int capture_single(capture_t *cap, const int index, capture_frame_t *frame)
{
dc1394camera_t *cam = cap->cameras[index];
dc1394error_t err;
dc1394video_frame_t *vframe = NULL;
uint32_t frames_behind = 0;
if (cap->prefer_one_shot && cam->one_shot_capable == DC1394_TRUE) {
err = dc1394_video_set_one_shot(cam, DC1394_ON);
DC1394_WRN(err, "could not set one shot mode.");
if (err != DC1394_SUCCESS) {
return CAPTURE_ERROR;
}
}
err = dc1394_capture_dequeue(cam, DC1394_CAPTURE_POLICY_WAIT, &vframe);
DC1394_WRN(err, "could not dequeue frame.");
if (err != DC1394_SUCCESS) {
return CAPTURE_ERROR;
}
frames_behind = vframe->frames_behind;
/* copy the image to frame->raw_data */
s_copy_frame(vframe, frame);
err = dc1394_capture_enqueue(cam, vframe);
DC1394_WRN(err, "could not enqueue frame.");
if (err != DC1394_SUCCESS) {
return CAPTURE_ERROR;
}
/* drop behind frames if drop_frame is enable */
if (cap->drop_frames) {
while (frames_behind-- > 0) {
err = dc1394_capture_dequeue(cam, DC1394_CAPTURE_POLICY_WAIT, &vframe);
DC1394_WRN(err, "could not dequeue frame.");
if (err != DC1394_SUCCESS) {
return CAPTURE_ERROR;
}
err = dc1394_capture_enqueue(cam, vframe);
DC1394_WRN(err, "could not enqueue frame.");
if (err != DC1394_SUCCESS) {
return CAPTURE_ERROR;
}
}
}
return CAPTURE_SUCCESS;
}
static dc1394framerate_t s_get_appropriate_framerate(dc1394camera_t *cam, dc1394video_mode_t mode, dc1394framerate_t framerate)
{
dc1394framerates_t framerates;
dc1394framerate_t selected_framerate;
dc1394error_t err;
unsigned int i;
err = dc1394_video_get_supported_framerates(cam, mode, &framerates);
DC1394_WRN(err, "failed to get framerates");
if (err != DC1394_SUCCESS) {
return framerate;
}
selected_framerate = (dc1394framerate_t)0;
for (i = 0; i < framerates.num; ++i) {
if (selected_framerate < framerates.framerates[i] && framerates.framerates[i] <= framerate) {
selected_framerate = framerates.framerates[i];
}
}
if (selected_framerate == 0) {
return framerate;
}
return selected_framerate;
}
int capture_init(capture_t *cap, const int verbose_mode)
{
dc1394error_t err;
/* initialize cap */
cap->num_cameras = 0;
cap->dc1394_cxt = NULL;
cap->camera_list = NULL;
cap->num_active = 0;
cap->cameras = NULL;
cap->dc1394_cxt = dc1394_new();
if (cap->dc1394_cxt == NULL) {
return CAPTURE_ERROR;
}
err = dc1394_camera_enumerate(cap->dc1394_cxt, &cap->camera_list);
DC1394_WRN(err, "Failed to enumerate cameras");
if (err != DC1394_SUCCESS) {
return CAPTURE_ERROR;
}
if (verbose_mode) {
fprintf(stderr, "%d camers(s) found.\n", cap->camera_list->num);
}
cap->num_cameras = cap->camera_list->num;
cap->num_buffers = 4;
cap->prefer_one_shot = 0;
cap->prefer_bmode = 0;
cap->verbose = verbose_mode;
return CAPTURE_SUCCESS;
}
IplImage *dc1394_capture_get_iplimage(dc1394camera_t *camera)
{
dc1394error_t err;
dc1394video_frame_t *frame;
IplImage *img;
err = dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
DC1394_WRN(err,"Could not capture a frame");
img = dc1394_frame_get_iplimage(frame);
err = dc1394_capture_enqueue(camera, frame);
DC1394_WRN(err,"releasing buffer");
return img;
}
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;
}
static int s_activate_camera(capture_t *cap, const int index)
{
s_flush_buffer(cap, index);
if ((!cap->prefer_one_shot) || cap->cameras[index]->one_shot_capable != DC1394_TRUE) {
dc1394error_t err;
/* use continuous transmission mode */
err = dc1394_video_set_transmission(cap->cameras[index], DC1394_ON);
DC1394_WRN(err, "could not start iso transmission");
if (err != DC1394_SUCCESS) {
return CAPTURE_ERROR;
}
}
return CAPTURE_SUCCESS;
}
void Libdc1394Grabber::enumerateDevices()
{
dc1394error_t err;
if(!dc1394) {
initDc1394System();
}
/* List cameras */
if(cameraList == NULL) {
err=dc1394_camera_enumerate (dc1394, &cameraList);
DC1394_WRN(err,"Failed to enumerate cameras");
if(err == DC1394_SUCCESS) {
numCameras = cameraList->num;
}
}
}
int capture_multi(capture_t *cap, capture_frame_t *frames)
{
int i;
dc1394error_t err;
dc1394video_frame_t **vframes = NULL;
uint32_t frames_behind = 0;
vframes = (dc1394video_frame_t **)malloc(sizeof(dc1394video_frame_t *) * cap->num_active);
if (vframes == NULL) {
return CAPTURE_ERROR;
}
for (i = 0; i < cap->num_active; ++i) {
if (cap->prefer_one_shot && cap->cameras[i]->one_shot_capable) {
err = dc1394_video_set_one_shot(cap->cameras[i], DC1394_ON);
DC1394_WRN(err, "could not set one shot mode.");
if (err != DC1394_SUCCESS) {
return CAPTURE_ERROR;
}
}
}
for (i = 0; i < cap->num_active; ++i) {
err = dc1394_capture_dequeue(cap->cameras[i], DC1394_CAPTURE_POLICY_WAIT, &vframes[i]);
DC1394_WRN(err, "could not dequeue frame.");
if (err != DC1394_SUCCESS) {
free(vframes);
return CAPTURE_ERROR;
}
}
/* find the minimum number of behind frames */
frames_behind = vframes[0]->frames_behind;
for (i = 1; i < cap->num_active; ++i) {
if (frames_behind > vframes[i]->frames_behind) {
frames_behind = vframes[i]->frames_behind;
}
}
/* copy the image to frame->raw_data */
for (i = 0; i < cap->num_active; ++i) {
s_copy_frame(vframes[i], &frames[i]);
}
for (i = 0; i < cap->num_active; ++i) {
err = dc1394_capture_enqueue(cap->cameras[i], vframes[i]);
DC1394_WRN(err, "could not enqueue frame.");
if (err != DC1394_SUCCESS) {
free(vframes);
return CAPTURE_ERROR;
}
}
/* drop behind frames if drop_frame is enable */
if (cap->drop_frames != 0) {
while (frames_behind-- > 0) {
for (i = 0; i < cap->num_active; ++i) {
err = dc1394_capture_dequeue(cap->cameras[i], DC1394_CAPTURE_POLICY_WAIT, &vframes[i]);
DC1394_WRN(err, "could not dequeue frame.");
if (err != DC1394_SUCCESS) {
free(vframes);
return CAPTURE_ERROR;
}
}
for (i = 0; i < cap->num_active; ++i) {
err = dc1394_capture_enqueue(cap->cameras[i], vframes[i]);
DC1394_WRN(err, "could not enqueue frame.");
if (err != DC1394_SUCCESS) {
free(vframes);
return CAPTURE_ERROR;
}
}
}
}
free(vframes);
return CAPTURE_SUCCESS;
}
int capture_setup(capture_t *cap, const char *conf_file)
{
conf_param_t param = CONF_PARAM_INIT_VAL;
int i, num_found;
/* read configulation from a specified file */
if (s_read_conf_file(conf_file, ¶m) < 1) {
return CAPTURE_ERROR;
}
/* allocate memory */
cap->cameras = (dc1394camera_t **)malloc(sizeof(dc1394camera_t *) * param.num_cameras);
if (cap->cameras == NULL) {
return CAPTURE_ERROR;
}
cap->num_active = 0;
num_found = 0;
for (i = 0; i < param.num_cameras; ++i) {
dc1394error_t err;
cap->cameras[num_found] = dc1394_camera_new(cap->dc1394_cxt, param.settings[i].uid);
if (cap->cameras[num_found] == NULL) {
if (cap->verbose) {
fprintf(stderr, "camera 0x%0"PRIx64" not found.\n", param.settings[i].uid);
}
continue;
}
if (cap->verbose) {
fprintf(stderr, "GUID[%d]: 0x%0"PRIx64"\n", i, cap->cameras[num_found]->guid);
}
#if 0
{
uint32_t port = 42;
dc1394_camera_get_linux_port(cap->cameras[num_found], &port);
printf("port: %d\n", port);
}
#endif
/* set parameters */
if (cap->verbose) {
fprintf(stderr, "set parameter.\n");
}
s_set_parameters(cap, num_found, ¶m.settings[i]);
/* set up a capture construct */
if (cap->verbose) {
fprintf(stderr, "set up a capture construct.\n");
}
err = dc1394_capture_setup(cap->cameras[num_found], cap->num_buffers, DC1394_CAPTURE_FLAGS_DEFAULT);
DC1394_WRN(err, "Setup capture failed.");
if (err != DC1394_SUCCESS) {
continue;
}
/* set ready to capture */
if (cap->verbose) {
fprintf(stderr, "activate camera.\n");
}
s_activate_camera(cap, num_found);
++num_found;
}
cap->num_active = num_found;
s_clear_conf_param(¶m);
return CAPTURE_SUCCESS;
}
static dc1394video_mode_t s_get_appropriate_mode(dc1394camera_t *cam, dc1394video_mode_t mode)
{
dc1394video_modes_t supported_modes;
dc1394video_mode_t selected_mode = mode;
uint32_t width, height;
dc1394color_coding_t coding;
int found = 0;
unsigned int num_pixels = 0;
dc1394error_t err;
unsigned int i;
err = dc1394_video_get_supported_modes(cam, &supported_modes);
DC1394_WRN(err, "failed to get supported modes.");
if (err != DC1394_SUCCESS) {
return mode;
}
for (i = 0; i < supported_modes.num; ++i) {
/* return given mode if the camera supports it */
if (supported_modes.modes[i] == mode) {
return mode;
}
}
/*
reaches here when no mode is exactly matched with one of supported modes
*/
err = dc1394_get_image_size_from_video_mode(cam, mode, &width, &height);
DC1394_WRN(err, "failed to get image size.");
if (err != DC1394_SUCCESS) {
return mode;
}
num_pixels = width * height;
err = dc1394_get_color_coding_from_video_mode(cam, mode, &coding);
DC1394_WRN(err, "failed to get color coding.");
if (err != DC1394_SUCCESS) {
return mode;
}
found = 0;
/* search the mode of size does not exceed the given mode and has the same color coding */
for (i = 0; i < supported_modes.num; ++i) {
dc1394color_coding_t c;
if (dc1394_get_color_coding_from_video_mode(cam, supported_modes.modes[i], &c) != DC1394_SUCCESS) {
continue;
}
if (c == coding) {
uint32_t w, h;
if (dc1394_get_image_size_from_video_mode(cam, supported_modes.modes[i], &w, &h) != DC1394_SUCCESS) {
continue;
}
if (w*h <= width*height && num_pixels < w*h) {
num_pixels = w*h;
selected_mode = supported_modes.modes[i];
found = 1;
}
}
}
if (found == 0) {
return mode;
}
return selected_mode;
}
static int s_set_parameters(capture_t *cap, const int index, camera_setting_t *s)
{
int ret = CAPTURE_SUCCESS;
dc1394camera_t *cam = cap->cameras[index];
dc1394error_t err;
/* set operation mode to 1394b, if possible */
if (cam->bmode_capable != 0 && cap->prefer_bmode) {
err = dc1394_video_set_operation_mode(cam, DC1394_OPERATION_MODE_1394B);
DC1394_WRN(err, "could not set 1394b mode.");
if (err == DC1394_SUCCESS) {
err = dc1394_video_set_iso_speed(cam, DC1394_ISO_SPEED_800);
DC1394_WRN(err, "could not set iso mode to S800.");
if (err != DC1394_SUCCESS) {
err = dc1394_video_set_iso_speed(cam, DC1394_ISO_SPEED_400);
DC1394_WRN(err, "could not set iso mode to S400.");
}
}
}
else {
err = dc1394_video_set_operation_mode(cam, DC1394_OPERATION_MODE_LEGACY);
DC1394_WRN(err, "could not set 1394-legacy mode.");
err = dc1394_video_set_iso_speed(cam, DC1394_ISO_SPEED_400);
DC1394_WRN(err, "could not set iso mode to S400.");
}
/* mode */
s->mode = s_get_appropriate_mode(cam, ((s->mode >= 0) ? s->mode : DC1394_VIDEO_MODE_640x480_MONO8));
if (dc1394_video_set_mode(cam, s->mode) != DC1394_SUCCESS) {
ret = CAPTURE_ERROR;
}
dc1394_video_get_mode(cam, &s->mode);
/* frame rate */
s->framerate = s_get_appropriate_framerate(cam, s->mode, ((s->framerate >= 0) ? s->framerate : DC1394_FRAMERATE_30));
if (dc1394_video_set_framerate(cam, s->framerate) != DC1394_SUCCESS) {
ret = CAPTURE_ERROR;
}
/*
features
*/
SET_FEATURE(DC1394_FEATURE_BRIGHTNESS, s->brightness);
SET_FEATURE(DC1394_FEATURE_EXPOSURE, s->exposure);
SET_FEATURE(DC1394_FEATURE_SHARPNESS, s->sharpness);
SET_FEATURE(DC1394_FEATURE_HUE, s->hue);
SET_FEATURE(DC1394_FEATURE_SATURATION, s->saturation);
SET_FEATURE(DC1394_FEATURE_GAMMA, s->gamma);
SET_FEATURE(DC1394_FEATURE_SHUTTER, s->shutter);
SET_FEATURE(DC1394_FEATURE_GAIN, s->gain);
SET_FEATURE(DC1394_FEATURE_IRIS, s->iris);
SET_FEATURE(DC1394_FEATURE_FOCUS, s->focus);
//SET_FEATURE(DC1394_FEATURE_TEMPERATURE, s->temperature); is not supported by dc1394_feature_set_value()
SET_FEATURE(DC1394_FEATURE_ZOOM, s->zoom);
SET_FEATURE(DC1394_FEATURE_PAN, s->pan);
SET_FEATURE(DC1394_FEATURE_TILT, s->tilt);
/* white blance */
if (s->white_balance[0] >= 0 && s->white_balance[1] >= 0) {
dc1394_feature_set_mode(cam, DC1394_FEATURE_WHITE_BALANCE, DC1394_FEATURE_MODE_MANUAL);
if (dc1394_feature_whitebalance_set_value(cam, s->white_balance[0], s->white_balance[1]) != DC1394_SUCCESS) {
ret = CAPTURE_ERROR;
}
}
else {
if (dc1394_feature_set_mode(cam, DC1394_FEATURE_WHITE_BALANCE, DC1394_FEATURE_MODE_AUTO) != DC1394_SUCCESS) {
ret = CAPTURE_ERROR;
}
}
return ret;
}
CameraIIDC::CameraIIDC(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode) {
context = dc1394_new();
dc1394camera_list_t *camera_list;
dc1394error_t err;
err = dc1394_camera_enumerate(context, &camera_list);
if(camNum+1 > camera_list->num){
cerr << "libdc1394: Selected camera is not available!";
return;
}
cam = NULL;
cam = dc1394_camera_new(context, camera_list->ids[camNum].guid);
if(!cam){
cerr << "libdc1394: Could not open camera!";
return;
}
dc1394_camera_free_list(camera_list);
// // Get video modes
// dc1394video_modes_t video_modes;
// err=dc1394_video_get_supported_modes(cam, &video_modes);
// DC1394_WRN(err,"Can't get video modes");
// // Select highest res mode
// int i;
// dc1394color_coding_t coding;
// for (i=video_modes.num-1;i>=0;i--) {
// if (!dc1394_is_video_mode_scalable(video_modes.modes[i])) {
// dc1394_get_color_coding_from_video_mode(cam, video_modes.modes[i], &coding);
// DC1394_WRN(err,"libdc1394: Could not get color coding");
// if (coding==DC1394_COLOR_CODING_MONO8) {
// video_mode=video_modes.modes[i];
// break;
// }
// }
// }
// if (i < 0) {
// cerr << "libdc1394: Could not get a valid gray scale mode!";
// return;
// }
// Select format 7 mode 0
video_mode = DC1394_VIDEO_MODE_FORMAT7_0;
// Set bit depth
err = dc1394_format7_set_color_coding(cam, video_mode, DC1394_COLOR_CODING_MONO8);
if (err!=DC1394_SUCCESS)
cerr << "libdc1394: Could not set video mode or color coding!";
// // Set video mode
// err=dc1394_video_set_mode(cam, video_mode);
// if (err!=DC1394_SUCCESS)
// cerr << "libdc1394: Could not set video mode!";
// Setup capture
err=dc1394_video_set_operation_mode(cam, DC1394_OPERATION_MODE_1394B);
if (err!=DC1394_SUCCESS)
cerr << "libdc1394: Could not set operation mode!";
err=dc1394_video_set_iso_speed(cam, DC1394_ISO_SPEED_800);
if (err!=DC1394_SUCCESS)
cerr << "libdc1394: Could not set iso speed!";
// Size of ringbuffer (Note: on OS X 10.9, size must be greater than 1)
#ifdef __APPLE__
unsigned int bufferSize = 2;
#else
unsigned int bufferSize = 1;
#endif
err=dc1394_capture_setup(cam, bufferSize, DC1394_CAPTURE_FLAGS_DEFAULT);
if (err!=DC1394_SUCCESS)
cerr << "libdc1394: Could not set up camera!";
// Disable auto exposure mode
dc1394_feature_set_power(cam, DC1394_FEATURE_EXPOSURE, DC1394_OFF);
// Disable gamma mode
dc1394_feature_set_power(cam, DC1394_FEATURE_GAMMA, DC1394_OFF);
// Disable sharpness mode
dc1394_feature_set_power(cam, DC1394_FEATURE_SHARPNESS, DC1394_OFF);
// Disable frame-rate mode
dc1394_feature_set_power(cam, DC1394_FEATURE_FRAME_RATE, DC1394_OFF);
// Set manual settings
dc1394_feature_set_mode(cam, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);
dc1394_feature_set_mode(cam, DC1394_FEATURE_GAIN, DC1394_FEATURE_MODE_MANUAL);
// Set reasonable default settings
CameraSettings settings;
//settings.shutter = 8.333;
settings.shutter = 16.66;
settings.gain = 0.0;
this->setCameraSettings(settings);
// Print camera features and settings
dc1394featureset_t features;
err=dc1394_feature_get_all(cam, &features);
DC1394_WRN(err, "libdc1394: Could not get feature set.");
dc1394_feature_print_all(&features, stdout);
fflush(stdout);
return;
}
