// 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 gboolean
gst_dc1394_open_cam_with_best_caps (GstDc1394 * src)
{
dc1394camera_list_t *cameras = NULL;
gint err = 0;
int framerateconst;
GST_LOG_OBJECT (src, "Opening the camera!!!");
if (dc1394_camera_enumerate (src->dc1394, &cameras) != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED, ("Can't find cameras"),
("Can't find cameras"));
goto error;
}
GST_LOG_OBJECT (src, "Found %d cameras", cameras->num);
if (src->camnum > (cameras->num - 1)) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED, ("Invalid camera number"),
("Invalid camera number"));
goto error;
}
GST_LOG_OBJECT (src, "Opening camera : %d", src->camnum);
src->camera =
dc1394_camera_new_unit (src->dc1394, cameras->ids[src->camnum].guid,
cameras->ids[src->camnum].unit);
dc1394_camera_free_list (cameras);
cameras = NULL;
// figure out mode
framerateconst = gst_dc1394_framerate_frac_to_const (src->rate_numerator,
src->rate_denominator);
GST_LOG_OBJECT (src, "The dma buffer queue size is %d buffers",
src->bufsize);
switch (src->iso_speed) {
case 100:
err = dc1394_video_set_iso_speed (src->camera, DC1394_ISO_SPEED_100);
break;
case 200:
err = dc1394_video_set_iso_speed (src->camera, DC1394_ISO_SPEED_200);
break;
case 400:
err = dc1394_video_set_iso_speed (src->camera, DC1394_ISO_SPEED_400);
break;
case 800:
if (src->camera->bmode_capable > 0) {
dc1394_video_set_operation_mode (src->camera,
DC1394_OPERATION_MODE_1394B);
err = dc1394_video_set_iso_speed (src->camera, DC1394_ISO_SPEED_800);
}
break;
case 1600:
if (src->camera->bmode_capable > 0) {
dc1394_video_set_operation_mode (src->camera,
DC1394_OPERATION_MODE_1394B);
err = dc1394_video_set_iso_speed (src->camera, DC1394_ISO_SPEED_1600);
}
break;
case 3200:
if (src->camera->bmode_capable > 0) {
dc1394_video_set_operation_mode (src->camera,
DC1394_OPERATION_MODE_1394B);
err = dc1394_video_set_iso_speed (src->camera, DC1394_ISO_SPEED_3200);
}
break;
default:
GST_ELEMENT_ERROR (src, RESOURCE, FAILED, ("Invalid ISO speed"),
("Invalid ISO speed"));
goto error;
break;
}
if (err != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED, ("Could not set ISO speed"),
("Could not set ISO speed"));
goto error;
}
GST_LOG_OBJECT (src, "Setting mode : %d", src->vmode);
err = dc1394_video_set_mode (src->camera, src->vmode);
if (err != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED, ("Could not set video mode %d",
src->vmode), ("Could not set video mode %d", src->vmode));
goto error;
}
GST_LOG_OBJECT (src, "Setting framerate : %d", framerateconst);
dc1394_video_set_framerate (src->camera, framerateconst);
if (err != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED, ("Could not set framerate to %d",
framerateconst), ("Could not set framerate to %d", framerateconst));
goto error;
}
// set any format-7 parameters if this is a format-7 mode
if (src->vmode >= DC1394_VIDEO_MODE_FORMAT7_MIN &&
src->vmode <= DC1394_VIDEO_MODE_FORMAT7_MAX) {
// the big thing we care about right now is frame size
err = dc1394_format7_set_image_size (src->camera, src->vmode,
src->width, src->height);
if (err != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED,
("Could not set format 7 image size to %d x %d", src->width,
src->height), ("Could not set format 7 image size to %d x %d",
src->width, src->height));
goto error;
}
}
err = dc1394_capture_setup (src->camera, src->bufsize,
DC1394_CAPTURE_FLAGS_DEFAULT);
if (err != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED, ("Error setting capture mode"),
("Error setting capture mode"));
}
if (err != DC1394_SUCCESS) {
if (err == DC1394_NO_BANDWIDTH) {
GST_LOG_OBJECT (src, "Capture setup_dma failed."
"Trying to cleanup the iso_channels_and_bandwidth and retrying");
// try to cleanup the bandwidth and retry
err = dc1394_iso_release_all (src->camera);
if (err != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED,
("Could not cleanup bandwidth"), ("Could not cleanup bandwidth"));
goto error;
} else {
err =
dc1394_capture_setup (src->camera, src->bufsize,
DC1394_CAPTURE_FLAGS_DEFAULT);
if (err != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED,
("unable to setup camera error %d", err),
("unable to setup camera error %d", err));
goto error;
}
}
} else {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED,
("unable to setup camera error %d", err),
("unable to setup camera error %d", err));
goto error;
}
}
return TRUE;
error:
if (src->camera) {
dc1394_camera_free (src->camera);
src->camera = NULL;
}
return FALSE;
}
// 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,
int 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
//-----------------------------------------------------------------------
if((framerate == MAX_FR)||(framerate == EXT_TRIG)){
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");
} else {
// setting packet size to get the desired frame rate according to the libdc docs
// does not do the trick, so for now we support only max frame rate
throw VideoException("In format 7 only max frame rate is currently supported");
// uint32_t depth;
// err = dc1394_format7_get_data_depth(camera, video_mode, &depth);
// if( err != DC1394_SUCCESS )
// throw VideoException("Could not get format7 depth");
//
// // the following is straight from the libdc docs
// double bus_period = bus_period_from_iso_speed(iso_speed);
//
// // work out the max number of packets that the bus can deliver
// int num_packets = (int) (1.0/(bus_period*framerate) + 0.5);
//
// if((num_packets > 4095)||(num_packets < 0))
// throw VideoException("number of format7 packets out of range");
//
// // work out what the packet size should be for the requested size and framerate
// uint32_t packet_size = (width*964*depth + (num_packets*8) - 1)/(num_packets*8);
// packet_size = nearest_value(packet_size,format7_info.unit_packet_size,format7_info.unit_packet_size,format7_info.max_packet_size);
//
// if(packet_size > format7_info.max_packet_size){
// throw VideoException("format7 requested frame rate and size exceed bus bandwidth");
// }
//
// err=dc1394_format7_set_packet_size(camera,video_mode, packet_size);
// if( err != DC1394_SUCCESS ){
// throw VideoException("Could not set format7 packet size");
// }
}
// ask the camera what is the resulting framerate (this assume that such a rate is actually
// allowed by the shutter time)
err = dc1394_feature_set_power(camera,DC1394_FEATURE_FRAME_RATE,DC1394_OFF);
if( err != DC1394_SUCCESS )
throw VideoException("Could not turn off frame rate");
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();
}
