/**
* Download image from FireFly
*/
void FFMVCCD::grabImage()
{
dc1394error_t err;
dc1394video_frame_t *frame;
uint32_t uheight, uwidth;
int sub;
uint16_t val;
struct timeval start, end;
// Let's get a pointer to the frame buffer
uint8_t * image = PrimaryCCD.getFrameBuffer();
// Get width and height
int width = PrimaryCCD.getSubW() / PrimaryCCD.getBinX();
int height = PrimaryCCD.getSubH() / PrimaryCCD.getBinY();
memset(image, 0, PrimaryCCD.getFrameBufferSize());
/*-----------------------------------------------------------------------
* stop data transmission
*-----------------------------------------------------------------------*/
gettimeofday(&start, NULL);
for (sub = 0; sub < sub_count; ++sub) {
IDMessage(getDeviceName(), "Getting sub %d of %d", sub, sub_count);
err=dc1394_capture_dequeue(dcam, DC1394_CAPTURE_POLICY_WAIT, &frame);
if (err != DC1394_SUCCESS) {
IDMessage(getDeviceName(), "Could not capture frame");
}
dc1394_get_image_size_from_video_mode(dcam,DC1394_VIDEO_MODE_640x480_MONO16, &uwidth, &uheight);
if (DC1394_TRUE == dc1394_capture_is_frame_corrupt(dcam, frame)) {
IDMessage(getDeviceName(), "Corrupt frame!");
continue;
}
// Fill buffer with random pattern
for (int i=0; i < height ; i++) {
for (int j=0; j < width; j++) {
/* Detect unsigned overflow */
val = ((uint16_t *) image)[i*width+j] + ntohs(((uint16_t*) (frame->image))[i*width+j]);
if (val > ((uint16_t *) image)[i*width+j]) {
((uint16_t *) image)[i*width+j] = val;
} else {
((uint16_t *) image)[i*width+j] = 0xFFFF;
}
}
}
dc1394_capture_enqueue(dcam, frame);
}
err=dc1394_video_set_transmission(dcam,DC1394_OFF);
IDMessage(getDeviceName(), "Download complete.");
gettimeofday(&end, NULL);
IDMessage(getDeviceName(), "Download took %d uS", (int) ((end.tv_sec - start.tv_sec) * 1000000 + (end.tv_usec - start.tv_usec)));
// Let INDI::CCD know we're done filling the image buffer
ExposureComplete(&PrimaryCCD);
}
bool CvCaptureCAM_DC1394_v2_CPP::grabFrame()
{
dc1394capture_policy_t policy = DC1394_CAPTURE_POLICY_WAIT;
bool code = false, isColor;
dc1394video_frame_t *dcFrame = 0, *fs = 0;
int i, nch;
if (!dcCam || (!started && !startCapture()))
return false;
dc1394_capture_dequeue(dcCam, policy, &dcFrame);
if (!dcFrame)
return false;
if (/*dcFrame->frames_behind > 1 ||*/ dc1394_capture_is_frame_corrupt(dcCam, dcFrame) == DC1394_TRUE)
{
goto _exit_;
}
isColor = dcFrame->color_coding != DC1394_COLOR_CODING_MONO8 &&
dcFrame->color_coding != DC1394_COLOR_CODING_MONO16 &&
dcFrame->color_coding != DC1394_COLOR_CODING_MONO16S;
if (nimages == 2)
{
fs = (dc1394video_frame_t*)calloc(1, sizeof(*fs));
//dc1394_deinterlace_stereo_frames(dcFrame, fs, DC1394_STEREO_METHOD_INTERLACED);
dc1394_deinterlace_stereo_frames_fixed(dcFrame, fs, DC1394_STEREO_METHOD_INTERLACED);
dc1394_capture_enqueue(dcCam, dcFrame); // release the captured frame as soon as possible
dcFrame = 0;
if (!fs->image)
goto _exit_;
isColor = colorStereo;
}
nch = isColor ? 3 : 1;
for (i = 0; i < nimages; i++)
{
IplImage fhdr;
dc1394video_frame_t f = fs ? *fs : *dcFrame, *fc = &f;
f.size[1] /= nimages;
f.image += f.size[0] * f.size[1] * i; // TODO: make it more universal
if (isColor)
{
if (!frameC)
frameC = (dc1394video_frame_t*)calloc(1, sizeof(*frameC));
frameC->color_coding = nch == 3 ? DC1394_COLOR_CODING_RGB8 : DC1394_COLOR_CODING_MONO8;
if (nimages == 1)
{
dc1394_convert_frames(&f, frameC);
dc1394_capture_enqueue(dcCam, dcFrame);
dcFrame = 0;
}
else
{
f.color_filter = bayerFilter;
dc1394_debayer_frames(&f, frameC, bayer);
}
fc = frameC;
}
if (!img[i])
img[i] = cvCreateImage(cvSize(fc->size[0], fc->size[1]), 8, nch);
cvInitImageHeader(&fhdr, cvSize(fc->size[0], fc->size[1]), 8, nch);
cvSetData(&fhdr, fc->image, fc->size[0]*nch);
// Swap R&B channels:
if (nch==3)
cvConvertImage(&fhdr,&fhdr,CV_CVTIMG_SWAP_RB);
if( rectify && cameraId == VIDERE && nimages == 2 )
{
if( !maps[0][0] || maps[0][0]->width != img[i]->width || maps[0][0]->height != img[i]->height )
{
CvSize size = cvGetSize(img[i]);
cvReleaseImage(&maps[0][0]);
cvReleaseImage(&maps[0][1]);
cvReleaseImage(&maps[1][0]);
cvReleaseImage(&maps[1][1]);
maps[0][0] = cvCreateImage(size, IPL_DEPTH_16S, 2);
maps[0][1] = cvCreateImage(size, IPL_DEPTH_16S, 1);
maps[1][0] = cvCreateImage(size, IPL_DEPTH_16S, 2);
maps[1][1] = cvCreateImage(size, IPL_DEPTH_16S, 1);
char buf[4*4096];
if( getVidereCalibrationInfo( buf, (int)sizeof(buf) ) &&
initVidereRectifyMaps( buf, maps[0], maps[1] ))
;
else
rectify = false;
}
cvRemap(&fhdr, img[i], maps[i][0], maps[i][1]);
}
else
cvCopy(&fhdr, img[i]);
}
code = true;
_exit_:
if (dcFrame)
dc1394_capture_enqueue(dcCam, dcFrame);
if (fs)
{
if (fs->image)
free(fs->image);
free(fs);
}
return code;
}
