void ofxLibdc::applySettings() {
if(camera)
dc1394_capture_stop(camera);
if(use1394b) {
// assumes you want to run your 1394b camera at 800 Mbps
dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_1394B);
dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_800);
} else {
dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_LEGACY);
dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400);
}
dc1394framerate_t framerate;
if(useFormat7) {
videoMode = (dc1394video_mode_t) ((int) DC1394_VIDEO_MODE_FORMAT7_0 + format7Mode);
} else {
dc1394video_modes_t video_modes;
dc1394_video_get_supported_modes(camera, &video_modes);
dc1394color_coding_t coding;
dc1394color_coding_t targetCoding = getLibdcType(imageType);
for (int i = 0; i < video_modes.num; i++) {
if (!dc1394_is_video_mode_scalable(video_modes.modes[i])) {
dc1394video_mode_t curMode = video_modes.modes[i];
dc1394_get_color_coding_from_video_mode(camera, curMode, &coding);
unsigned int curWidth, curHeight;
dc1394_get_image_size_from_video_mode(camera, curMode, &curWidth, &curHeight);
if (coding == targetCoding && width == curWidth && height == curHeight) {
videoMode = curMode;
break;
}
}
if(i == video_modes.num - 1) {
ofLog(OF_LOG_ERROR, "Camera does not support target mode.");
return;
}
}
// get fastest framerate
// todo: make this settable
dc1394framerates_t framerates;
dc1394_video_get_supported_framerates(camera, videoMode, &framerates);
framerate = framerates.framerates[framerates.num - 1];
}
if(useFormat7) {
quantizePosition();
quantizeSize();
dc1394_format7_set_roi(camera, videoMode, getLibdcType(imageType), DC1394_USE_MAX_AVAIL, left, top, width, height);
unsigned int curWidth, curHeight;
dc1394_format7_get_image_size(camera, videoMode, &curWidth, &curHeight);
} else {
dc1394_video_set_framerate(camera, framerate);
}
// contrary to the libdc1394 format7 demo, this should go after the roi setting
dc1394_video_set_mode(camera, videoMode);
dc1394_capture_setup(camera, OFXLIBDC_BUFFER_SIZE, DC1394_CAPTURE_FLAGS_DEFAULT);
}
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();
}
int _setupCam(long yExpo, long yGain, long *sizex, long *sizey, long speed){
dc1394camera_list_t * list;
dc1394_t *d = dc1394_new ();
if (!d)
return -1;
dc1394speed_t iso_speed;
if(speed == 400)
iso_speed = DC1394_ISO_SPEED_400;
else if(speed == 800)
iso_speed = DC1394_ISO_SPEED_800;
else
return -1;
//iso_speed = DC1394_ISO_SPEED_400;
dc1394_log_register_handler(DC1394_LOG_WARNING, NULL, NULL);
err=dc1394_camera_enumerate (d, &list);
DC1394_ERR_RTN(err,"Failed to enumerate cameras");
if (list->num == 0) {
dc1394_log_error("No cameras found");
return -1;
}
camera = dc1394_camera_new (d, list->ids[0].guid);
if (!camera) {
dc1394_log_error("Failed to initialize camera with guid %lld", list->ids[0].guid);
return -1;
}
dc1394_camera_free_list (list);
printf("Using camera with GUID %lld\n", camera->guid);
release_iso_and_bw();
uint32_t expo = yExpo;
uint32_t gain = yGain;
/*-----------------------------------------------------------------------
* setup capture
*-----------------------------------------------------------------------*/
dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_1394B);
DC1394_ERR_CLN_RTN(err,_unsetupCam(),"Could not set operation mode");
err=dc1394_video_set_iso_speed(camera, iso_speed);
DC1394_ERR_CLN_RTN(err,_unsetupCam(),"Could not set iso speed");
_setVideoMode(0, sizex, sizey);
err=dc1394_feature_set_value(camera, DC1394_FEATURE_GAIN, gain);
DC1394_ERR_CLN_RTN(err,_unsetupCam(),"Could not define gain");
err=dc1394_feature_set_value(camera, DC1394_FEATURE_SHUTTER, expo);
DC1394_ERR_CLN_RTN(err,_unsetupCam(),"Could not define shutter");
return 0;
}
int main(int argc,char *argv[])
{
XEvent xev;
XGCValues xgcv;
long background=0x010203;
int i, j;
dc1394_t * d;
dc1394camera_list_t * list;
get_options(argc,argv);
/* process options */
switch(fps) {
case 1: fps = DC1394_FRAMERATE_1_875; break;
case 3: fps = DC1394_FRAMERATE_3_75; break;
case 15: fps = DC1394_FRAMERATE_15; break;
case 30: fps = DC1394_FRAMERATE_30; break;
case 60: fps = DC1394_FRAMERATE_60; break;
default: fps = DC1394_FRAMERATE_7_5; break;
}
switch(res) {
case 1:
res = DC1394_VIDEO_MODE_640x480_YUV411;
device_width=640;
device_height=480;
format=XV_YUY2;
break;
case 2:
res = DC1394_VIDEO_MODE_640x480_RGB8;
device_width=640;
device_height=480;
format=XV_YUY2;
break;
case 3:
res = DC1394_VIDEO_MODE_800x600_YUV422;
device_width=800;
device_height=600;
format=XV_UYVY;
break;
default:
res = DC1394_VIDEO_MODE_320x240_YUV422;
device_width=320;
device_height=240;
format=XV_UYVY;
break;
}
dc1394error_t err;
d = dc1394_new ();
if (!d)
return 1;
err=dc1394_camera_enumerate (d, &list);
DC1394_ERR_RTN(err,"Failed to enumerate cameras");
if (list->num == 0) {
dc1394_log_error("No cameras found");
return 1;
}
j = 0;
for (i = 0; i < list->num; i++) {
if (j >= MAX_CAMERAS)
break;
cameras[j] = dc1394_camera_new (d, list->ids[i].guid);
if (!cameras[j]) {
dc1394_log_warning("Failed to initialize camera with guid %llx", list->ids[i].guid);
continue;
}
j++;
}
numCameras = j;
dc1394_camera_free_list (list);
if (numCameras == 0) {
dc1394_log_error("No cameras found");
exit (1);
}
/* setup cameras for capture */
for (i = 0; i < numCameras; i++) {
//err=dc1394_video_set_iso_speed(cameras[i], DC1394_ISO_SPEED_400);
//dc1394_video_set_operation_mode(my_camera_ptr[i], DC1394_OPERATION_MODE_1394B);
err= dc1394_video_set_operation_mode(cameras[i], DC1394_OPERATION_MODE_1394B);
err=dc1394_video_set_iso_speed(cameras[i], DC1394_ISO_SPEED_800);
DC1394_ERR_CLN_RTN(err,cleanup(),"Could not set ISO speed");
err=dc1394_video_set_mode(cameras[i], res);
DC1394_ERR_CLN_RTN(err,cleanup(),"Could not set video mode");
err=dc1394_video_set_framerate(cameras[i], fps);
DC1394_ERR_CLN_RTN(err,cleanup(),"Could not set framerate");
err=dc1394_capture_setup(cameras[i],NUM_BUFFERS, DC1394_CAPTURE_FLAGS_DEFAULT);
DC1394_ERR_CLN_RTN(err,cleanup(),"Could not setup camera-\nmake sure that the video mode and framerate are\nsupported by your camera");
err=dc1394_video_set_transmission(cameras[i], DC1394_ON);
DC1394_ERR_CLN_RTN(err,cleanup(),"Could not start camera iso transmission");
// Camera settings
err = dc1394_feature_set_value(cameras[i],DC1394_FEATURE_SHUTTER,1400);
err = dc1394_feature_set_value(cameras[i],DC1394_FEATURE_BRIGHTNESS,800);
err = dc1394_feature_set_value(cameras[i],DC1394_FEATURE_EXPOSURE,150);
err = dc1394_feature_whitebalance_set_value(cameras[i],500,400);
}
fflush(stdout);
if (numCameras < 1) {
perror("no cameras found :(\n");
cleanup();
exit(-1);
}
switch(format){
case XV_YV12:
set_frame_length(device_width*device_height*3/2, numCameras);
break;
case XV_YUY2:
case XV_UYVY:
set_frame_length(device_width*device_height*2, numCameras);
break;
default:
dc1394_log_error("Unknown format set (internal error)");
exit(255);
}
/* make the window */
display=XOpenDisplay(getenv("DISPLAY"));
if(display==NULL) {
dc1394_log_error("Could not open display \"%s\"",getenv("DISPLAY"));
cleanup();
exit(-1);
}
QueryXv();
if ( adaptor < 0 ) {
cleanup();
exit(-1);
}
width=device_width;
height=device_height * numCameras;
//width=device_width * numCameras;
//height=device_height;
window=XCreateSimpleWindow(display,DefaultRootWindow(display),0,0,width,height,0,
WhitePixel(display,DefaultScreen(display)),
background);
XSelectInput(display,window,StructureNotifyMask|KeyPressMask);
XMapWindow(display,window);
connection=ConnectionNumber(display);
gc=XCreateGC(display,window,0,&xgcv);
/* main event loop */
while(1){
for (i = 0; i < numCameras; i++) {
if (dc1394_capture_dequeue(cameras[i], DC1394_CAPTURE_POLICY_WAIT, &frames[i])!=DC1394_SUCCESS)
dc1394_log_error("Failed to capture from camera %d", i);
}
display_frames();
XFlush(display);
while(XPending(display)>0){
XNextEvent(display,&xev);
switch(xev.type){
case ConfigureNotify:
width=xev.xconfigure.width;
height=xev.xconfigure.height;
display_frames();
break;
case KeyPress:
switch(XKeycodeToKeysym(display,xev.xkey.keycode,0)){
case XK_q:
case XK_Q:
cleanup();
exit(0);
break;
case XK_comma:
case XK_less:
//width=width/2;
//height=height/2;
width--;
XResizeWindow(display,window,width,height);
display_frames();
break;
case XK_period:
case XK_greater:
//width=2*width;
//height=2*height;
width++;
XResizeWindow(display,window,width,height);
display_frames();
break;
case XK_0:
freeze = !freeze;
break;
case XK_1:
fps = DC1394_FRAMERATE_1_875;
for (i = 0; i < numCameras; i++)
dc1394_video_set_framerate(cameras[i], fps);
break;
case XK_2:
fps = DC1394_FRAMERATE_3_75;
for (i = 0; i < numCameras; i++)
dc1394_video_set_framerate(cameras[i], fps);
break;
case XK_4:
fps = DC1394_FRAMERATE_15;
for (i = 0; i < numCameras; i++)
dc1394_video_set_framerate(cameras[i], fps);
break;
case XK_5:
fps = DC1394_FRAMERATE_30;
for (i = 0; i < numCameras; i++)
dc1394_video_set_framerate(cameras[i], fps);
break;
case XK_3:
fps = DC1394_FRAMERATE_7_5;
for (i = 0; i < numCameras; i++)
dc1394_video_set_framerate(cameras[i], fps);
break;
}
break;
}
} /* XPending */
for (i = 0; i < numCameras; i++) {
if (frames[i])
dc1394_capture_enqueue (cameras[i], frames[i]);
}
} /* while not interrupted */
exit(0);
}
static int s_set_parameters(capture_t *cap, const int index, camera_setting_t *s)
{
int ret = CAPTURE_SUCCESS;
dc1394camera_t *cam = cap->cameras[index];
dc1394error_t err;
/* set operation mode to 1394b, if possible */
if (cam->bmode_capable != 0 && cap->prefer_bmode) {
err = dc1394_video_set_operation_mode(cam, DC1394_OPERATION_MODE_1394B);
DC1394_WRN(err, "could not set 1394b mode.");
if (err == DC1394_SUCCESS) {
err = dc1394_video_set_iso_speed(cam, DC1394_ISO_SPEED_800);
DC1394_WRN(err, "could not set iso mode to S800.");
if (err != DC1394_SUCCESS) {
err = dc1394_video_set_iso_speed(cam, DC1394_ISO_SPEED_400);
DC1394_WRN(err, "could not set iso mode to S400.");
}
}
}
else {
err = dc1394_video_set_operation_mode(cam, DC1394_OPERATION_MODE_LEGACY);
DC1394_WRN(err, "could not set 1394-legacy mode.");
err = dc1394_video_set_iso_speed(cam, DC1394_ISO_SPEED_400);
DC1394_WRN(err, "could not set iso mode to S400.");
}
/* mode */
s->mode = s_get_appropriate_mode(cam, ((s->mode >= 0) ? s->mode : DC1394_VIDEO_MODE_640x480_MONO8));
if (dc1394_video_set_mode(cam, s->mode) != DC1394_SUCCESS) {
ret = CAPTURE_ERROR;
}
dc1394_video_get_mode(cam, &s->mode);
/* frame rate */
s->framerate = s_get_appropriate_framerate(cam, s->mode, ((s->framerate >= 0) ? s->framerate : DC1394_FRAMERATE_30));
if (dc1394_video_set_framerate(cam, s->framerate) != DC1394_SUCCESS) {
ret = CAPTURE_ERROR;
}
/*
features
*/
SET_FEATURE(DC1394_FEATURE_BRIGHTNESS, s->brightness);
SET_FEATURE(DC1394_FEATURE_EXPOSURE, s->exposure);
SET_FEATURE(DC1394_FEATURE_SHARPNESS, s->sharpness);
SET_FEATURE(DC1394_FEATURE_HUE, s->hue);
SET_FEATURE(DC1394_FEATURE_SATURATION, s->saturation);
SET_FEATURE(DC1394_FEATURE_GAMMA, s->gamma);
SET_FEATURE(DC1394_FEATURE_SHUTTER, s->shutter);
SET_FEATURE(DC1394_FEATURE_GAIN, s->gain);
SET_FEATURE(DC1394_FEATURE_IRIS, s->iris);
SET_FEATURE(DC1394_FEATURE_FOCUS, s->focus);
//SET_FEATURE(DC1394_FEATURE_TEMPERATURE, s->temperature); is not supported by dc1394_feature_set_value()
SET_FEATURE(DC1394_FEATURE_ZOOM, s->zoom);
SET_FEATURE(DC1394_FEATURE_PAN, s->pan);
SET_FEATURE(DC1394_FEATURE_TILT, s->tilt);
/* white blance */
if (s->white_balance[0] >= 0 && s->white_balance[1] >= 0) {
dc1394_feature_set_mode(cam, DC1394_FEATURE_WHITE_BALANCE, DC1394_FEATURE_MODE_MANUAL);
if (dc1394_feature_whitebalance_set_value(cam, s->white_balance[0], s->white_balance[1]) != DC1394_SUCCESS) {
ret = CAPTURE_ERROR;
}
}
else {
if (dc1394_feature_set_mode(cam, DC1394_FEATURE_WHITE_BALANCE, DC1394_FEATURE_MODE_AUTO) != DC1394_SUCCESS) {
ret = CAPTURE_ERROR;
}
}
return ret;
}
//=============================================================================
// setStereoVideoCapture()
//
// Given that the camera handle is a stereo camera, query the camera for
// stereo specific information about this camera and populate the
// PGRStereoCamera_t handle structure
//
// note: currently always allocated maximum framerate
dc1394error_t
setStereoVideoCapture( PGRStereoCamera_t* stereoCamera )
{
dc1394error_t err;
dc1394color_coding_t coding;
switch( stereoCamera->model )
{
case BUMBLEBEE:
dc1394video_mode_t videoMode;
dc1394framerate_t fps;
// note: both B&W and Bayer Bumblebees transmit in mono mode
if ( stereoCamera->nCols == 640 )
{
// lo res
printf("capture mode: DC1394_VIDEO_MODE_640x480_MONO16 ");
printf("capture mode: %d\n", DC1394_VIDEO_MODE_640x480_MONO16);
videoMode = DC1394_VIDEO_MODE_640x480_MONO16;
fps = DC1394_FRAMERATE_30;
}
else
{
printf("capture mode: DC1394_VIDEO_MODE_1024x768_MONO16 ");
printf("capture mode: %d\n", DC1394_VIDEO_MODE_1024x768_MONO16);
// assume hi res
videoMode = DC1394_VIDEO_MODE_1024x768_MONO16;
fps = DC1394_FRAMERATE_15;
}
// make the calls to set up the capture mode
dc1394_video_set_iso_speed( stereoCamera->camera, DC1394_ISO_SPEED_400 );
dc1394_video_set_mode( stereoCamera->camera, videoMode );
dc1394_video_set_framerate( stereoCamera->camera, fps );
err = dc1394_capture_setup( stereoCamera->camera, 8, DC1394_CAPTURE_FLAGS_DEFAULT );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Can't setup Bumblebee capture\n" );
return err;
}
break;
case BUMBLEBEE2:
// Bumblebee2 transmits stereo images in Format 7
// load the factory defaults - this is auto-everything
err = dc1394_memory_load( stereoCamera->camera, 0 );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Can't load default memory channel\n" );
return err;
}
// set 16-bit transmission to be PGR-default little endian mode
err = setEndian( stereoCamera->camera, false );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Can't set Bumblebee2 into little-endian mode\n" );
return err;
}
// color cameras transmit in "RAW16", mono cameras in "MONO16"
coding = DC1394_COLOR_CODING_MONO16;
if ( stereoCamera->bColor )
coding = DC1394_COLOR_CODING_RAW16;
dc1394_video_set_iso_speed( stereoCamera->camera, DC1394_ISO_SPEED_400 );
dc1394_video_set_mode( stereoCamera->camera, DC1394_VIDEO_MODE_FORMAT7_3 );
err = dc1394_format7_set_roi( stereoCamera->camera,
DC1394_VIDEO_MODE_FORMAT7_3,
coding,
// bytes per packet - sets frame rate
DC1394_USE_MAX_AVAIL,
0,
0,
stereoCamera->nCols,
stereoCamera->nRows );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Can't setup Bumblebee2 capture\n" );
return err;
}
err = dc1394_capture_setup( stereoCamera->camera, 8, DC1394_CAPTURE_FLAGS_DEFAULT );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Can't setup Bumblebee capture\n" );
return err;
}
break;
case BUMBLEBEEXB3:
// Bumblebee3 transmits stereo images in Format 7
// load the factory defaults - this is auto-everything
err = dc1394_memory_load( stereoCamera->camera, 0 );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Can't load default memory channel\n" );
return err;
}
if ( stereoCamera->nBytesPerPixel == 2 )
{
// run in 2 camera mode
// NOTE: this code will always only set up the wide-baseline pair
// To change to the inner baseline pair you need to set the PAN
// register to 1.
// PAN = 0 is the wide baseline pair which is set by default.
// To change to all 3 images being transmitted you need to change
// modes to "coding = DC1394_COLOR_CODING_RGB8;"
//
// set 16-bit transmission to be PGR-default little endian mode
err = setEndian( stereoCamera->camera, false );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Can't set Bumblebee2 into little-endian mode\n" );
return err;
}
// color cameras transmit in "RAW16", mono cameras in "MONO16"
coding = DC1394_COLOR_CODING_MONO16;
if ( stereoCamera->bColor )
coding = DC1394_COLOR_CODING_RAW16;
}
else
{
// 3 camera mode transmits in RGB8
coding = DC1394_COLOR_CODING_RGB8;
}
// assume the XB is plugged into a 1394B network
// XB3 can work with a 1394A bus but code changes will be required
dc1394_video_set_operation_mode( stereoCamera->camera, DC1394_OPERATION_MODE_1394B );
dc1394_video_set_iso_speed( stereoCamera->camera, DC1394_ISO_SPEED_800 );
dc1394_video_set_mode( stereoCamera->camera, DC1394_VIDEO_MODE_FORMAT7_3 );
err = dc1394_format7_set_roi( stereoCamera->camera,
DC1394_VIDEO_MODE_FORMAT7_3,
coding,
// bytes per packet - sets frame rate
DC1394_USE_MAX_AVAIL,
0,
0,
stereoCamera->nCols,
stereoCamera->nRows );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Can't setup Bumblebee XB3 capture\n" );
return err;
}
err = dc1394_capture_setup( stereoCamera->camera, 4, DC1394_CAPTURE_FLAGS_DEFAULT );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Can't setup Bumblebee capture\n" );
return err;
}
break;
default:
fprintf( stderr,
"setStereoVideoCapture() - \n"
"\tThis camera is not a supported stereo camera!\n" );
return DC1394_FAILURE;
}
// get the bayer tile info so we will know how to color process
// this mode
err = getBayerTile( stereoCamera->camera,
&stereoCamera->bayerTile );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Could not query the Bayer Tile Register!\n" );
return err;
}
return DC1394_SUCCESS;
}
static gboolean
gst_dc1394_open_cam_with_best_caps (GstDc1394 * src)
{
dc1394camera_list_t *cameras = NULL;
gint err = 0;
int framerateconst;
GST_LOG_OBJECT (src, "Opening the camera!!!");
if (dc1394_camera_enumerate (src->dc1394, &cameras) != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED, ("Can't find cameras"),
("Can't find cameras"));
goto error;
}
GST_LOG_OBJECT (src, "Found %d cameras", cameras->num);
if (src->camnum > (cameras->num - 1)) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED, ("Invalid camera number"),
("Invalid camera number"));
goto error;
}
GST_LOG_OBJECT (src, "Opening camera : %d", src->camnum);
src->camera =
dc1394_camera_new_unit (src->dc1394, cameras->ids[src->camnum].guid,
cameras->ids[src->camnum].unit);
dc1394_camera_free_list (cameras);
cameras = NULL;
// figure out mode
framerateconst = gst_dc1394_framerate_frac_to_const (src->rate_numerator,
src->rate_denominator);
GST_LOG_OBJECT (src, "The dma buffer queue size is %d buffers",
src->bufsize);
switch (src->iso_speed) {
case 100:
err = dc1394_video_set_iso_speed (src->camera, DC1394_ISO_SPEED_100);
break;
case 200:
err = dc1394_video_set_iso_speed (src->camera, DC1394_ISO_SPEED_200);
break;
case 400:
err = dc1394_video_set_iso_speed (src->camera, DC1394_ISO_SPEED_400);
break;
case 800:
if (src->camera->bmode_capable > 0) {
dc1394_video_set_operation_mode (src->camera,
DC1394_OPERATION_MODE_1394B);
err = dc1394_video_set_iso_speed (src->camera, DC1394_ISO_SPEED_800);
}
break;
case 1600:
if (src->camera->bmode_capable > 0) {
dc1394_video_set_operation_mode (src->camera,
DC1394_OPERATION_MODE_1394B);
err = dc1394_video_set_iso_speed (src->camera, DC1394_ISO_SPEED_1600);
}
break;
case 3200:
if (src->camera->bmode_capable > 0) {
dc1394_video_set_operation_mode (src->camera,
DC1394_OPERATION_MODE_1394B);
err = dc1394_video_set_iso_speed (src->camera, DC1394_ISO_SPEED_3200);
}
break;
default:
GST_ELEMENT_ERROR (src, RESOURCE, FAILED, ("Invalid ISO speed"),
("Invalid ISO speed"));
goto error;
break;
}
if (err != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED, ("Could not set ISO speed"),
("Could not set ISO speed"));
goto error;
}
GST_LOG_OBJECT (src, "Setting mode : %d", src->vmode);
err = dc1394_video_set_mode (src->camera, src->vmode);
if (err != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED, ("Could not set video mode %d",
src->vmode), ("Could not set video mode %d", src->vmode));
goto error;
}
GST_LOG_OBJECT (src, "Setting framerate : %d", framerateconst);
dc1394_video_set_framerate (src->camera, framerateconst);
if (err != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED, ("Could not set framerate to %d",
framerateconst), ("Could not set framerate to %d", framerateconst));
goto error;
}
// set any format-7 parameters if this is a format-7 mode
if (src->vmode >= DC1394_VIDEO_MODE_FORMAT7_MIN &&
src->vmode <= DC1394_VIDEO_MODE_FORMAT7_MAX) {
// the big thing we care about right now is frame size
err = dc1394_format7_set_image_size (src->camera, src->vmode,
src->width, src->height);
if (err != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED,
("Could not set format 7 image size to %d x %d", src->width,
src->height), ("Could not set format 7 image size to %d x %d",
src->width, src->height));
goto error;
}
}
err = dc1394_capture_setup (src->camera, src->bufsize,
DC1394_CAPTURE_FLAGS_DEFAULT);
if (err != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED, ("Error setting capture mode"),
("Error setting capture mode"));
}
if (err != DC1394_SUCCESS) {
if (err == DC1394_NO_BANDWIDTH) {
GST_LOG_OBJECT (src, "Capture setup_dma failed."
"Trying to cleanup the iso_channels_and_bandwidth and retrying");
// try to cleanup the bandwidth and retry
err = dc1394_iso_release_all (src->camera);
if (err != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED,
("Could not cleanup bandwidth"), ("Could not cleanup bandwidth"));
goto error;
} else {
err =
dc1394_capture_setup (src->camera, src->bufsize,
DC1394_CAPTURE_FLAGS_DEFAULT);
if (err != DC1394_SUCCESS) {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED,
("unable to setup camera error %d", err),
("unable to setup camera error %d", err));
goto error;
}
}
} else {
GST_ELEMENT_ERROR (src, RESOURCE, FAILED,
("unable to setup camera error %d", err),
("unable to setup camera error %d", err));
goto error;
}
}
return TRUE;
error:
if (src->camera) {
dc1394_camera_free (src->camera);
src->camera = NULL;
}
return FALSE;
}
static int dc1394_v2_read_header(AVFormatContext *c, AVFormatParameters * ap)
{
dc1394_data* dc1394 = c->priv_data;
dc1394camera_list_t *list;
int res, i;
struct dc1394_frame_format *fmt = NULL;
struct dc1394_frame_rate *fps = NULL;
if (dc1394_read_common(c,ap,&fmt,&fps) != 0)
return -1;
/* Now let us prep the hardware. */
dc1394->d = dc1394_new();
dc1394_camera_enumerate (dc1394->d, &list);
if ( !list || list->num == 0) {
av_log(c, AV_LOG_ERROR, "Unable to look for an IIDC camera\n\n");
goto out;
}
/* FIXME: To select a specific camera I need to search in list its guid */
dc1394->camera = dc1394_camera_new (dc1394->d, list->ids[0].guid);
if (list->num > 1) {
av_log(c, AV_LOG_INFO, "Working with the first camera found\n");
}
/* Freeing list of cameras */
dc1394_camera_free_list (list);
/* Select MAX Speed possible from the cam */
if (dc1394->camera->bmode_capable>0) {
dc1394_video_set_operation_mode(dc1394->camera, DC1394_OPERATION_MODE_1394B);
i = DC1394_ISO_SPEED_800;
} else {
i = DC1394_ISO_SPEED_400;
}
for (res = DC1394_FAILURE; i >= DC1394_ISO_SPEED_MIN && res != DC1394_SUCCESS; i--) {
res=dc1394_video_set_iso_speed(dc1394->camera, i);
}
if (res != DC1394_SUCCESS) {
av_log(c, AV_LOG_ERROR, "Couldn't set ISO Speed\n");
goto out_camera;
}
if (dc1394_video_set_mode(dc1394->camera, fmt->frame_size_id) != DC1394_SUCCESS) {
av_log(c, AV_LOG_ERROR, "Couldn't set video format\n");
goto out_camera;
}
if (dc1394_video_set_framerate(dc1394->camera,fps->frame_rate_id) != DC1394_SUCCESS) {
av_log(c, AV_LOG_ERROR, "Couldn't set framerate %d \n",fps->frame_rate);
goto out_camera;
}
if (dc1394_capture_setup(dc1394->camera, 10, DC1394_CAPTURE_FLAGS_DEFAULT)!=DC1394_SUCCESS) {
av_log(c, AV_LOG_ERROR, "Cannot setup camera \n");
goto out_camera;
}
if (dc1394_video_set_transmission(dc1394->camera, DC1394_ON) !=DC1394_SUCCESS) {
av_log(c, AV_LOG_ERROR, "Cannot start capture\n");
goto out_camera;
}
return 0;
out_camera:
dc1394_capture_stop(dc1394->camera);
dc1394_video_set_transmission(dc1394->camera, DC1394_OFF);
dc1394_camera_free (dc1394->camera);
out:
dc1394_free(dc1394->d);
return -1;
}
CameraIIDC::CameraIIDC(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode) {
context = dc1394_new();
dc1394camera_list_t *camera_list;
dc1394error_t err;
err = dc1394_camera_enumerate(context, &camera_list);
if(camNum+1 > camera_list->num){
cerr << "libdc1394: Selected camera is not available!";
return;
}
cam = NULL;
cam = dc1394_camera_new(context, camera_list->ids[camNum].guid);
if(!cam){
cerr << "libdc1394: Could not open camera!";
return;
}
dc1394_camera_free_list(camera_list);
// // Get video modes
// dc1394video_modes_t video_modes;
// err=dc1394_video_get_supported_modes(cam, &video_modes);
// DC1394_WRN(err,"Can't get video modes");
// // Select highest res mode
// int i;
// dc1394color_coding_t coding;
// for (i=video_modes.num-1;i>=0;i--) {
// if (!dc1394_is_video_mode_scalable(video_modes.modes[i])) {
// dc1394_get_color_coding_from_video_mode(cam, video_modes.modes[i], &coding);
// DC1394_WRN(err,"libdc1394: Could not get color coding");
// if (coding==DC1394_COLOR_CODING_MONO8) {
// video_mode=video_modes.modes[i];
// break;
// }
// }
// }
// if (i < 0) {
// cerr << "libdc1394: Could not get a valid gray scale mode!";
// return;
// }
// Select format 7 mode 0
video_mode = DC1394_VIDEO_MODE_FORMAT7_0;
// Set bit depth
err = dc1394_format7_set_color_coding(cam, video_mode, DC1394_COLOR_CODING_MONO8);
if (err!=DC1394_SUCCESS)
cerr << "libdc1394: Could not set video mode or color coding!";
// // Set video mode
// err=dc1394_video_set_mode(cam, video_mode);
// if (err!=DC1394_SUCCESS)
// cerr << "libdc1394: Could not set video mode!";
// Setup capture
err=dc1394_video_set_operation_mode(cam, DC1394_OPERATION_MODE_1394B);
if (err!=DC1394_SUCCESS)
cerr << "libdc1394: Could not set operation mode!";
err=dc1394_video_set_iso_speed(cam, DC1394_ISO_SPEED_800);
if (err!=DC1394_SUCCESS)
cerr << "libdc1394: Could not set iso speed!";
// Size of ringbuffer (Note: on OS X 10.9, size must be greater than 1)
#ifdef __APPLE__
unsigned int bufferSize = 2;
#else
unsigned int bufferSize = 1;
#endif
err=dc1394_capture_setup(cam, bufferSize, DC1394_CAPTURE_FLAGS_DEFAULT);
if (err!=DC1394_SUCCESS)
cerr << "libdc1394: Could not set up camera!";
// Disable auto exposure mode
dc1394_feature_set_power(cam, DC1394_FEATURE_EXPOSURE, DC1394_OFF);
// Disable gamma mode
dc1394_feature_set_power(cam, DC1394_FEATURE_GAMMA, DC1394_OFF);
// Disable sharpness mode
dc1394_feature_set_power(cam, DC1394_FEATURE_SHARPNESS, DC1394_OFF);
// Disable frame-rate mode
dc1394_feature_set_power(cam, DC1394_FEATURE_FRAME_RATE, DC1394_OFF);
// Set manual settings
dc1394_feature_set_mode(cam, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);
dc1394_feature_set_mode(cam, DC1394_FEATURE_GAIN, DC1394_FEATURE_MODE_MANUAL);
// Set reasonable default settings
CameraSettings settings;
//settings.shutter = 8.333;
settings.shutter = 16.66;
settings.gain = 0.0;
this->setCameraSettings(settings);
// Print camera features and settings
dc1394featureset_t features;
err=dc1394_feature_get_all(cam, &features);
DC1394_WRN(err, "libdc1394: Could not get feature set.");
dc1394_feature_print_all(&features, stdout);
fflush(stdout);
return;
}
// 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();
}
int main(int argc, const char * argv[]) {
dc1394_t *d;
dc1394camera_list_t *list;
dc1394error_t err;
dc1394camera_t *camera;
dc1394format7modeset_t modeset;
dc1394video_frame_t *frame;
FILE* imagefile;
char filename[256];
int i = 0;
d = dc1394_new();
if (!d) {
return 1;
}
err = dc1394_camera_enumerate(d, &list);
DC1394_ERR_RTN(err, "Failed to enumerate cameras");
if (list->num == 0) {
dc1394_log_error("No cameras found");
dc1394_free(d);
return 1;
}
printf("Detected %d cameras\n", list->num);
// Assume that Ladybug 5 is detected as camera #0
camera = dc1394_camera_new(d, list->ids[0].guid);
if (!camera) {
dc1394_log_error("Failed to initialize camera with guid %llx", list->ids[0].guid);
dc1394_free(d);
}
dc1394_camera_free_list(list);
printf("Using camera %s %s\n", camera->vendor, camera->model);
// Report camera info
err = dc1394_camera_print_info(camera, stdout);
DC1394_ERR_RTN(err, "Could not print camera info");
// Setup video mode, etc...
err = dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_1394B);
DC1394_ERR_RTN(err, "Could not set B mode");
err = dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_MAX);
DC1394_ERR_RTN(err, "Could not set max speed");
err = dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_FORMAT7_0);
DC1394_ERR_RTN(err, "Could not set DC1394_VIDEO_MODE_FORMAT7_0");
// Get format7 mode info
err = dc1394_format7_get_modeset(camera, &modeset);
DC1394_ERR_RTN(err, "Could not get format 7 mode info\n");
print_format7_info(&modeset);
// Set format 7 roi
err = dc1394_format7_set_roi(camera,
DC1394_VIDEO_MODE_FORMAT7_0,
modeset.mode[0].color_coding,
modeset.mode[0].max_packet_size,
modeset.mode[0].pos_x,
modeset.mode[0].pos_y,
modeset.mode[0].max_size_x,
modeset.mode[0].max_size_y);
DC1394_ERR_RTN(err, "Could not set max ROI");
// Set capture
err = dc1394_capture_setup(camera, 10, DC1394_CAPTURE_FLAGS_DEFAULT);
DC1394_ERR_RTN(err, "Could not setup capture");
err = dc1394_video_set_transmission(camera, DC1394_ON);
DC1394_ERR_RTN(err, "Could not start transmission");
while (i < NFRAMES) {
// Capture image
printf("Capturing image %d\n", i);
err = dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
DC1394_ERR_RTN(err, "Could not dequeue a frame");
// Do something with the image
print_frame_info(frame);
// Save the image
sprintf(filename, "%05d.pgm",i);
imagefile = fopen(filename, "wb");
if ( imagefile == NULL ) {
printf("Could not save image\n");
continue;
}
fprintf(imagefile, "P5\n%u %u 255\n", frame->size[0], frame->size[1]);
fwrite(frame->image, 1, frame->image_bytes, imagefile);
fclose(imagefile);
printf("Saved image %s\n", filename);
err = dc1394_capture_enqueue(camera, frame);
DC1394_ERR_RTN(err, "Could enqueue a frame");
i++;
}
dc1394_camera_free(camera);
dc1394_free(d);
return 0;
}
// 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();
}
bool CvCaptureCAM_DC1394_v2_CPP::startCapture()
{
int i;
int code = 0;
if (!dcCam)
return false;
if (isoSpeed > 0)
{
// if capable set operation mode to 1394b for iso speeds above 400
if (isoSpeed > 400 && dcCam->bmode_capable == DC1394_TRUE)
{
dc1394_video_set_operation_mode(dcCam, DC1394_OPERATION_MODE_1394B);
}
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;
}
/** Set ISO speed.
*
* @param camera points to DC1394 camera struct
* @param[in,out] iso_speed Config parameter for this option,
* updated if the camera does not support the
* requested value
* @return true if ISO speed set successfully, false if not.
*
* @post IEEE1394b mode enabled if camera and bus support it.
*/
bool setIsoSpeed(dc1394camera_t *camera, int &iso_speed)
{
// Enable IEEE1394b mode if the camera and bus support it
bool bmode = camera->bmode_capable;
if (bmode
&& (DC1394_SUCCESS !=
dc1394_video_set_operation_mode(camera,
DC1394_OPERATION_MODE_1394B)))
{
bmode = false;
ROS_WARN("failed to set IEEE1394b mode");
}
// start with highest speed supported
dc1394speed_t request = DC1394_ISO_SPEED_3200;
int rate = 3200;
if (!bmode)
{
// not IEEE1394b capable: so 400Mb/s is the limit
request = DC1394_ISO_SPEED_400;
rate = 400;
}
// round requested speed down to next-lower defined value
while (rate > iso_speed)
{
if (request <= DC1394_ISO_SPEED_MIN)
{
// get current ISO speed of the device
dc1394speed_t curSpeed;
if (DC1394_SUCCESS == dc1394_video_get_iso_speed(camera, &curSpeed)
&& curSpeed <= DC1394_ISO_SPEED_MAX)
{
// Translate curSpeed back to an int for the parameter
// update, works as long as any new higher speeds keep
// doubling.
request = curSpeed;
rate = 100 << (curSpeed - DC1394_ISO_SPEED_MIN);
}
else
{
ROS_WARN("Unable to get ISO speed; assuming 400Mb/s");
rate = 400;
request = DC1394_ISO_SPEED_400;
}
break;
}
// continue with next-lower possible value
request = (dc1394speed_t) ((int) request - 1);
rate = rate / 2;
}
// update configured rate to match selected value
iso_speed = rate;
// set the requested speed
if (DC1394_SUCCESS != dc1394_video_set_iso_speed(camera, request))
{
ROS_WARN("Failed to set iso speed");
return false;
}
return true;
}