bool FirewireVideo::GrabNewest( unsigned char* image, bool wait )
{
dc1394video_frame_t *f;
err = dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_POLL, &f);
if( err != DC1394_SUCCESS)
throw VideoException("Could not capture frame", dc1394_error_get_string(err) );
if( f ) {
while( true )
{
dc1394video_frame_t *nf;
err = dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_POLL, &nf);
if( err != DC1394_SUCCESS)
throw VideoException("Could not capture frame", dc1394_error_get_string(err) );
if( nf )
{
err=dc1394_capture_enqueue(camera,f);
f = nf;
}else{
break;
}
}
memcpy(image,f->image,f->image_bytes);
err=dc1394_capture_enqueue(camera,f);
return true;
}else if(wait){
return GrabNext(image,true);
}
return false;
}
FirewireFrame FirewireVideo::GetNewest(bool wait)
{
dc1394video_frame_t *f;
err = dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_POLL, &f);
if( err != DC1394_SUCCESS)
throw VideoException("Could not capture frame", dc1394_error_get_string(err) );
if( f ) {
while( true )
{
dc1394video_frame_t *nf;
err = dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_POLL, &nf);
if( err != DC1394_SUCCESS)
throw VideoException("Could not capture frame", dc1394_error_get_string(err) );
if( nf )
{
err=dc1394_capture_enqueue(camera,f);
f = nf;
}else{
break;
}
}
return FirewireFrame(f);
}else if(wait){
return GetNext(true);
}
return FirewireFrame(0);
}
void* thread_acq_image(void*) {
timespec time_save0, time_save1, t_sleep, t_rem;
t_sleep.tv_sec = 0;
t_sleep.tv_nsec = 10;
dc1394video_frame_t *frame;
for (;;) {
/* wait for image */
pthread_mutex_lock( &camera_mutex );
int ret = gCamera.wait_for_image(1);
pthread_mutex_unlock( &camera_mutex );
if (ret) {
pthread_mutex_lock( &camera_mutex );
dc1394error_t err = dc1394_capture_dequeue(gCamera.cam(), DC1394_CAPTURE_POLICY_POLL, &frame);
/* frame->timestamp appears to be broken, so we have to resort to clock_gettime */
timespec fts;
clock_gettime( CLOCK_REALTIME, &fts );
double ft = t2d(fts);
pthread_mutex_unlock( &camera_mutex );
if (err) {
cleanup_and_exit(gCamera);
std::cerr << dc1394_error_get_string(err) << "\nCould not capture frame" << std::endl;
}
// return frame to ring buffer:
// if (frame->image) {
pthread_mutex_lock( &camera_mutex );
err = dc1394_capture_enqueue(gCamera.cam(), frame);
pthread_mutex_unlock( &camera_mutex );
if (err) {
std::cerr << dc1394_error_get_string(err) << "\nCould not return frame to ring buffer" << std::endl;
cleanup_and_exit(gCamera);
}
// }
int width = frame->size[0];
int height = frame->size[1];
pthread_mutex_lock( &acq_buffer_mutex );
acq_frame_buffer.push(saveframe(std::vector<unsigned char>(&(frame->image)[0],
&(frame->image)[width*height]),
width, height, ft)); // (double)frame->timestamp));
pthread_mutex_unlock( &acq_buffer_mutex );
} else {
nanosleep(&t_sleep, &t_rem);
}
}
}
bool FirewireVideo::GrabNext( unsigned char* image, bool wait )
{
const dc1394capture_policy_t policy =
wait ? DC1394_CAPTURE_POLICY_WAIT : DC1394_CAPTURE_POLICY_POLL;
dc1394video_frame_t *frame;
err = dc1394_capture_dequeue(camera, policy, &frame);
if( err != DC1394_SUCCESS)
throw VideoException("Could not capture frame", dc1394_error_get_string(err) );
if( frame )
{
memcpy(image,frame->image,frame->image_bytes);
dc1394_capture_enqueue(camera,frame);
return true;
}
return false;
}
