bool ieee1394capture::init(RoboCompCamera::TCamParams ¶ms_, RoboCompJointMotor::JointMotorPrx head_ , RoboCompDifferentialRobot::DifferentialRobotPrx base_ ) { params = params_; head = head_; base = base_; int32_t i; fps = (dc1394framerate_t)params.FPS;//15; res = (dc1394video_mode_t)0; 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; break; case 2: res = DC1394_VIDEO_MODE_640x480_RGB8; device_width = 640; device_height = 480; break; default: res = DC1394_VIDEO_MODE_320x240_YUV422; device_width = 320; device_height = 240; break; } /// Get handle qDebug() << "ieee1394capture::init() -> Initializating first Firewire Card in the system..."; if (!(d = dc1394_new())) { qDebug() << "ieee1394capture::init() -> Fatal error: Unable to aquire a handle to the Ieee1394 device"; qDebug() << "Please check if the kernel modules `ieee1394',`raw1394' and `ohci1394' are loaded or if you have read/write access to /dev/raw1394 and to /dev/video1394-0 " ; return false; } CREATED_BUS = true; /// Create camera interfaces numCameras = 0; 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; } numCameras = 0; for (uint32_t di = 0; di < list->num; di++) { if (numCameras >= MAX_CAMERAS) break; cameras[numCameras] = dc1394_camera_new(d, list->ids[di].guid); if (!cameras[numCameras]) { dc1394_log_warning("Failed to initialize camera with guid %llx", list->ids[di].guid); continue; } printf("Camera #%d\n", numCameras); numCameras++; } dc1394_camera_free_list(list); if ( numCameras < 1 ) { qDebug() << "ieee1394capture::init() -> Fatal error: No cameras found in the bus! Called from "; cleanup(); return false; } /// Check if one camera has become the root node /* for ( int n=0; n < numCameras; n++ ) { if ( cameraNodeList[n] == numNodes ) { qDebug() << "ieee1394capture::init() -> Fatal error: Sorry, your camera is the highest numbered node of the bus, and has therefore become the root node." ; cleanup(); return false; } }*/ CREATED_CAMS = true; /// Setup cameras for capture qDebug() << "ieee1394capture::init() -> Searching cameras with requested parameters:"; printf("%s\n",params.mode.c_str()); if (params.mode == "MODE_320x240_YUV422") { res = DC1394_VIDEO_MODE_320x240_YUV422; params.width = 320; params.height = 240; } else if (params.mode == "MODE_640x480_YUV422" ) { res = DC1394_VIDEO_MODE_640x480_YUV422; params.width = 640; params.height = 480; } else if (params.mode == "MODE_640x480_RGB" ) { res = DC1394_VIDEO_MODE_640x480_RGB8; params.width = 640; params.height = 480; } else if (params.mode == "MODE_640x480_YUV411") { res = DC1394_VIDEO_MODE_640x480_YUV411; params.width = 640; params.height = 480; } else if (params.mode == "MODE_640x480_MONO") { res = DC1394_VIDEO_MODE_640x480_MONO8; params.width = 640; params.height = 480; } else if (params.mode == "MODE_640x480_MONO16") { res = DC1394_VIDEO_MODE_640x480_MONO16; params.width = 640; params.height = 480; } else if (params.mode == "MODE_516x338_YUV422") { res = DC1394_VIDEO_MODE_FORMAT7_1; params.width = 516; params.height = 338; } else qFatal("ieee1394capture::init() -> Image Mode %s not available. Aborting...", params.mode.c_str()); params.size = params.width*params.height; if (params.FPS!=15 and params.FPS!=30) { qWarning("ieee1394capture::init() -> Framerate %d not available. Aborting...", params.FPS ); cleanup(); return false; } dc1394format7modeset_t info; for (i = 0; i < numCameras; i++) { if (params.mode == "MODE_516x338_YUV422") { err = dc1394_format7_get_modeset(cameras[i], &info); for( int j=0;j<DC1394_VIDEO_MODE_FORMAT7_NUM;j++) { qDebug() << info.mode[j].present; qDebug() << info.mode[j].size_x; qDebug() << info.mode[j].size_y; qDebug() << info.mode[j].max_size_x; qDebug() << info.mode[j].max_size_y; qDebug() << info.mode[j].pos_x; qDebug() << info.mode[j].pos_y; qDebug() << info.mode[j].unit_size_x; qDebug() << info.mode[j].unit_size_y; qDebug() << info.mode[j].unit_pos_x; qDebug() << info.mode[j].unit_pos_y; qDebug() << info.mode[j].pixnum; qDebug() << info.mode[j].packet_size; /* in bytes */ qDebug() << info.mode[j].unit_packet_size; qDebug() << info.mode[j].max_packet_size; } } release_iso_and_bw(i); err = dc1394_video_set_mode(cameras[i], res); DC1394_ERR_CLN_RTN(err, cleanup(), "Could not set video mode"); err = dc1394_video_set_iso_speed(cameras[i], DC1394_ISO_SPEED_400); DC1394_ERR_CLN_RTN(err, cleanup(), "Could not set ISO speed"); //For format 7 modes only if (params.mode == "MODE_516x338_YUV422") { // uint32_t packet_size; // err=dc1394_format7_set_image_size(cameras[i], res, 514, 384); // DC1394_ERR_RTN(err,"Could not set image size"); // err=dc1394_format7_get_recommended_packet_size(cameras[i], res, &packet_size); // DC1394_ERR_RTN(err,"Could not get format 7 recommended packet size"); // err=dc1394_format7_set_roi(cameras[i], res, DC1394_COLOR_CODING_YUV422, packet_size, 0,0, 514, 384); // DC1394_ERR_RTN(err,"Could not set ROI"); qDebug() << "ya"; } 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"); } fflush(stdout); qDebug() << " ieee1394capture::init() -> Iso transmission started."; ///Buffers de imagen qDebug() << "BUFFERS DE IMAGEN ------------------------------------------"; for ( int i=0; i < numCameras; i++ ) { AimgBuffer[i] = ( Ipp8u * ) ippsMalloc_8u ( params.size * 9 ); BimgBuffer[i] = ( Ipp8u * ) ippsMalloc_8u ( params.size * 9 ); img8u_lum[i] = AimgBuffer[i]; img8u_YUV[i] = AimgBuffer[i]+params.size; localYRGBImgBufferPtr[i] = BimgBuffer[i]; qDebug() << "Reservando" << params.size * 9 <<" para localYRGBImgBufferPtr["<<i<<"]"; printf("(de %p a %p)\n", localYRGBImgBufferPtr[i], localYRGBImgBufferPtr[i]+(params.size*9-1)); } planos[0]=BimgBuffer[0]+params.size*3; planos[1]=BimgBuffer[0]+ ( params.size*4 ); planos[2]=BimgBuffer[0]+ ( params.size*5 ); //img8u_aux = BimgBuffer[0]+(params.size*6); imgSize_ipp.width=params.width; imgSize_ipp.height=params.height; return true; }
int main(int argc, const char * argv[]) { dc1394_t *d; dc1394camera_list_t *list; dc1394error_t err; dc1394camera_t *camera; dc1394format7modeset_t modeset; dc1394video_frame_t *frame; FILE* imagefile; char filename[256]; int i = 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"); dc1394_free(d); return 1; } printf("Detected %d cameras\n", list->num); // Assume that Ladybug 5 is detected as camera #0 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); dc1394_free(d); } dc1394_camera_free_list(list); printf("Using camera %s %s\n", camera->vendor, camera->model); // Report camera info err = dc1394_camera_print_info(camera, stdout); DC1394_ERR_RTN(err, "Could not print camera info"); // Setup video mode, etc... err = dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_1394B); DC1394_ERR_RTN(err, "Could not set B mode"); err = dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_MAX); DC1394_ERR_RTN(err, "Could not set max speed"); err = dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_FORMAT7_0); DC1394_ERR_RTN(err, "Could not set DC1394_VIDEO_MODE_FORMAT7_0"); // Get format7 mode info err = dc1394_format7_get_modeset(camera, &modeset); DC1394_ERR_RTN(err, "Could not get format 7 mode info\n"); print_format7_info(&modeset); // Set format 7 roi err = dc1394_format7_set_roi(camera, DC1394_VIDEO_MODE_FORMAT7_0, modeset.mode[0].color_coding, modeset.mode[0].max_packet_size, modeset.mode[0].pos_x, modeset.mode[0].pos_y, modeset.mode[0].max_size_x, modeset.mode[0].max_size_y); DC1394_ERR_RTN(err, "Could not set max ROI"); // Set capture err = dc1394_capture_setup(camera, 10, DC1394_CAPTURE_FLAGS_DEFAULT); DC1394_ERR_RTN(err, "Could not setup capture"); err = dc1394_video_set_transmission(camera, DC1394_ON); DC1394_ERR_RTN(err, "Could not start transmission"); while (i < NFRAMES) { // Capture image printf("Capturing image %d\n", i); err = dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame); DC1394_ERR_RTN(err, "Could not dequeue a frame"); // Do something with the image print_frame_info(frame); // Save the image sprintf(filename, "%05d.pgm",i); imagefile = fopen(filename, "wb"); if ( imagefile == NULL ) { printf("Could not save image\n"); continue; } fprintf(imagefile, "P5\n%u %u 255\n", frame->size[0], frame->size[1]); fwrite(frame->image, 1, frame->image_bytes, imagefile); fclose(imagefile); printf("Saved image %s\n", filename); err = dc1394_capture_enqueue(camera, frame); DC1394_ERR_RTN(err, "Could enqueue a frame"); i++; } dc1394_camera_free(camera); dc1394_free(d); return 0; }