Ejemplo n.º 1
0
// Note:
// the following was tested on a IIDC camera over USB therefore might not work as
// well on a camera over proper firewire transport
void FirewireVideo::init_format7_camera(
    uint64_t guid, int dma_frames,
    dc1394speed_t iso_speed,
    dc1394video_mode_t video_mode,
    float framerate,
    uint32_t width, uint32_t height,
    uint32_t left, uint32_t top, bool reset_at_boot
    ) {

    if(video_mode< DC1394_VIDEO_MODE_FORMAT7_0)
        throw VideoException("roi can be specified only for format7 modes");

    camera = dc1394_camera_new (d, guid);
    if (!camera)
        throw VideoException("Failed to initialize camera");

    // Attempt to stop camera if it is already running
    dc1394switch_t is_iso_on = DC1394_OFF;
    dc1394_video_get_transmission(camera, &is_iso_on);
    if (is_iso_on==DC1394_ON) {
        dc1394_video_set_transmission(camera, DC1394_OFF);
    }

    cout << "Using camera with GUID " << camera->guid << endl;

    if(reset_at_boot){
      dc1394_camera_reset(camera);
    }

    //-----------------------------------------------------------------------
    //  setup mode and roi
    //-----------------------------------------------------------------------

    if(iso_speed >= DC1394_ISO_SPEED_800)
    {
        err=dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_1394B);
        if( err != DC1394_SUCCESS )
           throw VideoException("Could not set DC1394_OPERATION_MODE_1394B");
    }

    err=dc1394_video_set_iso_speed(camera, iso_speed);
    if( err != DC1394_SUCCESS )
        throw VideoException("Could not set iso speed");

    // check that the required mode is actually supported
    dc1394format7mode_t format7_info;

    err = dc1394_format7_get_mode_info(camera, video_mode, &format7_info);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not get format7 mode info");

    // safely set the video mode
    err=dc1394_video_set_mode(camera, video_mode);
    if( err != DC1394_SUCCESS )
        throw VideoException("Could not set format7 video mode");

    // set position to 0,0 so that setting any size within min and max is a valid command
    err = dc1394_format7_set_image_position(camera, video_mode,0,0);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not set format7 image position");

    // work out the desired image size
    width = nearest_value(width, format7_info.unit_pos_x, 0, format7_info.max_size_x - left);
    height = nearest_value(height, format7_info.unit_pos_y, 0, format7_info.max_size_y - top);

    // set size
    err = dc1394_format7_set_image_size(camera,video_mode,width,height);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not set format7 size");

    // get the info again since many parameters depend on image size
    err = dc1394_format7_get_mode_info(camera, video_mode, &format7_info);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not get format7 mode info");

    // work out position of roi
    left = nearest_value(left, format7_info.unit_size_x, format7_info.unit_size_x, format7_info.max_size_x - width);
    top = nearest_value(top, format7_info.unit_size_y, format7_info.unit_size_y, format7_info.max_size_y - height);

    // set roi position
    err = dc1394_format7_set_image_position(camera,video_mode,left,top);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not set format7 size");

    this->width = width;
    this->height = height;
    this->top = top;
    this->left = left;

    cout<<"roi: "<<left<<" "<<top<<" "<<width<<" "<<height<<"  ";


    //-----------------------------------------------------------------------
    //  setup frame rate
    //-----------------------------------------------------------------------

    err=dc1394_format7_set_packet_size(camera,video_mode, format7_info.max_packet_size);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not set format7 packet size");

    if((framerate != MAX_FR) && (framerate != EXT_TRIG)){
      //set the framerate by using the absolute feature as suggested by the
      //folks at PointGrey
      err = dc1394_feature_set_absolute_control(camera,DC1394_FEATURE_FRAME_RATE,DC1394_ON);
      if( err != DC1394_SUCCESS )
          throw VideoException("Could not turn on absolute frame rate control");

      err = dc1394_feature_set_mode(camera,DC1394_FEATURE_FRAME_RATE,DC1394_FEATURE_MODE_MANUAL);
      if( err != DC1394_SUCCESS )
          throw VideoException("Could not make frame rate manual ");

      err=dc1394_feature_set_absolute_value(camera,DC1394_FEATURE_FRAME_RATE,framerate);
      if( err != DC1394_SUCCESS )
          throw VideoException("Could not set format7 framerate ");
    }

    // ask the camera what is the resulting framerate (this assume that such a rate is actually
    // allowed by the shutter time)
    float value;
    err=dc1394_feature_get_absolute_value(camera,DC1394_FEATURE_FRAME_RATE,&value);
    if( err != DC1394_SUCCESS )
        throw VideoException("Could not get framerate");

    cout<<" framerate(shutter permitting):"<<value<<endl;

    //-----------------------------------------------------------------------
    //  setup capture
    //-----------------------------------------------------------------------

    err=dc1394_capture_setup(camera,dma_frames, DC1394_CAPTURE_FLAGS_DEFAULT);
    if( err != DC1394_SUCCESS )
        throw VideoException("Could not setup camera - check settings");

    Start();

}
Ejemplo n.º 2
0
// Note:
// the following was tested on a IIDC camera over USB therefore might not work as
// well on a camera over proper firewire transport
void FirewireVideo::init_format7_camera(
    uint64_t guid, int dma_frames,
    dc1394speed_t iso_speed,
    dc1394video_mode_t video_mode,
    int framerate,
    uint32_t width, uint32_t height,
    uint32_t left, uint32_t top, bool reset_at_boot
    ) {

    if(video_mode< DC1394_VIDEO_MODE_FORMAT7_0)
        throw VideoException("roi can be specified only for format7 modes");

    camera = dc1394_camera_new (d, guid);
    if (!camera)
        throw VideoException("Failed to initialize camera");

    // Attempt to stop camera if it is already running
    dc1394switch_t is_iso_on = DC1394_OFF;
    dc1394_video_get_transmission(camera, &is_iso_on);
    if (is_iso_on==DC1394_ON) {
        dc1394_video_set_transmission(camera, DC1394_OFF);
    }

    cout << "Using camera with GUID " << camera->guid << endl;

    if(reset_at_boot){
      dc1394_camera_reset(camera);
    }

    //-----------------------------------------------------------------------
    //  setup mode and roi
    //-----------------------------------------------------------------------

    if(iso_speed >= DC1394_ISO_SPEED_800)
    {
        err=dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_1394B);
        if( err != DC1394_SUCCESS )
           throw VideoException("Could not set DC1394_OPERATION_MODE_1394B");
    }

    err=dc1394_video_set_iso_speed(camera, iso_speed);
    if( err != DC1394_SUCCESS )
        throw VideoException("Could not set iso speed");

    // check that the required mode is actually supported
    dc1394format7mode_t format7_info;

    err = dc1394_format7_get_mode_info(camera, video_mode, &format7_info);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not get format7 mode info");

    // safely set the video mode
    err=dc1394_video_set_mode(camera, video_mode);
    if( err != DC1394_SUCCESS )
        throw VideoException("Could not set format7 video mode");

    // set position to 0,0 so that setting any size within min and max is a valid command
    err = dc1394_format7_set_image_position(camera, video_mode,0,0);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not set format7 image position");

    // work out the desired image size
    width = nearest_value(width, format7_info.unit_pos_x, 0, format7_info.max_size_x - left);
    height = nearest_value(height, format7_info.unit_pos_y, 0, format7_info.max_size_y - top);

    // set size
    err = dc1394_format7_set_image_size(camera,video_mode,width,height);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not set format7 size");

    // get the info again since many parameters depend on image size
    err = dc1394_format7_get_mode_info(camera, video_mode, &format7_info);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not get format7 mode info");

    // work out position of roi
    left = nearest_value(left, format7_info.unit_size_x, format7_info.unit_size_x, format7_info.max_size_x - width);
    top = nearest_value(top, format7_info.unit_size_y, format7_info.unit_size_y, format7_info.max_size_y - height);

    // set roi position
    err = dc1394_format7_set_image_position(camera,video_mode,left,top);
    if( err != DC1394_SUCCESS )
      throw VideoException("Could not set format7 size");

    this->width = width;
    this->height = height;
    this->top = top;
    this->left = left;

    cout<<"roi: "<<left<<" "<<top<<" "<<width<<" "<<height<<"  ";


    //-----------------------------------------------------------------------
    //  setup frame rate
    //-----------------------------------------------------------------------

    if((framerate == MAX_FR)||(framerate == EXT_TRIG)){

      err=dc1394_format7_set_packet_size(camera,video_mode, format7_info.max_packet_size);
      if( err != DC1394_SUCCESS )
        throw VideoException("Could not set format7 packet size");

    } else {

      // setting packet size to get the desired frame rate according to the libdc docs
      // does not do the trick, so for now we support only max frame rate

        throw VideoException("In format 7 only max frame rate is currently supported");
      //      uint32_t depth;
      //      err = dc1394_format7_get_data_depth(camera, video_mode, &depth);
      //      if( err != DC1394_SUCCESS )
      //        throw VideoException("Could not get format7 depth");
      //
      //      // the following is straight from the libdc docs
      //      double bus_period = bus_period_from_iso_speed(iso_speed);
      //
      //      // work out the max number of packets that the bus can deliver
      //      int num_packets = (int) (1.0/(bus_period*framerate) + 0.5);
      //
      //      if((num_packets > 4095)||(num_packets < 0))
      //        throw VideoException("number of format7 packets out of range");
      //
      //      // work out what the packet size should be for the requested size and framerate
      //      uint32_t packet_size = (width*964*depth + (num_packets*8) - 1)/(num_packets*8);
      //      packet_size = nearest_value(packet_size,format7_info.unit_packet_size,format7_info.unit_packet_size,format7_info.max_packet_size);
      //
      //      if(packet_size > format7_info.max_packet_size){
      //        throw VideoException("format7 requested frame rate and size exceed bus bandwidth");
      //      }
      //
      //      err=dc1394_format7_set_packet_size(camera,video_mode, packet_size);
      //      if( err != DC1394_SUCCESS ){
      //        throw VideoException("Could not set format7 packet size");
      //      }
    }

    // ask the camera what is the resulting framerate (this assume that such a rate is actually
    // allowed by the shutter time)
    err = dc1394_feature_set_power(camera,DC1394_FEATURE_FRAME_RATE,DC1394_OFF);
    if( err != DC1394_SUCCESS )
        throw VideoException("Could not turn off frame rate");

    float value;
    err=dc1394_feature_get_absolute_value(camera,DC1394_FEATURE_FRAME_RATE,&value);
    if( err != DC1394_SUCCESS )
        throw VideoException("Could not get framerate");

    cout<<" framerate(shutter permitting):"<<value<<endl;

    //-----------------------------------------------------------------------
    //  setup capture
    //-----------------------------------------------------------------------

    err=dc1394_capture_setup(camera,dma_frames, DC1394_CAPTURE_FLAGS_DEFAULT);
    if( err != DC1394_SUCCESS )
        throw VideoException("Could not setup camera - check settings");

    Start();

}