// query camera for supported frame rates and select fastest for given format and mode
static unsigned int icvGetBestFrameRate( CvCaptureCAM_DC1394 * capture, int format, int mode ){
quadlet_t framerates;
if (dc1394_query_supported_framerates(capture->handle, capture->camera->node,
format, mode, &framerates)!=DC1394_SUCCESS)
{
fprintf(stderr,"%s:%d: Could not query supported framerates\n",__FILE__,__LINE__);
framerates = 0;
}
for (int f=FRAMERATE_MAX; f>=FRAMERATE_MIN; f--) {
if (framerates & (0x1<< (31-(f-FRAMERATE_MIN)))) {
return f;
}
}
}
bool linuxfwCamera::initCamera(int width, int height, bool colour) {
if (cameraID < 0) return false;
this->width = width;
this->height = height;
this->colour = colour;
bytes = (colour?3:1);
quadlet_t format;
if (dc1394_query_supported_modes(handle, cameraID,FORMAT_VGA_NONCOMPRESSED,&format) !=DC1394_SUCCESS) {
fprintf( stderr,"unable to query format\n");
}
image_mode_ = 0;
if (colour) {
int yuv411 = 29;
int rgb = 27;
if (format & (0x1<<yuv411)) image_mode_=MODE_640x480_YUV411;
else if (format & (0x1<<rgb)) image_mode_=MODE_640x480_RGB;
} else {
int mono = 26;
int yuv411 = 29;
if (format & (0x1<<mono)) image_mode_=MODE_640x480_MONO;
else if (format & (0x1<<yuv411)) image_mode_=MODE_640x480_YUV411;
}
if(!image_mode_) return false;
quadlet_t frames;
if (dc1394_query_supported_framerates(handle, cameraID,FORMAT_VGA_NONCOMPRESSED, image_mode_, &frames) !=DC1394_SUCCESS) {
fprintf( stderr,"unable query frame rate\n");
}
fps = 60;
while (fps>=15) {
frame_rate_ = 0;
int test_rate = 0;
if (fps == 60)
test_rate = FRAMERATE_60;
else if (fps == 30)
test_rate = FRAMERATE_30;
else if (fps == 15)
test_rate = FRAMERATE_15;
if ((frames & (0x1<<(31-(test_rate-FRAMERATE_MIN)))))
frame_rate_=test_rate;
if(!frame_rate_) {
fps=fps/2;
} else break;
}
if(!frame_rate_) return false;
printf("framerate\n");
char videoDevice[24] = "";
sprintf(videoDevice,"/dev/video1394/%d",dc1394_get_camera_port(handle));
// setup capture
if (dc1394_dma_setup_capture(handle,camera_nodes[cameraID],
0, /* channel */
FORMAT_VGA_NONCOMPRESSED,
image_mode_,
SPEED_400,
frame_rate_,
4,
0,
videoDevice,
&camera)==DC1394_SUCCESS) {
use_dma=true;
} else if (dc1394_setup_capture(handle,camera_nodes[cameraID],
0, /* channel */
FORMAT_VGA_NONCOMPRESSED,
image_mode_,
SPEED_400,
frame_rate_,
&camera)==DC1394_SUCCESS) {
use_dma=false;
} else {
fprintf( stderr,"unable to setup camera -\n"
"make sure that the video mode,framerate and format are supported by your camera\n");
dc1394_release_camera(handle,&camera);
dc1394_destroy_handle(handle);
dc1394_free_camera_nodes(camera_nodes);
return false;
}
dc1394_camerainfo info;
if (dc1394_get_camera_info(handle, cameraID, &info) !=DC1394_SUCCESS ) {
//printf("could not read camera info\n");
sprintf(cameraName,"unknown camera");
} else {
sprintf(cameraName,"%s, %s", info.vendor, info.model);
}
/*if (dc1394_set_video_framerate(handle,cameraID,frame_rate)!=DC1394_SUCCESS) {
fprintf( stderr,"%i nope\n");
dc1394_release_camera(handle,&camera);
//dc1394_destroy_handle(handle);
//sdc1394_free_camera_nodes(camera_nodes);
return false;
}*/
dc1394_free_camera_nodes(camera_nodes);
// set trigger mode
/*if( dc1394_set_trigger_mode(handle, camera.node, TRIGGER_MODE_0)
!= DC1394_SUCCESS)
{
//fprintf( stderr, "unable to set camera trigger mode\n");
}*/
buffer = new unsigned char[width*height*bytes];
return true;
}
