static dc1394camera_t *open_camera(void)
{
dc1394_t *d;
dc1394camera_list_t * list;
dc1394camera_t *camera;
dc1394error_t err;
d = dc1394_new();
if (!d) {
return NULL;
}
err = dc1394_camera_enumerate(d, &list);
if (err != DC1394_SUCCESS) {
dc1394_free(d);
return NULL;
}
if (list->num == 0) {
dc1394_free(d);
return NULL;
}
camera = dc1394_camera_new(d, list->ids[0].guid);
if (!camera) {
dc1394_free(d);
return NULL;
}
dc1394_camera_free_list(list);
printf("Using camera with GUID %"PRIx64"\n", camera->guid);
return camera;
}
CameraInfo* FWCamera::getCameraInfos(int deviceNumber)
{
#ifdef AVG_ENABLE_1394_2
dc1394_t* pDC1394 = dc1394_new();
if (pDC1394 == 0) {
AVG_ASSERT(false);
return NULL;
}
dc1394camera_list_t * pCameraList;
int err=dc1394_camera_enumerate(pDC1394, &pCameraList);
if (err != DC1394_SUCCESS) {
AVG_ASSERT(false);
return NULL;
}
if (pCameraList->num != 0) {
dc1394camera_id_t id = pCameraList->ids[deviceNumber];
dc1394camera_t * pCamera = dc1394_camera_new_unit(pDC1394, id.guid,
id.unit);
if (pCamera) {
stringstream deviceID;
deviceID << hex << id.guid;//pCamera->guid;
CameraInfo* camInfo = new CameraInfo("Firewire", deviceID.str());
getCameraControls(pCamera, camInfo);
getCameraImageFormats(pCamera, camInfo);
dc1394_camera_free(pCamera);
dc1394_camera_free_list(pCameraList);
dc1394_free(pDC1394);
return camInfo;
}
}
#endif
return NULL;
}
void ofxLibdc::stopLibdcContext() {
libdcCameras--;
if(libdcCameras == 0) {
ofLog(OF_LOG_VERBOSE, "No more cameras, destroying libdc1394 context.");
dc1394_free(libdcContext);
}
}
int capture_final(capture_t *cap)
{
int i;
for (i = 0; i < cap->num_active; ++i) {
dc1394_video_set_transmission(cap->cameras[i], DC1394_OFF);
dc1394_capture_stop(cap->cameras[i]);
dc1394_camera_free(cap->cameras[i]);
}
cap->num_active = 0;
free(cap->cameras); cap->cameras = NULL;
if (cap->camera_list != NULL) {
dc1394_camera_free_list(cap->camera_list);
cap->camera_list = NULL;
}
cap->num_cameras = 0;
if (cap->dc1394_cxt != NULL) {
dc1394_free(cap->dc1394_cxt);
cap->dc1394_cxt = NULL;
}
return CAPTURE_SUCCESS;
}
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 void pdp_dc1394_free(t_pdp_dc1394 *x)
{
dc1394_video_set_transmission(x->camera, DC1394_OFF);
dc1394_capture_stop(x->camera);
dc1394_camera_free(x->camera);
dc1394_free (x->d);
}
int
main (int argc, char **argv)
{
opts_t opts = OPTS_INIT;
dc1394_t *dc1394_cxt = NULL;
dc1394camera_list_t *cam_list = NULL;
dc1394error_t err;
if (argc < 2)
{
show_help ();
return EXIT_SUCCESS;
}
parse_opts (&opts, argc, argv);
dc1394_cxt = dc1394_new ();
if (dc1394_cxt == NULL)
{
printf ("error: dc1394_new() failed.\n");
return EXIT_FAILURE;
}
err = dc1394_camera_enumerate (dc1394_cxt, &cam_list);
if (err != DC1394_SUCCESS || cam_list == NULL)
{
printf ("error: dc1394_camera_enumerate() failed.\n");
dc1394_free (dc1394_cxt);
return EXIT_FAILURE;
}
/* reset specified buses */
if (opts.show_list == 0)
{
reset_bus (&opts, dc1394_cxt, cam_list);
}
else /* show the list of detected cameras */
{
list_cameras (dc1394_cxt, cam_list);
}
dc1394_camera_free_list (cam_list);
dc1394_free (dc1394_cxt);
return EXIT_SUCCESS;
}
FWCamera::~FWCamera()
{
#ifdef AVG_ENABLE_1394_2
dc1394_video_set_transmission(m_pCamera, DC1394_OFF);
dc1394_capture_stop(m_pCamera);
dc1394_camera_free(m_pCamera);
dc1394_free(m_pDC1394);
#endif
AVG_TRACE(Logger::category::CONFIG, Logger::severity::INFO, "Firewire camera closed.");
}
FirewireVideo::~FirewireVideo()
{
Stop();
// Close camera
dc1394_video_set_transmission(camera, DC1394_OFF);
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
dc1394_free (d);
}
//--------------------------------------------------------------------
ofxVideoGrabberPtgrey::~ofxVideoGrabberPtgrey(){
close();
//free device enumeration
dc1394_camera_free_list(deviceList);
//free context
dc1394_free(driver);
}
static int dc1394_v2_close(AVFormatContext * context)
{
struct dc1394_data *dc1394 = context->priv_data;
dc1394_video_set_transmission(dc1394->camera, DC1394_OFF);
dc1394_capture_stop(dc1394->camera);
dc1394_camera_free(dc1394->camera);
dc1394_free(dc1394->d);
return 0;
}
int main(int argc, char *argv[]) {
unsigned int i;
dc1394_t * d;
dc1394camera_list_t * list;
dc1394error_t err;
dc1394featureset_t features;
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;
}
for(i = 0; i < list->num; i++) {
dc1394camera_t *camera = dc1394_camera_new(d, list->ids[i].guid);
if(camera) {
unsigned int j;
dc1394video_modes_t modes;
// Print hardware informations.
dc1394_camera_print_info(camera, stdout);
// Print supported camera features.
err = dc1394_feature_get_all(camera,&features);
if(err != DC1394_SUCCESS) {
dc1394_log_warning("Could not get feature set");
} else {
dc1394_feature_print_all(&features, stdout);
}
// Print a list of supported modes.
printf("------ Supported Video Modes ------\n");
err = dc1394_video_get_supported_modes(camera, &modes);
DC1394_ERR_RTN(err,"Could not get list of modes");
for(j = 0; j < modes.num; j++) {
print_video_mode_info(camera, modes.modes[j]);
}
dc1394_camera_free(camera);
}
}
dc1394_camera_free_list (list);
dc1394_free (d);
return 0;
}
CameraIIDC::~CameraIIDC(){
// Stop camera transmission
if(capturing)
stopCapture();
else
dc1394_capture_stop(cam);
// Gracefulle destruct the camera
dc1394_camera_free(cam);
dc1394_free(context);
}
void Camera::stop() {
eventLoopTimer->stop();
stopClockPulse();
dc1394_video_set_transmission(camera, DC1394_OFF);
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
dc1394_free (camDict);
emit stopped();
}
//--------------------------------------------------------------------
of1394VideoGrabber::~of1394VideoGrabber()
{
if(!failedToInit) // if the init failed, then trying to do this stuff is a very bad idea
{
stopThread();
ofSleepMillis(200);
dc1394_video_set_transmission(camera, DC1394_OFF);
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
dc1394_free (d);
}
}
void DC1394Camera::shutdownLibDC1394()
{
assert(s_camCount > 0 && "Invalid reference count");
// Decrement reference count
s_camCount--;
if (s_camCount == 0)
{
// Free library
LOGGER.infoStream() << "Freeing dc1394 library handle";
dc1394_free(s_libHandle);
s_libHandle = 0;
}
}
void
DisplayStatsAndExit(int sig)
{
int i;
fprintf(stderr,"\nFramerate statistics:\n");
fprintf(stderr,"bin centers:\t[");
for (i=0;i<bin_n;i++) {
if (i==0)
fprintf(stderr,"<");
fprintf(stderr,"%3.1f",(float)bin_min+(float)(bin_max-bin_min)/(float)bin_n*((float)i+.5));
if (i==bin_n-1)
fprintf(stderr,">");
if (i<bin_n)
fprintf(stderr,"\t");
}
fprintf(stderr,"]\n");
fprintf(stderr,"histogram:\t[");
for (i=0;i<bin_n;i++) {
if (bins[i]!=0)
fprintf(stderr,"%d",bins[i]);
else
fprintf(stderr," ");
if (i<bin_n)
fprintf(stderr,"\t");
}
fprintf(stderr,"]\n");
fprintf(stderr,"percentage:\t[");
for (i=0;i<bin_n;i++) {
if (bins[i]!=0)
fprintf(stderr,"%3.1f",(float)bins[i]/nframes*100);
else
fprintf(stderr," ");
if (i<bin_n)
fprintf(stderr,"\t");
}
fprintf(stderr,"]\n");
free(bins);
SDL_Quit();
dc1394_video_set_transmission(camera, DC1394_OFF);
dc1394_capture_stop(camera);
dc1394_camera_free (camera);
dc1394_free(d);
exit(0);
}
void ieee1394capture::cleanup()
{
int32_t i;
if (CREATED_CAMS == true)
{
for (i = 0; i < numCameras; i++) {
dc1394_video_set_transmission(cameras[i], DC1394_OFF);
dc1394_capture_stop(cameras[i]);
}
CREATED_CAMS=false;
}
if ( CREATED_BUS == true )
{
dc1394_free(d);
CREATED_BUS=false;
}
}
int main(int argc, char *argv[])
{
dc1394camera_t * camera;
dc1394error_t err;
dc1394video_frame_t * frame;
dc1394_t * d;
dc1394camera_list_t * list;
d = dc1394_new (); /* Initialize libdc1394 */
if (!d)
return 1;
err=dc1394_camera_enumerate (d, &list); /* Find cameras */
DC1394_ERR_RTN(err,"Failed to enumerate cameras");
if (list->num == 0) { /* Verify that we have at least one camera */
dc1394_log_error("No cameras found");
return 1;
}
camera = dc1394_camera_new (d, list->ids[0].guid); /* Work with first camera */
if (!camera) {
dc1394_log_error("Failed to initialize camera with guid %llx", list->ids[0].guid);
return 1;
}
dc1394_camera_free_list (list);
err=dc1394_capture_setup(camera, 4, DC1394_CAPTURE_FLAGS_DEFAULT); /* Setup capture */
err=dc1394_video_set_transmission(camera, DC1394_ON); /* Start transmission */
err=dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);/* Capture */
DC1394_ERR_RTN(err,"Problem getting an image");
err=dc1394_capture_enqueue(camera, frame); /* Release the buffer */
err=dc1394_video_set_transmission(camera, DC1394_OFF); /* Stop transmission */
err=dc1394_capture_stop(camera); /* Stop capture */
printf("Hello World\n"); /* Hey, this is a HELLO WORLD program!! */
dc1394_camera_free (camera); /* cleanup and exit */
dc1394_free (d);
return 0;
}
void Libdc1394Grabber::cleanupCamera()
{
closeCamera = true;
ofxThread::stopThread();
ofLog(OF_LOG_VERBOSE,"Stopped capture thread.");
//this sleep seems necessary, at least on OSX, to avoid an occasional hang on exit
ofSleepMillis(150);
dc1394switch_t is_iso_on = DC1394_OFF;
if(camera) {
if (dc1394_video_get_transmission(camera, &is_iso_on)!=DC1394_SUCCESS) {
is_iso_on = DC1394_ON; // try to shut ISO anyway
}
if (is_iso_on > DC1394_OFF) {
if (dc1394_video_set_transmission(camera, DC1394_OFF)!=DC1394_SUCCESS) {
ofLog(OF_LOG_ERROR, "Could not stop ISO transmission!");
}
}
}
ofLog(OF_LOG_VERBOSE,"Stopped ISO transmission.");
/* cleanup and exit */
if(cameraList)
dc1394_camera_free_list (cameraList);
if(camera) {
dc1394_capture_stop(camera);
dc1394_camera_free (camera);
camera = NULL;
}
ofLog(OF_LOG_VERBOSE,"Stopped camera.");
if(dc1394) {
dc1394_free (dc1394);
dc1394 = NULL;
}
if(pixels) {
delete [] pixels;
pixels = NULL;
}
printf("Closed!\n");
}
void FWCamera::resetBus()
{
#ifdef AVG_ENABLE_1394_2
dc1394_t* pDC1394 = dc1394_new();
if (pDC1394 == 0) {
return;
}
dc1394camera_list_t * pCameraList;
int err=dc1394_camera_enumerate(pDC1394, &pCameraList);
if (err == DC1394_SUCCESS) {
if (pCameraList->num != 0) {
dc1394camera_t * pCam = dc1394_camera_new(pDC1394, pCameraList->ids[0].guid);
if (pCam) {
dc1394_reset_bus(pCam);
dc1394_camera_free(pCam);
}
}
dc1394_camera_free_list(pCameraList);
}
dc1394_free(pDC1394);
#endif
}
/*****************************************************************************
* Close:
*****************************************************************************/
static void Close( vlc_object_t *p_this )
{
demux_t *p_demux = (demux_t*)p_this;
demux_sys_t *p_sys = p_demux->p_sys;
/* Stop data transmission */
if( dc1394_video_set_transmission( p_sys->camera,
DC1394_OFF ) != DC1394_SUCCESS )
msg_Err( p_demux, "Unable to stop camera iso transmission" );
/* Close camera */
dc1394_capture_stop( p_sys->camera );
CloseAudioDev( p_demux );
dc1394_camera_free(p_sys->camera);
dc1394_free(p_sys->p_dccontext);
free( p_sys->video_device );
free( p_sys->audio_device );
free( p_sys );
}
Camera::~Camera()
{
// Boost Thread
grab_thread->join();
// VideoCapture Interface
cvReleaseImage(&cv_image_);
// Stop transmission
err = dc1394_video_set_transmission(camera, DC1394_OFF);
// Stop capture
err = dc1394_capture_stop(camera);
// Power OFF
dc1394_camera_set_power(camera, DC1394_OFF);
// Cleanup camera
dc1394_camera_free(camera);
// Close dc1394
dc1394_free(d);
}
CvDC1394::~CvDC1394()
{
if (dc)
dc1394_free(dc);
dc = 0;
}
int main (int argc, char **argv)
{
char* ntry = (char*)"";
if (argc > 1) {
ntry = argv[1];
}
double fps = FPS;
double target_dur = 1.0/fps;
double tol = 1.0e-3;
double total_dur = 0.0;
dc1394_t * d = dc1394_new();
if (!d) {
return 1;
}
dc1394camera_list_t * list;
dc1394error_t err = dc1394_camera_enumerate (d, &list);
DC1394_ERR_RTN(err,"Failed to enumerate cameras");
if (list->num == 0) { /* Verify that we have at least one camera */
dc1394_log_error("No cameras found");
return 1;
}
gCamera.init(d, list->ids[0].guid);
if (!gCamera.cam()) {
dc1394_log_error("Failed to initialize camera with guid %ld", list->ids[0].guid);
dc1394_camera_free_list (list);
return 1;
}
dc1394_camera_free_list (list);
/*-----------------------------------------------------------------------
* have the camera start sending us data
*-----------------------------------------------------------------------*/
err = gCamera.start_transmission();
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(gCamera),"Could not start camera iso transmission");
/*-----------------------------------------------------------------------
* capture one frame
*-----------------------------------------------------------------------*/
uint32_t width = 0;
uint32_t height = 0;
gCamera.get_image_size(&width, &height);
cv::Mat mapping = cv::getRotationMatrix2D(cv::Point2f(width/2.0, height/2.0), 180.0, 1.0);
#ifdef USE_SDL
static char *var = (char*)"SDL_VIDEO_WINDOW_POS=\"1280,480\"";
int ret = putenv(var);
if (SDL_Init(SDL_INIT_VIDEO) != 0) {
std::cerr << "DC1394: Unable to initialize SDL: " << SDL_GetError() << std::endl;
return 1;
}
atexit(SDL_Quit);
SDL_Surface *screen;
screen = SDL_SetVideoMode(width, height, 24, SDL_HWSURFACE);
if (screen == NULL) {
std::cerr << "DC1394: Unable to set SDL video mode:" << SDL_GetError() << std::endl;
}
SDL_Event event;
#endif
#ifndef LICKOMETER
pthread_t save_thread, acq_thread;
pthread_create( &save_thread, NULL, &thread_save_image, NULL);
#endif
pthread_t save_thread, acq_thread;
pthread_create( &acq_thread, NULL, &thread_acq_image, NULL);
timespec t_sleep, t_rem;
t_sleep.tv_sec = 0;
t_sleep.tv_nsec = 1000;
#ifndef STANDALONE
int s;
if ((s = socket(SOCKTYPE, SOCK_STREAM, 0)) < 0) {
perror("DC1394: client: socket");
cleanup_and_exit(gCamera);
return 1;
}
/*
* Create the address we will be connecting to.
*/
#ifndef INET
sockaddr_un sa;
sa.sun_family = AF_UNIX;
std::ostringstream tmpfn;
tmpfn << "fwsocket" << ntry;
std::cout << "DC1394: socket name " << tmpfn.str() << std::endl;
int nameLen = strlen(tmpfn.str().c_str());
if (nameLen >= (int) sizeof(sa.sun_path) -1) { /* too long? */
cleanup_and_exit(gCamera);
return 1;
}
sa.sun_path[0] = '\0'; /* abstract namespace */
strcpy(sa.sun_path+1, tmpfn.str().c_str());
int len = 1 + nameLen + offsetof(struct sockaddr_un, sun_path);
#else
sockaddr_in sa;
bzero((char *) &sa, sizeof(sa));
sa.sin_family = AF_INET;
hostent *server = gethostbyname("128.40.156.129");
bcopy((char *)server->h_addr,
(char *)&sa.sin_addr.s_addr,
server->h_length);
sa.sin_port = htons(35000);
int len = sizeof(sa);
#endif
/*
* Try to connect to the address. For this to
* succeed, the server must already have bound
* this address, and must have issued a listen()
* request.
*
* The third argument indicates the "length" of
* the structure, not just the length of the
* socket name.
*/
std::cout << "DC1394: Waiting for connection... " << std::flush;
while (true) {
// wait for connection:
if (connect(s, (sockaddr*)&sa, len) < 0) {
nanosleep(&t_sleep, &t_rem);
} else {
break;
}
}
std::cout << "done" << std::endl;
bool connected = false;
std::vector<char> data(BUFSIZE);
int nrec = recv(s, &data[0], data.size(), 0);
std::string datastr(data.begin(), data.end());
if (nrec<=0) {
std::cerr << "DC1394: Didn't receive start message; exiting now" << std::endl;
cleanup_and_exit(gCamera);
close(s);
return 1;
}
connected = true;
std::string ready = "ready";
while (send(s, ready.c_str(), ready.size(), 0) < 0) {
perror("DC1394: client: send");
}
int flags = 0;
if (-1 == (flags = fcntl(s, F_GETFL, 0)))
flags = 0;
if (fcntl(s, F_SETFL, flags | O_NONBLOCK)==-1) {
perror("DC1394: client: unblock");
}
#endif
/* pthread_mutex_lock( &camera_mutex );
gCamera.wait_for_trigger();
pthread_mutex_unlock( &camera_mutex );
Wait for acq_frame_buffer to fill instead
*/
int ncount = 0;
cv::Mat im(cv::Size(width, height), CV_8UC1);
cv::Mat thresh = cv::Mat::ones(cv::Size(width, height), CV_8UC1);
cv::Mat prevs(cv::Size(width, height), CV_8UC1);
cv::Mat gray(cv::Size(width, height), CV_8UC1);
// wait for image:
int nframes = get_image(im, mapping, false, -1, "", ncount);
std::cout << "DC1394: Waiting for first image to arrive... " << std::flush;
int nwait = 0;
while (!nframes) {
nanosleep(&t_sleep, &t_rem);
std::cout << "." << std::flush;
nframes = get_image(im, mapping, false, -1, "", ncount);
nwait++;
#ifdef STANDALONE
if (nwait > 1000) {
#else
if (nwait > 100000) {
#endif
std::cout << "Time out, stopping now\n";
cleanup_and_exit(gCamera);
}
}
timespec time0;
clock_gettime(CLOCK_REALTIME, &time0);
std::cout << "DC1394: image arrived: "
<< IplImage(im).depth << " bits, "
<< IplImage(im).nChannels << " channels, "
<< IplImage(im).widthStep << " step width" << std::endl;
#ifdef USE_SDL
SDL_Surface *surface =
SDL_CreateRGBSurfaceFrom((void*)im.data,
im.cols,
im.rows,
IplImage(im).depth*IplImage(im).nChannels,
IplImage(im).widthStep,
0xffffff, 0xffffff, 0xffffff, 0);
screen = SDL_GetVideoSurface();
if(SDL_BlitSurface(surface, NULL, screen, NULL) == 0)
SDL_UpdateRect(screen, 0, 0, 0, 0);
#else
cv::namedWindow("DC1394", CV_WINDOW_AUTOSIZE);
cvMoveWindow("DC1394", 1280, 480);
cv::imshow("DC1394", im);
#endif
timespec time1 = time0;
timespec time2 = time0;
timespec time3 = time0;
timespec time4 = time0;
timespec t_disconnect = time0;
timespec t_notrigger = time0;
#ifdef STANDALONE
int s = -1;
#endif
std::string fn = "";
#ifdef LICKOMETER
std::string fn_lick = "";
FILE* fp_lick = NULL;
#endif
int key = 0;
int nloop = 0;
while (true) {
clock_gettime( CLOCK_REALTIME, &time1);
#ifndef STANDALONE
std::vector<char> data(BUFSIZE);
int nrec = recv(s, &data[0], data.size(), 0);
std::string datastr(data.begin(), data.end());
#endif
nframes += get_image(im, mapping, false, s, fn, ncount);
#ifndef STANDALONE
// no update from blender in a long time, terminate process
if (datastr.find("1")==std::string::npos) {
if (connected) {
t_disconnect = time1;
connected = false;
} else {
if (tdiff(time1, t_disconnect) > TIMEOUT) {
std::cout << "DC1394: Received termination signal" << std::endl;
close(s);
pthread_cancel(acq_thread);
pthread_cancel(save_thread);
return 0;
}
}
} else {
connected = true;
}
/* Explicit termination */
if (datastr.find("quit")!=std::string::npos) {
std::cout << "DC1394: Game over signal." << std::endl;
std::string sclose = "close";
while (send(s, sclose.c_str(), sclose.size(), 0) < 0) {
perror("DC1394: client: send");
}
close(s);
pthread_cancel(acq_thread);
pthread_cancel(save_thread);
return 0;
}
// Stop recording
if (datastr.find("stop") != std::string::npos && fn != "") {
fn = "";
#ifdef LICKOMETER
fn_lick = "";
if (fp_lick) {
fclose(fp_lick);
fp_lick = NULL;
}
#endif
std::cout << "DC1394: Stopping video" << std::endl;
connected = true;
ncount = 0;
}
// Start recording
if (datastr.find("avi") != std::string::npos && datastr.find("stop") == std::string::npos && fn == "") {
std::size_t startpos = datastr.find("begin")+5;
std::size_t endpos = datastr.find("end") - datastr.find("begin") - 5;
fn = datastr.substr(startpos, endpos);
fn = std::string(trunk) + "data/" + fn;
#ifdef LICKOMETER
fn_lick = fn + "_lick";
fp_lick = fopen(fn_lick.c_str(), "wb");
std::cout << "DC1394: Recording lick detection, writing to " << fn_lick << std::endl;
#else
boost::filesystem::path path(fn);
boost::filesystem::path writepath(path);
// Test whether dir exists:
if (!boost::filesystem::exists(writepath)) {
std::cout << "DC1394: Creating directory " << writepath << std::endl;
boost::filesystem::create_directories(writepath);
}
fn += "/";
/* check save frame buffer */
std::size_t nfb = save_frame_buffer.size();
if (nfb)
std::cerr << "DC1394: Frame buffer isn't empty!" << std::endl;
std::cout << "DC1394: Starting video, writing to " << fn << std::endl;
connected = true;
ncount = 0;
#endif
}
#endif // #nstandalone
#ifdef USE_SDL
if (SDL_PollEvent(&event)) {
#ifdef STANDALONE
/* Any of these event types will end the program */
if (event.type == SDL_QUIT
|| event.type == SDL_KEYDOWN
|| event.type == SDL_KEYUP) {
std::cout << std::endl;
std::cout << std::endl << "DC1394: Total number of frames was " << nframes << std::endl;
std::cout << std::endl << "DC1394: Frame buffer: " << acq_frame_buffer.size() << " frames left" << std::endl;
close(s);
pthread_cancel(acq_thread);
pthread_cancel(save_thread);
return 0;
}
#endif // STANDALONE
}
surface->pixels = (void*)im.data;
// SDL_CreateRGBSurfaceFrom((void*)IplImage(im).imageData,
// IplImage(im).width,
// IplImage(im).height,
// IplImage(im).depth*IplImage(im).nChannels,
// IplImage(im).widthStep,
// 1, 1, 1, 0);
screen = SDL_GetVideoSurface();
if(SDL_BlitSurface(surface, NULL, screen, NULL) == 0)
SDL_UpdateRect(screen, 0, 0, 0, 0);
#else // not SDL
key = cv::waitKey(2);
cv::imshow("DC1394", im);
if (key == 1114155 || key == 65579 || key==43 /*+*/) {
uint32_t gain = 0;
err = dc1394_feature_get_value(gCamera.cam(), DC1394_FEATURE_GAIN, &gain);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(gCamera),"Can't get gain");
if (gain < gCamera.get_maxgain()-10) {
gain += 10;
pthread_mutex_lock( &camera_mutex );
err = dc1394_feature_set_value(gCamera.cam(), DC1394_FEATURE_GAIN, gain);
pthread_mutex_unlock( &camera_mutex );
std::cout << "DC1394: New gain value: " << gain << std::endl;
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(gCamera),"Can't set gain");
}
}
if (key == 1114207 || key == 45 /*-*/) {
uint32_t gain = 0;
err = dc1394_feature_get_value(gCamera.cam(), DC1394_FEATURE_GAIN, &gain);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(gCamera),"Can't get gain");
if (gain > gCamera.get_mingain()+10) {
gain -= 10;
pthread_mutex_lock( &camera_mutex );
err = dc1394_feature_set_value(gCamera.cam(), DC1394_FEATURE_GAIN, gain);
pthread_mutex_unlock( &camera_mutex );
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(gCamera),"Can't set gain");
}
}
#endif // not SDL
#ifdef LICKOMETER
/* IS THIS ALL YOU NEED THEN?
Lick detection */
/* Not required because the captured image is already gray
cv::Mat gray = bgr2gray(im); */
gray = thresholding(im, LICK_FRAME_THRESHOLD);
if (nloop != 0) {
cv::absdiff(prevs, gray, thresh);
double pixel_sum_thresh = cv::sum(thresh)[0];
double pixel_sum_gray = cv::sum(gray)[0];
if (pixel_sum_thresh > LICK_SUM_THRESHOLD) {
std::cout << "DC1394: Lick" << std::endl;
}
if (fp_lick != NULL) {
fwrite(&pixel_sum_thresh, sizeof(pixel_sum_thresh), 1, fp_lick);
fwrite(&pixel_sum_gray, sizeof(pixel_sum_gray), 1, fp_lick);
}
}
prevs = gray.clone();
nloop++;
#endif
#ifdef STANDALONE
if (key == 1048689 || key == 113 /*q*/) {
std::cout << "DC1394: Mean frame rate was " << nframes/total_dur << " fps" << std::endl;
pthread_cancel(acq_thread);
pthread_cancel(save_thread);
return 0;
}
if (key == 1048691 /*s*/) {
fn = "";
std::cout << "DC1394: Stopping video" << std::endl;
ncount = 0;
}
if (key == 1048690 /*r*/) {
fn = trunk + std::string("tmp/");
std::cout << "DC1394: Starting video, writing to " << fn << std::endl;
ncount = 0;
}
#endif // #standalone
clock_gettime( CLOCK_REALTIME, &time2);
double loop_dur = tdiff(time2, time3);
clock_gettime( CLOCK_REALTIME, &time3);
double meanfps = 0;
total_dur = tdiff(time3, time0);
if (total_dur > 0)
meanfps = nframes / total_dur;
double currentfps = ret / loop_dur;
std::cout << "DC1394: Current fps: " << std::setprecision(7) << currentfps
<< " Average fps: " << std::setprecision(7) << meanfps << "\r" << std::flush;
#ifdef STANDALONE
// std::cout << capture_dur << "\t" << target_dur << "\t" << rem << "\t" << loop_dur << std::endl;
#endif
}
if (d) {
dc1394_free(d);
}
#ifndef STANDALONE
close(s);
#endif
return 0;
}
int main(int argc, char *argv[])
{
FILE* imagefile;
dc1394camera_t *camera;
unsigned int width, height;
dc1394video_frame_t *frame=NULL;
//dc1394featureset_t features;
dc1394_t * d;
dc1394camera_list_t * list;
dc1394error_t err;
int counter = 0;
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;
}
camera = dc1394_camera_new (d, list->ids[0].guid);
if (!camera) {
dc1394_log_error("Failed to initialize camera with guid %llx", list->ids[0].guid);
return 1;
}
dc1394_camera_free_list (list);
printf("Using camera with GUID %" PRIx64 "\n", camera->guid);
/*-----------------------------------------------------------------------
* setup capture
*-----------------------------------------------------------------------*/
err=dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set iso speed");
err=dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_FORMAT7_7);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set video mode\n");
err=dc1394_video_set_framerate(camera, DC1394_FRAMERATE_7_5);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set framerate\n");
err=dc1394_capture_setup(camera,4, DC1394_CAPTURE_FLAGS_DEFAULT);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not setup camera-\nmake sure that the video mode and framerate are\nsupported by your camera\n");
/*-----------------------------------------------------------------------
* have the camera start sending us data
*-----------------------------------------------------------------------*/
err=dc1394_video_set_transmission(camera, DC1394_ON);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not start camera iso transmission\n");
for(;;){
/*-----------------------------------------------------------------------
* capture one frame
*-----------------------------------------------------------------------*/
err=dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not capture a frame\n");
dc1394_get_image_size_from_video_mode(camera, DC1394_VIDEO_MODE_FORMAT7_7, &width, &height);
cv::Mat img = cv::Mat(height, width, CV_8U, frame->image);
err = dc1394_capture_enqueue(camera, frame);
frame=NULL;
cv::imshow("Image", img);
printf("Frame %d\n", counter);
counter++;
cv::waitKey(10);
}
/*-----------------------------------------------------------------------
* stop data transmission
*-----------------------------------------------------------------------*/
err=dc1394_video_set_transmission(camera,DC1394_OFF);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not stop the camera?\n");
/*-----------------------------------------------------------------------
* close camera
*-----------------------------------------------------------------------*/
dc1394_video_set_transmission(camera, DC1394_OFF);
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
dc1394_free (d);
return 0;
}
int main(int argc, char *argv[])
{
// parse configuration file
// get input arguments
OpenCvStereoConfig stereo_config;
string config_file = "";
ConciseArgs parser(argc, argv);
parser.add(config_file, "c", "config", "Configuration file containing camera GUIDs, etc.", true);
parser.add(left_camera_mode, "l", "left-camera", "Calibrate just the left camera.");
parser.add(right_camera_mode, "r", "right-camera", "Calibrate just the right camera.");
parser.add(force_brightness, "b", "brightness", "set brightness to this level");
parser.add(force_exposure, "e", "exposure", "set exposure to this level");
parser.parse();
// parse the config file
if (ParseConfigFile(config_file, &stereo_config) != true)
{
fprintf(stderr, "Failed to parse configuration file, quitting.\n");
return -1;
}
if (left_camera_mode || right_camera_mode)
{
stereo_mode = false;
}
uint64 guid = stereo_config.guidLeft;
uint64 guid2 = stereo_config.guidRight;
dc1394_t *d;
dc1394camera_t *camera;
dc1394error_t err;
Mat frame_array_left[MAX_FRAMES];
Mat frame_array_right[MAX_FRAMES];
int numFrames = 0;
// ----- cam 2 -----
dc1394_t *d2;
dc1394camera_t *camera2;
dc1394error_t err2;
d = dc1394_new ();
if (!d)
g_critical("Could not create dc1394 context");
d2 = dc1394_new ();
if (!d2)
g_critical("Could not create dc1394 context for camera 2");
camera = dc1394_camera_new (d, guid);
if (!camera)
g_critical("Could not create dc1394 camera");
camera2 = dc1394_camera_new (d2, guid2);
if (!camera2)
g_critical("Could not create dc1394 camera for camera 2");
// setup
err = setup_gray_capture(camera, DC1394_VIDEO_MODE_FORMAT7_1);
DC1394_ERR_CLN_RTN(err, cleanup_and_exit(camera), "Could not setup camera");
err2 = setup_gray_capture(camera2, DC1394_VIDEO_MODE_FORMAT7_1);
DC1394_ERR_CLN_RTN(err2, cleanup_and_exit(camera2), "Could not setup camera number 2");
// enable auto-exposure
// turn on the auto exposure feature
err = dc1394_feature_set_power(camera, DC1394_FEATURE_EXPOSURE, DC1394_ON);
DC1394_ERR_RTN(err,"Could not turn on the exposure feature");
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_EXPOSURE, DC1394_FEATURE_MODE_ONE_PUSH_AUTO);
DC1394_ERR_RTN(err,"Could not turn on Auto-exposure");
// enable auto-exposure
// turn on the auto exposure feature
err = dc1394_feature_set_power(camera2, DC1394_FEATURE_EXPOSURE, DC1394_ON);
DC1394_ERR_RTN(err,"Could not turn on the exposure feature for cam2");
err = dc1394_feature_set_mode(camera2, DC1394_FEATURE_EXPOSURE, DC1394_FEATURE_MODE_ONE_PUSH_AUTO);
DC1394_ERR_RTN(err,"Could not turn on Auto-exposure for cam2");
// enable camera
err = dc1394_video_set_transmission(camera, DC1394_ON);
DC1394_ERR_CLN_RTN(err, cleanup_and_exit(camera), "Could not start camera iso transmission");
err2 = dc1394_video_set_transmission(camera2, DC1394_ON);
DC1394_ERR_CLN_RTN(err2, cleanup_and_exit(camera2), "Could not start camera iso transmission for camera number 2");
if (left_camera_mode || stereo_mode)
{
InitBrightnessSettings(camera, camera2);
MatchBrightnessSettings(camera, camera2, true, force_brightness, force_exposure);
} else {
// use the right camera as the master for brightness
// since we're calibrating that one
InitBrightnessSettings(camera2, camera);
MatchBrightnessSettings(camera2, camera, true);
}
// make opencv windows
if (left_camera_mode || stereo_mode)
{
namedWindow("Input Left", CV_WINDOW_AUTOSIZE);
moveWindow("Input Left", 100, 100);
}
if (right_camera_mode || stereo_mode)
{
namedWindow("Input Right", CV_WINDOW_AUTOSIZE);
moveWindow("Input Right", 478, 100);
}
CvSize size;
Mat cornersL, cornersR;
int i;
while (numFrames < MAX_FRAMES) {
Mat chessL, chessR;
// each loop dump a bunch of frames to clear the buffer
MatchBrightnessSettings(camera, camera2, true, force_brightness, force_exposure);
for (i=0;i<10;i++)
{
if (left_camera_mode || stereo_mode)
{
chessL = GetFrameFormat7(camera);
}
if (right_camera_mode || stereo_mode)
{
chessR = GetFrameFormat7(camera2);
}
}
// copy the images for drawing/display
size = chessL.size();
Mat chessLc;
chessLc.create(size, CV_32FC3);
Mat chessRc;
chessRc.create(size, CV_32FC3);
// attempt checkerboard matching
bool foundPattern = true; // set to true so we can do an OR
// later if we're only using one
// camera
if (left_camera_mode || stereo_mode)
{
foundPattern = findChessboardCorners(chessL, Size(CHESS_X, CHESS_Y), cornersL);
}
if (right_camera_mode || stereo_mode)
{
foundPattern = foundPattern & findChessboardCorners(chessR, Size(CHESS_X, CHESS_Y), cornersR);
}
if (left_camera_mode || stereo_mode)
{
cvtColor( chessL, chessLc, CV_GRAY2BGR );
drawChessboardCorners(chessLc, Size(CHESS_X, CHESS_Y), cornersL, foundPattern);
imshow("Input Left", chessLc);
}
if (right_camera_mode || stereo_mode)
{
cvtColor(chessR, chessRc, CV_GRAY2BGR);
drawChessboardCorners(chessRc, Size(CHESS_X, CHESS_Y), cornersR, foundPattern);
imshow("Input Right", chessRc);
}
// key codes:
// page up: 654365
// page down: 65366
// b: 98
char key = waitKey();
//printf("%d\n", (int)key);
if (key == 98)
{
break;
} else if (key == 86){
if (foundPattern)
{
// this was a good one -- save it
frame_array_left[numFrames] = chessL;
frame_array_right[numFrames] = chessR;
// give the user some guidence on the number
// of frames they should be using
if (stereo_mode)
{
printf("Saved frame %d / about 10\n", numFrames);
} else {
printf("Saved frame %d / about 20-30\n", numFrames);
}
numFrames ++;
} else {
printf("Not saving frame since did not find a checkboard.\n");
}
} else if (key == 'W') {
force_brightness +=20;
cout << "Brightness: " << force_brightness << "\n";
} else if (key == 'w') {
force_brightness -=20;
cout << "Brightness: " << force_brightness << "\n";
} else if (key == 'E') {
force_exposure +=20;
cout << "Exposure: " << force_exposure << "\n";
} else if (key == 'e') {
force_exposure -=20;
cout << "Exposure: " << force_exposure << "\n";
}
}
printf("\n\n");
// clear out the calibration directory
printf("Deleting old images...\nrm calibrationImages/*.ppm\n");
int retval = system("rm calibrationImages/*.ppm");
if (retval != 0) {
printf("Warning: Deleting images may have failed.\n");
}
printf("done.\n");
char filename[1000];
for (i=0;i<numFrames;i++)
{
if (left_camera_mode || stereo_mode)
{
sprintf(filename, "calibrationImages/cam1-%05d.ppm", i+1);
imwrite(filename, frame_array_left[i]);
}
if (right_camera_mode || stereo_mode)
{
sprintf(filename, "calibrationImages/cam2-%05d.ppm", i+1);
imwrite(filename, frame_array_right[i]);
}
printf("Writing frame %d\n", i);
}
printf("\n\n");
destroyWindow("Input Left");
destroyWindow("Input Right");
// stop data transmission
err = dc1394_video_set_transmission(camera, DC1394_OFF);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not stop the camera");
err2 = dc1394_video_set_transmission(camera2, DC1394_OFF);
DC1394_ERR_CLN_RTN(err2,cleanup_and_exit(camera2),"Could not stop the camera 2");
// close camera
cleanup_and_exit(camera);
cleanup_and_exit(camera2);
dc1394_free (d);
dc1394_free (d2);
return 0;
}
void ofxLibdc::stopLibdcContext() {
libdcCameras--;
if(libdcCameras == 0)
dc1394_free(libdcContext);
}
int main(int argc, char *argv[])
{
fitsfile *fptr;
long fpixel=1, nelements, naxes[3];
dc1394camera_t *camera;
int grab_n_frames;
struct timeval start_time, end_time;
time_t start_sec, end_sec;
suseconds_t start_usec, end_usec;
float elapsed_time, fps;
int i, status;
unsigned int min_bytes, max_bytes, max_height, max_width;
unsigned int actual_bytes;
uint64_t total_bytes = 0;
unsigned int width, height;
dc1394video_frame_t *frame=NULL;
dc1394_t * d;
dc1394camera_list_t * list;
dc1394error_t err;
char *filename;
grab_n_frames = atoi(argv[1]);
filename = argv[2];
width = 320;
height = 240;
naxes[0] = width;
naxes[1] = height;
naxes[2] = grab_n_frames;
nelements = naxes[0]*naxes[1]*naxes[2];
stderr = freopen("grab_cube.log", "w", stderr);
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;
}
camera = dc1394_camera_new (d, list->ids[0].guid);
if (!camera) {
dc1394_log_error("Failed to initialize camera with guid %"PRIx64,
list->ids[0].guid);
return 1;
}
dc1394_camera_free_list (list);
printf("Using camera with GUID %"PRIx64"\n", camera->guid);
/*-----------------------------------------------------------------------
* setup capture for format 7
*-----------------------------------------------------------------------*/
// err=dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_1394B);
// DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot operate at 1394B");
// libdc1394 doesn't work well with firewire800 yet so set to legacy 400 mode
dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400);
// configure camera for format7
err = dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_FORMAT7_1);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot choose format7_0");
printf ("I: video mode is format7_0\n");
err = dc1394_format7_get_max_image_size (camera, DC1394_VIDEO_MODE_FORMAT7_1,
&max_width, &max_height);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot get max image size for format7_0");
printf ("I: max image size is: height = %d, width = %d\n", max_height, max_width);
printf ("I: current image size is: height = %d, width = %d\n", height, width);
err = dc1394_format7_set_roi (camera,
DC1394_VIDEO_MODE_FORMAT7_1,
DC1394_COLOR_CODING_MONO16, // not sure why RAW8/16 don't work
DC1394_USE_MAX_AVAIL,
0, 0, // left, top
width, height); // width, height
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set roi");
printf ("I: roi is (0, 0) - (%d, %d)\n", width, height);
// set the frame rate to absolute value in frames/sec
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_FRAME_RATE, DC1394_FEATURE_MODE_MANUAL);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set framerate to manual");
err = dc1394_feature_set_absolute_control(camera, DC1394_FEATURE_FRAME_RATE, DC1394_TRUE);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set framerate to absolute mode");
err = dc1394_feature_set_absolute_value(camera, DC1394_FEATURE_FRAME_RATE, 330.0);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set framerate");
printf("I: framerate is %f fps\n", 330.0);
// set the shutter speed to absolute value in seconds
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set shutter to manual");
err = dc1394_feature_set_absolute_control(camera, DC1394_FEATURE_SHUTTER, DC1394_TRUE);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set shutter to absolute mode");
err = dc1394_feature_set_absolute_value(camera, DC1394_FEATURE_SHUTTER, 3.0e-3);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set shutter");
printf("I: exptime is %f s\n", 3.0e-3);
// set gain manually. use relative value here in range 48 to 730.
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_GAIN, DC1394_FEATURE_MODE_MANUAL);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set gain to manual");
err = dc1394_feature_set_value(camera, DC1394_FEATURE_GAIN, 400);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set gain");
printf ("I: gain is %d\n", 400);
// set brightness manually. use relative value in range 0 to 1023.
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_BRIGHTNESS, DC1394_FEATURE_MODE_MANUAL);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set brightness to manual");
err = dc1394_feature_set_value(camera, DC1394_FEATURE_BRIGHTNESS, 100);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set brightness");
printf ("I: brightness is %d\n", 100);
err = dc1394_format7_get_total_bytes (camera, DC1394_VIDEO_MODE_FORMAT7_1, &total_bytes);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot get total bytes");
printf ("I: total bytes is %"PRIu64" before SFF enabled\n", total_bytes);
err=dc1394_capture_setup(camera, 16, DC1394_CAPTURE_FLAGS_DEFAULT);
DC1394_ERR_CLN_RTN(err, dc1394_camera_free(camera), "Error capturing");
/*-----------------------------------------------------------------------
* print allowed and used packet size
*-----------------------------------------------------------------------*/
err=dc1394_format7_get_packet_parameters(camera, DC1394_VIDEO_MODE_FORMAT7_1, &min_bytes, &max_bytes);
DC1394_ERR_RTN(err,"Packet para inq error");
printf( "camera reports allowed packet size from %d - %d bytes\n", min_bytes, max_bytes);
err=dc1394_format7_get_packet_size(camera, DC1394_VIDEO_MODE_FORMAT7_1, &actual_bytes);
DC1394_ERR_RTN(err,"dc1394_format7_get_packet_size error");
printf( "camera reports actual packet size = %d bytes\n", actual_bytes);
err=dc1394_format7_get_total_bytes(camera, DC1394_VIDEO_MODE_FORMAT7_1, &total_bytes);
DC1394_ERR_RTN(err,"dc1394_query_format7_total_bytes error");
printf( "camera reports total bytes per frame = %"PRId64" bytes\n",
total_bytes);
/*-----------------------------------------------------------------------
* have the camera start sending us data
*-----------------------------------------------------------------------*/
err=dc1394_video_set_transmission(camera,DC1394_ON);
if (err!=DC1394_SUCCESS) {
dc1394_log_error("unable to start camera iso transmission");
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
exit(1);
}
// set up FITS image and capture
fits_create_file(&fptr, filename, &status);
dc1394_get_image_size_from_video_mode(camera, DC1394_VIDEO_MODE_FORMAT7_1, &width, &height);
fits_create_img(fptr, USHORT_IMG, 3, naxes, &status);
/*-----------------------------------------------------------------------
* capture frames and measure the time for this operation
*-----------------------------------------------------------------------*/
gettimeofday(&start_time, NULL);
printf("Start capture:\n");
for( i = 0; i < grab_n_frames; ++i) {
/*-----------------------------------------------------------------------
* capture one frame
*-----------------------------------------------------------------------*/
err=dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
if (err!=DC1394_SUCCESS) {
dc1394_log_error("unable to capture");
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
exit(1);
}
// attempt to preallocate image array and write to memory before dumping to disk.
// turns out to be slow due to large size of images. cfitsio buffering is far
// more efficient.
//memcpy(im_buffer+2*i*naxes[0]*naxes[1],
//frame->image-1,
//naxes[0]*naxes[1]*sizeof(short));
// just writing each frame to the FITS file goes pretty fast
fits_write_img(fptr,
TUSHORT,
fpixel+i*naxes[0]*naxes[1],
naxes[0]*naxes[1],
frame->image-1,
&status);
// release buffer
dc1394_capture_enqueue(camera,frame);
}
gettimeofday(&end_time, NULL);
printf("End capture.\n");
/*-----------------------------------------------------------------------
* stop data transmission
*-----------------------------------------------------------------------*/
start_sec = start_time.tv_sec;
start_usec = start_time.tv_usec;
end_sec = end_time.tv_sec;
end_usec = end_time.tv_usec;
elapsed_time = (float)((end_sec + 1.0e-6*end_usec) - (start_sec + 1.0e-6*start_usec));
fps = grab_n_frames/elapsed_time;
printf("Elapsed time = %g seconds.\n", elapsed_time);
printf("Framerate = %g fps.\n", fps);
err=dc1394_video_set_transmission(camera,DC1394_OFF);
DC1394_ERR_RTN(err,"couldn't stop the camera?");
/*-----------------------------------------------------------------------
* save FITS image to disk
*-----------------------------------------------------------------------*/
//fits_write_img(fptr, TUSHORT, fpixel, naxes[0]*naxes[1]*naxes[2], im_buffer, &status);
fits_close_file(fptr, &status);
fits_report_error(stderr, status);
//free(im_buffer);
printf("wrote: %s\n", filename);
printf("Image is %d bits/pixel.\n", frame->data_depth);
/*-----------------------------------------------------------------------
* close camera, cleanup
*-----------------------------------------------------------------------*/
dc1394_capture_stop(camera);
dc1394_video_set_transmission(camera, DC1394_OFF);
dc1394_camera_free(camera);
dc1394_free (d);
return 0;
}
int main(int argc, char *argv[]) {
fitsfile *fptr;
long fpixel=1, nelements, naxes[2];
dc1394camera_t *camera;
int grab_n_frames;
struct timeval start_time, end_time;
int i, j, status;
unsigned int max_height, max_width;
uint64_t total_bytes = 0;
unsigned int width, height;
dc1394video_frame_t *frame=NULL;
dc1394_t * d;
dc1394camera_list_t * list;
dc1394error_t err;
char *filename;
unsigned char *buffer;
float *average;
grab_n_frames = atoi(argv[1]);
filename = argv[2];
status = 0;
width = 320;
height = 240;
naxes[0] = width;
naxes[1] = height;
nelements = naxes[0]*naxes[1];
stderr = freopen("grab_cube.log", "w", stderr);
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;
}
camera = dc1394_camera_new (d, list->ids[0].guid);
if (!camera) {
dc1394_log_error("Failed to initialize camera with guid %"PRIx64,
list->ids[0].guid);
return 1;
}
dc1394_camera_free_list(list);
printf("Using camera with GUID %"PRIx64"\n", camera->guid);
/*-----------------------------------------------------------------------
* setup capture for format 7
*-----------------------------------------------------------------------*/
// err=dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_1394B);
// DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot operate at 1394B");
// libdc1394 doesn't work well with firewire800 yet so set to legacy 400 mode
dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400);
// configure camera for format7
err = dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_FORMAT7_1);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot choose format7_0");
err = dc1394_format7_get_max_image_size (camera, DC1394_VIDEO_MODE_FORMAT7_1,
&max_width, &max_height);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot get max image size for format7_0");
err = dc1394_format7_set_roi (camera,
DC1394_VIDEO_MODE_FORMAT7_1,
DC1394_COLOR_CODING_MONO8, // not sure why RAW8/16 don't work
DC1394_USE_MAX_AVAIL,
0, 0, // left, top
width, height); // width, height
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set roi");
// set the frame rate to absolute value in frames/sec
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_FRAME_RATE, DC1394_FEATURE_MODE_MANUAL);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set framerate to manual");
err = dc1394_feature_set_absolute_control(camera, DC1394_FEATURE_FRAME_RATE, DC1394_TRUE);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set framerate to absolute mode");
err = dc1394_feature_set_absolute_value(camera, DC1394_FEATURE_FRAME_RATE, 100.0);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set framerate");
// set the shutter speed to absolute value in seconds
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set shutter to manual");
err = dc1394_feature_set_absolute_control(camera, DC1394_FEATURE_SHUTTER, DC1394_TRUE);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set shutter to absolute mode");
err = dc1394_feature_set_absolute_value(camera, DC1394_FEATURE_SHUTTER, 1.0e-2);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set shutter");
// set gain manually. use relative value here in range 48 to 730.
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_GAIN, DC1394_FEATURE_MODE_MANUAL);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set gain to manual");
err = dc1394_feature_set_value(camera, DC1394_FEATURE_GAIN, 200);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set gain");
// set brightness manually. use relative value in range 0 to 1023.
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_BRIGHTNESS, DC1394_FEATURE_MODE_MANUAL);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set brightness to manual");
err = dc1394_feature_set_value(camera, DC1394_FEATURE_BRIGHTNESS, 50);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set brightness");
err = dc1394_format7_get_total_bytes (camera, DC1394_VIDEO_MODE_FORMAT7_1, &total_bytes);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot get total bytes");
// err = dc1394_feature_set_value (camera, DC1394_FEATURE_GAIN, 24);
//DC1394_ERR_CLN_RTN(err, dc1394_camera_free(camera), "Error setting gain");
err = dc1394_capture_setup(camera, 16, DC1394_CAPTURE_FLAGS_DEFAULT);
DC1394_ERR_CLN_RTN(err, dc1394_camera_free(camera), "Error capturing");
/*-----------------------------------------------------------------------
* have the camera start sending us data
*-----------------------------------------------------------------------*/
err = dc1394_video_set_transmission(camera, DC1394_ON);
if (err != DC1394_SUCCESS) {
dc1394_log_error("unable to start camera iso transmission");
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
exit(1);
}
/* allocate the buffers */
if (!(buffer = malloc(nelements*sizeof(char)))) {
printf("Couldn't Allocate Image Buffer\n");
exit(-1);
}
if (!(average = calloc(nelements, sizeof(float)))) {
printf("Couldn't Allocate Average Image Buffer\n");
exit(-1);
}
// set up FITS image and capture
fits_create_file(&fptr, filename, &status);
dc1394_get_image_size_from_video_mode(camera, DC1394_VIDEO_MODE_FORMAT7_1, &width, &height);
fits_create_img(fptr, FLOAT_IMG, 2, naxes, &status);
/*-----------------------------------------------------------------------
* capture frames and measure the time for this operation
*-----------------------------------------------------------------------*/
gettimeofday(&start_time, NULL);
printf("Start capture:\n");
for (i=0; i<grab_n_frames; ++i) {
/*-----------------------------------------------------------------------
* capture one frame
*-----------------------------------------------------------------------*/
err = dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
if (err != DC1394_SUCCESS) {
dc1394_log_error("unable to capture");
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
exit(1);
}
memcpy(buffer, frame->image, nelements*sizeof(char));
// release buffer
dc1394_capture_enqueue(camera,frame);
for (j=0; j<nelements; j++) {
average[j] += (1.0/grab_n_frames)*(buffer[j]);
}
}
gettimeofday(&end_time, NULL);
printf("End capture.\n");
/*-----------------------------------------------------------------------
* stop data transmission
*-----------------------------------------------------------------------*/
err = dc1394_video_set_transmission(camera, DC1394_OFF);
DC1394_ERR_RTN(err,"couldn't stop the camera?");
/*-----------------------------------------------------------------------
* save FITS image to disk
*-----------------------------------------------------------------------*/
fits_write_img(fptr, TFLOAT, fpixel, naxes[0]*naxes[1], average, &status);
fits_close_file(fptr, &status);
fits_report_error(stderr, status);
free(buffer);
free(average);
printf("wrote: %s\n", filename);
printf("Readout is %d bits/pixel.\n", frame->data_depth);
/*-----------------------------------------------------------------------
* close camera, cleanup
*-----------------------------------------------------------------------*/
dc1394_capture_stop(camera);
dc1394_video_set_transmission(camera, DC1394_OFF);
dc1394_camera_free(camera);
dc1394_free(d);
return 0;
}
