int main(int argc,char *argv[])
{
XEvent xev;
XGCValues xgcv;
long background=0x010203;
int i, j;
dc1394_t * d;
dc1394camera_list_t * list;
get_options(argc,argv);
/* process options */
switch(fps) {
case 1: fps = DC1394_FRAMERATE_1_875; break;
case 3: fps = DC1394_FRAMERATE_3_75; break;
case 15: fps = DC1394_FRAMERATE_15; break;
case 30: fps = DC1394_FRAMERATE_30; break;
case 60: fps = DC1394_FRAMERATE_60; break;
default: fps = DC1394_FRAMERATE_7_5; break;
}
switch(res) {
case 1:
res = DC1394_VIDEO_MODE_640x480_YUV411;
device_width=640;
device_height=480;
format=XV_YUY2;
break;
case 2:
res = DC1394_VIDEO_MODE_640x480_RGB8;
device_width=640;
device_height=480;
format=XV_YUY2;
break;
case 3:
res = DC1394_VIDEO_MODE_800x600_YUV422;
device_width=800;
device_height=600;
format=XV_UYVY;
break;
default:
res = DC1394_VIDEO_MODE_320x240_YUV422;
device_width=320;
device_height=240;
format=XV_UYVY;
break;
}
dc1394error_t err;
d = dc1394_new ();
if (!d)
return 1;
err=dc1394_camera_enumerate (d, &list);
DC1394_ERR_RTN(err,"Failed to enumerate cameras");
if (list->num == 0) {
dc1394_log_error("No cameras found");
return 1;
}
j = 0;
for (i = 0; i < list->num; i++) {
if (j >= MAX_CAMERAS)
break;
cameras[j] = dc1394_camera_new (d, list->ids[i].guid);
if (!cameras[j]) {
dc1394_log_warning("Failed to initialize camera with guid %llx", list->ids[i].guid);
continue;
}
j++;
}
numCameras = j;
dc1394_camera_free_list (list);
if (numCameras == 0) {
dc1394_log_error("No cameras found");
exit (1);
}
/* setup cameras for capture */
for (i = 0; i < numCameras; i++) {
//err=dc1394_video_set_iso_speed(cameras[i], DC1394_ISO_SPEED_400);
//dc1394_video_set_operation_mode(my_camera_ptr[i], DC1394_OPERATION_MODE_1394B);
err= dc1394_video_set_operation_mode(cameras[i], DC1394_OPERATION_MODE_1394B);
err=dc1394_video_set_iso_speed(cameras[i], DC1394_ISO_SPEED_800);
DC1394_ERR_CLN_RTN(err,cleanup(),"Could not set ISO speed");
err=dc1394_video_set_mode(cameras[i], res);
DC1394_ERR_CLN_RTN(err,cleanup(),"Could not set video mode");
err=dc1394_video_set_framerate(cameras[i], fps);
DC1394_ERR_CLN_RTN(err,cleanup(),"Could not set framerate");
err=dc1394_capture_setup(cameras[i],NUM_BUFFERS, DC1394_CAPTURE_FLAGS_DEFAULT);
DC1394_ERR_CLN_RTN(err,cleanup(),"Could not setup camera-\nmake sure that the video mode and framerate are\nsupported by your camera");
err=dc1394_video_set_transmission(cameras[i], DC1394_ON);
DC1394_ERR_CLN_RTN(err,cleanup(),"Could not start camera iso transmission");
// Camera settings
err = dc1394_feature_set_value(cameras[i],DC1394_FEATURE_SHUTTER,1400);
err = dc1394_feature_set_value(cameras[i],DC1394_FEATURE_BRIGHTNESS,800);
err = dc1394_feature_set_value(cameras[i],DC1394_FEATURE_EXPOSURE,150);
err = dc1394_feature_whitebalance_set_value(cameras[i],500,400);
}
fflush(stdout);
if (numCameras < 1) {
perror("no cameras found :(\n");
cleanup();
exit(-1);
}
switch(format){
case XV_YV12:
set_frame_length(device_width*device_height*3/2, numCameras);
break;
case XV_YUY2:
case XV_UYVY:
set_frame_length(device_width*device_height*2, numCameras);
break;
default:
dc1394_log_error("Unknown format set (internal error)");
exit(255);
}
/* make the window */
display=XOpenDisplay(getenv("DISPLAY"));
if(display==NULL) {
dc1394_log_error("Could not open display \"%s\"",getenv("DISPLAY"));
cleanup();
exit(-1);
}
QueryXv();
if ( adaptor < 0 ) {
cleanup();
exit(-1);
}
width=device_width;
height=device_height * numCameras;
//width=device_width * numCameras;
//height=device_height;
window=XCreateSimpleWindow(display,DefaultRootWindow(display),0,0,width,height,0,
WhitePixel(display,DefaultScreen(display)),
background);
XSelectInput(display,window,StructureNotifyMask|KeyPressMask);
XMapWindow(display,window);
connection=ConnectionNumber(display);
gc=XCreateGC(display,window,0,&xgcv);
/* main event loop */
while(1){
for (i = 0; i < numCameras; i++) {
if (dc1394_capture_dequeue(cameras[i], DC1394_CAPTURE_POLICY_WAIT, &frames[i])!=DC1394_SUCCESS)
dc1394_log_error("Failed to capture from camera %d", i);
}
display_frames();
XFlush(display);
while(XPending(display)>0){
XNextEvent(display,&xev);
switch(xev.type){
case ConfigureNotify:
width=xev.xconfigure.width;
height=xev.xconfigure.height;
display_frames();
break;
case KeyPress:
switch(XKeycodeToKeysym(display,xev.xkey.keycode,0)){
case XK_q:
case XK_Q:
cleanup();
exit(0);
break;
case XK_comma:
case XK_less:
//width=width/2;
//height=height/2;
width--;
XResizeWindow(display,window,width,height);
display_frames();
break;
case XK_period:
case XK_greater:
//width=2*width;
//height=2*height;
width++;
XResizeWindow(display,window,width,height);
display_frames();
break;
case XK_0:
freeze = !freeze;
break;
case XK_1:
fps = DC1394_FRAMERATE_1_875;
for (i = 0; i < numCameras; i++)
dc1394_video_set_framerate(cameras[i], fps);
break;
case XK_2:
fps = DC1394_FRAMERATE_3_75;
for (i = 0; i < numCameras; i++)
dc1394_video_set_framerate(cameras[i], fps);
break;
case XK_4:
fps = DC1394_FRAMERATE_15;
for (i = 0; i < numCameras; i++)
dc1394_video_set_framerate(cameras[i], fps);
break;
case XK_5:
fps = DC1394_FRAMERATE_30;
for (i = 0; i < numCameras; i++)
dc1394_video_set_framerate(cameras[i], fps);
break;
case XK_3:
fps = DC1394_FRAMERATE_7_5;
for (i = 0; i < numCameras; i++)
dc1394_video_set_framerate(cameras[i], fps);
break;
}
break;
}
} /* XPending */
for (i = 0; i < numCameras; i++) {
if (frames[i])
dc1394_capture_enqueue (cameras[i], frames[i]);
}
} /* while not interrupted */
exit(0);
}
int
main(int argc, char *argv[])
{
XGCValues xgcv;
long background = 0x010203;
unsigned int channel;
unsigned int speed;
int i, p, cn;
raw1394handle_t raw_handle;
struct raw1394_portinfo ports[MAX_PORTS];
get_options(argc, argv);
/* process options */
switch (fps) {
case 1:
fps = FRAMERATE_1_875;
break;
case 3:
fps = FRAMERATE_3_75;
break;
case 15:
fps = FRAMERATE_15;
break;
case 30:
fps = FRAMERATE_30;
break;
case 60:
fps = FRAMERATE_60;
break;
default:
fps = FRAMERATE_7_5;
break;
}
switch (res) {
case 1:
res = MODE_640x480_YUV411;
device_width = 640;
device_height = 480;
format = XV_YUY2;
break;
case 2:
res = MODE_640x480_RGB;
device_width = 640;
device_height = 480;
format = XV_YUY2;
break;
default:
res = MODE_320x240_YUV422;
device_width = 320;
device_height = 240;
format = XV_UYVY;
break;
}
/* get the number of ports (cards) */
raw_handle = raw1394_new_handle();
if (raw_handle == NULL) {
perror("Unable to aquire a raw1394 handle\n");
perror("did you load the drivers?\n");
exit(-1);
}
numPorts = raw1394_get_port_info(raw_handle, ports, numPorts);
raw1394_destroy_handle(raw_handle);
if (verbose) printf("number of ports = %d\n", numPorts);
/* get dc1394 handle to each port */
for (p = 0; p < numPorts; p++) {
int camCount;
handles[p] = dc1394_create_handle(p);
if (handles[p] == NULL) {
perror("Unable to aquire a raw1394 handle\n");
perror("did you load the drivers?\n");
cleanup();
exit(-1);
}
/* get the camera nodes and describe them as we find them */
camera_nodes = dc1394_get_camera_nodes(handles[p], &camCount, verbose);
/* setup cameras for capture */
for (i = 0; i < camCount; i++) {
cameras[numCameras].node = camera_nodes[i];
if (dc1394_get_camera_feature_set
(handles[p], cameras[numCameras].node,
&features) != DC1394_SUCCESS) {
printf("unable to get feature set\n");
} else if (verbose) {
dc1394_print_feature_set(&features);
}
if (dc1394_get_iso_channel_and_speed
(handles[p], cameras[numCameras].node, &channel,
&speed) != DC1394_SUCCESS) {
printf("unable to get the iso channel number\n");
cleanup();
exit(-1);
}
if (dc1394_dma_setup_capture
(handles[p], cameras[numCameras].node, i + 1 /*channel */ ,
FORMAT_VGA_NONCOMPRESSED, res, SPEED_400, fps, NUM_BUFFERS,
DROP_FRAMES, device_name,
&cameras[numCameras]) != DC1394_SUCCESS) {
fprintf(stderr,
"unable to setup camera - check line %d of %s to make sure\n",
__LINE__, __FILE__);
perror("that the video mode, framerate and format are supported\n");
printf("by your camera(s)\n");
cleanup();
exit(-1);
}
/*have the camera start sending us data */
if (dc1394_start_iso_transmission
(handles[p], cameras[numCameras].node) != DC1394_SUCCESS) {
perror("unable to start camera iso transmission\n");
cleanup();
exit(-1);
}
numCameras++;
}
}
fflush(stdout);
if (numCameras < 1) {
perror("no cameras found :(\n");
cleanup();
exit(-1);
}
//set_manual_exposure_gain(0, 440, 30);
switch (format) {
case XV_YV12:
set_frame_length(device_width * device_height * 3 / 2, numCameras);
break;
case XV_YUY2:
case XV_UYVY:
set_frame_length(device_width * device_height * 2, numCameras);
break;
default:
fprintf(stderr, "Unknown format set (internal error)\n");
exit(255);
}
/* create OpenCV image wrappers */
for (cn = 0; cn < MAX_CAMERAS; cn++) {
if (cn < numCameras) {
iplImages[cn] =
cvCreateImage(cvSize(device_width, device_height),
IPL_DEPTH_8U, 3);
readOnlyImg =
cvCreateImageHeader(cvSize(device_width, device_height),
IPL_DEPTH_8U, 3);
} else {
iplImages[cn] = NULL;
}
}
/* initialize handvu */
hvInitialize(device_width, device_height);
hvLoadConductor(string(conductor_fname));
hvStartRecognition();
hvSetOverlayLevel(3);
if (async_processing) {
hvAsyncSetup(num_async_bufs, displayCallback);
hvAsyncGetImageBuffer(&m_async_image, &m_async_bufID);
if (sync_display) async_display_image = cvCloneImage(iplImages[0]);
}
/* make the window */
display = XOpenDisplay(getenv("DISPLAY"));
if (display == NULL) {
fprintf(stderr, "Could not open display \"%s\"\n", getenv("DISPLAY"));
cleanup();
exit(-1);
}
QueryXv();
if (adaptor < 0) {
cleanup();
exit(-1);
}
width = device_width;
height = device_height * numCameras;
window =
XCreateSimpleWindow(display, DefaultRootWindow(display), 0, 0,
width, height, 0, WhitePixel(display,
DefaultScreen
(display)), background);
XSelectInput(display, window, StructureNotifyMask | KeyPressMask);
XMapWindow(display, window);
connection = ConnectionNumber(display);
gc = XCreateGC(display, window, 0, &xgcv);
/* local main event loop */
while (1) {
if (async_processing) {
// asynchronous processing in HandVu
capture_frame();
process_frame();
if (sync_display) display_frame();
handle_events();
} else {
// synchronous processing in HandVu
capture_frame();
process_frame();
display_frame();
handle_events();
}
/* XPending */
} /* while not interrupted */
exit(0);
}
