/** Send software trigger to camera.
* @returns true if able to set software trigger.
*/
bool trigger(void)
{
dc1394error_t err = dc1394_software_trigger_set_power(camera_, DC1394_ON);
bool retval = (err == DC1394_SUCCESS);
if (!retval)
ROS_FATAL("camera does not provide software trigger");
return retval;
}
int main(int argc, char **argv)
{
int verbose = 0;
int one_shot = 1;
double rate;
setlinebuf (stdout);
setlinebuf (stderr);
char *optstring = "hr:v";
char c;
struct option long_opts[] = {
{ "help", no_argument, 0, 'h' },
{ "rate", required_argument, 0, 'r' },
{ "verbose", no_argument, 0, 'v' },
{ 0, 0, 0, 0 }
};
while( (c = getopt_long( argc, argv, optstring, long_opts, 0 )) >= 0 )
{
switch( c ) {
case 'r':
one_shot = 0;
rate = strtof (optarg, NULL);
printf ("Triggering at %f Hz\n", rate);
break;
case 'v':
verbose = 1;
break;
case 'h':
default:
usage( argv[0] );
return 1;
};
}
dc1394camera_t ** cameras;
unsigned int num_cameras = 0;
dc1394error_t err = dc1394_find_cameras (&cameras, &num_cameras);
if (err != DC1394_SUCCESS) {
fprintf (stderr, "Error: %s\n", dc1394_error_strings[err]);
return 1;
}
if (num_cameras == 0) {
fprintf (stderr, "No cameras found\n");
return 0;
}
dc1394_camera_set_broadcast (cameras[0], DC1394_ON);
if (verbose)
printf ("Triggering...\n");
dc1394_software_trigger_set_power (cameras[0], DC1394_ON);
if (one_shot)
goto abort;
signal (SIGINT, sig_handler);
while (!do_quit) {
usleep (1000000 / rate);
dc1394_software_trigger_set_power (cameras[0], DC1394_ON);
if (verbose) {
printf (".");
fflush (stdout);
}
}
printf ("\n");
abort:
for (int i = 0; i < num_cameras; i++)
dc1394_free_camera (cameras[i]);
free (cameras);
return 0;
}