dc1394error_t
writeTriclopsConfigFromCameraToFile( dc1394camera_t* camera,
const char* outputFile)
{
dc1394error_t err;
uint32_t ulQuadlet;
err = dc1394_get_control_register( camera, REG_CONFIG_LENGTH, &ulQuadlet );
if ( err != DC1394_SUCCESS )
{
fprintf(stderr, "dc1394_get_control_register(REG_CONFIG_LENGTH) failed\n");
return err;
}
// the length of the config file
unsigned long ulFileSizeBytes = ulQuadlet;
if( ulFileSizeBytes == 0 )
{
fprintf( stderr, "File size == 0!\n" );
return DC1394_FAILURE;
}
FILE* pfile = fopen( outputFile, "w" );
if ( !pfile )
{
fprintf( stderr, "Can't open temporary file\n" );
return DC1394_FAILURE;
}
// Read the config file, and save it to the output file,
// while fixing endianness.
for( unsigned long offset = 0 ; offset < ulFileSizeBytes; offset += 4 )
{
err = dc1394_get_control_register( camera,
REG_CONFIG_DATA + offset,
&ulQuadlet );
if( err != DC1394_SUCCESS )
{
fprintf( stderr,
"Can't get control register 0x%x\n",
(int) (REG_CONFIG_DATA+offset) );
fclose( pfile );
return err;
}
for( int i = 24; i >= 0; i -= 8 )
{
fputc( ( (ulQuadlet>>i) & 0xFF ), pfile );
}
}
fclose( pfile );
return DC1394_SUCCESS;
}
//=============================================================================
// getSensorInfo()
// This function queries the SENSOR BOARD INFO register and extracts
// the sensor resolution and whether it is color or monochrome from the
// register
//
// This is a PGR camera specific register
// For more information check the PGR IEEE-1394 Digital Camera Register
// Reference
//
dc1394error_t
getSensorInfo( dc1394camera_t* camera,
bool* pbColor,
unsigned int* pnRows,
unsigned int* pnCols )
{
uint32_t value;
dc1394error_t err;
// This register is an advanced PGR register called SENSOR_BOARD_INFO
err = dc1394_get_control_register( camera, SENSOR_BOARD_INFO_REGISTER, &value );
if ( err != DC1394_SUCCESS )
{
return err;
}
unsigned char ucSensorInfo = 0xf & value;
switch( ucSensorInfo )
{
default:
// unknown sensor!
printf( "Illegal sensor board info detected!\n" );
return DC1394_FAILURE;
case 0xA: // color 640x480
*pbColor = true;
*pnRows = 480;
*pnCols = 640;
break;
case 0xB: // mono 640x480
*pbColor = false;
*pnRows = 480;
*pnCols = 640;
break;
case 0xC: // color 1024x768
*pbColor = true;
*pnRows = 768;
*pnCols = 1024;
break;
case 0xD: // mono 1024x768
*pbColor = false;
*pnRows = 768;
*pnCols = 1024;
break;
case 0xE: // color 1280x960
*pbColor = true;
*pnRows = 960;
*pnCols = 1280;
break;
case 0xF: // mono 1280x960
*pbColor = false;
*pnRows = 960;
*pnCols = 1280;
break;
}
return err;
}
static uint32_t getControlRegister(dc1394camera_t *camera, uint64_t offset)
{
uint32_t value = 0;
dc1394error_t err = dc1394_get_control_register(camera, offset, &value);
assert(err == DC1394_SUCCESS);
return err == DC1394_SUCCESS ? value : 0xffffffff;
}
/**
* Read a register from the MT9V022 sensor.
* This writes the MT9V022 register address to 0x1A00 and then reads from 0x1A04
*/
dc1394error_t FFMVCCD::readMicronReg(unsigned int offset, unsigned int *val)
{
dc1394error_t err;
err = dc1394_set_control_register(dcam, 0x1A00, offset);
if (err != DC1394_SUCCESS) {
return err;
}
err = dc1394_get_control_register(dcam, 0x1A04, val);
if (err != DC1394_SUCCESS) {
return err;
}
return DC1394_SUCCESS;
}
//=============================================================================
// getBayerTile()
// Query the PGR specific register that indicates the Bayer tile pattern
// color coding for this camera.
//
// For more information check the PGR IEEE-1394 Digital Camera Register
// Reference
//
dc1394error_t
getBayerTile( dc1394camera_t* camera,
dc1394color_filter_t* bayerPattern )
{
uint32_t value;
dc1394error_t err;
// query register 0x1040
// This register is an advanced PGR register called BAYER_TILE_MAPPING
// For more information check the PGR IEEE-1394 Digital Camera Register Reference
err = dc1394_get_control_register( camera, BAYER_TILE_MAPPING_REGISTER, &value );
if ( err != DC1394_SUCCESS )
{
return err;
}
// Ascii R = 52 G = 47 B = 42 Y = 59
switch( value )
{
default:
case 0x59595959: // YYYY
// no bayer
*bayerPattern = (dc1394color_filter_t) 0;
break;
case 0x52474742: // RGGB
*bayerPattern = DC1394_COLOR_FILTER_RGGB;
break;
case 0x47425247: // GBRG
*bayerPattern = DC1394_COLOR_FILTER_GBRG;
break;
case 0x47524247: // GRBG
*bayerPattern = DC1394_COLOR_FILTER_GRBG;
break;
case 0x42474752: // BGGR
*bayerPattern = DC1394_COLOR_FILTER_BGGR;
break;
}
return err;
}
bool CvCaptureCAM_DC1394_v2_CPP::startCapture()
{
int i;
int code = 0;
if (!dcCam)
return false;
if (isoSpeed > 0)
{
code = dc1394_video_set_iso_speed(dcCam,
isoSpeed <= 100 ? DC1394_ISO_SPEED_100 :
isoSpeed <= 200 ? DC1394_ISO_SPEED_200 :
isoSpeed <= 400 ? DC1394_ISO_SPEED_400 :
isoSpeed <= 800 ? DC1394_ISO_SPEED_800 :
isoSpeed == 1600 ? DC1394_ISO_SPEED_1600 :
DC1394_ISO_SPEED_3200);
}
// should a specific mode be used
if (userMode >= 0)
{
dc1394video_mode_t wantedMode;
dc1394video_modes_t videoModes;
dc1394_video_get_supported_modes(dcCam, &videoModes);
//set mode from number, for example the second supported mode, i.e userMode = 1
if (userMode < (int)videoModes.num)
{
wantedMode = videoModes.modes[userMode];
}
//set modes directly from DC134 constants (from dc1394video_mode_t)
else if ((userMode >= DC1394_VIDEO_MODE_MIN) && (userMode <= DC1394_VIDEO_MODE_MAX ))
{
//search for wanted mode, to check if camera supports it
int j = 0;
while ((j< (int)videoModes.num) && videoModes.modes[j]!=userMode)
{
j++;
}
if ((int)videoModes.modes[j]==userMode)
{
wantedMode = videoModes.modes[j];
}
else
{
userMode = -1; // wanted mode not supported, search for best mode
}
}
else
{
userMode = -1; // wanted mode not supported, search for best mode
}
//if userMode is available: set it and update size
if (userMode != -1)
{
code = dc1394_video_set_mode(dcCam, wantedMode);
uint32_t width, height;
dc1394_get_image_size_from_video_mode(dcCam, wantedMode, &width, &height);
frameWidth = (int)width;
frameHeight = (int)height;
}
}
if (userMode == -1 && (frameWidth > 0 || frameHeight > 0))
{
dc1394video_mode_t bestMode = (dc1394video_mode_t) - 1;
dc1394video_modes_t videoModes;
dc1394_video_get_supported_modes(dcCam, &videoModes);
for (i = 0; i < (int)videoModes.num; i++)
{
dc1394video_mode_t mode = videoModes.modes[i];
if (mode >= DC1394_VIDEO_MODE_FORMAT7_MIN && mode <= DC1394_VIDEO_MODE_FORMAT7_MAX)
continue;
int pref = -1;
dc1394color_coding_t colorCoding;
dc1394_get_color_coding_from_video_mode(dcCam, mode, &colorCoding);
uint32_t width, height;
dc1394_get_image_size_from_video_mode(dcCam, mode, &width, &height);
if ((int)width == frameWidth || (int)height == frameHeight)
{
if (colorCoding == DC1394_COLOR_CODING_RGB8 ||
colorCoding == DC1394_COLOR_CODING_RAW8)
{
bestMode = mode;
break;
}
if (colorCoding == DC1394_COLOR_CODING_YUV411 ||
colorCoding == DC1394_COLOR_CODING_YUV422 ||
(colorCoding == DC1394_COLOR_CODING_YUV444 &&
pref < 1))
{
bestMode = mode;
pref = 1;
break;
}
if (colorCoding == DC1394_COLOR_CODING_MONO8)
{
bestMode = mode;
pref = 0;
}
}
}
if ((int)bestMode >= 0)
code = dc1394_video_set_mode(dcCam, bestMode);
}
if (fps > 0)
{
dc1394video_mode_t mode;
dc1394framerates_t framerates;
double minDiff = DBL_MAX;
dc1394framerate_t bestFps = (dc1394framerate_t) - 1;
dc1394_video_get_mode(dcCam, &mode);
dc1394_video_get_supported_framerates(dcCam, mode, &framerates);
for (i = 0; i < (int)framerates.num; i++)
{
dc1394framerate_t ifps = framerates.framerates[i];
double fps1 = (1 << (ifps - DC1394_FRAMERATE_1_875)) * 1.875;
double diff = fabs(fps1 - fps);
if (diff < minDiff)
{
minDiff = diff;
bestFps = ifps;
}
}
if ((int)bestFps >= 0)
code = dc1394_video_set_framerate(dcCam, bestFps);
}
if (cameraId == VIDERE)
{
bayerFilter = DC1394_COLOR_FILTER_GBRG;
nimages = 2;
uint32_t value = 0;
dc1394_get_control_register(dcCam, 0x50c, &value);
colorStereo = (value & 0x80000000) != 0;
}
code = dc1394_capture_setup(dcCam, nDMABufs, DC1394_CAPTURE_FLAGS_DEFAULT);
if (code >= 0)
{
FD_SET(dc1394_capture_get_fileno(dcCam), &dc1394.camFds);
dc1394_video_set_transmission(dcCam, DC1394_ON);
if (cameraId == VIDERE)
{
enum { PROC_MODE_OFF, PROC_MODE_NONE, PROC_MODE_TEST, PROC_MODE_RECTIFIED, PROC_MODE_DISPARITY, PROC_MODE_DISPARITY_RAW };
int procMode = PROC_MODE_RECTIFIED;
usleep(100000);
uint32_t qval1 = 0x08000000 | (0x90 << 16) | ((procMode & 0x7) << 16);
uint32_t qval2 = 0x08000000 | (0x9C << 16);
dc1394_set_control_register(dcCam, 0xFF000, qval1);
dc1394_set_control_register(dcCam, 0xFF000, qval2);
}
started = true;
}
return code >= 0;
}
bool CvCaptureCAM_DC1394_v2_CPP::startCapture()
{
int i;
int code = 0;
if (!dcCam)
return false;
if (isoSpeed > 0)
{
code = dc1394_video_set_iso_speed(dcCam,
isoSpeed <= 100 ? DC1394_ISO_SPEED_100 :
isoSpeed <= 200 ? DC1394_ISO_SPEED_200 :
isoSpeed <= 400 ? DC1394_ISO_SPEED_400 :
isoSpeed <= 800 ? DC1394_ISO_SPEED_800 :
isoSpeed == 1600 ? DC1394_ISO_SPEED_1600 :
DC1394_ISO_SPEED_3200);
}
if (frameWidth > 0 || frameHeight > 0)
{
dc1394video_mode_t bestMode = (dc1394video_mode_t) - 1;
dc1394video_modes_t videoModes;
dc1394_video_get_supported_modes(dcCam, &videoModes);
for (i = 0; i < (int)videoModes.num; i++)
{
dc1394video_mode_t mode = videoModes.modes[i];
if (mode >= DC1394_VIDEO_MODE_FORMAT7_MIN && mode <= DC1394_VIDEO_MODE_FORMAT7_MAX)
continue;
int pref = -1;
dc1394color_coding_t colorCoding;
dc1394_get_color_coding_from_video_mode(dcCam, mode, &colorCoding);
uint32_t width, height;
dc1394_get_image_size_from_video_mode(dcCam, mode, &width, &height);
if ((int)width == frameWidth || (int)height == frameHeight)
{
if (colorCoding == DC1394_COLOR_CODING_RGB8 ||
colorCoding == DC1394_COLOR_CODING_RGB16 ||
colorCoding == DC1394_COLOR_CODING_RAW8 ||
colorCoding == DC1394_COLOR_CODING_RAW16)
{
bestMode = mode;
break;
}
if (colorCoding == DC1394_COLOR_CODING_YUV411 ||
colorCoding == DC1394_COLOR_CODING_YUV422 ||
(colorCoding == DC1394_COLOR_CODING_YUV444 &&
pref < 1))
{
bestMode = mode;
pref = 1;
}
if (colorCoding == DC1394_COLOR_CODING_MONO8 ||
(colorCoding == DC1394_COLOR_CODING_MONO16 &&
pref < 0))
{
bestMode = mode;
pref = 0;
}
}
}
if ((int)bestMode >= 0)
code = dc1394_video_set_mode(dcCam, bestMode);
}
if (fps > 0)
{
dc1394video_mode_t mode;
dc1394framerates_t framerates;
double minDiff = DBL_MAX;
dc1394framerate_t bestFps = (dc1394framerate_t) - 1;
dc1394_video_get_mode(dcCam, &mode);
dc1394_video_get_supported_framerates(dcCam, mode, &framerates);
for (i = 0; i < (int)framerates.num; i++)
{
dc1394framerate_t ifps = framerates.framerates[i];
double fps1 = (1 << (ifps - DC1394_FRAMERATE_1_875)) * 1.875;
double diff = fabs(fps1 - fps);
if (diff < minDiff)
{
minDiff = diff;
bestFps = ifps;
}
}
if ((int)bestFps >= 0)
code = dc1394_video_set_framerate(dcCam, bestFps);
}
if (cameraId == VIDERE)
{
bayerFilter = DC1394_COLOR_FILTER_GBRG;
nimages = 2;
uint32_t value = 0;
dc1394_get_control_register(dcCam, 0x50c, &value);
colorStereo = (value & 0x80000000) != 0;
}
code = dc1394_capture_setup(dcCam, nDMABufs, DC1394_CAPTURE_FLAGS_DEFAULT);
if (code >= 0)
{
FD_SET(dc1394_capture_get_fileno(dcCam), &dc1394.camFds);
dc1394_video_set_transmission(dcCam, DC1394_ON);
if (cameraId == VIDERE)
{
enum { PROC_MODE_OFF, PROC_MODE_NONE, PROC_MODE_TEST, PROC_MODE_RECTIFIED, PROC_MODE_DISPARITY, PROC_MODE_DISPARITY_RAW };
int procMode = PROC_MODE_RECTIFIED;
usleep(100000);
uint32_t qval1 = 0x08000000 | (0x90 << 16) | ((procMode & 0x7) << 16);
uint32_t qval2 = 0x08000000 | (0x9C << 16);
dc1394_set_control_register(dcCam, 0xFF000, qval1);
dc1394_set_control_register(dcCam, 0xFF000, qval2);
}
started = true;
}
return code >= 0;
}
