bool Libdc1394SequenceGrabber::initFrameRate(unsigned int rate)
{
msg(osg::INFO) << "initFrameRate" << std::endl;
if (!_camera) return false;
if (_format7) {
uint32_t bit_size;
dc1394_get_color_coding_bit_size(_sourceFormat,&bit_size);
int packet_size = DC1394_USE_MAX_AVAIL;
if(rate != 0) {
double bus_period;
if(_speed == DC1394_ISO_SPEED_800) {
bus_period = 0.0000625;
}
else {
bus_period = 0.000125;
}
int num_packets = (int)(1.0/(bus_period*rate)+0.5);
packet_size = ((_roi.width - _roi.x)*(_roi.height - _roi.y)*bit_size + (num_packets*8) - 1) / (num_packets*8);
}
dc1394error_t err = dc1394_format7_set_packet_size(_camera, _videomode, packet_size);
checkSuccess(err, "dc1394_format7_set_packet_size failed");
err = dc1394_format7_set_roi(_camera, _videomode, _sourceFormat, packet_size, _roi.x,_roi.y,_roi.width,_roi.height);
checkSuccess(err, "dc1394_format7_set_roi failed");
return (err == DC1394_SUCCESS);
}
dc1394framerates_t framerates;
dc1394error_t err=dc1394_video_get_supported_framerates(_camera,_videomode, &framerates);
checkSuccess(err, "dc1394_video_get_supported_framerates failed");
dc1394framerate_t framerate=framerates.framerates[framerates.num-1];
switch (rate) {
case 15:
framerate = DC1394_FRAMERATE_15;
break;
case 30:
framerate = DC1394_FRAMERATE_30;
break;
case 60:
framerate = DC1394_FRAMERATE_60;
break;
case 120:
framerate = DC1394_FRAMERATE_120;
break;
case 240:
framerate = DC1394_FRAMERATE_240;
}
err=dc1394_video_set_framerate(_camera, framerate);
checkSuccess(err, "dc1394_video_set_framerate failed");
return (err == DC1394_SUCCESS);
}
static dc1394error_t adaptBufferStereoLocal(dc1394video_frame_t *in, dc1394video_frame_t *out)
{
uint32_t bpp;
// buffer position is not changed. Size is boubled in Y
out->size[0] = in->size[0];
out->size[1] = in->size[1] * 2;
out->position[0] = in->position[0];
out->position[1] = in->position[1];
// color coding is set to mono8 or raw8.
switch (in->color_coding)
{
case DC1394_COLOR_CODING_RAW16:
out->color_coding = DC1394_COLOR_CODING_RAW8;
break;
case DC1394_COLOR_CODING_MONO16:
case DC1394_COLOR_CODING_YUV422:
out->color_coding = DC1394_COLOR_CODING_MONO8;
break;
default:
return DC1394_INVALID_COLOR_CODING;
}
// keep the color filter value in all cases. if the format is not raw it will not be further used anyway
out->color_filter = in->color_filter;
// the output YUV byte order must be already set if the buffer is YUV422 at the output
// if the output is not YUV we don't care about this field.
// Hence nothing to do.
// we always convert to 8bits (at this point) we can safely set this value to 8.
out->data_depth = 8;
// don't know what to do with stride... >>>> TODO: STRIDE SHOULD BE TAKEN INTO ACCOUNT... <<<<
// out->stride=??
// the video mode should not change. Color coding and other stuff can be accessed in specific fields of this struct
out->video_mode = in->video_mode;
// padding is kept:
out->padding_bytes = in->padding_bytes;
// image bytes changes: >>>> TODO: STRIDE SHOULD BE TAKEN INTO ACCOUNT... <<<<
dc1394_get_color_coding_bit_size(out->color_coding, &bpp);
out->image_bytes = (out->size[0] * out->size[1] * bpp) / 8;
// total is image_bytes + padding_bytes
out->total_bytes = out->image_bytes + out->padding_bytes;
// bytes-per-packet and packets_per_frame are internal data that can be kept as is.
out->packet_size = in->packet_size;
out->packets_per_frame = in->packets_per_frame;
// timestamp, frame_behind, id and camera are copied too:
out->timestamp = in->timestamp;
out->frames_behind = in->frames_behind;
out->camera = in->camera;
out->id = in->id;
// verify memory allocation:
if (out->total_bytes > out->allocated_image_bytes)
{
free(out->image);
out->image = (uint8_t*)malloc(out->total_bytes * sizeof(uint8_t));
out->allocated_image_bytes = out->total_bytes;
}
// Copy padding bytes:
memcpy(&(out->image[out->image_bytes]), &(in->image[in->image_bytes]), out->padding_bytes);
out->little_endian = DC1394_FALSE; // not used before 1.32 is out.
out->data_in_padding = DC1394_FALSE; // not used before 1.32 is out.
return DC1394_SUCCESS;
}
