static int dc1394_read_packet(AVFormatContext *c, AVPacket *pkt)
{
struct dc1394_data *dc1394 = c->priv_data;
int res;
/* discard stale frame */
if (dc1394->current_frame++) {
if (dc1394_dma_done_with_buffer(&dc1394->camera) != DC1394_SUCCESS)
av_log(c, AV_LOG_ERROR, "failed to release %d frame\n", dc1394->current_frame);
}
res = dc1394_dma_single_capture(&dc1394->camera);
if (res == DC1394_SUCCESS) {
dc1394->packet.data = (uint8_t *)(dc1394->camera.capture_buffer);
dc1394->packet.pts = (dc1394->current_frame * 1000000) / dc1394->fps;
res = dc1394->packet.size;
} else {
av_log(c, AV_LOG_ERROR, "DMA capture failed\n");
dc1394->packet.data = NULL;
res = -1;
}
*pkt = dc1394->packet;
return res;
}
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;
}
/*****************************************************************************
* Demux:
*****************************************************************************/
static block_t *GrabVideo( demux_t *p_demux )
{
demux_sys_t *p_sys = p_demux->p_sys;
block_t *p_block = NULL;
int result = 0;
if( p_sys->dma_capture )
{
result = dc1394_dma_single_capture( &p_sys->camera );
if( result != DC1394_SUCCESS )
{
msg_Err( p_demux, "unable to capture a frame" );
return NULL;
}
}
else
{
result = dc1394_single_capture( p_sys->camera_info.handle,
&p_sys->camera );
if( result != DC1394_SUCCESS )
{
msg_Err( p_demux, "unable to capture a frame" );
return NULL;
}
}
p_block = block_New( p_demux, p_sys->camera.frame_width *
p_sys->camera.frame_height * 2 );
if( !p_block )
{
msg_Err( p_demux, "cannot get block" );
return NULL;
}
if( !p_sys->camera.capture_buffer )
{
msg_Err (p_demux, "caputer buffer empty");
block_Release( p_block );
return NULL;
}
memcpy( p_block->p_buffer, (const char *)p_sys->camera.capture_buffer,
p_sys->camera.frame_width * p_sys->camera.frame_height * 2 );
p_block->i_pts = p_block->i_dts = mdate();
if( p_sys->dma_capture )
dc1394_dma_done_with_buffer( &p_sys->camera );
return p_block;
}
static void *AcquireFrames(void *arg) {
struct timeval tv;
int start_sec;
int cam = (int)arg;
pthread_cleanup_push(dc1394Done, (void *)cam);
printf("in acquire\n");
gettimeofday(&tv, NULL);
start_sec = tv.tv_sec;
printf("start sec is %d\n", start_sec);
for (Cams[cam].next_frame=0; Cams[cam].next_frame < Cams[cam].max_frames; Cams[cam].next_frame++) {
if (dc1394_dma_single_capture(&Cams[cam].camera)!=DC1394_SUCCESS) {
fprintf( stderr, "unable to capture a frame\n");
dc1394_stop_iso_transmission(Cams[cam].handle,Cams[cam].camera.node);
Cams[cam].running = 0;
dc1394_dma_release_camera(Cams[cam].handle,&Cams[cam].camera);
Cams[cam].dma_active = 0;
dc1394_destroy_handle(Cams[cam].handle);
Cams[cam].handle = 0;
Cams[cam].thread_id =0;
return;
}
gettimeofday(&tv, NULL);
Cams[cam].times[Cams[cam].next_frame] = tv.tv_sec-start_sec+(double)tv.tv_usec*1E-6;
printf("The time for frame %d is %g\n", Cams[cam].next_frame, Cams[cam].times[Cams[cam].next_frame]);
memcpy((void *)Cams[cam].frames+Cams[cam].next_frame*Cams[cam].width*Cams[cam].height, Cams[cam].camera.capture_buffer, Cams[cam].width*Cams[cam].height);
dc1394_dma_done_with_buffer(&Cams[cam].camera);
printf("got frame %d\n", Cams[cam].next_frame);
}
/* clean up active daq */
dc1394_stop_iso_transmission(Cams[cam].handle,Cams[cam].camera.node);
Cams[cam].running = 0;
dc1394_dma_unlisten(Cams[cam].handle, &Cams[cam].camera);
dc1394_dma_release_camera(Cams[cam].handle,&Cams[cam].camera);
Cams[cam].dma_active = 0;
dc1394_destroy_handle(Cams[cam].handle);
Cams[cam].handle = 0;
Cams[cam].thread_id =0;
pthread_cleanup_pop(0);
return;
}
static IplImage* icvRetrieveFrameCAM_DC1394( CvCaptureCAM_DC1394* capture ){
if(capture->camera->capture_buffer )
{
if(capture->convert){
/* Convert to RGBA */
unsigned char * src = (unsigned char *)capture->camera->capture_buffer;
unsigned char * dst = (unsigned char *)capture->frame.imageData;
switch (capture->color_mode) {
case COLOR_FORMAT7_RGB8:
printf("icvRetrieveFrame convert RGB to BGR\n");
/* Convert RGB to BGR */
for (int i=0;i<capture->frame.imageSize;i+=6) {
dst[i] = src[i+2];
dst[i+1] = src[i+1];
dst[i+2] = src[i];
dst[i+3] = src[i+5];
dst[i+4] = src[i+4];
dst[i+5] = src[i+3];
}
break;
case COLOR_FORMAT7_YUV422:
//printf("icvRetrieveFrame convert YUV422 to BGR %d\n");
uyvy2bgr(src,
dst,
capture->camera->frame_width * capture->camera->frame_height);
break;
case COLOR_FORMAT7_MONO8:
//printf("icvRetrieveFrame convert MONO8 to BGR %d\n");
y2bgr(src,
dst,
capture->camera->frame_width * capture->camera->frame_height);
break;
case COLOR_FORMAT7_YUV411:
//printf("icvRetrieveFrame convert YUV411 to BGR %d\n");
uyyvyy2bgr(src,
dst,
capture->camera->frame_width * capture->camera->frame_height);
break;
case COLOR_FORMAT7_YUV444:
//printf("icvRetrieveFrame convert YUV444 to BGR %d\n");
uyv2bgr(src,
dst,
capture->camera->frame_width * capture->camera->frame_height);
break;
case COLOR_FORMAT7_MONO16:
//printf("icvRetrieveFrame convert MONO16 to BGR %d\n");
y162bgr(src,
dst,
capture->camera->frame_width * capture->camera->frame_height, MONO16_BPP);
break;
case COLOR_FORMAT7_RGB16:
//printf("icvRetrieveFrame convert RGB16 to BGR %d\n");
rgb482bgr(src,
dst,
capture->camera->frame_width * capture->camera->frame_height, MONO16_BPP);
break;
default:
fprintf(stderr,"%s:%d: Unsupported color mode %d\n",__FILE__,__LINE__,capture->color_mode);
return 0;
} /* switch (capture->mode) */
}
else{
// return raw data
capture->frame.imageData = (char *) capture->camera->capture_buffer;
capture->frame.imageDataOrigin = (char *) capture->camera->capture_buffer;
}
// TODO: if convert=0, we are not actually done with the buffer
// but this seems to work anyway.
dc1394_dma_done_with_buffer(capture->camera);
return &capture->frame;
}
return 0;
};
//---------------------------------------------------------------
void
BufferManager1394::releaseOutputBuffer()
{
dc1394_dma_done_with_buffer(pCamera_);
}
int CameraDcam::moduleLoop(void)
{
camera_data_msg* p_data = NULL;
ssize_t datalength = 0;
rack_time_t starttime;
int h=0,w=0,p=0;
int ret;
starttime = rackTime.get();
// get datapointer from databuffer
p_data = (camera_data_msg *)getDataBufferWorkSpace();
p_data->data.recordingTime = rackTime.get();
p_data->data.mode = mode;
p_data->data.colorFilterId = format7image.colorFilterId;
switch (mode){
case CAMERA_MODE_MONO8:
case CAMERA_MODE_RAW8:
p_data->data.depth = 8;
break;
case CAMERA_MODE_RAW12:
case CAMERA_MODE_YUV422:
p_data->data.depth = 16;
break;
default:
GDOS_ERROR("Unknown mode %i \n",mode);
return -1;
}
/*-----------------------------------------------------------------------
* capture one frame and send to mbx
*-----------------------------------------------------------------------*/
GDOS_DBG_INFO("Capturing one image\n");
if ((ret = dc1394_dma_single_capture( &dc1394Camera ))!=DC1394_SUCCESS)
{
GDOS_WARNING("Unable to capture a frame. ret = %i \n", ret);
}
else
{
p_data->data.width = dc1394Camera.frame_width / lossRate;
p_data->data.height = dc1394Camera.frame_height / lossRate;
//shrink data if set to.
if (lossRate == 1)
{
memcpy(p_data->byteStream, dc1394Camera.capture_buffer, dc1394Camera.dma_frame_size );
}
else
{
/*lossRate != 1 so we need to throw some pixel away. -> iterate over array.
*The loss in YUV422 format must lose pairs of pixel! as UYVY pairs cannot be divided up!!
* ->from 4 pixel in the original only one pixelPair! is transmitted.
* eg. lossrate of 2 in yuv -> take 4 byte, leave 4 byte, take 4 byte.... leave a row...
*
*The loss in RAW format must also lose pairs of pixel! ohterwise only one color may result.
*/
int pairfactor = 2; //depending on colorMode (Yuv=Raw=2, mono=1)
int bytesPerPixelPair = 0;
if (p_data->data.mode==CAMERA_MODE_MONO8 ||p_data->data.mode==CAMERA_MODE_RGB24 || p_data->data.mode==CAMERA_MODE_MONO12)
pairfactor = 1;
bytesPerPixelPair = bytesPerPixel * pairfactor;//to save multiplications
//copy needed to change datatypes
memcpy(dataBuffer, dc1394Camera.capture_buffer, dc1394Camera.dma_frame_size );
for (h=0; h < p_data->data.height; h++)
{ //for every line in the smaller image
for(w=0; w < p_data->data.width / pairfactor; w++)
{ //for every pixelPair in the smaller image
for (p=0; p<bytesPerPixelPair; p++)
{ //for every byte per pixelPair
p_data->byteStream[ (h*bytesPerPixel*p_data->data.width) + (w*bytesPerPixelPair) + p] =
dataBuffer[(h*bytesPerPixel*dc1394Camera.frame_width*lossRate) + (w*bytesPerPixelPair*lossRate) + p];
}
}
}
GDOS_DBG_DETAIL("Data width %i pixelPairs to be send height %i pixel(!) bppp %i\n", w, h, p);
} //end of lossRate calculation
//doing auto shutter / gain / brightness control
autoBrightness(p_data);
if (whitebalanceMode > 0)
{
autoWhitebalance(p_data);
}
GDOS_DBG_DETAIL("Data recordingtime %i width %i height %i depth %i mode %i\n", p_data->data.recordingTime, p_data->data.width, p_data->data.height, p_data->data.depth, p_data->data.mode);
datalength = p_data->data.width * p_data->data.height * bytesPerPixel + sizeof(camera_data);
putDataBufferWorkSpace(datalength);
dc1394_dma_done_with_buffer( &dc1394Camera );//return the buffer handle to library.
}
//rt_sleep(timeCount1s/fps);//## zeitverwaltung zentral erledigt
RackTask::sleep((1000000000llu/fps) - (rackTime.get() - starttime));
return 0;
}
unsigned char* linuxfwCamera::getFrame() {
if (handle==NULL) return NULL;
if (use_dma) {
if (dc1394_dma_single_capture(&camera)!=DC1394_SUCCESS)
{
fprintf( stderr, "unable to capture a frame\n");
dc1394_dma_release_camera(handle,&camera);
dc1394_destroy_handle(handle);
return NULL;
} dc1394_dma_done_with_buffer(&camera);
} else {
if (dc1394_single_capture(handle,&camera)!=DC1394_SUCCESS)
{
fprintf( stderr, "unable to capture a frame\n");
dc1394_dma_release_camera(handle,&camera);
dc1394_destroy_handle(handle);
return NULL;
}
}
switch (colour) {
case false: {
if (image_mode_==MODE_640x480_YUV411) {
unsigned char *src = (unsigned char*)camera.capture_buffer;
unsigned char *dest = buffer;
for(int y=0;y<height;y++) {
for(int x=0;x<width/4;++x) {
src++;
*dest++ = *src++;
*dest++ = *src++;
src++;
*dest++ = *src++;
*dest++ = *src++;
}
}
} else {
if (buffer!=NULL)
memcpy(buffer,(unsigned char*)camera.capture_buffer,width*height*bytes);
}
break;
}
case true: {
if (image_mode_==MODE_640x480_YUV411) {
int R,G,B;
int Y[4];
int U,V;
unsigned char *src = (unsigned char*)camera.capture_buffer;
unsigned char *dest = buffer;
for(int y=0;y<height;y++) {
for(int x=0;x<width/4;++x) {
U = *src++;
Y[0] = *src++;
Y[1] = *src++;
V = *src++;
Y[2] = *src++;
Y[3] = *src++;
// U and V are +-0.5
U -= 128;
V -= 128;
// conversion
for (int i=0;i<4;i++) {
R = (int)(Y[i] + 1.370705f * V); //R
G = (int)(Y[i] - 0.698001f * V - 0.337633f * U); //G
B = (int)(Y[i] + 1.732446f * U); //B
if (R < 0) R=0;
if (G < 0) G=0;
if (B < 0) B=0;
if (R > 255) R=255;
if (G > 255) G=255;
if (B > 255) B=255;
*dest++ = B;
*dest++ = G;
*dest++ = R;
}
}
}
} else {
if (buffer!=NULL)
memcpy(buffer,(unsigned char*)camera.capture_buffer,width*height*bytes);
}
break;
}
}
return buffer;
}
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]);
}
}
