/** Get Format7 color coding.
*
* @pre camera is in a Format7 video mode.
*
* @param camera points to DC1394 camera struct
* @param video_mode currently selected Format7 video mode.
* @param[in,out] color_coding Config parameter for this option,
* updated if the camera does not support the
* requested value
* @return corresponding dc1394color_coding_t enum value selected
*/
dc1394color_coding_t getColorCoding(dc1394camera_t *camera,
dc1394video_mode_t video_mode,
std::string &color_coding)
{
for (int ccode = DC1394_COLOR_CODING_MIN;
ccode <= DC1394_COLOR_CODING_MAX;
++ccode)
{
if (color_coding_names_[ccode-DC1394_COLOR_CODING_MIN] == color_coding)
{
// found the requested mode
dc1394color_codings_t ccs;
dc1394error_t err =
dc1394_format7_get_color_codings(camera, video_mode, &ccs);
if (err != DC1394_SUCCESS)
{
ROS_FATAL("unable to get supported color codings");
// TODO raise exception
return (dc1394color_coding_t) 0;
}
// see if requested mode is available
for (uint32_t i = 0; i < ccs.num; ++i)
{
if (ccs.codings[i] == ccode)
return (dc1394color_coding_t) ccode; // yes: success
}
// requested mode not available, revert to current mode of camera
ROS_ERROR_STREAM("Color coding " << color_coding
<< " not supported by this camera");
dc1394color_coding_t current_mode;
err = dc1394_format7_get_color_coding(camera, video_mode,
¤t_mode);
if (err != DC1394_SUCCESS)
{
ROS_FATAL("unable to get current color coding");
// TODO raise exception
return (dc1394color_coding_t) 0;
}
// TODO list available modes
// change color_coding parameter to show current mode of camera
color_coding = colorCodingName(current_mode);
return current_mode;
}
}
// Requested color coding does not match any known string, set to
// "mono8" and update parameter.
ROS_FATAL_STREAM("Unknown color_coding: " << color_coding);
color_coding = colorCodingName(DC1394_COLOR_CODING_MONO8);
return (dc1394color_coding_t) DC1394_COLOR_CODING_MONO8;
}
GstCaps *
gst_dc1394_get_cam_caps (GstDc1394 * src)
{
dc1394camera_t *camera = NULL;
dc1394camera_list_t *cameras = NULL;
dc1394error_t camerr;
gint i, j;
dc1394video_modes_t modes;
dc1394framerates_t framerates;
GstCaps *gcaps = NULL;
gcaps = gst_caps_new_empty ();
camerr = dc1394_camera_enumerate (src->dc1394, &cameras);
if (camerr != DC1394_SUCCESS || cameras == NULL) {
GST_ELEMENT_ERROR (src, RESOURCE, NOT_FOUND,
("Can't find cameras error : %d", camerr),
("Can't find cameras error : %d", camerr));
goto error;
}
if (cameras->num == 0) {
GST_ELEMENT_ERROR (src, RESOURCE, NOT_FOUND, ("There were no cameras"),
("There were no cameras"));
goto error;
}
if (src->camnum > (cameras->num - 1)) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED, ("Invalid camera number"),
("Invalid camera number %d", src->camnum));
goto error;
}
camera =
dc1394_camera_new_unit (src->dc1394, cameras->ids[src->camnum].guid,
cameras->ids[src->camnum].unit);
dc1394_camera_free_list (cameras);
cameras = NULL;
camerr = dc1394_video_get_supported_modes (camera, &modes);
if (camerr != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED, ("Error getting supported modes"),
("Error getting supported modes"));
goto error;
}
for (i = modes.num - 1; i >= 0; i--) {
int m = modes.modes[i];
if (m < DC1394_VIDEO_MODE_EXIF) {
GstStructure *gs = gst_structure_empty_new ("video");
gst_structure_set (gs, "vmode", G_TYPE_INT, m, NULL);
if (gst_dc1394_caps_set_format_vmode_caps (gs, m) < 0) {
GST_ELEMENT_ERROR (src, STREAM, FAILED,
("attempt to set mode to %d failed", m),
("attempt to set mode to %d failed", m));
goto error;
} else {
camerr = dc1394_video_get_supported_framerates (camera, m, &framerates);
gst_dc1394_caps_set_framerate_list (gs, &framerates);
gst_caps_append_structure (gcaps, gs);
}
} else {
// FORMAT 7
guint maxx, maxy;
GstStructure *gs = gst_structure_empty_new ("video");
dc1394color_codings_t colormodes;
guint xunit, yunit;
gst_structure_set (gs, "vmode", G_TYPE_INT, m, NULL);
// Get the maximum frame size
camerr = dc1394_format7_get_max_image_size (camera, m, &maxx, &maxy);
if (camerr != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED,
("Error getting format 7 max image size"),
("Error getting format 7 max image size"));
goto error;
}
GST_LOG_OBJECT (src, "Format 7 maxx=%d maxy=%d", maxx, maxy);
camerr = dc1394_format7_get_unit_size (camera, m, &xunit, &yunit);
if (camerr != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED,
("Error getting format 7 image unit size"),
("Error getting format 7 image unit size"));
goto error;
}
GST_LOG_OBJECT (src, "Format 7 unitx=%d unity=%d", xunit, yunit);
gst_dc1394_set_caps_framesize_range (gs, xunit, maxx, xunit,
yunit, maxy, yunit);
// note that format 7 has no concept of a framerate, so we pass the
// full range
gst_structure_set (gs,
"framerate", GST_TYPE_FRACTION_RANGE, 0, 1, G_MAXINT, 1, NULL);
// get the available color codings
camerr = dc1394_format7_get_color_codings (camera, m, &colormodes);
if (camerr != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED,
("Error getting format 7 color modes"),
("Error getting format 7 color modes"));
goto error;
}
for (j = 0; j < colormodes.num; j++) {
GstStructure *newgs = gst_structure_copy (gs);
gst_dc1394_set_caps_color (newgs, colormodes.codings[j]);
GST_LOG_OBJECT (src, "Format 7 colormode set : %d",
colormodes.codings[j]);
// note that since there are multiple color modes, we append
// multiple structures.
gst_caps_append_structure (gcaps, newgs);
}
}
}
if (camera) {
dc1394_camera_free (camera);
}
return gcaps;
error:
if (gcaps) {
gst_caps_unref (gcaps);
}
if (cameras) {
dc1394_camera_free_list (cameras);
cameras = NULL;
}
if (camera) {
dc1394_camera_free (camera);
camera = NULL;
}
return NULL;
}
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 i,j;
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;
}
printf("Total cameras found %d\n",list->num);
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);
dc1394video_modes_t video_modes;
err=dc1394_video_get_supported_modes(camera,&video_modes);
DC1394_ERR_RTN(err,"Failed get camera modes");
printf("Video Modes:\n");
for( i = 0; i < video_modes.num; i++ ) {
printVideoMode(video_modes.modes[i]);
if( video_modes.modes[i] < DC1394_VIDEO_MODE_FORMAT7_0 ) {
dc1394framerates_t rates;
err=dc1394_video_get_supported_framerates(camera,video_modes.modes[i],&rates);
DC1394_ERR_RTN(err,"Failed get mode frame rates");
for( j = 0; j < rates.num; j++ ) {
printFrameRates(rates.framerates[j]);
}
} else {
dc1394color_codings_t codings;
err=dc1394_format7_get_color_codings(camera,video_modes.modes[i],&codings);
DC1394_ERR_RTN(err,"Failed get format7 color codings");
for( j = 0; j < codings.num; j++ ) {
printColorCodings(codings.codings[j]);
}
uint32_t width,height;
err=dc1394_format7_get_max_image_size(camera,video_modes.modes[i],&width,&height);
DC1394_ERR_RTN(err,"Failed get format7 max size");
printf(" Max dimension = %d %d\n",width,height);
}
}
dc1394_camera_free(camera);
dc1394_free (d);
return 0;
}
