void ofxLibdc::setTransmit(bool transmit) {
dc1394switch_t cur, target;
dc1394_video_get_transmission(camera, &cur);
target = transmit ? DC1394_ON : DC1394_OFF;
if(cur != target)
dc1394_video_set_transmission(camera, target);
}
void FirewireVideo::init_camera(
uint64_t guid, int dma_frames,
dc1394speed_t iso_speed,
dc1394video_mode_t video_mode,
dc1394framerate_t framerate
) {
if(video_mode>=DC1394_VIDEO_MODE_FORMAT7_0)
throw VideoException("format7 modes need to be initialized through the constructor that allows for specifying the roi");
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;
//-----------------------------------------------------------------------
// setup capture
//-----------------------------------------------------------------------
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");
err=dc1394_video_set_mode(camera, video_mode);
if( err != DC1394_SUCCESS )
throw VideoException("Could not set video mode");
err=dc1394_video_set_framerate(camera, framerate);
if( err != DC1394_SUCCESS )
throw VideoException("Could not set framerate");
err=dc1394_capture_setup(camera,dma_frames, DC1394_CAPTURE_FLAGS_DEFAULT);
if( err != DC1394_SUCCESS )
throw VideoException("Could not setup camera - check settings");
//-----------------------------------------------------------------------
// initialise width and height from mode
//-----------------------------------------------------------------------
dc1394_get_image_size_from_video_mode(camera, video_mode, &width, &height);
Start();
}
gboolean
gst_dc1394_change_camera_transmission (GstDc1394 * src, gboolean on)
{
dc1394switch_t status = DC1394_OFF;
dc1394error_t err = DC1394_FAILURE;
gint i = 0;
g_return_val_if_fail (src->camera, FALSE);
if (on) {
status = dc1394_video_set_transmission (src->camera, DC1394_ON);
i = 0;
while (status == DC1394_OFF && i++ < 5) {
g_usleep (50000);
if (dc1394_video_get_transmission (src->camera,
&status) != DC1394_SUCCESS) {
if (status == DC1394_OFF) {
GST_LOG_OBJECT (src, "camera is still off , retrying");
}
}
}
if (i == 5) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED,
("Camera doesn't seem to want to turn on!"),
("Camera doesn't seem to want to turn on!"));
return FALSE;
}
GST_LOG_OBJECT (src, "got transmision status ON");
} else {
if (dc1394_video_set_transmission (src->camera,
DC1394_OFF) != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED, ("Unable to stop transmision"),
("Unable to stop transmision"));
return FALSE;
}
GST_LOG_OBJECT (src, "Stopping capture");
err = dc1394_capture_stop (src->camera);
if (err > 0) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED, ("Capture stop error : %d ",
err), ("Capture stop error : %d ", err));
return FALSE;
} else {
GST_LOG_OBJECT (src, "Capture stoped successfully");
}
}
return TRUE;
}
void FWCamera::startCapture()
{
#ifdef AVG_ENABLE_1394_2
int err = dc1394_video_set_transmission(m_pCamera, DC1394_ON);
AVG_ASSERT(err == DC1394_SUCCESS);
dc1394switch_t status = DC1394_OFF;
int i = 0;
while (status == DC1394_OFF && i++ < 5) {
usleep(50000);
err = dc1394_video_get_transmission(m_pCamera, &status);
AVG_ASSERT(err == DC1394_SUCCESS);
}
if (i == 5) {
AVG_ASSERT(false);
}
// Default to turning off any camera sharpness manipulation.
setFeature(CAM_FEATURE_SHARPNESS, 0);
// Turn off possible auto exposure.
dc1394_feature_set_mode(m_pCamera, DC1394_FEATURE_EXPOSURE,
DC1394_FEATURE_MODE_MANUAL);
dc1394_feature_set_power(m_pCamera, DC1394_FEATURE_EXPOSURE, DC1394_OFF);
AVG_TRACE(Logger::category::CONFIG, Logger::severity::INFO, "Firewire camera opened.");
for (FeatureMap::iterator it=m_Features.begin(); it != m_Features.end(); it++) {
setFeature(it->first, it->second, true);
}
setWhitebalance(m_WhitebalanceU, m_WhitebalanceV, true);
if (getCamPF() == BAYER8) {
if (strcmp(m_pCamera->model, "DFx 31BF03") == 0) {
AVG_TRACE(Logger::category::CONFIG, Logger::severity::INFO,
"Applying bayer pattern fixup for IS DFx31BF03 camera");
setCamPF(BAYER8_GRBG);
} else if (strcmp(m_pCamera->vendor, "Point Grey Research") == 0) {
AVG_TRACE(Logger::category::CONFIG, Logger::severity::INFO,
"Applying bayer pattern fixup for PointGrey cameras");
enablePtGreyBayer();
}
}
#endif
}
void Libdc1394Grabber::cleanupCamera()
{
closeCamera = true;
ofxThread::stopThread();
ofLog(OF_LOG_VERBOSE,"Stopped capture thread.");
//this sleep seems necessary, at least on OSX, to avoid an occasional hang on exit
ofSleepMillis(150);
dc1394switch_t is_iso_on = DC1394_OFF;
if(camera) {
if (dc1394_video_get_transmission(camera, &is_iso_on)!=DC1394_SUCCESS) {
is_iso_on = DC1394_ON; // try to shut ISO anyway
}
if (is_iso_on > DC1394_OFF) {
if (dc1394_video_set_transmission(camera, DC1394_OFF)!=DC1394_SUCCESS) {
ofLog(OF_LOG_ERROR, "Could not stop ISO transmission!");
}
}
}
ofLog(OF_LOG_VERBOSE,"Stopped ISO transmission.");
/* cleanup and exit */
if(cameraList)
dc1394_camera_free_list (cameraList);
if(camera) {
dc1394_capture_stop(camera);
dc1394_camera_free (camera);
camera = NULL;
}
ofLog(OF_LOG_VERBOSE,"Stopped camera.");
if(dc1394) {
dc1394_free (dc1394);
dc1394 = NULL;
}
if(pixels) {
delete [] pixels;
pixels = NULL;
}
printf("Closed!\n");
}
static void s_flush_buffer(capture_t *cap, const int index)
{
dc1394camera_t *cam = cap->cameras[index];
dc1394switch_t pwr = DC1394_OFF;
dc1394video_frame_t *frame = NULL;
dc1394_video_get_transmission(cam, &pwr);
if (pwr == DC1394_ON) {
dc1394_video_set_transmission(cam, DC1394_OFF);
}
while (dc1394_capture_dequeue(cam, DC1394_CAPTURE_POLICY_POLL, &frame), frame != NULL) {
dc1394error_t err;
err = dc1394_capture_enqueue(cam, frame);
DC1394_ERR(err, "could not enqueue");
}
}
//=============================================================================
// startTransmission()
//
// A helper function to wrap up the sleeps involved with starting transmission.
// This loop method was taken from the libdc1394-2 examples.
//
dc1394error_t
startTransmission( PGRStereoCamera_t* stereoCamera )
{
dc1394error_t err;
// have the camera start sending us data
err = dc1394_video_set_transmission( stereoCamera->camera, DC1394_ON );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Unable to start camera iso transmission\n" );
return err;
}
// printf( "Waiting for transmission... \n" );
// Sleep untill the camera has a transmission
dc1394switch_t status = DC1394_OFF;
for ( int i = 0; i <= 5; i++ )
{
usleep(50000);
err = dc1394_video_get_transmission( stereoCamera->camera, &status );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Unable to get transmision status\n" );
return err;
}
if ( status != DC1394_OFF )
break;
if( i == 5 )
{
fprintf(stderr,"Camera doesn't seem to want to turn on!\n");
return DC1394_FAILURE;
}
}
return DC1394_SUCCESS;
}
dc1394error_t
dc1394_juju_capture_setup(platform_camera_t *craw, uint32_t num_dma_buffers,
uint32_t flags)
{
struct fw_cdev_create_iso_context create;
struct fw_cdev_start_iso start_iso;
dc1394error_t err;
dc1394video_frame_t proto;
int i, j, retval;
dc1394camera_t * camera = craw->camera;
if (flags & DC1394_CAPTURE_FLAGS_DEFAULT)
flags = DC1394_CAPTURE_FLAGS_CHANNEL_ALLOC |
DC1394_CAPTURE_FLAGS_BANDWIDTH_ALLOC;
craw->flags = flags;
// if capture is already set, abort
if (craw->capture_is_set>0)
return DC1394_CAPTURE_IS_RUNNING;
// if auto iso is requested, stop ISO (if necessary)
if (flags & DC1394_CAPTURE_FLAGS_AUTO_ISO) {
dc1394switch_t is_iso_on;
dc1394_video_get_transmission(camera, &is_iso_on);
if (is_iso_on == DC1394_ON) {
err=dc1394_video_set_transmission(camera, DC1394_OFF);
DC1394_ERR_RTN(err,"Could not stop ISO!");
}
}
if (capture_basic_setup(camera, &proto) != DC1394_SUCCESS) {
dc1394_log_error("basic setup failed");
return DC1394_FAILURE;
}
if (flags & (DC1394_CAPTURE_FLAGS_CHANNEL_ALLOC |
DC1394_CAPTURE_FLAGS_BANDWIDTH_ALLOC)) {
uint64_t channels_allowed = 0;
unsigned int bandwidth_units = 0;
int channel;
if (flags & DC1394_CAPTURE_FLAGS_CHANNEL_ALLOC)
channels_allowed = 0xffff;
if (flags & DC1394_CAPTURE_FLAGS_BANDWIDTH_ALLOC)
dc1394_video_get_bandwidth_usage (camera, &bandwidth_units);
err = juju_iso_allocate (craw, channels_allowed,
bandwidth_units, &craw->capture_iso_resource);
if (err == DC1394_SUCCESS) {
channel = craw->capture_iso_resource->channel;
} else if (err == DC1394_FUNCTION_NOT_SUPPORTED) {
channel = craw->node_id & 0x3f;
dc1394_log_warning ("iso allocation not available in this kernel, "
"using channel %d...", channel);
} else {
dc1394_log_error ("juju: Failed to allocate iso resources");
return err;
}
if (dc1394_video_set_iso_channel (camera, channel) != DC1394_SUCCESS)
return DC1394_NO_ISO_CHANNEL;
}
if (dc1394_video_get_iso_channel (camera, &craw->iso_channel)
!= DC1394_SUCCESS)
return DC1394_FAILURE;
dc1394_log_debug ("juju: Receiving from iso channel %d", craw->iso_channel);
craw->iso_fd = open(craw->filename, O_RDWR);
if (craw->iso_fd < 0) {
dc1394_log_error("error opening file: %s", strerror (errno));
return DC1394_FAILURE;
}
create.type = FW_CDEV_ISO_CONTEXT_RECEIVE;
create.header_size = craw->header_size;
create.channel = craw->iso_channel;
create.speed = SCODE_400;
err = DC1394_IOCTL_FAILURE;
if (ioctl(craw->iso_fd, FW_CDEV_IOC_CREATE_ISO_CONTEXT, &create) < 0) {
dc1394_log_error("failed to create iso context");
goto error_fd;
}
craw->iso_handle = create.handle;
craw->num_frames = num_dma_buffers;
craw->current = -1;
craw->buffer_size = proto.total_bytes * num_dma_buffers;
craw->buffer =
mmap(NULL, craw->buffer_size, PROT_READ | PROT_WRITE , MAP_SHARED, craw->iso_fd, 0);
err = DC1394_IOCTL_FAILURE;
if (craw->buffer == MAP_FAILED)
goto error_fd;
err = DC1394_MEMORY_ALLOCATION_FAILURE;
craw->frames = malloc (num_dma_buffers * sizeof *craw->frames);
if (craw->frames == NULL)
goto error_mmap;
for (i = 0; i < num_dma_buffers; i++) {
err = init_frame(craw, i, &proto);
if (err != DC1394_SUCCESS) {
dc1394_log_error("error initing frames");
break;
}
}
if (err != DC1394_SUCCESS) {
for (j = 0; j < i; j++)
release_frame(craw, j);
goto error_mmap;
}
for (i = 0; i < num_dma_buffers; i++) {
err = queue_frame(craw, i);
if (err != DC1394_SUCCESS) {
dc1394_log_error("error queuing");
goto error_frames;
}
}
// starting from here we use the ISO channel so we set the flag in
// the camera struct:
craw->capture_is_set = 1;
start_iso.cycle = -1;
start_iso.tags = FW_CDEV_ISO_CONTEXT_MATCH_ALL_TAGS;
start_iso.sync = 1;
start_iso.handle = craw->iso_handle;
retval = ioctl(craw->iso_fd, FW_CDEV_IOC_START_ISO, &start_iso);
err = DC1394_IOCTL_FAILURE;
if (retval < 0) {
dc1394_log_error("error starting iso");
goto error_frames;
}
// if auto iso is requested, start ISO
if (flags & DC1394_CAPTURE_FLAGS_AUTO_ISO) {
err=dc1394_video_set_transmission(camera, DC1394_ON);
DC1394_ERR_RTN(err,"Could not start ISO!");
craw->iso_auto_started=1;
}
return DC1394_SUCCESS;
error_frames:
for (i = 0; i < num_dma_buffers; i++)
release_frame(craw, i);
error_mmap:
munmap(craw->buffer, craw->buffer_size);
error_fd:
close(craw->iso_fd);
return err;
}
// 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();
}
dc1394error_t
dc1394_windows_capture_setup(platform_camera_t * craw, uint32_t num_dma_buffers,
uint32_t flags)
{
dc1394camera_t * camera = craw->camera;
dc1394error_t err;
if (flags & DC1394_CAPTURE_FLAGS_DEFAULT) {
flags = DC1394_CAPTURE_FLAGS_CHANNEL_ALLOC |
DC1394_CAPTURE_FLAGS_BANDWIDTH_ALLOC;
}
// if capture is already set, abort
if (craw->capture_is_set > 0) {
return DC1394_CAPTURE_IS_RUNNING;
}
craw->capture.flags = flags;
craw->allocated_channel = -1;
// if auto iso is requested, stop ISO (if necessary)
if (flags & DC1394_CAPTURE_FLAGS_AUTO_ISO) {
dc1394switch_t is_iso_on;
dc1394_video_get_transmission(camera, &is_iso_on);
if (is_iso_on == DC1394_ON) {
err=dc1394_video_set_transmission(camera, DC1394_OFF);
DC1394_ERR_RTN(err,"Could not stop ISO!");
}
}
craw->capture.frames =
malloc (num_dma_buffers * sizeof (dc1394video_frame_t));
if (!craw->capture.frames) {
goto fail;
}
err = capture_basic_setup(camera, craw->capture.frames);
if (err != DC1394_SUCCESS) {
goto fail;
}
err = windows_capture_setup (craw, num_dma_buffers, flags);
if (err != DC1394_SUCCESS) {
goto fail;
}
// if auto iso is requested, start ISO
if (flags & DC1394_CAPTURE_FLAGS_AUTO_ISO) {
err=dc1394_video_set_transmission(camera, DC1394_ON);
DC1394_ERR_RTN(err,"Could not start ISO!");
craw->iso_auto_started = 1;
}
craw->capture.num_dma_buffers = num_dma_buffers;
return DC1394_SUCCESS;
fail:
// free resources if they were allocated
if (craw->allocated_channel >= 0) {
if (dc1394_iso_release_channel (camera, craw->allocated_channel)
!= DC1394_SUCCESS)
dc1394_log_warning("Warning: Could not free ISO channel");
}
if (craw->allocated_bandwidth) {
if (dc1394_iso_release_bandwidth (camera, craw->allocated_bandwidth)
!= DC1394_SUCCESS)
dc1394_log_warning("Warning: Could not free bandwidth");
}
craw->allocated_channel = -1;
craw->allocated_bandwidth = 0;
free (craw->capture.frames);
craw->capture.frames = NULL;
dc1394_log_error ("Error: Failed to setup DMA capture");
return DC1394_FAILURE;
}
// 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();
}
int start_firewire_transmission(QSP_ARG_DECL PGR_Cam * pgcp, int _ring_buffer_size )
{
int i;
dc1394error_t err;
Data_Obj *dp;
//advise("start_firewire_transmission BEGIN");
/* older version had third flags arg... */
//advise("calling dc1394_capture_setup");
if( (err=dc1394_capture_setup(pgcp->pc_cam_p,_ring_buffer_size ,DC1394_CAPTURE_FLAGS_DEFAULT ))
!= DC1394_SUCCESS ) {
WARN("dc1394_capture_setup failed!?");
describe_dc1394_error( QSP_ARG err );
if( err == DC1394_IOCTL_FAILURE ){
advise("Try decreasing the number of ring buffer frames requested?");
return -1;
}
fprintf( stderr,"unable to setup camera-\n"
"check line %d of %s to make sure\n"
"that the video mode and framerate are\n"
"supported by your camera\n",
__LINE__,__FILE__ );
/*
fprintf( stderr,
"video_mode = %d, framerate = %d\n"
"Check dc1394_control.h for the meanings of these values\n",
pgcp->pc_video_mode, pgcp->pc_framerate );
*/
fprintf( stderr,
"video_mode = %s (%d), framerate = %s (%d)\n",
name_for_video_mode(pgcp->pc_video_mode),
pgcp->pc_video_mode,
name_for_framerate(pgcp->pc_framerate),
pgcp->pc_framerate );
NERROR1("error starting capture");
return(-1);
}
pgcp->pc_ring_buffer_size = _ring_buffer_size;
pgcp->pc_n_avail = _ring_buffer_size;
pgcp->pc_flags |= PGR_CAM_IS_CAPTURING;
#ifdef FOOBAR // we set this in the script already!?
sprintf(msg_str,"%d",ring_buffer_size); /* tell the scripting language */
assign_var("ring_buffer_size",msg_str);
#endif // FOOBAR
// have the camera start sending us data
//advise("calling dc1394_video_set_transmission");
if( (err=dc1394_video_set_transmission( pgcp->pc_cam_p, DC1394_ON ))
!= DC1394_SUCCESS ) {
WARN("Unable to start camera iso transmission");
describe_dc1394_error( QSP_ARG err );
// do we need to undo capture_setup?
dc1394_capture_stop( pgcp->pc_cam_p );
pgcp->pc_flags &= ~PGR_CAM_IS_CAPTURING;
return(-1);
}
pgcp->pc_flags |= PGR_CAM_IS_TRANSMITTING;
// Sleep untill the camera has a transmission
dc1394switch_t status = DC1394_OFF;
for ( i = 0; i <= 5; i++ ) {
usleep(50000);
//advise("calling dc1394_video_get_transmission");
if ( dc1394_video_get_transmission( pgcp->pc_cam_p, &status )
!= DC1394_SUCCESS ) {
fprintf( stderr, "Unable to get transmision status\n" );
return(-1);
}
if ( status != DC1394_OFF )
break;
if( i == 5 ) {
fprintf(stderr,"Camera doesn't seem to want to turn on!\n");
return(-1);
}
}
//advise("start_firewire_transmission DONE");
// Now make sure that we have the frame objects...
dp = dobj_of("_frame1");
if( dp == NULL ) init_buffer_objects(QSP_ARG pgcp);
return(0);
}
