void print_video_mode_info( dc1394camera_t *camera, dc1394video_mode_t mode) {
int j;
dc1394error_t err;
printf("Mode: ");
print_video_mode(mode);
printf("\n");
if((mode == DC1394_VIDEO_MODE_FORMAT7_0) ||
(mode == DC1394_VIDEO_MODE_FORMAT7_1) ||
(mode == DC1394_VIDEO_MODE_FORMAT7_2) ||
(mode == DC1394_VIDEO_MODE_FORMAT7_3) ||
(mode == DC1394_VIDEO_MODE_FORMAT7_4) ||
(mode == DC1394_VIDEO_MODE_FORMAT7_5) ||
(mode == DC1394_VIDEO_MODE_FORMAT7_6) ||
(mode == DC1394_VIDEO_MODE_FORMAT7_7))
{
dc1394format7mode_t f7mode;
err=dc1394_format7_get_mode_info(camera, mode, &f7mode);
if(err) {
DC1394_ERR(err,"Could not format 7 information");
} else {
printf( "Image Sizes:\n"
" size = %ix%i\n"
" max = %ix%i\n"
" pixels = %i\n",
f7mode.size_x, f7mode.size_y,
f7mode.max_size_x, f7mode.max_size_y,
f7mode.pixnum);
printf( "Color:\n");
for(j=0; j<f7mode.color_codings.num; j++) {
printf(" [%d] coding = ", j);
print_color_coding(f7mode.color_codings.codings[j]);
printf("\n");
}
printf(" filter = ");
print_color_filter(f7mode.color_filter);
printf("\n");
}
} else {
dc1394framerates_t framerates;
err=dc1394_video_get_supported_framerates(camera,mode,&framerates);
if(err) {
DC1394_ERR(err,"Could not get frame rates");
} else {
printf("Frame Rates:\n");
for(j = 0; j < framerates.num; j++) {
uint32_t rate = framerates.framerates[j];
float f_rate;
dc1394_framerate_as_float(rate,&f_rate);
printf(" [%d] rate = %f\n",j,f_rate );
}
}
}
}
/*-----------------------------------------------------------------------
* Prints various information about the mode the camera is in
*-----------------------------------------------------------------------*/
void of1394VideoGrabber::print_mode_info(dc1394video_mode_t mode )
{
int j;
printf("Mode: ");
print_format(mode);
printf("\n");
dc1394framerates_t framerates;
dc1394error_t err;
err=dc1394_video_get_supported_framerates(camera,mode,&framerates);
DC1394_ERR(err,"Could not get frame rates");
printf("Frame Rates:\n");
for( j = 0; j < framerates.num; j++ ) {
dc1394framerate_t rate = framerates.framerates[j];
float f_rate;
dc1394_framerate_as_float(rate,&f_rate);
printf(" [%d] rate = %f\n",j,f_rate );
}
}
void DC1394Camera::init(core::ConfigNode config, uint64_t guid)
{
LOGGER.infoStream() << guid << ": Initializing camera ";
m_guid = guid;
// Grab our camera
m_camera = dc1394_camera_new(s_libHandle, guid);
if (!m_camera) {
LOGGER.errorStream() <<
"Failed to initialize camera with guid: " << guid;
assert(m_camera && "Couldn't initialize camera");
}
// Determines settings and frame size
dc1394error_t err = DC1394_FAILURE;
dc1394video_mode_t videoMode = DC1394_VIDEO_MODE_640x480_RGB8;
dc1394framerate_t frameRate = DC1394_FRAMERATE_15;
// Check for the whitebalance feature
dc1394feature_info_t whiteBalance;
whiteBalance.id = DC1394_FEATURE_WHITE_BALANCE;
err = dc1394_feature_get(m_camera, &whiteBalance);
assert(DC1394_SUCCESS == err && "Could not get white balance feature info");
bool hasWhiteBalance = (whiteBalance.available == DC1394_TRUE);
uint32_t uValue, vValue;
if (hasWhiteBalance)
{
err = dc1394_feature_whitebalance_get_value(m_camera, &uValue, &vValue);
LOGGER.infoStream() << m_guid
<< ": Current U: " << uValue
<< " V: " << vValue;
}
// Actually set the values if the user wants to
if (config.exists("uValue") && config.exists("vValue"))
{
bool uAuto =
boost::to_lower_copy(config["uValue"].asString("auto")) == "auto";
bool vAuto =
boost::to_lower_copy(config["vValue"].asString("auto")) == "auto";
bool autoVal = uAuto && vAuto;
if ((uAuto || vAuto) && !autoVal)
{
assert(false && "Both Whitebalance values must either be auto or manual");
}
if (autoVal)
{
setWhiteBalance(0, 0, true);
}
else
{
// Read in config values
uint32_t u_b_value = static_cast<uint32_t>(config["uValue"].asInt());
uint32_t v_r_value = static_cast<uint32_t>(config["vValue"].asInt());
// Set values
setWhiteBalance(u_b_value, v_r_value);
}
}
else if (config.exists("uValue") || config.exists("vValue"))
{
assert(false && "Must set both the U and V values for white balance");
}
err = dc1394_feature_whitebalance_get_value(m_camera, &uValue, &vValue);
LOGGER.infoStream() << m_guid
<< ": Set U: " << uValue
<< " V: " << vValue;
if (config.exists("brightness"))
{
// Read in and set values
if (boost::to_lower_copy(config["brightness"].asString("auto")) == "auto")
{
setBrightness(0, true);
}
else
{
uint32_t value = static_cast<uint32_t>(config["brightness"].asInt());
setBrightness(value);
}
}
if (config.exists("exposure"))
{
// Read in and set values
if (boost::to_lower_copy(config["exposure"].asString("auto")) == "auto")
{
setExposure(0, true);
}
else
{
uint32_t value = static_cast<uint32_t>(config["exposure"].asInt());
setExposure(value);
}
}
// Grab image size
err = dc1394_get_image_size_from_video_mode(m_camera, videoMode,
&m_width, &m_height);
assert(DC1394_SUCCESS == err && "Could not get image size");
float fRate;
err = dc1394_framerate_as_float(frameRate, &fRate);
assert(DC1394_SUCCESS == err && "Could not get framerate as float");
m_fps = fRate;
// Setup the capture
err = dc1394_video_set_iso_speed(m_camera, DC1394_ISO_SPEED_400);
assert(DC1394_SUCCESS == err && "Could not set iso speed");
err = dc1394_video_set_mode(m_camera, videoMode);
assert(DC1394_SUCCESS == err && "Could not set video mode");
err = dc1394_video_set_framerate(m_camera, frameRate);
assert(DC1394_SUCCESS == err && "Could not set framerate");
// Start data transfer
err = dc1394_video_set_transmission(m_camera, DC1394_ON);
assert(DC1394_SUCCESS == err && "Could not start camera iso transmission");
err = dc1394_capture_setup(m_camera, DMA_BUFFER_SIZE,
DC1394_CAPTURE_FLAGS_DEFAULT);
assert(DC1394_SUCCESS == err && "Could not setup camera make sure"
" that the video mode and framerate are supported by your camera");
}
