static void *capture_loop( void *d )
{
struct dc1394_input *conf = (struct dc1394_input *)d;
struct frame *f;
int cam;
for(;;)
{
dc1394_dma_multi_capture( conf->camera, conf->cam_count );
for( cam = 0; cam < conf->cam_count; ++cam )
{
if( conf->cam[cam].running && ( f = new_frame() ) )
{
f->length = HEIGHT * WIDTH * 2;
f->format = FORMAT_RAW_UYVY;
f->width = WIDTH;
f->height = HEIGHT;
f->key = 1;
memcpy( f->d, conf->camera[cam].capture_buffer,
f->length );
if( soft_queue_add( conf->cam[cam].outq, f ) < 0 )
unref_frame( f );
}
dc1394_dma_done_with_buffer( &conf->camera[cam] );
}
}
return NULL;
}
void
capture_frame()
{
static int have_warned = 0;
dc1394_dma_multi_capture(cameras, numCameras);
if (!freeze && adaptor >= 0) {
for (int i = 0; i < numCameras; i++) {
// create OpenCV image
switch (res) {
case MODE_640x480_YUV411:
if (!have_warned) {
have_warned = 1;
printf("WARNING: no OpenCV conversion available for this format\n");
}
//iyu12yuy2((unsigned char *) cameras[i].capture_buffer,
// frame_buffer + (i * frame_length),
// (device_width * device_height));
break;
case MODE_320x240_YUV422:
case MODE_640x480_YUV422:
if (!have_warned) {
have_warned = 1;
printf("WARNING: no OpenCV conversion available for this format\n");
}
// memcpy(frame_buffer + (i * frame_length),
// cameras[i].capture_buffer, device_width * device_height * 2);
break;
case MODE_640x480_RGB:
// don't convert for OpenCV, this is the correct format
readOnlyImg->imageData = (char *) cameras[i].capture_buffer;
if (async_processing) {
if (i==0) {
hvAsyncGetImageBuffer(&m_async_image, &m_async_bufID);
cvCopy(readOnlyImg, m_async_image);
}
} else {
cvCopy(readOnlyImg, iplImages[i]);
}
break;
}
if (verbose) {
CvFont font;
cvInitFont(&font, CV_FONT_VECTOR0, 0.5f /* hscale */ ,
0.5f /* vscale */ , 0.1f /*italic_scale */ ,
1 /* thickness */ , 8);
char str[256];
sprintf(str, "camera id: %d", i);
CvSize textsize;
int underline;
cvGetTextSize(str, &font, &textsize, &underline);
CvPoint pos =
cvPoint(iplImages[i]->width - textsize.width - 5,
textsize.height + 10);
cvPutText(iplImages[i], str, pos, &font, CV_RGB(0, 255, 0));
// cvRectangle(iplImages[i], cvPoint(10, 10), cvPoint(100, 100),
// cvScalar(255, 255, 255, 255), CV_FILLED, 8, 0);
}
}
}
for (int i = 0; i < numCameras; i++) {
dc1394_dma_done_with_buffer(&cameras[i]);
}
}
