/**
* Write to registers in the MT9V022 chip.
* This can be done by programming the address in 0x1A00 and writing to 0x1A04.
*/
dc1394error_t FFMVCCD::writeMicronReg(unsigned int offset, unsigned int val)
{
dc1394error_t err;
err = dc1394_set_control_register(dcam, 0x1A00, offset);
if (err != DC1394_SUCCESS) {
return err;
}
err = dc1394_set_control_register(dcam, 0x1A04, val);
if (err != DC1394_SUCCESS) {
return err;
}
return DC1394_SUCCESS;
}
//=============================================================================
// setEndian()
// Set the endian-ness of 16-bit data coming from the camera.
//
// This is a PGR camera specific register
// For more information check the PGR IEEE-1394 Digital Camera Register
// Reference
//
dc1394error_t
setEndian( dc1394camera_t* camera,
bool bBigEndian )
{
uint32_t value;
dc1394error_t err;
if ( bBigEndian )
{
// use 16-bit modes in big endian (default 1394) format
value = 0x80000001;
}
else
{
// use 16-bit modes in little endian (pgr default) format
value = 0x80000000;
}
err = dc1394_set_control_register( camera,
IMAGE_DATA_FORMAT_REGISTER,
value );
return err;
}
bool CvCaptureCAM_DC1394_v2_CPP::startCapture()
{
int i;
int code = 0;
if (!dcCam)
return false;
if (isoSpeed > 0)
{
code = dc1394_video_set_iso_speed(dcCam,
isoSpeed <= 100 ? DC1394_ISO_SPEED_100 :
isoSpeed <= 200 ? DC1394_ISO_SPEED_200 :
isoSpeed <= 400 ? DC1394_ISO_SPEED_400 :
isoSpeed <= 800 ? DC1394_ISO_SPEED_800 :
isoSpeed == 1600 ? DC1394_ISO_SPEED_1600 :
DC1394_ISO_SPEED_3200);
}
// should a specific mode be used
if (userMode >= 0)
{
dc1394video_mode_t wantedMode;
dc1394video_modes_t videoModes;
dc1394_video_get_supported_modes(dcCam, &videoModes);
//set mode from number, for example the second supported mode, i.e userMode = 1
if (userMode < (int)videoModes.num)
{
wantedMode = videoModes.modes[userMode];
}
//set modes directly from DC134 constants (from dc1394video_mode_t)
else if ((userMode >= DC1394_VIDEO_MODE_MIN) && (userMode <= DC1394_VIDEO_MODE_MAX ))
{
//search for wanted mode, to check if camera supports it
int j = 0;
while ((j< (int)videoModes.num) && videoModes.modes[j]!=userMode)
{
j++;
}
if ((int)videoModes.modes[j]==userMode)
{
wantedMode = videoModes.modes[j];
}
else
{
userMode = -1; // wanted mode not supported, search for best mode
}
}
else
{
userMode = -1; // wanted mode not supported, search for best mode
}
//if userMode is available: set it and update size
if (userMode != -1)
{
code = dc1394_video_set_mode(dcCam, wantedMode);
uint32_t width, height;
dc1394_get_image_size_from_video_mode(dcCam, wantedMode, &width, &height);
frameWidth = (int)width;
frameHeight = (int)height;
}
}
if (userMode == -1 && (frameWidth > 0 || frameHeight > 0))
{
dc1394video_mode_t bestMode = (dc1394video_mode_t) - 1;
dc1394video_modes_t videoModes;
dc1394_video_get_supported_modes(dcCam, &videoModes);
for (i = 0; i < (int)videoModes.num; i++)
{
dc1394video_mode_t mode = videoModes.modes[i];
if (mode >= DC1394_VIDEO_MODE_FORMAT7_MIN && mode <= DC1394_VIDEO_MODE_FORMAT7_MAX)
continue;
int pref = -1;
dc1394color_coding_t colorCoding;
dc1394_get_color_coding_from_video_mode(dcCam, mode, &colorCoding);
uint32_t width, height;
dc1394_get_image_size_from_video_mode(dcCam, mode, &width, &height);
if ((int)width == frameWidth || (int)height == frameHeight)
{
if (colorCoding == DC1394_COLOR_CODING_RGB8 ||
colorCoding == DC1394_COLOR_CODING_RAW8)
{
bestMode = mode;
break;
}
if (colorCoding == DC1394_COLOR_CODING_YUV411 ||
colorCoding == DC1394_COLOR_CODING_YUV422 ||
(colorCoding == DC1394_COLOR_CODING_YUV444 &&
pref < 1))
{
bestMode = mode;
pref = 1;
break;
}
if (colorCoding == DC1394_COLOR_CODING_MONO8)
{
bestMode = mode;
pref = 0;
}
}
}
if ((int)bestMode >= 0)
code = dc1394_video_set_mode(dcCam, bestMode);
}
if (fps > 0)
{
dc1394video_mode_t mode;
dc1394framerates_t framerates;
double minDiff = DBL_MAX;
dc1394framerate_t bestFps = (dc1394framerate_t) - 1;
dc1394_video_get_mode(dcCam, &mode);
dc1394_video_get_supported_framerates(dcCam, mode, &framerates);
for (i = 0; i < (int)framerates.num; i++)
{
dc1394framerate_t ifps = framerates.framerates[i];
double fps1 = (1 << (ifps - DC1394_FRAMERATE_1_875)) * 1.875;
double diff = fabs(fps1 - fps);
if (diff < minDiff)
{
minDiff = diff;
bestFps = ifps;
}
}
if ((int)bestFps >= 0)
code = dc1394_video_set_framerate(dcCam, bestFps);
}
if (cameraId == VIDERE)
{
bayerFilter = DC1394_COLOR_FILTER_GBRG;
nimages = 2;
uint32_t value = 0;
dc1394_get_control_register(dcCam, 0x50c, &value);
colorStereo = (value & 0x80000000) != 0;
}
code = dc1394_capture_setup(dcCam, nDMABufs, DC1394_CAPTURE_FLAGS_DEFAULT);
if (code >= 0)
{
FD_SET(dc1394_capture_get_fileno(dcCam), &dc1394.camFds);
dc1394_video_set_transmission(dcCam, DC1394_ON);
if (cameraId == VIDERE)
{
enum { PROC_MODE_OFF, PROC_MODE_NONE, PROC_MODE_TEST, PROC_MODE_RECTIFIED, PROC_MODE_DISPARITY, PROC_MODE_DISPARITY_RAW };
int procMode = PROC_MODE_RECTIFIED;
usleep(100000);
uint32_t qval1 = 0x08000000 | (0x90 << 16) | ((procMode & 0x7) << 16);
uint32_t qval2 = 0x08000000 | (0x9C << 16);
dc1394_set_control_register(dcCam, 0xFF000, qval1);
dc1394_set_control_register(dcCam, 0xFF000, qval2);
}
started = true;
}
return code >= 0;
}
/**************************************************************************************
** Client is asking us to establish connection to the device
***************************************************************************************/
bool FFMVCCD::Connect()
{
dc1394camera_list_t *list;
dc1394error_t err;
bool supported;
bool settings_valid;
uint32_t val;
dc1394format7mode_t fm7;
dc1394feature_info_t feature;
float min, max;
dc1394 = dc1394_new();
if (!dc1394) {
return false;
}
err = dc1394_camera_enumerate(dc1394, &list);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Could not find DC1394 cameras!");
return false;
}
if (!list->num) {
IDMessage(getDeviceName(), "No DC1394 cameras found!");
return false;
}
dcam = dc1394_camera_new(dc1394, list->ids[0].guid);
if (!dcam) {
IDMessage(getDeviceName(), "Unable to connect to camera!");
return false;
}
/* Reset camera */
err = dc1394_camera_reset(dcam);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to reset camera!");
return false;
}
/* Set mode */
err = dc1394_video_set_mode(dcam, DC1394_VIDEO_MODE_640x480_MONO16);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to connect to set videomode!");
return false;
}
/* Disable Auto exposure control */
err = dc1394_feature_set_power(dcam, DC1394_FEATURE_EXPOSURE, DC1394_OFF);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to disable auto exposure control");
return false;
}
/* Set frame rate to the lowest possible */
err = dc1394_video_set_framerate(dcam, DC1394_FRAMERATE_7_5);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to connect to set framerate!");
return false;
}
/* Turn frame rate control off to enable extended exposure (subs of 512ms) */
err = dc1394_feature_set_power(dcam, DC1394_FEATURE_FRAME_RATE, DC1394_OFF);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to disable framerate!");
return false;
}
/* Get the longest possible exposure length */
err = dc1394_feature_set_mode(dcam, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Failed to enable manual shutter control.");
}
err = dc1394_feature_set_absolute_control(dcam, DC1394_FEATURE_SHUTTER, DC1394_ON);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Failed to enable absolute shutter control.");
}
err = dc1394_feature_get_absolute_boundaries(dcam, DC1394_FEATURE_SHUTTER, &min, &max);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Could not get max shutter length");
} else {
max_exposure = max;
}
/* Set gain to max. By setting the register directly, we can achieve a
* gain of 24 dB...compared to a gain of 12 dB which is reported as the
* max
*/
err = dc1394_set_control_register(dcam, 0x820, 0x40);
//err = dc1394_set_control_register(dcam, 0x820, 0x7f);
if (err != DC1394_SUCCESS) {
return err;
}
#if 0
/* Set absolute gain to max */
err = dc1394_feature_set_absolute_control(dcam, DC1394_FEATURE_GAIN, DC1394_ON);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Failed to enable ansolute gain control.");
}
err = dc1394_feature_get_absolute_boundaries(dcam, DC1394_FEATURE_GAIN, &min, &max);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Could not get max gain value");
} else {
err = dc1394_feature_set_absolute_value(dcam, DC1394_FEATURE_GAIN, max);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Could not set max gain value");
}
}
#endif
/* Set brightness */
err = dc1394_feature_set_mode(dcam, DC1394_FEATURE_BRIGHTNESS, DC1394_FEATURE_MODE_MANUAL);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Failed to enable manual brightness control.");
}
err = dc1394_feature_set_absolute_control(dcam, DC1394_FEATURE_BRIGHTNESS, DC1394_ON);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Failed to enable ansolute brightness control.");
}
err = dc1394_feature_set_absolute_value(dcam, DC1394_FEATURE_BRIGHTNESS, 1);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Could not set max brightness value");
}
/* Turn gamma control off */
err = dc1394_feature_set_absolute_value(dcam, DC1394_FEATURE_GAMMA, 1);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Could not set gamma value");
}
err = dc1394_feature_set_power(dcam, DC1394_FEATURE_GAMMA, DC1394_OFF);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to disable gamma!");
return false;
}
/* Turn off white balance */
err = dc1394_feature_set_power(dcam, DC1394_FEATURE_WHITE_BALANCE, DC1394_OFF);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to disable white balance!");
return false;
}
err=dc1394_capture_setup(dcam,10, DC1394_CAPTURE_FLAGS_DEFAULT);
return true;
}
bool CvCaptureCAM_DC1394_v2_CPP::startCapture()
{
int i;
int code = 0;
if (!dcCam)
return false;
if (isoSpeed > 0)
{
code = dc1394_video_set_iso_speed(dcCam,
isoSpeed <= 100 ? DC1394_ISO_SPEED_100 :
isoSpeed <= 200 ? DC1394_ISO_SPEED_200 :
isoSpeed <= 400 ? DC1394_ISO_SPEED_400 :
isoSpeed <= 800 ? DC1394_ISO_SPEED_800 :
isoSpeed == 1600 ? DC1394_ISO_SPEED_1600 :
DC1394_ISO_SPEED_3200);
}
if (frameWidth > 0 || frameHeight > 0)
{
dc1394video_mode_t bestMode = (dc1394video_mode_t) - 1;
dc1394video_modes_t videoModes;
dc1394_video_get_supported_modes(dcCam, &videoModes);
for (i = 0; i < (int)videoModes.num; i++)
{
dc1394video_mode_t mode = videoModes.modes[i];
if (mode >= DC1394_VIDEO_MODE_FORMAT7_MIN && mode <= DC1394_VIDEO_MODE_FORMAT7_MAX)
continue;
int pref = -1;
dc1394color_coding_t colorCoding;
dc1394_get_color_coding_from_video_mode(dcCam, mode, &colorCoding);
uint32_t width, height;
dc1394_get_image_size_from_video_mode(dcCam, mode, &width, &height);
if ((int)width == frameWidth || (int)height == frameHeight)
{
if (colorCoding == DC1394_COLOR_CODING_RGB8 ||
colorCoding == DC1394_COLOR_CODING_RGB16 ||
colorCoding == DC1394_COLOR_CODING_RAW8 ||
colorCoding == DC1394_COLOR_CODING_RAW16)
{
bestMode = mode;
break;
}
if (colorCoding == DC1394_COLOR_CODING_YUV411 ||
colorCoding == DC1394_COLOR_CODING_YUV422 ||
(colorCoding == DC1394_COLOR_CODING_YUV444 &&
pref < 1))
{
bestMode = mode;
pref = 1;
}
if (colorCoding == DC1394_COLOR_CODING_MONO8 ||
(colorCoding == DC1394_COLOR_CODING_MONO16 &&
pref < 0))
{
bestMode = mode;
pref = 0;
}
}
}
if ((int)bestMode >= 0)
code = dc1394_video_set_mode(dcCam, bestMode);
}
if (fps > 0)
{
dc1394video_mode_t mode;
dc1394framerates_t framerates;
double minDiff = DBL_MAX;
dc1394framerate_t bestFps = (dc1394framerate_t) - 1;
dc1394_video_get_mode(dcCam, &mode);
dc1394_video_get_supported_framerates(dcCam, mode, &framerates);
for (i = 0; i < (int)framerates.num; i++)
{
dc1394framerate_t ifps = framerates.framerates[i];
double fps1 = (1 << (ifps - DC1394_FRAMERATE_1_875)) * 1.875;
double diff = fabs(fps1 - fps);
if (diff < minDiff)
{
minDiff = diff;
bestFps = ifps;
}
}
if ((int)bestFps >= 0)
code = dc1394_video_set_framerate(dcCam, bestFps);
}
if (cameraId == VIDERE)
{
bayerFilter = DC1394_COLOR_FILTER_GBRG;
nimages = 2;
uint32_t value = 0;
dc1394_get_control_register(dcCam, 0x50c, &value);
colorStereo = (value & 0x80000000) != 0;
}
code = dc1394_capture_setup(dcCam, nDMABufs, DC1394_CAPTURE_FLAGS_DEFAULT);
if (code >= 0)
{
FD_SET(dc1394_capture_get_fileno(dcCam), &dc1394.camFds);
dc1394_video_set_transmission(dcCam, DC1394_ON);
if (cameraId == VIDERE)
{
enum { PROC_MODE_OFF, PROC_MODE_NONE, PROC_MODE_TEST, PROC_MODE_RECTIFIED, PROC_MODE_DISPARITY, PROC_MODE_DISPARITY_RAW };
int procMode = PROC_MODE_RECTIFIED;
usleep(100000);
uint32_t qval1 = 0x08000000 | (0x90 << 16) | ((procMode & 0x7) << 16);
uint32_t qval2 = 0x08000000 | (0x9C << 16);
dc1394_set_control_register(dcCam, 0xFF000, qval1);
dc1394_set_control_register(dcCam, 0xFF000, qval2);
}
started = true;
}
return code >= 0;
}
