CameraInfo* CMUCamera::getCameraInfos(int deviceNumber)
{
#ifdef AVG_ENABLE_CMU1394
C1394Camera* pCamera = new C1394Camera();
int err = pCamera->RefreshCameraList();
if (err <= 0) {
return 0;
}
err = pCamera->SelectCamera(deviceNumber);
if (err != CAM_SUCCESS) {
AVG_ASSERT(false);
}
pCamera->InitCamera(true);
long long uniqueID;
pCamera->GetCameraUniqueID((PLARGE_INTEGER)&uniqueID);
stringstream deviceID;
deviceID << uniqueID;
CameraInfo* pCamInfo = new CameraInfo("Firewire", deviceID.str());
getCameraImageFormats(pCamera, pCamInfo);
getCameraControls(pCamera, pCamInfo);
delete pCamera;
return pCamInfo;
#endif
return NULL;
}
bool Sync1394Camera::InitCamera(int cameraID, SyncCamParams m_config, float x_offset, float y_offset, float yaw_offset, float fudge)
{
C1394Camera* camptr;
isRunning = false;
Sync1394Camera::config = m_config;
int effWidth = config.partialWidth;
int effHeight = config.partialHeight;
camptr = &camera;
if (config.isColor)
size = effWidth * effHeight * 3;
else
size = effWidth * effHeight;
if (config.BitDepth16) size *= 2;
buf = new unsigned char[size];
if(camptr->RefreshCameraList() == 0 )
{
printf("RefreshCameraList failed.\n");
return false;
}
if (cameraID == 0)
{
start_tick = clock();
}
//artagLoc->initARtagPose(640, 480, 200.0, x_offset, y_offset, yaw_offset, fudge);
artagLoc->initARtagPose(640, 480, 180.0, x_offset, y_offset, yaw_offset, fudge);
//artagLoc->initARtagPose(640, 480, 160.0, x_offset, y_offset, yaw_offset, fudge);
if(camptr->SelectCamera(cameraID)!=CAM_SUCCESS)
{
printf("Could not select camera\n" );
return false;
}
camId = cameraID;
if(camptr->InitCamera(true)!=CAM_SUCCESS)
{
printf("Could not init camera\n" );
return false;
}
if(camptr->SetVideoFormat(config.videoFormat)!=CAM_SUCCESS)
{
printf("Could not SetVideoFormat on camera\n" );
}
if(camptr->SetVideoMode(config.videoMode)!=CAM_SUCCESS)
{
printf("Could not SetVideoMode on camera\n");
}
if (config.usePartialScan == false)
{
if(camptr->SetVideoFrameRate(config.videoFrameRate)!=CAM_SUCCESS)
{
printf("Could not set video frame rate!");
return false;
} //30 fps
}
else if (config.usePartialScan)
{
unsigned short w, h;
C1394CameraControlSize* p_size_control = camptr->GetCameraControlSize();
p_size_control->GetSizeLimits(&w, &h);
if ((w>effWidth) || (h>effHeight))
{
printf("FATAL: Bad Partial Scan Size Specified! Specified w:%d h:%d, Max: w:%d h:%d",effWidth,effHeight,w,h);
return false;
}
if (config.isColor)
{
if( p_size_control->SetColorCode(COLOR_CODE_YUV422) != CAM_SUCCESS )
{
printf("SetColorCode failed.\n");
return false;
}
}
else
{
if( p_size_control->SetColorCode(config.BitDepth16?COLOR_CODE_Y16:COLOR_CODE_Y8) != CAM_SUCCESS )
{
printf("SetColorCode failed (BW).\n");
return false;
}
}
if( p_size_control->SetSize(effWidth,effHeight) != CAM_SUCCESS )
{
printf("SetSize failed.\n");
return false;
}
if( p_size_control->SetPos(config.partialLeft,config.partialTop) != CAM_SUCCESS )
{
printf("SetPos failed.\n");
return false;
}
if (p_size_control->SetBytesPerPacket (config.bytesPerPacket) != CAM_SUCCESS)
{
printf("SetBytesPerPacket failed.\n");
return false;
}
float interval=0.0; p_size_control->GetFrameInterval (&interval);
if (((float)config.syncFPS) > (1.0f/interval))
{
printf("WARNING: SyncFPS (%f) is greater than the actual camera FPS (%f)\n",(float)config.syncFPS,(1.0f/interval));
}
printf("Frame Interval is: %f",interval);
}
if (config.isSlave)
{
printf("Using SLAVE configuration.\n");
}
if (!config.AutoGain)
{
C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_GAIN);
if (ctrl->SetAutoMode(false) != CAM_SUCCESS)
{
printf("Gain SetManualMode failed.\n");
}
ctrl->SetValue(GAINVAL);
if (ctrl->StatusAutoMode() == true)
{
printf("I HAVE AUTOGAIN ASSHOLE");
}
unsigned short gainval = 0;
ctrl->GetValue(&gainval);
if (DEBUG_SYNC1394) printf("gain: %d\n",gainval);
}
else
{
C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_GAIN);
ctrl->SetValue(GAINVAL);
if (ctrl->SetAutoMode(true) != CAM_SUCCESS)
{
printf("Gain SetAutoMode failed.\n");
}
if (ctrl->StatusAutoMode() == true)
{
if (DEBUG_SYNC1394) printf("AutoGain successfully set!\n");
}
}
minGain=0;
maxGain=0;
GetGainMinMax( camptr, &minGain, &maxGain);
if (DEBUG_SYNC1394) printf("Min gain: %d, Max gain: %d\n",minGain,maxGain);
if (!config.AutoShutter)
{
C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_SHUTTER);
if (ctrl->SetAutoMode(false) != CAM_SUCCESS)
{
printf("Shutter SetManualMode failed.\n");
}
ctrl->SetValue(SHUTTERVAL);
/*if (ctrl->SetValue(530) != CAM_SUCCESS)
{
printf("Shutter SetValue failed.\n");
}*/
if (ctrl->StatusAutoMode() == true)
{
printf("I HAVE AUTOSHUTTER ASSHOLE");
}
}
else
{
C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_SHUTTER);
ctrl->SetValue(SHUTTERVAL);
if (ctrl->SetAutoMode(true) != CAM_SUCCESS)
{
printf("Shutter SetAutoMode failed.\n");
}
if (ctrl->StatusAutoMode() == true)
{
if (DEBUG_SYNC1394) printf("AutoShutter successfully set!\n");
}
}
if (!config.AutoBrightness)
{
C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_BRIGHTNESS);
if (ctrl->SetAutoMode(false) != CAM_SUCCESS)
{
printf("Brightness SetManualMode failed.\n");
}
ctrl->SetValue(154);
if (ctrl->StatusAutoMode() == true)
{
printf("I HAVE AUTOBRIGHTNESS ASSHOLE");
}
unsigned short bval = 0;
ctrl->GetValue(&bval);
if (DEBUG_SYNC1394) printf("brightness: %d\n",bval);
}
else
{
C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_BRIGHTNESS);
ctrl->SetValue(154);
if (ctrl->SetAutoMode(true) != CAM_SUCCESS)
{
printf("Brightness SetAutoMode failed.\n");
}
if (ctrl->StatusAutoMode() == true)
{
if (DEBUG_SYNC1394) printf("AutoBrightness successfully set!\n");
}
}
if (config.gammaEnable)
{
C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_GAMMA);
if (ctrl->SetOnOff(true) != CAM_SUCCESS)
{
printf("Gamma SetOnOff failed.\n");
}
if (ctrl->SetValue(1) != CAM_SUCCESS)
{
printf("Gamma SetValue failed.\n");
}
}
minShutter=0;
maxShutter=0;
GetShutterMinMax(camptr, &minShutter, &maxShutter);
if (DEBUG_SYNC1394) printf("Min shutter: %d, Max shutter: %d\n",minShutter,maxShutter);
if (config.adjWB)
{
C1394CameraControl* ctrl = camptr->GetCameraControl (FEATURE_WHITE_BALANCE);
if (ctrl->SetValue(WHITEBALANCE_VALUE1,WHITEBALANCE_VALUE2) != CAM_SUCCESS)
{
printf("WhiteBalance SetValue failed.\n");
}
}
printf("Completed Init of Camera %d\n", camId);
if (config.eTrigEnabled)
{
C1394CameraControlTrigger* trig = camptr->GetCameraControlTrigger();
if (trig->SetTriggerSource (config.syncCamInput)!=CAM_SUCCESS)
printf("Could Not Set Trigger Source!\n");
else
{
if (trig->SetMode (0))
printf("Could Not Set Trigger Mode!\n");
else
{
if (trig->SetOnOff (true))
printf("Could Not Set Trigger ON!\n");
else
{
trig->Status();
printf("External Trigger Initialized.\n");
}
}
}
}
else
{
if (config.syncEnabled)
{
udp_params paramsRX = udp_params();
paramsRX.remote_ip = inet_addr(UDP_BROADCAST_IP);
paramsRX.local_port = UDP_BROADCAST_PORT;
paramsRX.reuse_addr = 1;
try
{
udpRX = new udp_connection(paramsRX);
}
catch (exception)
{
printf("Couldn't init UDP RX on %s:%d \n",UDP_BROADCAST_IP,paramsRX.local_port);
return false;
}
udpRX->set_callback(MakeDelegate(this,&Sync1394Camera::UDPCallback), udpRX);
udp_params paramsTX = udp_params();
try
{
udpTX = new udp_connection(paramsTX);
}
catch (exception)
{
printf("Couldn't init UDP TX on port %d\n",paramsTX.local_port);
return false;
}
if (config.isSlave == false)
{
char regmsg[] = {CAMERA_MSG_REGISTER, config.syncID & 0xFF, 0x00, 0x00, 0x00, 0x00,(paramsRX.local_port>>8)&0xff, paramsRX.local_port&0xff}; //register message
udpTX->send_message (regmsg,8,UDP_CONTROL_IP,UDP_CONTROL_PORT);
Sleep(100);
char fpsmsg[] = {CAMERA_MSG_SETFPS, config.syncID & 0xff, config.syncFPS &0xff};
udpTX->send_message (fpsmsg,3,UDP_CONTROL_IP,UDP_CONTROL_PORT);
Sleep(100);
char initmsg[] = {CAMERA_START, config.syncID & 0xFF}; //start message
udpTX->send_message (initmsg,2,UDP_CONTROL_IP,UDP_CONTROL_PORT);
if (config.ghettoSync == false)
{
C1394CameraControlTrigger* trig = camptr->GetCameraControlTrigger ();
unsigned short modein=0; unsigned short modeparam =0; unsigned short trigsrc=0;
if (trig->SetTriggerSource (config.syncCamInput)!=CAM_SUCCESS)
printf("Could Not Set Trigger Source!\n");
if (trig->SetMode (0))
printf("Could Not Set Trigger Mode!\n");
if (trig->SetOnOff (true))
printf("Could Not Set Trigger ON!\n");
}
}
if (DEBUG_SYNC1394) printf("Timing Initialized.\n");
}
int main()
{
unsigned int totalSent = 0, totalReceived = 0, totalNonMatching = 0;
C1394Camera theCamera;
theCamera.CheckLink();
theCamera.SelectCamera(0);
theCamera.InitCamera(1);
theCamera.SIOConfigPort(300,8,1,0);
theCamera.SIOEnable(1,1);
unsigned char ibuf[64],obuf[64];
for(int ii = 0; ii < 26; ++ii)
{
obuf[ii] = 'a' + ii;
obuf[ii+26] = 'A' + ii;
if(ii < 10)
{
obuf[ii+52] = '0' + ii;
}
}
obuf[62]='+';
obuf[63]='-';
for(int rounds=0; rounds<2; rounds++)
{
for(int ii = 0; ii<64; ++ii)
{
int ret = theCamera.SIOWriteBytes(obuf,ii+1);
printf("Wrote %d of %d bytes\n",ret,ii+1);
totalSent += ret;
bool mustReset = false;
for(int jj=0; jj <ii+1; )
{
Sleep(10);
ret = theCamera.SIOReadBytes(ibuf+jj,64-jj);
totalReceived += ret;
StatusByte statusByte;
theCamera.GetSIOStatusByte((unsigned char *)&statusByte);
//printf(" -> Read back %d bytes (status = %s):\n",ret,FormatStatusString(statusByte));
for(int kk = 0; kk < ret; ++kk)
{
if(ibuf[jj+kk] != obuf[jj+kk])
{
printf(" -> Match Fail: (%02x != %02x) : %s\n",(unsigned int)ibuf[jj+kk],(unsigned int)obuf[jj+kk],FormatStatusString(statusByte));
++totalNonMatching;
mustReset = true;
}
}
jj += ret;
}
if(mustReset)
{
theCamera.SIOEnable(1,1);
}
}
}
printf("Loopback Tests Complete: Sent %d, Received %d, Errors = %d (%.1f%%)\n",
totalSent,totalReceived,totalNonMatching,100.0 * (double)(totalNonMatching) / (double)(totalReceived));
unsigned long ulConfigRegister;
theCamera.GetSIOConfig(&ulConfigRegister);
printf(" - Config register = %08x -\n",ulConfigRegister);
return 0;
}