WebSVN – seema-scanner – Diff – /openmp/src/camera/CameraIIDC.cpp


#include "CameraIIDC.h"
#include <cstring>
 
vector<CameraInfo> CameraIIDC::getCameraList(){
    
    dc1394_t *context = dc1394_new();
    
    dc1394camera_list_t *camera_list;
    dc1394error_t err;
    err = dc1394_camera_enumerate(context, &camera_list);
    DC1394_WRN(err,"libdc1394: Failed to enumerate cameras!");
 
    vector<CameraInfo> ret;
    
    for (unsigned int i=0; i<camera_list->num; i++) {
        CameraInfo info;
        dc1394camera_t *cam;
        cam = dc1394_camera_new(context, camera_list->ids[i].guid);
 
        //info.vendor = std::string(cam->vendor ? cam->vendor : "");
        info.vendor = "IIDC";
        info.model = string(cam->model ? cam->model : "");
        info.busID = (unsigned int)cam->guid;
        
        dc1394_camera_free(cam);
        ret.push_back(info);
    }
    
    dc1394_camera_free_list(camera_list);
    dc1394_free(context);
    
    return ret;
}
 
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_MONO16);
    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;
}
    
 
unsigned int getSetting(dc1394camera_t *cam, dc1394feature_t setting){
    dc1394error_t err;
    unsigned int value;
    err = dc1394_feature_get_value(cam, setting, &value);
    if(err != DC1394_SUCCESS)
        cerr << "Could not get setting!" << endl;
 
    return value;
}
 
CameraSettings CameraIIDC::getCameraSettings(){
 
    // Get settings:
    CameraSettings settings;
    settings.gain = getSetting(cam, DC1394_FEATURE_GAIN);
    settings.shutter = getSetting(cam, DC1394_FEATURE_SHUTTER);
 
    return settings;
}
 
void setSetting(dc1394camera_t *cam, dc1394feature_t setting, float value){
    dc1394error_t err;
    float min, max;
    dc1394_feature_get_absolute_boundaries(cam, setting, &min, &max);
    if(value < min || value > max){
        std::cerr << "CameraIIDC: cannot set value. Out of permissable range." << std::endl;
    } else {
        err = dc1394_feature_set_absolute_control(cam, setting, DC1394_ON);
        if(err != DC1394_SUCCESS)
            cerr << "Could not enable absolute control!" << endl;
        err = dc1394_feature_set_absolute_value(cam, setting, value);
        if(err != DC1394_SUCCESS)
            cerr << "Could not set absolute value!" << endl;
    }
}
 
void CameraIIDC::setCameraSettings(CameraSettings settings){
 
    // Set settings:
    setSetting(cam, DC1394_FEATURE_GAIN, settings.gain);
    setSetting(cam, DC1394_FEATURE_SHUTTER, settings.shutter/1000.0); // [ms]
}
 
 
void CameraIIDC::startCapture(){
 
    dc1394error_t err;
 
    // Print camera information
    dc1394_camera_print_info(cam, stdout);
    fflush(stdout);
 
    if(triggerMode == triggerModeHardware){
 
        // Set hardware trigger
        err=dc1394_external_trigger_set_power(cam, DC1394_ON);
        if (err!=DC1394_SUCCESS)
            cerr << "libdc1394: Could not set external trigger on!";
 
        err=dc1394_external_trigger_set_source(cam, DC1394_TRIGGER_SOURCE_0);
        if (err!=DC1394_SUCCESS)
            cerr << "libdc1394: Could not set external trigger source!";
 
        err=dc1394_external_trigger_set_mode(cam, DC1394_TRIGGER_MODE_14);
        if (err!=DC1394_SUCCESS)
            cerr << "libdc1394: Could not set external trigger mode!";
 
        err=dc1394_external_trigger_set_polarity(cam, DC1394_TRIGGER_ACTIVE_HIGH);
        if (err!=DC1394_SUCCESS)
            cerr << "libdc1394: Could not set external trigger polarity!";
 
    } else if(triggerMode == triggerModeSoftware) {
 
        // Disable hardware trigger
        err=dc1394_external_trigger_set_power(cam, DC1394_OFF);
        if (err!=DC1394_SUCCESS)
            cerr << "libdc1394: Could not set external trigger off!";
 
    }
 
    // Begin transmission
	err = dc1394_video_set_transmission(cam, DC1394_ON);
	if (err!=DC1394_SUCCESS)
	{
		cerr << "ERROR: Could not begin transmission!" << endl;
	}    
 
    capturing = true;
}
 
void CameraIIDC::stopCapture(){
 
    dc1394error_t err;
 
    err = dc1394_video_set_transmission(cam, DC1394_OFF);
    err = dc1394_capture_stop(cam);
 
//    // Disable trigger
//    err=dc1394_external_trigger_set_power(cam, DC1394_OFF);
//    if (err!=DC1394_SUCCESS)
//        cerr << "libdc1394: Could not set external trigger on!";
 
    capturing = false;
}
 
CameraFrame CameraIIDC::getFrame(){
 
    CameraFrame frame;
 
    if (!capturing) {
        cerr << "ERROR: Not capturing on camera. Call startCapture() before lockFrame()." << endl;
        return frame;
    }
 
    dc1394error_t err;
    
    if(triggerMode == triggerModeSoftware){
 
        if (cam->one_shot_capable != DC1394_TRUE){
            cerr << "ERROR: Camera is not one_shot_capable." << endl;
            return frame;
        }
 
        dc1394error_t err;
 
        // Flush the ring buffer
        flushBuffer();
 
        // One-shot trigger
        err == dc1394_video_set_one_shot(cam, DC1394_ON);
 
    }
 
    // Get frame from ring buffer:
    err = dc1394_capture_dequeue(cam, DC1394_CAPTURE_POLICY_WAIT, &currentFrame);
    if (err!=DC1394_SUCCESS){
        cerr << "ERROR: Could not capture a frame." << endl;
        return frame;
    }
 
    // Return the frame to the ring buffer:
    dc1394_capture_enqueue(cam, currentFrame);
    currentFrame = NULL;
 
    // Copy frame address and properties
    frame.memory = (unsigned short*)currentFrame->image;
    frame.width = currentFrame->size[0];
    frame.height = currentFrame->size[1];
    frame.bitDepth = 16;
    frame.sizeBytes = currentFrame->image_bytes;
 
    return frame;
}
 
void CameraIIDC::flushBuffer(){
    // This function is courtesy of ofxVideoGrabber/Libdc1394Grabber
    bool bufferEmpty = false;
 
    while (!bufferEmpty){
        if(dc1394_capture_dequeue(cam, DC1394_CAPTURE_POLICY_POLL, &currentFrame) == DC1394_SUCCESS){
            if(currentFrame != NULL){
                dc1394_capture_enqueue(cam, currentFrame);
            } else {
                bufferEmpty = true;
            }
        } else {
            bufferEmpty = true;
        }
    }
}
 
 
size_t CameraIIDC::getFrameSizeBytes(){
    if (!capturing) {
        cerr << "ERROR: Cannot get frame size before capturing. Call startCapture() before getFrameSizeBytes()." << endl;
        return 0;
    }
 
//    dc1394video_frame_t *frame = NULL;
//    dc1394error_t err;
    
//	// Get frame from ring buffer:
//    err = dc1394_capture_dequeue(cam, DC1394_CAPTURE_POLICY_WAIT, &frame);
//    err = dc1394_capture_enqueue(cam, frame);
    
//    return frame->image_bytes;
    uint64_t total_bytes;
    dc1394_format7_get_total_bytes(cam, video_mode, &total_bytes);
 
    return total_bytes;
}
 
size_t CameraIIDC::getFrameWidth(){
    uint32_t _width, _height;
    dc1394_get_image_size_from_video_mode(cam, video_mode, &_width, &_height);
    return _width;
}
 
 
size_t CameraIIDC::getFrameHeight(){
    uint32_t _width, _height;
    dc1394_get_image_size_from_video_mode(cam, video_mode, &_width, &_height);
    return _height;
}
 
 
CameraIIDC::~CameraIIDC(){
    // Stop camera transmission
    if(capturing)
        stopCapture();
    else
        dc1394_capture_stop(cam);
 
    // Gracefulle destruct the camera
    dc1394_camera_free(cam);
    dc1394_free(context);
}
 
 
 
 

Rev 18	Rev 205
1	`#include "CameraIIDC.h"`	1	`#include "CameraIIDC.h"`
2	`#include <cstring>`	2	`#include <cstring>`
3		3
4	`vector<CameraInfo> CameraIIDC::getCameraList(){`	4	`vector<CameraInfo> CameraIIDC::getCameraList(){`
5		5
6	`dc1394_t *context = dc1394_new();`	6	`dc1394_t *context = dc1394_new();`
7		7
8	`dc1394camera_list_t *camera_list;`	8	`dc1394camera_list_t *camera_list;`
9	`dc1394error_t err;`	9	`dc1394error_t err;`
10	`err = dc1394_camera_enumerate(context, &camera_list);`	10	`err = dc1394_camera_enumerate(context, &camera_list);`
11	`DC1394_WRN(err,"libdc1394: Failed to enumerate cameras!");`	11	`DC1394_WRN(err,"libdc1394: Failed to enumerate cameras!");`
12		12
13	`vector<CameraInfo> ret;`	13	`vector<CameraInfo> ret;`
14		14
15	`for (unsigned int i=0; i<camera_list->num; i++) {`	15	`for (unsigned int i=0; i<camera_list->num; i++) {`
16	`CameraInfo info;`	16	`CameraInfo info;`
17	`dc1394camera_t *cam;`	17	`dc1394camera_t *cam;`
18	`cam = dc1394_camera_new(context, camera_list->ids[i].guid);`	18	`cam = dc1394_camera_new(context, camera_list->ids[i].guid);`
19		19
20	`//info.vendor = std::string(cam->vendor ? cam->vendor : "");`	20	`//info.vendor = std::string(cam->vendor ? cam->vendor : "");`
21	`info.vendor = "IIDC";`	21	`info.vendor = "IIDC";`
22	`info.model = string(cam->model ? cam->model : "");`	22	`info.model = string(cam->model ? cam->model : "");`
23	`info.busID = (unsigned int)cam->guid;`	23	`info.busID = (unsigned int)cam->guid;`
24		24
25	`dc1394_camera_free(cam);`	25	`dc1394_camera_free(cam);`
26	`ret.push_back(info);`	26	`ret.push_back(info);`
27	`}`	27	`}`
28		28
29	`dc1394_camera_free_list(camera_list);`	29	`dc1394_camera_free_list(camera_list);`
30	`dc1394_free(context);`	30	`dc1394_free(context);`
31		31
32	`return ret;`	32	`return ret;`
33	`}`	33	`}`
34		34
35	`CameraIIDC::CameraIIDC(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode) {`	35	`CameraIIDC::CameraIIDC(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode) {`
36		36
37	`context = dc1394_new();`	37	`context = dc1394_new();`
38		38
39	`dc1394camera_list_t *camera_list;`	39	`dc1394camera_list_t *camera_list;`
40	`dc1394error_t err;`	40	`dc1394error_t err;`
41	`err = dc1394_camera_enumerate(context, &camera_list);`	41	`err = dc1394_camera_enumerate(context, &camera_list);`
42		42
43	`if(camNum+1 > camera_list->num){`	43	`if(camNum+1 > camera_list->num){`
44	`cerr << "libdc1394: Selected camera is not available!";`	44	`cerr << "libdc1394: Selected camera is not available!";`
45	`return;`	45	`return;`
46	`}`	46	`}`
47		47
48	`cam = NULL;`	48	`cam = NULL;`
49		49
50	`cam = dc1394_camera_new(context, camera_list->ids[camNum].guid);`	50	`cam = dc1394_camera_new(context, camera_list->ids[camNum].guid);`
51	`if(!cam){`	51	`if(!cam){`
52	`cerr << "libdc1394: Could not open camera!";`	52	`cerr << "libdc1394: Could not open camera!";`
53	`return;`	53	`return;`
54	`}`	54	`}`
55		55
56	`dc1394_camera_free_list(camera_list);`	56	`dc1394_camera_free_list(camera_list);`
57		57
58	`// // Get video modes`	58	`// // Get video modes`
59	`// dc1394video_modes_t video_modes;`	59	`// dc1394video_modes_t video_modes;`
60	`// err=dc1394_video_get_supported_modes(cam, &video_modes);`	60	`// err=dc1394_video_get_supported_modes(cam, &video_modes);`
61	`// DC1394_WRN(err,"Can't get video modes");`	61	`// DC1394_WRN(err,"Can't get video modes");`
62	`// // Select highest res mode`	62	`// // Select highest res mode`
63	`// int i;`	63	`// int i;`
64	`// dc1394color_coding_t coding;`	64	`// dc1394color_coding_t coding;`
65	`// for (i=video_modes.num-1;i>=0;i--) {`	65	`// for (i=video_modes.num-1;i>=0;i--) {`
66	`// if (!dc1394_is_video_mode_scalable(video_modes.modes[i])) {`	66	`// if (!dc1394_is_video_mode_scalable(video_modes.modes[i])) {`
67	`// dc1394_get_color_coding_from_video_mode(cam, video_modes.modes[i], &coding);`	67	`// dc1394_get_color_coding_from_video_mode(cam, video_modes.modes[i], &coding);`
68	`// DC1394_WRN(err,"libdc1394: Could not get color coding");`	68	`// DC1394_WRN(err,"libdc1394: Could not get color coding");`
69	`// if (coding==DC1394_COLOR_CODING_MONO8) {`	69	`// if (coding==DC1394_COLOR_CODING_MONO8) {`
70	`// video_mode=video_modes.modes[i];`	70	`// video_mode=video_modes.modes[i];`
71	`// break;`	71	`// break;`
72	`// }`	72	`// }`
73	`// }`	73	`// }`
74	`// }`	74	`// }`
75	`// if (i < 0) {`	75	`// if (i < 0) {`
76	`// cerr << "libdc1394: Could not get a valid gray scale mode!";`	76	`// cerr << "libdc1394: Could not get a valid gray scale mode!";`
77	`// return;`	77	`// return;`
78	`// }`	78	`// }`
79		79
80	`// Select format 7 mode 0`	80	`// Select format 7 mode 0`
81	`video_mode = DC1394_VIDEO_MODE_FORMAT7_0;`	81	`video_mode = DC1394_VIDEO_MODE_FORMAT7_0;`
82		82
83	`// Set bit depth`	83	`// Set bit depth`
84	`err = dc1394_format7_set_color_coding(cam, video_mode, DC1394_COLOR_CODING_MONO16);`	84	`err = dc1394_format7_set_color_coding(cam, video_mode, DC1394_COLOR_CODING_MONO16);`
85	`if (err!=DC1394_SUCCESS)`	85	`if (err!=DC1394_SUCCESS)`
86	`cerr << "libdc1394: Could not set video mode or color coding!";`	86	`cerr << "libdc1394: Could not set video mode or color coding!";`
87		87
88	`// // Set video mode`	88	`// // Set video mode`
89	`// err=dc1394_video_set_mode(cam, video_mode);`	89	`// err=dc1394_video_set_mode(cam, video_mode);`
90	`// if (err!=DC1394_SUCCESS)`	90	`// if (err!=DC1394_SUCCESS)`
91	`// cerr << "libdc1394: Could not set video mode!";`	91	`// cerr << "libdc1394: Could not set video mode!";`
92		92
93	`// Setup capture`	93	`// Setup capture`
94	`err=dc1394_video_set_operation_mode(cam, DC1394_OPERATION_MODE_1394B);`	94	`err=dc1394_video_set_operation_mode(cam, DC1394_OPERATION_MODE_1394B);`
95	`if (err!=DC1394_SUCCESS)`	95	`if (err!=DC1394_SUCCESS)`
96	`cerr << "libdc1394: Could not set operation mode!";`	96	`cerr << "libdc1394: Could not set operation mode!";`
97		97
98	`err=dc1394_video_set_iso_speed(cam, DC1394_ISO_SPEED_800);`	98	`err=dc1394_video_set_iso_speed(cam, DC1394_ISO_SPEED_800);`
99	`if (err!=DC1394_SUCCESS)`	99	`if (err!=DC1394_SUCCESS)`
100	`cerr << "libdc1394: Could not set iso speed!";`	100	`cerr << "libdc1394: Could not set iso speed!";`
101		101
102	`// Size of ringbuffer (Note: on OS X 10.9, size must be greater than 1)`	102	`// Size of ringbuffer (Note: on OS X 10.9, size must be greater than 1)`
103	`#ifdef __APPLE__`	103	`#ifdef __APPLE__`
104	`unsigned int bufferSize = 2;`	104	`unsigned int bufferSize = 2;`
105	`#else`	105	`#else`
106	`unsigned int bufferSize = 1;`	106	`unsigned int bufferSize = 1;`
107	`#endif`	107	`#endif`
108		108
109	`err=dc1394_capture_setup(cam, bufferSize, DC1394_CAPTURE_FLAGS_DEFAULT);`	109	`err=dc1394_capture_setup(cam, bufferSize, DC1394_CAPTURE_FLAGS_DEFAULT);`
110	`if (err!=DC1394_SUCCESS)`	110	`if (err!=DC1394_SUCCESS)`
111	`cerr << "libdc1394: Could not set up camera!";`	111	`cerr << "libdc1394: Could not set up camera!";`
112		112
113	`// Disable auto exposure mode`	113	`// Disable auto exposure mode`
114	`dc1394_feature_set_power(cam, DC1394_FEATURE_EXPOSURE, DC1394_OFF);`	114	`dc1394_feature_set_power(cam, DC1394_FEATURE_EXPOSURE, DC1394_OFF);`
115		115
116	`// Disable gamma mode`	116	`// Disable gamma mode`
117	`dc1394_feature_set_power(cam, DC1394_FEATURE_GAMMA, DC1394_OFF);`	117	`dc1394_feature_set_power(cam, DC1394_FEATURE_GAMMA, DC1394_OFF);`
118		118
119	`// Disable sharpness mode`	119	`// Disable sharpness mode`
120	`dc1394_feature_set_power(cam, DC1394_FEATURE_SHARPNESS, DC1394_OFF);`	120	`dc1394_feature_set_power(cam, DC1394_FEATURE_SHARPNESS, DC1394_OFF);`
121		121
122	`// Disable frame-rate mode`	122	`// Disable frame-rate mode`
123	`dc1394_feature_set_power(cam, DC1394_FEATURE_FRAME_RATE, DC1394_OFF);`	123	`dc1394_feature_set_power(cam, DC1394_FEATURE_FRAME_RATE, DC1394_OFF);`
124		124
125	`// Set manual settings`	125	`// Set manual settings`
126	`dc1394_feature_set_mode(cam, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);`	126	`dc1394_feature_set_mode(cam, DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);`
127	`dc1394_feature_set_mode(cam, DC1394_FEATURE_GAIN, DC1394_FEATURE_MODE_MANUAL);`	127	`dc1394_feature_set_mode(cam, DC1394_FEATURE_GAIN, DC1394_FEATURE_MODE_MANUAL);`
128		128
129		129
130	`// Set reasonable default settings`	130	`// Set reasonable default settings`
131	`CameraSettings settings;`	131	`CameraSettings settings;`
132	`//settings.shutter = 8.333;`	132	`//settings.shutter = 8.333;`
133	`settings.shutter = 16.66;`	133	`settings.shutter = 16.66;`
134	`settings.gain = 0.0;`	134	`settings.gain = 0.0;`
135	`this->setCameraSettings(settings);`	135	`this->setCameraSettings(settings);`
136		136
137	`// Print camera features and settings`	137	`// Print camera features and settings`
138	`dc1394featureset_t features;`	138	`dc1394featureset_t features;`
139	`err=dc1394_feature_get_all(cam, &features);`	139	`err=dc1394_feature_get_all(cam, &features);`
140	`DC1394_WRN(err, "libdc1394: Could not get feature set.");`	140	`DC1394_WRN(err, "libdc1394: Could not get feature set.");`
141	`dc1394_feature_print_all(&features, stdout);`	141	`dc1394_feature_print_all(&features, stdout);`
142	`fflush(stdout);`	142	`fflush(stdout);`
143		143
144	`return;`	144	`return;`
145	`}`	145	`}`
146		146
147		147
148	`unsigned int getSetting(dc1394camera_t *cam, dc1394feature_t setting){`	148	`unsigned int getSetting(dc1394camera_t *cam, dc1394feature_t setting){`
149	`dc1394error_t err;`	149	`dc1394error_t err;`
150	`unsigned int value;`	150	`unsigned int value;`
151	`err = dc1394_feature_get_value(cam, setting, &value);`	151	`err = dc1394_feature_get_value(cam, setting, &value);`
152	`if(err != DC1394_SUCCESS)`	152	`if(err != DC1394_SUCCESS)`
153	`cerr << "Could not get setting!" << endl;`	153	`cerr << "Could not get setting!" << endl;`
154		154
155	`return value;`	155	`return value;`
156	`}`	156	`}`
157		157
158	`CameraSettings CameraIIDC::getCameraSettings(){`	158	`CameraSettings CameraIIDC::getCameraSettings(){`
159		159
160	`// Get settings:`	160	`// Get settings:`
161	`CameraSettings settings;`	161	`CameraSettings settings;`
162	`settings.gain = getSetting(cam, DC1394_FEATURE_GAIN);`	162	`settings.gain = getSetting(cam, DC1394_FEATURE_GAIN);`
163	`settings.shutter = getSetting(cam, DC1394_FEATURE_SHUTTER);`	163	`settings.shutter = getSetting(cam, DC1394_FEATURE_SHUTTER);`
164		164
165	`return settings;`	165	`return settings;`
166	`}`	166	`}`
167		167
168	`void setSetting(dc1394camera_t *cam, dc1394feature_t setting, float value){`	168	`void setSetting(dc1394camera_t *cam, dc1394feature_t setting, float value){`
169	`dc1394error_t err;`	169	`dc1394error_t err;`
170	`float min, max;`	170	`float min, max;`
171	`dc1394_feature_get_absolute_boundaries(cam, setting, &min, &max);`	171	`dc1394_feature_get_absolute_boundaries(cam, setting, &min, &max);`
172	`if(value < min \|\| value > max){`	172	`if(value < min \|\| value > max){`
173	`std::cerr << "CameraIIDC: cannot set value. Out of permissable range." << std::endl;`	173	`std::cerr << "CameraIIDC: cannot set value. Out of permissable range." << std::endl;`
174	`} else {`	174	`} else {`
175	`err = dc1394_feature_set_absolute_control(cam, setting, DC1394_ON);`	175	`err = dc1394_feature_set_absolute_control(cam, setting, DC1394_ON);`
176	`if(err != DC1394_SUCCESS)`	176	`if(err != DC1394_SUCCESS)`
177	`cerr << "Could not enable absolute control!" << endl;`	177	`cerr << "Could not enable absolute control!" << endl;`
178	`err = dc1394_feature_set_absolute_value(cam, setting, value);`	178	`err = dc1394_feature_set_absolute_value(cam, setting, value);`
179	`if(err != DC1394_SUCCESS)`	179	`if(err != DC1394_SUCCESS)`
180	`cerr << "Could not set absolute value!" << endl;`	180	`cerr << "Could not set absolute value!" << endl;`
181	`}`	181	`}`
182	`}`	182	`}`
183		183
184	`void CameraIIDC::setCameraSettings(CameraSettings settings){`	184	`void CameraIIDC::setCameraSettings(CameraSettings settings){`
185		185
186	`// Set settings:`	186	`// Set settings:`
187	`setSetting(cam, DC1394_FEATURE_GAIN, settings.gain);`	187	`setSetting(cam, DC1394_FEATURE_GAIN, settings.gain);`
188	`setSetting(cam, DC1394_FEATURE_SHUTTER, settings.shutter/1000.0); // [ms]`	188	`setSetting(cam, DC1394_FEATURE_SHUTTER, settings.shutter/1000.0); // [ms]`
189	`}`	189	`}`
190		190
191		191
192	`void CameraIIDC::startCapture(){`	192	`void CameraIIDC::startCapture(){`
193		193
194	`dc1394error_t err;`	194	`dc1394error_t err;`
195		195
196	`// Print camera information`	196	`// Print camera information`
197	`dc1394_camera_print_info(cam, stdout);`	197	`dc1394_camera_print_info(cam, stdout);`
198	`fflush(stdout);`	198	`fflush(stdout);`
199		199
200	`if(triggerMode == triggerModeHardware){`	200	`if(triggerMode == triggerModeHardware){`
201		201
202	`// Set hardware trigger`	202	`// Set hardware trigger`
203	`err=dc1394_external_trigger_set_power(cam, DC1394_ON);`	203	`err=dc1394_external_trigger_set_power(cam, DC1394_ON);`
204	`if (err!=DC1394_SUCCESS)`	204	`if (err!=DC1394_SUCCESS)`
205	`cerr << "libdc1394: Could not set external trigger on!";`	205	`cerr << "libdc1394: Could not set external trigger on!";`
206		206
207	`err=dc1394_external_trigger_set_source(cam, DC1394_TRIGGER_SOURCE_0);`	207	`err=dc1394_external_trigger_set_source(cam, DC1394_TRIGGER_SOURCE_0);`
208	`if (err!=DC1394_SUCCESS)`	208	`if (err!=DC1394_SUCCESS)`
209	`cerr << "libdc1394: Could not set external trigger source!";`	209	`cerr << "libdc1394: Could not set external trigger source!";`
210		210
211	`err=dc1394_external_trigger_set_mode(cam, DC1394_TRIGGER_MODE_14);`	211	`err=dc1394_external_trigger_set_mode(cam, DC1394_TRIGGER_MODE_14);`
212	`if (err!=DC1394_SUCCESS)`	212	`if (err!=DC1394_SUCCESS)`
213	`cerr << "libdc1394: Could not set external trigger mode!";`	213	`cerr << "libdc1394: Could not set external trigger mode!";`
214		214
215	`err=dc1394_external_trigger_set_polarity(cam, DC1394_TRIGGER_ACTIVE_HIGH);`	215	`err=dc1394_external_trigger_set_polarity(cam, DC1394_TRIGGER_ACTIVE_HIGH);`
216	`if (err!=DC1394_SUCCESS)`	216	`if (err!=DC1394_SUCCESS)`
217	`cerr << "libdc1394: Could not set external trigger polarity!";`	217	`cerr << "libdc1394: Could not set external trigger polarity!";`
218		218
219	`} else if(triggerMode == triggerModeSoftware) {`	219	`} else if(triggerMode == triggerModeSoftware) {`
220		220
221	`// Disable hardware trigger`	221	`// Disable hardware trigger`
222	`err=dc1394_external_trigger_set_power(cam, DC1394_OFF);`	222	`err=dc1394_external_trigger_set_power(cam, DC1394_OFF);`
223	`if (err!=DC1394_SUCCESS)`	223	`if (err!=DC1394_SUCCESS)`
224	`cerr << "libdc1394: Could not set external trigger off!";`	224	`cerr << "libdc1394: Could not set external trigger off!";`
225		225
226	`}`	226	`}`
227		227
228	`// Begin transmission`	228	`// Begin transmission`
229	`err = dc1394_video_set_transmission(cam, DC1394_ON);`	229	`err = dc1394_video_set_transmission(cam, DC1394_ON);`
230	`if (err!=DC1394_SUCCESS)`	230	`if (err!=DC1394_SUCCESS)`
231	`{`	231	`{`
232	`cerr << "ERROR: Could not begin transmission!" << endl;`	232	`cerr << "ERROR: Could not begin transmission!" << endl;`
233	`}`	233	`}`
234		234
235	`capturing = true;`	235	`capturing = true;`
236	`}`	236	`}`
237		237
238	`void CameraIIDC::stopCapture(){`	238	`void CameraIIDC::stopCapture(){`
239		239
240	`dc1394error_t err;`	240	`dc1394error_t err;`
241		241
242	`err = dc1394_video_set_transmission(cam, DC1394_OFF);`	242	`err = dc1394_video_set_transmission(cam, DC1394_OFF);`
243	`err = dc1394_capture_stop(cam);`	243	`err = dc1394_capture_stop(cam);`
244		244
245	`// // Disable trigger`	245	`// // Disable trigger`
246	`// err=dc1394_external_trigger_set_power(cam, DC1394_OFF);`	246	`// err=dc1394_external_trigger_set_power(cam, DC1394_OFF);`
247	`// if (err!=DC1394_SUCCESS)`	247	`// if (err!=DC1394_SUCCESS)`
248	`// cerr << "libdc1394: Could not set external trigger on!";`	248	`// cerr << "libdc1394: Could not set external trigger on!";`
249		249
250	`capturing = false;`	250	`capturing = false;`
251	`}`	251	`}`
252		252
253	`CameraFrame CameraIIDC::getFrame(){`	253	`CameraFrame CameraIIDC::getFrame(){`
254		254
255	`CameraFrame frame;`	255	`CameraFrame frame;`
256		256
257	`if (!capturing) {`	257	`if (!capturing) {`
258	`cerr << "ERROR: Not capturing on camera. Call startCapture() before lockFrame()." << endl;`	258	`cerr << "ERROR: Not capturing on camera. Call startCapture() before lockFrame()." << endl;`
259	`return frame;`	259	`return frame;`
260	`}`	260	`}`
261		261
262	`dc1394error_t err;`	262	`dc1394error_t err;`
263		263
264	`if(triggerMode == triggerModeSoftware){`	264	`if(triggerMode == triggerModeSoftware){`
265		265
266	`if (cam->one_shot_capable != DC1394_TRUE){`	266	`if (cam->one_shot_capable != DC1394_TRUE){`
267	`cerr << "ERROR: Camera is not one_shot_capable." << endl;`	267	`cerr << "ERROR: Camera is not one_shot_capable." << endl;`
268	`return frame;`	268	`return frame;`
269	`}`	269	`}`
270		270
271	`dc1394error_t err;`	271	`dc1394error_t err;`
272		272
273	`// Flush the ring buffer`	273	`// Flush the ring buffer`
274	`flushBuffer();`	274	`flushBuffer();`
275		275
276	`// One-shot trigger`	276	`// One-shot trigger`
277	`err == dc1394_video_set_one_shot(cam, DC1394_ON);`	277	`err == dc1394_video_set_one_shot(cam, DC1394_ON);`
278		278
279	`}`	279	`}`
280		280
281	`// Get frame from ring buffer:`	281	`// Get frame from ring buffer:`
282	`err = dc1394_capture_dequeue(cam, DC1394_CAPTURE_POLICY_WAIT, &currentFrame);`	282	`err = dc1394_capture_dequeue(cam, DC1394_CAPTURE_POLICY_WAIT, &currentFrame);`
283	`if (err!=DC1394_SUCCESS){`	283	`if (err!=DC1394_SUCCESS){`
284	`cerr << "ERROR: Could not capture a frame." << endl;`	284	`cerr << "ERROR: Could not capture a frame." << endl;`
285	`return frame;`	285	`return frame;`
286	`}`	286	`}`
287		287
288	`// Return the frame to the ring buffer:`	288	`// Return the frame to the ring buffer:`
289	`dc1394_capture_enqueue(cam, currentFrame);`	289	`dc1394_capture_enqueue(cam, currentFrame);`
290	`currentFrame = NULL;`	290	`currentFrame = NULL;`
291		291
292	`// Copy frame address and properties`	292	`// Copy frame address and properties`
293	`frame.memory = (unsigned short*)currentFrame->image;`	293	`frame.memory = (unsigned short*)currentFrame->image;`
294	`frame.width = currentFrame->size[0];`	294	`frame.width = currentFrame->size[0];`
295	`frame.height = currentFrame->size[1];`	295	`frame.height = currentFrame->size[1];`
296	`frame.bitDepth = 16;`	296	`frame.bitDepth = 16;`
297	`frame.sizeBytes = currentFrame->image_bytes;`	297	`frame.sizeBytes = currentFrame->image_bytes;`
298		298
299	`return frame;`	299	`return frame;`
300	`}`	300	`}`
301		301
302	`void CameraIIDC::flushBuffer(){`	302	`void CameraIIDC::flushBuffer(){`
303	`// This function is courtesy of ofxVideoGrabber/Libdc1394Grabber`	303	`// This function is courtesy of ofxVideoGrabber/Libdc1394Grabber`
304	`bool bufferEmpty = false;`	304	`bool bufferEmpty = false;`
305		305
306	`while (!bufferEmpty){`	306	`while (!bufferEmpty){`
307	`if(dc1394_capture_dequeue(cam, DC1394_CAPTURE_POLICY_POLL, &currentFrame) == DC1394_SUCCESS){`	307	`if(dc1394_capture_dequeue(cam, DC1394_CAPTURE_POLICY_POLL, &currentFrame) == DC1394_SUCCESS){`
308	`if(currentFrame != NULL){`	308	`if(currentFrame != NULL){`
309	`dc1394_capture_enqueue(cam, currentFrame);`	309	`dc1394_capture_enqueue(cam, currentFrame);`
310	`} else {`	310	`} else {`
311	`bufferEmpty = true;`	311	`bufferEmpty = true;`
312	`}`	312	`}`
313	`} else {`	313	`} else {`
314	`bufferEmpty = true;`	314	`bufferEmpty = true;`
315	`}`	315	`}`
316	`}`	316	`}`
317	`}`	317	`}`
318		318
319		319
320	`size_t CameraIIDC::getFrameSizeBytes(){`	320	`size_t CameraIIDC::getFrameSizeBytes(){`
321	`if (!capturing) {`	321	`if (!capturing) {`
322	`cerr << "ERROR: Cannot get frame size before capturing. Call startCapture() before getFrameSizeBytes()." << endl;`	322	`cerr << "ERROR: Cannot get frame size before capturing. Call startCapture() before getFrameSizeBytes()." << endl;`
323	`return 0;`	323	`return 0;`
324	`}`	324	`}`
325		325
326	`// dc1394video_frame_t *frame = NULL;`	326	`// dc1394video_frame_t *frame = NULL;`
327	`// dc1394error_t err;`	327	`// dc1394error_t err;`
328		328
329	`// // Get frame from ring buffer:`	329	`// // Get frame from ring buffer:`
330	`// err = dc1394_capture_dequeue(cam, DC1394_CAPTURE_POLICY_WAIT, &frame);`	330	`// err = dc1394_capture_dequeue(cam, DC1394_CAPTURE_POLICY_WAIT, &frame);`
331	`// err = dc1394_capture_enqueue(cam, frame);`	331	`// err = dc1394_capture_enqueue(cam, frame);`
332		332
333	`// return frame->image_bytes;`	333	`// return frame->image_bytes;`
334	`uint64_t total_bytes;`	334	`uint64_t total_bytes;`
335	`dc1394_format7_get_total_bytes(cam, video_mode, &total_bytes);`	335	`dc1394_format7_get_total_bytes(cam, video_mode, &total_bytes);`
336		336
337	`return total_bytes;`	337	`return total_bytes;`
338	`}`	338	`}`
339		339
340	`size_t CameraIIDC::getFrameWidth(){`	340	`size_t CameraIIDC::getFrameWidth(){`
341	`uint32_t _width, _height;`	341	`uint32_t _width, _height;`
342	`dc1394_get_image_size_from_video_mode(cam, video_mode, &_width, &_height);`	342	`dc1394_get_image_size_from_video_mode(cam, video_mode, &_width, &_height);`
343	`return _width;`	343	`return _width;`
344	`}`	344	`}`
345		345
346		346
347	`size_t CameraIIDC::getFrameHeight(){`	347	`size_t CameraIIDC::getFrameHeight(){`
348	`uint32_t _width, _height;`	348	`uint32_t _width, _height;`
349	`dc1394_get_image_size_from_video_mode(cam, video_mode, &_width, &_height);`	349	`dc1394_get_image_size_from_video_mode(cam, video_mode, &_width, &_height);`
350	`return _height;`	350	`return _height;`
351	`}`	351	`}`
352		352
353		353
354	`CameraIIDC::~CameraIIDC(){`	354	`CameraIIDC::~CameraIIDC(){`
355	`// Stop camera transmission`	355	`// Stop camera transmission`
356	`if(capturing)`	356	`if(capturing)`
357	`stopCapture();`	357	`stopCapture();`
358	`else`	358	`else`
359	`dc1394_capture_stop(cam);`	359	`dc1394_capture_stop(cam);`
360		360
361	`// Gracefulle destruct the camera`	361	`// Gracefulle destruct the camera`
362	`dc1394_camera_free(cam);`	362	`dc1394_camera_free(cam);`
363	`dc1394_free(context);`	363	`dc1394_free(context);`
364	`}`	364	`}`
365		365
366		366
367		367
368		368

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(root)/openmp/src/camera/CameraIIDC.cpp @ 209 – Rev 18 → 205