void setSetting(dc1394camera_t *cam, dc1394feature_t setting, float value){
dc1394error_t err;
float min, max;
dc1394_feature_get_absolute_boundaries(cam, setting, &min, &max);
if(value < min || value > max){
std::cerr << "CameraIIDC: cannot set value. Out of permissable range." << std::endl;
} else {
err = dc1394_feature_set_absolute_control(cam, setting, DC1394_ON);
if(err != DC1394_SUCCESS)
cerr << "Could not enable absolute control!" << endl;
err = dc1394_feature_set_absolute_value(cam, setting, value);
if(err != DC1394_SUCCESS)
cerr << "Could not set absolute value!" << endl;
}
}
int ar2VideoSetAbsValue1394(AR2VideoParam1394T *vid, int paramName, ARdouble value)
{
switch (paramName)
{
case AR_VIDEO_1394_GAMMA:
if (dc1394_feature_set_absolute_value(vid->camera, DC1394_FEATURE_BRIGHTNESS, (float)value) != DC1394_SUCCESS)
{
ARLOGe("unable to set brightness to %f.\n", value);
return -1;
}
return 0;
}
return -1;
}
void FirewireVideo::SetShutterTime(float val){
dc1394error_t err = dc1394_feature_set_mode(camera, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);
if (err < 0) {
throw VideoException("Could not set manual shutter mode");
}
err = dc1394_feature_set_absolute_control(camera, DC1394_FEATURE_SHUTTER, DC1394_ON);
if (err < 0) {
throw VideoException("Could not set absolute control for shutter");
}
err = dc1394_feature_set_absolute_value(camera, DC1394_FEATURE_SHUTTER, val);
if (err < 0) {
throw VideoException("Could not set shutter value");
}
}
void FirewireVideo::SetGain(float val){
dc1394error_t err = dc1394_feature_set_mode(camera, DC1394_FEATURE_GAIN, DC1394_FEATURE_MODE_MANUAL);
if (err < 0) {
throw VideoException("Could not set manual gain mode");
}
err = dc1394_feature_set_absolute_control(camera, DC1394_FEATURE_GAIN, DC1394_ON);
if (err < 0) {
throw VideoException("Could not set absolute control for gain");
}
err = dc1394_feature_set_absolute_value(camera, DC1394_FEATURE_GAIN, val);
if (err < 0) {
throw VideoException("Could not set gain value");
}
}
int main(int argc, char *argv[])
{
fitsfile *fptr;
long fpixel=1, nelements, naxes[3];
dc1394camera_t *camera;
int grab_n_frames;
struct timeval start_time, end_time;
time_t start_sec, end_sec;
suseconds_t start_usec, end_usec;
float elapsed_time, fps;
int i, status;
unsigned int min_bytes, max_bytes, max_height, max_width;
unsigned int actual_bytes;
uint64_t total_bytes = 0;
unsigned int width, height;
dc1394video_frame_t *frame=NULL;
dc1394_t * d;
dc1394camera_list_t * list;
dc1394error_t err;
char *filename;
grab_n_frames = atoi(argv[1]);
filename = argv[2];
width = 320;
height = 240;
naxes[0] = width;
naxes[1] = height;
naxes[2] = grab_n_frames;
nelements = naxes[0]*naxes[1]*naxes[2];
stderr = freopen("grab_cube.log", "w", stderr);
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;
}
camera = dc1394_camera_new (d, list->ids[0].guid);
if (!camera) {
dc1394_log_error("Failed to initialize camera with guid %"PRIx64,
list->ids[0].guid);
return 1;
}
dc1394_camera_free_list (list);
printf("Using camera with GUID %"PRIx64"\n", camera->guid);
/*-----------------------------------------------------------------------
* setup capture for format 7
*-----------------------------------------------------------------------*/
// err=dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_1394B);
// DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot operate at 1394B");
// libdc1394 doesn't work well with firewire800 yet so set to legacy 400 mode
dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400);
// configure camera for format7
err = dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_FORMAT7_1);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot choose format7_0");
printf ("I: video mode is format7_0\n");
err = dc1394_format7_get_max_image_size (camera, DC1394_VIDEO_MODE_FORMAT7_1,
&max_width, &max_height);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot get max image size for format7_0");
printf ("I: max image size is: height = %d, width = %d\n", max_height, max_width);
printf ("I: current image size is: height = %d, width = %d\n", height, width);
err = dc1394_format7_set_roi (camera,
DC1394_VIDEO_MODE_FORMAT7_1,
DC1394_COLOR_CODING_MONO16, // not sure why RAW8/16 don't work
DC1394_USE_MAX_AVAIL,
0, 0, // left, top
width, height); // width, height
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set roi");
printf ("I: roi is (0, 0) - (%d, %d)\n", width, height);
// set the frame rate to absolute value in frames/sec
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_FRAME_RATE, DC1394_FEATURE_MODE_MANUAL);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set framerate to manual");
err = dc1394_feature_set_absolute_control(camera, DC1394_FEATURE_FRAME_RATE, DC1394_TRUE);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set framerate to absolute mode");
err = dc1394_feature_set_absolute_value(camera, DC1394_FEATURE_FRAME_RATE, 330.0);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set framerate");
printf("I: framerate is %f fps\n", 330.0);
// set the shutter speed to absolute value in seconds
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set shutter to manual");
err = dc1394_feature_set_absolute_control(camera, DC1394_FEATURE_SHUTTER, DC1394_TRUE);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set shutter to absolute mode");
err = dc1394_feature_set_absolute_value(camera, DC1394_FEATURE_SHUTTER, 3.0e-3);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set shutter");
printf("I: exptime is %f s\n", 3.0e-3);
// set gain manually. use relative value here in range 48 to 730.
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_GAIN, DC1394_FEATURE_MODE_MANUAL);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set gain to manual");
err = dc1394_feature_set_value(camera, DC1394_FEATURE_GAIN, 400);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set gain");
printf ("I: gain is %d\n", 400);
// set brightness manually. use relative value in range 0 to 1023.
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_BRIGHTNESS, DC1394_FEATURE_MODE_MANUAL);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set brightness to manual");
err = dc1394_feature_set_value(camera, DC1394_FEATURE_BRIGHTNESS, 100);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set brightness");
printf ("I: brightness is %d\n", 100);
err = dc1394_format7_get_total_bytes (camera, DC1394_VIDEO_MODE_FORMAT7_1, &total_bytes);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot get total bytes");
printf ("I: total bytes is %"PRIu64" before SFF enabled\n", total_bytes);
err=dc1394_capture_setup(camera, 16, DC1394_CAPTURE_FLAGS_DEFAULT);
DC1394_ERR_CLN_RTN(err, dc1394_camera_free(camera), "Error capturing");
/*-----------------------------------------------------------------------
* print allowed and used packet size
*-----------------------------------------------------------------------*/
err=dc1394_format7_get_packet_parameters(camera, DC1394_VIDEO_MODE_FORMAT7_1, &min_bytes, &max_bytes);
DC1394_ERR_RTN(err,"Packet para inq error");
printf( "camera reports allowed packet size from %d - %d bytes\n", min_bytes, max_bytes);
err=dc1394_format7_get_packet_size(camera, DC1394_VIDEO_MODE_FORMAT7_1, &actual_bytes);
DC1394_ERR_RTN(err,"dc1394_format7_get_packet_size error");
printf( "camera reports actual packet size = %d bytes\n", actual_bytes);
err=dc1394_format7_get_total_bytes(camera, DC1394_VIDEO_MODE_FORMAT7_1, &total_bytes);
DC1394_ERR_RTN(err,"dc1394_query_format7_total_bytes error");
printf( "camera reports total bytes per frame = %"PRId64" bytes\n",
total_bytes);
/*-----------------------------------------------------------------------
* have the camera start sending us data
*-----------------------------------------------------------------------*/
err=dc1394_video_set_transmission(camera,DC1394_ON);
if (err!=DC1394_SUCCESS) {
dc1394_log_error("unable to start camera iso transmission");
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
exit(1);
}
// set up FITS image and capture
fits_create_file(&fptr, filename, &status);
dc1394_get_image_size_from_video_mode(camera, DC1394_VIDEO_MODE_FORMAT7_1, &width, &height);
fits_create_img(fptr, USHORT_IMG, 3, naxes, &status);
/*-----------------------------------------------------------------------
* capture frames and measure the time for this operation
*-----------------------------------------------------------------------*/
gettimeofday(&start_time, NULL);
printf("Start capture:\n");
for( i = 0; i < grab_n_frames; ++i) {
/*-----------------------------------------------------------------------
* capture one frame
*-----------------------------------------------------------------------*/
err=dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
if (err!=DC1394_SUCCESS) {
dc1394_log_error("unable to capture");
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
exit(1);
}
// attempt to preallocate image array and write to memory before dumping to disk.
// turns out to be slow due to large size of images. cfitsio buffering is far
// more efficient.
//memcpy(im_buffer+2*i*naxes[0]*naxes[1],
//frame->image-1,
//naxes[0]*naxes[1]*sizeof(short));
// just writing each frame to the FITS file goes pretty fast
fits_write_img(fptr,
TUSHORT,
fpixel+i*naxes[0]*naxes[1],
naxes[0]*naxes[1],
frame->image-1,
&status);
// release buffer
dc1394_capture_enqueue(camera,frame);
}
gettimeofday(&end_time, NULL);
printf("End capture.\n");
/*-----------------------------------------------------------------------
* stop data transmission
*-----------------------------------------------------------------------*/
start_sec = start_time.tv_sec;
start_usec = start_time.tv_usec;
end_sec = end_time.tv_sec;
end_usec = end_time.tv_usec;
elapsed_time = (float)((end_sec + 1.0e-6*end_usec) - (start_sec + 1.0e-6*start_usec));
fps = grab_n_frames/elapsed_time;
printf("Elapsed time = %g seconds.\n", elapsed_time);
printf("Framerate = %g fps.\n", fps);
err=dc1394_video_set_transmission(camera,DC1394_OFF);
DC1394_ERR_RTN(err,"couldn't stop the camera?");
/*-----------------------------------------------------------------------
* save FITS image to disk
*-----------------------------------------------------------------------*/
//fits_write_img(fptr, TUSHORT, fpixel, naxes[0]*naxes[1]*naxes[2], im_buffer, &status);
fits_close_file(fptr, &status);
fits_report_error(stderr, status);
//free(im_buffer);
printf("wrote: %s\n", filename);
printf("Image is %d bits/pixel.\n", frame->data_depth);
/*-----------------------------------------------------------------------
* close camera, cleanup
*-----------------------------------------------------------------------*/
dc1394_capture_stop(camera);
dc1394_video_set_transmission(camera, DC1394_OFF);
dc1394_camera_free(camera);
dc1394_free (d);
return 0;
}
/**************************************************************************************
** Client is asking us to start an exposure
***************************************************************************************/
bool FFMVCCD::StartExposure(float duration)
{
FILE *imagefile;
dc1394error_t err;
dc1394video_frame_t *frame;
int i;
int ms;
unsigned int val;
float gain = 1.0;
uint32_t uwidth, uheight;
float sub_length;
float fval;
ms = duration* 1000;
//IDMessage(getDeviceName(), "Doing %d sub exposures at %f %s each", sub_count, absShutter, prop_info.pUnits);
ExposureRequest=duration;
// Since we have only have one CCD with one chip, we set the exposure duration of the primary CCD
PrimaryCCD.setBPP(16);
PrimaryCCD.setExposureDuration(duration);
gettimeofday(&ExpStart,NULL);
InExposure=true;
IDMessage(getDeviceName(), "Exposure has begun.");
// Let's get a pointer to the frame buffer
uint8_t * image = PrimaryCCD.getFrameBuffer();
// Get width and height
int width = PrimaryCCD.getSubW() / PrimaryCCD.getBinX();
int height = PrimaryCCD.getSubH() / PrimaryCCD.getBinY();
memset(image, 0, PrimaryCCD.getFrameBufferSize());
if (duration != last_exposure_length) {
/* Calculate the number of exposures needed */
sub_count = duration / max_exposure;
if (ms % ((int) (max_exposure * 1000))) {
++sub_count;
}
sub_length = duration / sub_count;
IDMessage(getDeviceName(), "Triggering a %f second exposure using %d subs of %f seconds",
duration, sub_count, sub_length);
/* Set sub length */
#if 0
err = dc1394_feature_set_absolute_control(dcam, DC1394_FEATURE_SHUTTER, DC1394_ON);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Failed to enable ansolute shutter control.");
}
#endif
err = dc1394_feature_set_absolute_value(dcam, DC1394_FEATURE_SHUTTER, sub_length);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to set shutter value.");
}
err = dc1394_feature_get_absolute_value(dcam, DC1394_FEATURE_SHUTTER, &fval);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to get shutter value.");
}
IDMessage(getDeviceName(), "Shutter value is %f.", fval);
}
/* Flush the DMA buffer */
while (1) {
err=dc1394_capture_dequeue(dcam, DC1394_CAPTURE_POLICY_POLL, &frame);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Flushing DMA buffer failed!");
break;
}
if (!frame) {
break;
}
dc1394_capture_enqueue(dcam, frame);
}
/*-----------------------------------------------------------------------
* have the camera start sending us data
*-----------------------------------------------------------------------*/
IDMessage(getDeviceName(), "start transmission");
err=dc1394_video_set_transmission(dcam, DC1394_ON);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Unable to start transmission");
return false;
}
// We're done
return true;
}
/**************************************************************************************
** 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 Camera::open(int deviceIdx) {
if (numCams < 1) {
std::cerr << "Camera not found or could not be opened." << std::endl;
return false;
}
camera = dc1394_camera_new(camDict, camList->ids[deviceIdx].guid);
if (!camera) {
dc1394_log_error("Failed to initialize camera with guid %.", camList->ids[deviceIdx].guid);
return false;
}
/* reset camera to initial state with default values */
resetCameraRegister();
/* prepare camera for ringlight leds */
configureOutputPins();
configureClockDelay();
configureClockDuration();
configureResetDelay();
configureResetDuration();
/* set video mode */
error = dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_640x480_MONO8);
if (error != DC1394_SUCCESS) {
std::cout << "Could not set video mode" << std::endl;
cleanup(camera);
return false;
}
/* camera parameter calibrated with FlyCapture2 */
/* brightness */
error = dc1394_feature_set_mode(camera, DC1394_FEATURE_BRIGHTNESS, DC1394_FEATURE_MODE_MANUAL);
error = dc1394_feature_set_value(camera, DC1394_FEATURE_BRIGHTNESS, 0);
/* exposure */
error = dc1394_feature_set_mode(camera, DC1394_FEATURE_EXPOSURE, DC1394_FEATURE_MODE_MANUAL);
error = dc1394_feature_set_value(camera, DC1394_FEATURE_EXPOSURE, 149);
/* gamma */
error = dc1394_feature_set_mode(camera, DC1394_FEATURE_GAMMA, DC1394_FEATURE_MODE_MANUAL);
error = dc1394_feature_set_value(camera, DC1394_FEATURE_GAMMA, 1024);
/* shutter */
error = dc1394_feature_set_mode(camera, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);
error = dc1394_feature_set_value(camera, DC1394_FEATURE_SHUTTER, 61);
/* gain */
error = dc1394_feature_set_mode(camera, DC1394_FEATURE_GAIN, DC1394_FEATURE_MODE_MANUAL);
error = dc1394_feature_set_value(camera, DC1394_FEATURE_GAIN, 740);
/* frame rate */
error = dc1394_feature_set_mode(camera, DC1394_FEATURE_FRAME_RATE, DC1394_FEATURE_MODE_MANUAL);
error = dc1394_feature_set_absolute_value(camera, DC1394_FEATURE_FRAME_RATE, FRAME_RATE);
/* setup capture */
error = dc1394_capture_setup(camera, numDMABuffers, DC1394_CAPTURE_FLAGS_DEFAULT);
if (error != DC1394_SUCCESS) {
std::cerr << "Could not setup camera-\nmake sure that the video mode and framerate are\nsupported by your camera" << std::endl;
cleanup(camera);
return false;
}
/* starting camera sending data */
error = dc1394_video_set_transmission(camera, DC1394_ON);
if (error != DC1394_SUCCESS) {
std::cerr << "Could not start camera iso transmission" << std::endl;
cleanup(camera);
return false;
}
/* capture image with no LEDs to subtract ambient light */
captureAmbientImage();
/* set average image intensity used by ps process for adjustment */
avgImgIntensity = cv::mean(ambientImage)[0];
return true;
}
/** Configure a feature for the currently open device.
*
* @pre feature_set_ initialized
*
* @param feature desired feature number
* @param control [in,out] pointer to control parameter (may change)
* @param value [in,out] pointer to requested parameter value (may
* change depending on device restrictions)
* @param value2 [in,out] optional pointer to second parameter value
* for white balance (may change depending on device
* restrictions). No second value if NULL pointer.
*
* The parameter values are represented as double despite the fact
* that most features on most cameras only allow unsigned 12-bit
* values. The exception is the rare feature that supports
* "absolute" values in 32-bit IEEE float format. Double can
* represent all possible option values accurately.
*/
void Features::configure(dc1394feature_t feature, int *control,
double *value, double *value2)
{
// device-relevant information for this feature
dc1394feature_info_t *finfo =
&feature_set_.feature[feature - DC1394_FEATURE_MIN];
if (!finfo->available) // feature not available?
{
*control = camera1394::Camera1394_None;
return;
}
switch (*control)
{
case camera1394::Camera1394_Off:
setPower(finfo, DC1394_OFF);
break;
case camera1394::Camera1394_Query:
getValues(finfo, value, value2);
break;
case camera1394::Camera1394_Auto:
if (!setMode(finfo, DC1394_FEATURE_MODE_AUTO))
{
setPower(finfo, DC1394_OFF);
}
break;
case camera1394::Camera1394_Manual:
if (!setMode(finfo, DC1394_FEATURE_MODE_MANUAL))
{
setPower(finfo, DC1394_OFF);
break;
}
// TODO: break this into some internal methods
if (finfo->absolute_capable && finfo->abs_control)
{
// supports reading and setting float value
float fmin, fmax;
if (DC1394_SUCCESS ==
dc1394_feature_get_absolute_boundaries(camera_, feature,
&fmin, &fmax))
{
// clamp *value between minimum and maximum
if (*value < fmin)
*value = (double) fmin;
else if (*value > fmax)
*value = (double) fmax;
}
else
{
ROS_WARN_STREAM("failed to get feature "
<< featureName(feature) << " boundaries ");
}
// @todo handle absolute White Balance values
float fval = *value;
if (DC1394_SUCCESS !=
dc1394_feature_set_absolute_value(camera_, feature, fval))
{
ROS_WARN_STREAM("failed to set feature "
<< featureName(feature) << " to " << fval);
}
}
else // no float representation
{
// round requested value to nearest integer
*value = rint(*value);
// clamp *value between minimum and maximum
if (*value < finfo->min)
*value = (double) finfo->min;
else if (*value > finfo->max)
*value = (double) finfo->max;
dc1394error_t rc;
uint32_t ival = (uint32_t) *value;
// handle White Balance, which has two components
if (feature == DC1394_FEATURE_WHITE_BALANCE)
{
*value2 = rint(*value2);
// clamp *value2 between same minimum and maximum
if (*value2 < finfo->min)
*value2 = (double) finfo->min;
else if (*value2 > finfo->max)
*value2 = (double) finfo->max;
uint32_t ival2 = (uint32_t) *value2;
rc = dc1394_feature_whitebalance_set_value(camera_, ival, ival2);
}
else
{
// other features only have one component
rc = dc1394_feature_set_value(camera_, feature, ival);
}
if (rc != DC1394_SUCCESS)
{
ROS_WARN_STREAM("failed to set feature "
<< featureName(feature) << " to " << ival);
}
}
break;
case camera1394::Camera1394_OnePush:
// Try to set OnePush mode
setMode(finfo, DC1394_FEATURE_MODE_ONE_PUSH_AUTO);
// Now turn the control off, so camera does not continue adjusting
setPower(finfo, DC1394_OFF);
break;
case camera1394::Camera1394_None:
// Invalid user input, because this feature actually does exist.
ROS_INFO_STREAM("feature " << featureName(feature)
<< " exists, cannot set to None");
break;
default:
ROS_WARN_STREAM("unknown state (" << *control
<<") for feature " << featureName(feature));
}
// return actual state reported by the device
*control = getState(finfo);
ROS_DEBUG_STREAM("feature " << featureName(feature)
<< " now in state " << *control);
}
int main(int argc, char *argv[]) {
fitsfile *fptr;
long fpixel=1, nelements, naxes[2];
dc1394camera_t *camera;
int grab_n_frames;
struct timeval start_time, end_time;
int i, j, status;
unsigned int max_height, max_width;
uint64_t total_bytes = 0;
unsigned int width, height;
dc1394video_frame_t *frame=NULL;
dc1394_t * d;
dc1394camera_list_t * list;
dc1394error_t err;
char *filename;
unsigned char *buffer;
float *average;
grab_n_frames = atoi(argv[1]);
filename = argv[2];
status = 0;
width = 320;
height = 240;
naxes[0] = width;
naxes[1] = height;
nelements = naxes[0]*naxes[1];
stderr = freopen("grab_cube.log", "w", stderr);
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;
}
camera = dc1394_camera_new (d, list->ids[0].guid);
if (!camera) {
dc1394_log_error("Failed to initialize camera with guid %"PRIx64,
list->ids[0].guid);
return 1;
}
dc1394_camera_free_list(list);
printf("Using camera with GUID %"PRIx64"\n", camera->guid);
/*-----------------------------------------------------------------------
* setup capture for format 7
*-----------------------------------------------------------------------*/
// err=dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_1394B);
// DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot operate at 1394B");
// libdc1394 doesn't work well with firewire800 yet so set to legacy 400 mode
dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400);
// configure camera for format7
err = dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_FORMAT7_1);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot choose format7_0");
err = dc1394_format7_get_max_image_size (camera, DC1394_VIDEO_MODE_FORMAT7_1,
&max_width, &max_height);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot get max image size for format7_0");
err = dc1394_format7_set_roi (camera,
DC1394_VIDEO_MODE_FORMAT7_1,
DC1394_COLOR_CODING_MONO8, // not sure why RAW8/16 don't work
DC1394_USE_MAX_AVAIL,
0, 0, // left, top
width, height); // width, height
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set roi");
// set the frame rate to absolute value in frames/sec
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_FRAME_RATE, DC1394_FEATURE_MODE_MANUAL);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set framerate to manual");
err = dc1394_feature_set_absolute_control(camera, DC1394_FEATURE_FRAME_RATE, DC1394_TRUE);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set framerate to absolute mode");
err = dc1394_feature_set_absolute_value(camera, DC1394_FEATURE_FRAME_RATE, 100.0);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set framerate");
// set the shutter speed to absolute value in seconds
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set shutter to manual");
err = dc1394_feature_set_absolute_control(camera, DC1394_FEATURE_SHUTTER, DC1394_TRUE);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set shutter to absolute mode");
err = dc1394_feature_set_absolute_value(camera, DC1394_FEATURE_SHUTTER, 1.0e-2);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set shutter");
// set gain manually. use relative value here in range 48 to 730.
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_GAIN, DC1394_FEATURE_MODE_MANUAL);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set gain to manual");
err = dc1394_feature_set_value(camera, DC1394_FEATURE_GAIN, 200);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set gain");
// set brightness manually. use relative value in range 0 to 1023.
err = dc1394_feature_set_mode(camera, DC1394_FEATURE_BRIGHTNESS, DC1394_FEATURE_MODE_MANUAL);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set brightness to manual");
err = dc1394_feature_set_value(camera, DC1394_FEATURE_BRIGHTNESS, 50);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set brightness");
err = dc1394_format7_get_total_bytes (camera, DC1394_VIDEO_MODE_FORMAT7_1, &total_bytes);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot get total bytes");
// err = dc1394_feature_set_value (camera, DC1394_FEATURE_GAIN, 24);
//DC1394_ERR_CLN_RTN(err, dc1394_camera_free(camera), "Error setting gain");
err = dc1394_capture_setup(camera, 16, DC1394_CAPTURE_FLAGS_DEFAULT);
DC1394_ERR_CLN_RTN(err, dc1394_camera_free(camera), "Error capturing");
/*-----------------------------------------------------------------------
* have the camera start sending us data
*-----------------------------------------------------------------------*/
err = dc1394_video_set_transmission(camera, DC1394_ON);
if (err != DC1394_SUCCESS) {
dc1394_log_error("unable to start camera iso transmission");
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
exit(1);
}
/* allocate the buffers */
if (!(buffer = malloc(nelements*sizeof(char)))) {
printf("Couldn't Allocate Image Buffer\n");
exit(-1);
}
if (!(average = calloc(nelements, sizeof(float)))) {
printf("Couldn't Allocate Average Image Buffer\n");
exit(-1);
}
// set up FITS image and capture
fits_create_file(&fptr, filename, &status);
dc1394_get_image_size_from_video_mode(camera, DC1394_VIDEO_MODE_FORMAT7_1, &width, &height);
fits_create_img(fptr, FLOAT_IMG, 2, naxes, &status);
/*-----------------------------------------------------------------------
* capture frames and measure the time for this operation
*-----------------------------------------------------------------------*/
gettimeofday(&start_time, NULL);
printf("Start capture:\n");
for (i=0; i<grab_n_frames; ++i) {
/*-----------------------------------------------------------------------
* capture one frame
*-----------------------------------------------------------------------*/
err = dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
if (err != DC1394_SUCCESS) {
dc1394_log_error("unable to capture");
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
exit(1);
}
memcpy(buffer, frame->image, nelements*sizeof(char));
// release buffer
dc1394_capture_enqueue(camera,frame);
for (j=0; j<nelements; j++) {
average[j] += (1.0/grab_n_frames)*(buffer[j]);
}
}
gettimeofday(&end_time, NULL);
printf("End capture.\n");
/*-----------------------------------------------------------------------
* stop data transmission
*-----------------------------------------------------------------------*/
err = dc1394_video_set_transmission(camera, DC1394_OFF);
DC1394_ERR_RTN(err,"couldn't stop the camera?");
/*-----------------------------------------------------------------------
* save FITS image to disk
*-----------------------------------------------------------------------*/
fits_write_img(fptr, TFLOAT, fpixel, naxes[0]*naxes[1], average, &status);
fits_close_file(fptr, &status);
fits_report_error(stderr, status);
free(buffer);
free(average);
printf("wrote: %s\n", filename);
printf("Readout is %d bits/pixel.\n", frame->data_depth);
/*-----------------------------------------------------------------------
* close camera, cleanup
*-----------------------------------------------------------------------*/
dc1394_capture_stop(camera);
dc1394_video_set_transmission(camera, DC1394_OFF);
dc1394_camera_free(camera);
dc1394_free(d);
return 0;
}
// Note:
// the following was tested on a IIDC camera over USB therefore might not work as
// well on a camera over proper firewire transport
void FirewireVideo::init_format7_camera(
uint64_t guid, int dma_frames,
dc1394speed_t iso_speed,
dc1394video_mode_t video_mode,
float framerate,
uint32_t width, uint32_t height,
uint32_t left, uint32_t top, bool reset_at_boot
) {
if(video_mode< DC1394_VIDEO_MODE_FORMAT7_0)
throw VideoException("roi can be specified only for format7 modes");
camera = dc1394_camera_new (d, guid);
if (!camera)
throw VideoException("Failed to initialize camera");
// Attempt to stop camera if it is already running
dc1394switch_t is_iso_on = DC1394_OFF;
dc1394_video_get_transmission(camera, &is_iso_on);
if (is_iso_on==DC1394_ON) {
dc1394_video_set_transmission(camera, DC1394_OFF);
}
cout << "Using camera with GUID " << camera->guid << endl;
if(reset_at_boot){
dc1394_camera_reset(camera);
}
//-----------------------------------------------------------------------
// setup mode and roi
//-----------------------------------------------------------------------
if(iso_speed >= DC1394_ISO_SPEED_800)
{
err=dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_1394B);
if( err != DC1394_SUCCESS )
throw VideoException("Could not set DC1394_OPERATION_MODE_1394B");
}
err=dc1394_video_set_iso_speed(camera, iso_speed);
if( err != DC1394_SUCCESS )
throw VideoException("Could not set iso speed");
// check that the required mode is actually supported
dc1394format7mode_t format7_info;
err = dc1394_format7_get_mode_info(camera, video_mode, &format7_info);
if( err != DC1394_SUCCESS )
throw VideoException("Could not get format7 mode info");
// safely set the video mode
err=dc1394_video_set_mode(camera, video_mode);
if( err != DC1394_SUCCESS )
throw VideoException("Could not set format7 video mode");
// set position to 0,0 so that setting any size within min and max is a valid command
err = dc1394_format7_set_image_position(camera, video_mode,0,0);
if( err != DC1394_SUCCESS )
throw VideoException("Could not set format7 image position");
// work out the desired image size
width = nearest_value(width, format7_info.unit_pos_x, 0, format7_info.max_size_x - left);
height = nearest_value(height, format7_info.unit_pos_y, 0, format7_info.max_size_y - top);
// set size
err = dc1394_format7_set_image_size(camera,video_mode,width,height);
if( err != DC1394_SUCCESS )
throw VideoException("Could not set format7 size");
// get the info again since many parameters depend on image size
err = dc1394_format7_get_mode_info(camera, video_mode, &format7_info);
if( err != DC1394_SUCCESS )
throw VideoException("Could not get format7 mode info");
// work out position of roi
left = nearest_value(left, format7_info.unit_size_x, format7_info.unit_size_x, format7_info.max_size_x - width);
top = nearest_value(top, format7_info.unit_size_y, format7_info.unit_size_y, format7_info.max_size_y - height);
// set roi position
err = dc1394_format7_set_image_position(camera,video_mode,left,top);
if( err != DC1394_SUCCESS )
throw VideoException("Could not set format7 size");
this->width = width;
this->height = height;
this->top = top;
this->left = left;
cout<<"roi: "<<left<<" "<<top<<" "<<width<<" "<<height<<" ";
//-----------------------------------------------------------------------
// setup frame rate
//-----------------------------------------------------------------------
err=dc1394_format7_set_packet_size(camera,video_mode, format7_info.max_packet_size);
if( err != DC1394_SUCCESS )
throw VideoException("Could not set format7 packet size");
if((framerate != MAX_FR) && (framerate != EXT_TRIG)){
//set the framerate by using the absolute feature as suggested by the
//folks at PointGrey
err = dc1394_feature_set_absolute_control(camera,DC1394_FEATURE_FRAME_RATE,DC1394_ON);
if( err != DC1394_SUCCESS )
throw VideoException("Could not turn on absolute frame rate control");
err = dc1394_feature_set_mode(camera,DC1394_FEATURE_FRAME_RATE,DC1394_FEATURE_MODE_MANUAL);
if( err != DC1394_SUCCESS )
throw VideoException("Could not make frame rate manual ");
err=dc1394_feature_set_absolute_value(camera,DC1394_FEATURE_FRAME_RATE,framerate);
if( err != DC1394_SUCCESS )
throw VideoException("Could not set format7 framerate ");
}
// ask the camera what is the resulting framerate (this assume that such a rate is actually
// allowed by the shutter time)
float value;
err=dc1394_feature_get_absolute_value(camera,DC1394_FEATURE_FRAME_RATE,&value);
if( err != DC1394_SUCCESS )
throw VideoException("Could not get framerate");
cout<<" framerate(shutter permitting):"<<value<<endl;
//-----------------------------------------------------------------------
// setup capture
//-----------------------------------------------------------------------
err=dc1394_capture_setup(camera,dma_frames, DC1394_CAPTURE_FLAGS_DEFAULT);
if( err != DC1394_SUCCESS )
throw VideoException("Could not setup camera - check settings");
Start();
}
static int capture_loop(dc1394camera_t *camera, const char *basename, float delay, bool testonly)
{
uint16_t average;
uint32_t num_saturated, num_half_saturated;
float shutter = SHUTTER_GOOD;
float gain = GAIN_GOOD;
CHECK(dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400));
CHECK(dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_1280x960_MONO16));
CHECK(dc1394_video_set_framerate(camera, DC1394_FRAMERATE_3_75));
CHECK(dc1394_capture_setup(camera, 16, DC1394_CAPTURE_FLAGS_DEFAULT));
CHECK(dc1394_feature_set_power(camera, DC1394_FEATURE_EXPOSURE, DC1394_OFF));
CHECK(dc1394_feature_set_power(camera, DC1394_FEATURE_BRIGHTNESS, DC1394_ON));
CHECK(dc1394_feature_set_mode(camera, DC1394_FEATURE_BRIGHTNESS, DC1394_FEATURE_MODE_MANUAL));
CHECK(dc1394_feature_set_value(camera, DC1394_FEATURE_BRIGHTNESS, 0));
CHECK(dc1394_feature_set_power(camera, DC1394_FEATURE_GAIN, DC1394_ON));
CHECK(dc1394_feature_set_mode(camera, DC1394_FEATURE_GAIN, DC1394_FEATURE_MODE_MANUAL));
CHECK(dc1394_feature_set_value(camera, DC1394_FEATURE_GAIN, 500));
CHECK(dc1394_feature_set_absolute_control(camera, DC1394_FEATURE_GAIN, DC1394_ON));
CHECK(dc1394_feature_set_absolute_value(camera, DC1394_FEATURE_GAIN, GAIN_GOOD));
CHECK(dc1394_feature_set_power(camera, DC1394_FEATURE_SHUTTER, DC1394_ON));
CHECK(dc1394_feature_set_mode(camera, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL));
CHECK(dc1394_feature_set_value(camera, DC1394_FEATURE_SHUTTER, 500));
CHECK(dc1394_feature_set_absolute_control(camera, DC1394_FEATURE_SHUTTER, DC1394_ON));
CHECK(dc1394_feature_set_absolute_value(camera, DC1394_FEATURE_SHUTTER, SHUTTER_GOOD));
CHECK(dc1394_video_set_transmission(camera, DC1394_ON));
while (true) {
alarm(10+(unsigned)delay);
if (capture_image(camera, basename, shutter, gain, &average,
&num_saturated, &num_half_saturated, testonly) == -1) {
return -1;
}
if (num_saturated > SATURATED_HIGH) {
/* too much saturation */
if (gain > GAIN_MIN) {
gain = new_gain(average, average*0.5, gain);
} else if (shutter > SHUTTER_MIN) {
shutter = new_shutter(average, average*0.5, shutter, SHUTTER_MAX);
}
} else if (average < AVERAGE_LOW &&
num_saturated == 0 &&
num_half_saturated < SATURATED_HIGH) {
/* too dark */
if (shutter < SHUTTER_GOOD) {
float shutter2 = new_shutter(average, AVERAGE_TARGET, shutter, SHUTTER_GOOD);
average = (shutter2/shutter)*average;
shutter = shutter2;
}
if (average < AVERAGE_LOW) {
if (gain < GAIN_MAX) {
gain = new_gain(average, AVERAGE_TARGET, gain);
} else if (shutter < SHUTTER_MAX) {
shutter = new_shutter(average, AVERAGE_TARGET, shutter, SHUTTER_MAX);
}
}
} else if (average > AVERAGE_HIGH) {
/* too light */
if (shutter > SHUTTER_GOOD) {
float shutter2 = new_shutter(average, AVERAGE_TARGET, shutter, SHUTTER_GOOD);
average = (shutter2/shutter)*average;
shutter = shutter2;
}
if (average > AVERAGE_HIGH) {
if (gain > GAIN_MIN) {
gain = new_gain(average, AVERAGE_TARGET, gain);
} else if (shutter > SHUTTER_MIN) {
shutter = new_shutter(average, AVERAGE_TARGET, shutter, SHUTTER_MAX);
}
}
}
fflush(stdout);
usleep(delay*1.0e6);
}
return 0;
}
static int capture_image(dc1394camera_t *camera, const char *basename,
float shutter, float gain,
uint16_t *average,
uint32_t *num_saturated,
uint32_t *num_half_saturated,
bool testonly)
{
int fd;
dc1394video_frame_t *frame;
uint64_t timestamp;
static uint16_t buf[IMAGE_HEIGHT*IMAGE_WIDTH];
struct tm *tm;
time_t t;
char tstring[50];
char *fname;
struct timeval tv;
int led;
led = open(led_path, O_WRONLY);
CHECK(dc1394_feature_set_absolute_value(camera, DC1394_FEATURE_GAIN, gain));
CHECK(dc1394_feature_set_absolute_value(camera, DC1394_FEATURE_SHUTTER, shutter));
CHECK(dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame));
timestamp = frame->timestamp;
memcpy(buf, frame->image, sizeof(buf));
CHECK(dc1394_capture_enqueue(camera,frame));
if (led != -1) {
dprintf(led, "255\n");
}
gettimeofday(&tv, NULL);
get_averages(buf, average, num_saturated, num_half_saturated);
if (*average == 0) {
/* bad frame */
return -1;
}
t = tv.tv_sec;
tm = localtime(&t);
strftime(tstring, sizeof(tstring), "%Y%m%d%H%M%S", tm);
if (asprintf(&fname, "%s-%s-%02u.pgm",
basename, tstring, (unsigned)(tv.tv_usec/10000)) == -1) {
return -1;
}
printf("%s shutter=%f gain=%f average=%u saturated=%u hsaturated=%u\n",
fname, shutter, gain, *average, *num_saturated, *num_half_saturated);
if (!testonly) {
fd = open(fname, O_WRONLY|O_CREAT|O_TRUNC, 0644);
if (fd == -1) {
fprintf(stderr, "Can't create imagefile '%s' - %s", fname, strerror(errno));
free(fname);
return -1;
}
dprintf(fd,"P5\n%u %u\n#PARAM: t=%llu shutter=%f gain=%f average=%u saturated=%u\n65535\n",
IMAGE_WIDTH, IMAGE_HEIGHT, (unsigned long long)timestamp, shutter, gain,
*average, *num_saturated);
if (write(fd, buf, sizeof(buf)) != sizeof(buf)) {
fprintf(stderr, "Write failed for %s\n", fname);
}
close(fd);
}
free(fname);
if (led != -1) {
dprintf(led, "0\n");
close(led);
}
return 0;
}