_FROM_CAMERA,
(unsigned int)QUERY_FROM_CAMERA, (unsigned int)QUERY_FROM_CAMERA,
NUM_BUFFERS,
#ifdef HAVE_DC1394_095
0 /*do_extra_buffering*/,
#endif
1 /*DROP_FRAMES*/,
pcap->device_name, pcap->camera) != DC1394_SUCCESS) {
fprintf(stderr,"%s:%d: Failed to setup DMA capture with VIDEO1394\n",__FILE__,__LINE__);
goto ERROR;
}
}
if (dc1394_start_iso_transmission(pcap->handle, pcap->camera->node)!=DC1394_SUCCESS) {
fprintf(stderr,"%s:%d: Could not start ISO transmission\n",__FILE__,__LINE__);
goto ERROR;
}
usleep(DELAY);
dc1394bool_t status;
if (dc1394_get_iso_status(pcap->handle, pcap->camera->node, &status)!=DC1394_SUCCESS) {
fprintf(stderr,"%s:%d: Could get ISO status",__FILE__,__LINE__);
goto ERROR;
}
if (status==DC1394_FALSE) {
fprintf(stderr,"%s:%d: ISO transmission refuses to start",__FILE__,__LINE__);
goto ERROR;
}
// convert camera image to RGB by default
pcap->convert=1;
// no image data allocated yet
pcap->buffer_is_writeable = 0;
memset(&(pcap->frame), 0, sizeof(IplImage));
icvResizeFrame( pcap );
return (CvCapture *)pcap;
ERROR:
return 0;
};
// Setup camera to use given dc1394 mode
static int
icvSetModeCAM_DC1394( CvCaptureCAM_DC1394 * capture, int mode ){
quadlet_t modes, formats;
//printf("<icvSetModeCAM_DC1394>\n");
// figure out corrent format for this mode
int format = (mode - MODE_FORMAT0_MIN) / 32 + FORMAT_MIN;
// get supported formats
if (dc1394_query_supported_formats(capture->handle, capture->camera->node, &formats)<0) {
fprintf(stderr,"%s:%d: Could not query supported formats\n",__FILE__,__LINE__);
return 0;
}
// is format for requested mode supported ?
if(icvFormatSupportedCAM_DC1394(format, formats)==0){
return 0;
}
// get supported modes for requested format
if (dc1394_query_supported_modes(capture->handle, capture->camera->node, format, &modes)<0){
fprintf(stderr,"%s:%d: Could not query supported modes for format %d\n",__FILE__,__LINE__, capture->format);
return 0;
}
// is requested mode supported ?
if(! icvModeSupportedCAM_DC1394(format, mode, modes) ){
return 0;
}
int color_mode = icvColorMode( mode );
if(color_mode == -1){
return 0;
}
int frame_rate = icvGetBestFrameRate(capture, format, mode);
dc1394_dma_unlisten(capture->handle, capture->camera);
if (dc1394_dma_setup_capture(capture->handle, capture->camera->node, capture->camera->channel /*channel*/,
format, mode, SPEED_400,
frame_rate, NUM_BUFFERS,
#ifdef HAVE_DC1394_095
0 /*do_extra_buffering*/,
#endif
1 /*DROP_FRAMES*/,
capture->device_name, capture->camera) != DC1394_SUCCESS) {
fprintf(stderr,"%s:%d: Failed to setup DMA capture with VIDEO1394\n",__FILE__,__LINE__);
return 0;
}
dc1394_start_iso_transmission(capture->handle, capture->camera->node);
capture->frame_rate = frame_rate;
capture->format = format;
capture->mode = mode;
capture->color_mode = color_mode;
// now fix image size to match new mode
icvResizeFrame( capture );
return 1;
}
bool linuxfwCamera::initCamera(int width, int height, bool colour) {
if (cameraID < 0) return false;
this->width = width;
this->height = height;
this->colour = colour;
bytes = (colour?3:1);
quadlet_t format;
if (dc1394_query_supported_modes(handle, cameraID,FORMAT_VGA_NONCOMPRESSED,&format) !=DC1394_SUCCESS) {
fprintf( stderr,"unable to query format\n");
}
image_mode_ = 0;
if (colour) {
int yuv411 = 29;
int rgb = 27;
if (format & (0x1<<yuv411)) image_mode_=MODE_640x480_YUV411;
else if (format & (0x1<<rgb)) image_mode_=MODE_640x480_RGB;
} else {
int mono = 26;
int yuv411 = 29;
if (format & (0x1<<mono)) image_mode_=MODE_640x480_MONO;
else if (format & (0x1<<yuv411)) image_mode_=MODE_640x480_YUV411;
}
if(!image_mode_) return false;
quadlet_t frames;
if (dc1394_query_supported_framerates(handle, cameraID,FORMAT_VGA_NONCOMPRESSED, image_mode_, &frames) !=DC1394_SUCCESS) {
fprintf( stderr,"unable query frame rate\n");
}
fps = 60;
while (fps>=15) {
frame_rate_ = 0;
int test_rate = 0;
if (fps == 60)
test_rate = FRAMERATE_60;
else if (fps == 30)
test_rate = FRAMERATE_30;
else if (fps == 15)
test_rate = FRAMERATE_15;
if ((frames & (0x1<<(31-(test_rate-FRAMERATE_MIN)))))
frame_rate_=test_rate;
if(!frame_rate_) {
fps=fps/2;
} else break;
}
if(!frame_rate_) return false;
printf("framerate\n");
char videoDevice[24] = "";
sprintf(videoDevice,"/dev/video1394/%d",dc1394_get_camera_port(handle));
// setup capture
if (dc1394_dma_setup_capture(handle,camera_nodes[cameraID],
0, /* channel */
FORMAT_VGA_NONCOMPRESSED,
image_mode_,
SPEED_400,
frame_rate_,
4,
0,
videoDevice,
&camera)==DC1394_SUCCESS) {
use_dma=true;
} else if (dc1394_setup_capture(handle,camera_nodes[cameraID],
0, /* channel */
FORMAT_VGA_NONCOMPRESSED,
image_mode_,
SPEED_400,
frame_rate_,
&camera)==DC1394_SUCCESS) {
use_dma=false;
} else {
fprintf( stderr,"unable to setup camera -\n"
"make sure that the video mode,framerate and format are supported by your camera\n");
dc1394_release_camera(handle,&camera);
dc1394_destroy_handle(handle);
dc1394_free_camera_nodes(camera_nodes);
return false;
}
dc1394_camerainfo info;
if (dc1394_get_camera_info(handle, cameraID, &info) !=DC1394_SUCCESS ) {
//printf("could not read camera info\n");
sprintf(cameraName,"unknown camera");
} else {
sprintf(cameraName,"%s, %s", info.vendor, info.model);
}
/*if (dc1394_set_video_framerate(handle,cameraID,frame_rate)!=DC1394_SUCCESS) {
fprintf( stderr,"%i nope\n");
dc1394_release_camera(handle,&camera);
//dc1394_destroy_handle(handle);
//sdc1394_free_camera_nodes(camera_nodes);
return false;
}*/
dc1394_free_camera_nodes(camera_nodes);
// set trigger mode
/*if( dc1394_set_trigger_mode(handle, camera.node, TRIGGER_MODE_0)
!= DC1394_SUCCESS)
{
//fprintf( stderr, "unable to set camera trigger mode\n");
}*/
buffer = new unsigned char[width*height*bytes];
return true;
}
