+++ /dev/null
-/* This is the contributed code:
-Firewire and video4linux camera support for highgui
-
-2003-03-12 Magnus Lundin
-lundin@mlu.mine.nu
-
-THIS EXEPERIMENTAL CODE
-Tested on 2.4.19 with 1394, video1394, v4l, dc1394 and raw1394 support
-
-This set of files adds support for firevre and usb cameras.
-First it tries to install a firewire camera,
-if that fails it tries a v4l/USB camera
-
-It has been tested with the motempl sample program
-
-INSTALLATION
-Install OpenCV
-Install v4l
-Install dc1394 raw1394 - coriander should work with your camera
- Backup highgui folder
- Copy new files
- cd into highgui folder
- make clean (cvcap.cpp must be rebuilt)
- make
- make install
-
-
-The build is controlled by the following entries in the highgui Makefile:
-
-libhighgui_la_LIBADD = -L/usr/X11R6/lib -lXm -lMrm -lUil -lpng -ljpeg -lz -ltiff -lavcodec -lraw1394 -ldc1394_control
-DEFS = -DHAVE_CONFIG_H -DHAVE_DC1394 HAVE_CAMV4L
-
-
-Now it should be possible to use highgui camera functions, works for me.
-
-
-THINGS TO DO
-Better ways to select 1394 or v4l camera
-Better support for videosize
-Format7
-
-Comments and changes welcome
-/Magnus
-
-2005-10-19 Roman Stanchak
-rstanchak@yahoo.com
-
-Support added for setting MODE and other DC1394 properties. Also added CONVERT_RGB flag
-which indicates whether or not color conversion is performed in cvRetrieveFrame. The default
-for CONVERT_RGB=1 for backward compatibility.
-
-Tested with 2.6.12 with libdc1394-1.0.0, libraw1394-0.10.1 using a Point Grey Flea
-
-*/
-
-
-/*M///////////////////////////////////////////////////////////////////////////////////////
-//
-// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
-//
-// By downloading, copying, installing or using the software you agree to this license.
-// If you do not agree to this license, do not download, install,
-// copy or use the software.
-//
-//
-// Intel License Agreement
-// For Open Source Computer Vision Library
-//
-// Copyright (C) 2000, Intel Corporation, all rights reserved.
-// Third party copyrights are property of their respective owners.
-//
-// Redistribution and use in source and binary forms, with or without modification,
-// are permitted provided that the following conditions are met:
-//
-// * Redistribution's of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// * Redistribution's in binary form must reproduce the above copyright notice,
-// this list of conditions and the following disclaimer in the documentation
-// and/or other materials provided with the distribution.
-//
-// * The name of Intel Corporation may not be used to endorse or promote products
-// derived from this software without specific prior written permission.
-//
-// This software is provided by the copyright holders and contributors "as is" and
-// any express or implied warranties, including, but not limited to, the implied
-// warranties of merchantability and fitness for a particular purpose are disclaimed.
-// In no event shall the Intel Corporation or contributors be liable for any direct,
-// indirect, incidental, special, exemplary, or consequential damages
-// (including, but not limited to, procurement of substitute goods or services;
-// loss of use, data, or profits; or business interruption) however caused
-// and on any theory of liability, whether in contract, strict liability,
-// or tort (including negligence or otherwise) arising in any way out of
-// the use of this software, even if advised of the possibility of such damage.
-//
-//M*/
-
-#include "_highgui.h"
-
-#if !defined WIN32 && defined HAVE_DC1394
-
-#include <unistd.h>
-#include <stdint.h>
-#include <libraw1394/raw1394.h>
-#include <libdc1394/dc1394_control.h>
-
-#ifdef NDEBUG
-#define CV_WARN(message)
-#else
-#define CV_WARN(message) fprintf(stderr, "warning: %s (%s:%d)\n", message, __FILE__, __LINE__)
-#endif
-
-#define CV_DC1394_CALL(expr) \
-if((expr)<0){ \
- OPENCV_ERROR(CV_StsInternal, "", "libdc1394 function call returned < 0"); \
-}
-
-#define DELAY 50000
-
-// bpp for 16-bits cameras... this value works for PtGrey DragonFly...
-#define MONO16_BPP 8
-
-/* should be in pixelformat */
-static void uyv2bgr(const unsigned char *src, unsigned char *dest, unsigned long long int NumPixels);
-static void uyvy2bgr(const unsigned char *src, unsigned char *dest, unsigned long long int NumPixels);
-static void uyyvyy2bgr(const unsigned char *src, unsigned char *dest, unsigned long long int NumPixels);
-static void y2bgr(const unsigned char *src, unsigned char *dest, unsigned long long int NumPixels);
-static void y162bgr(const unsigned char *src, unsigned char *dest, unsigned long long int NumPixels, int bits);
-static void rgb482bgr(const unsigned char *src8, unsigned char *dest, unsigned long long int NumPixels, int bits);
-
-static char * videodev[4]={
- "/dev/video1394/0",
- "/dev/video1394/1",
- "/dev/video1394/2",
- "/dev/video1394/3"
-};
-
-typedef struct CvCaptureCAM_DC1394
-{
- raw1394handle_t handle;
- nodeid_t camera_node;
- dc1394_cameracapture* camera;
- int format;
- int mode;
- int color_mode;
- int frame_rate;
- char * device_name;
- IplImage frame;
- int convert;
- int buffer_is_writeable; // indicates whether frame.imageData is allocated by OpenCV or DC1394
-}
-CvCaptureCAM_DC1394;
-
-static void icvCloseCAM_DC1394( CvCaptureCAM_DC1394* capture );
-
-static int icvGrabFrameCAM_DC1394( CvCaptureCAM_DC1394* capture );
-static IplImage* icvRetrieveFrameCAM_DC1394( CvCaptureCAM_DC1394* capture );
-
-static double icvGetPropertyCAM_DC1394( CvCaptureCAM_DC1394* capture, int property_id );
-static int icvSetPropertyCAM_DC1394( CvCaptureCAM_DC1394* capture, int property_id, double value );
-
-// utility functions
-static int icvFormatSupportedCAM_DC1394(int format, quadlet_t formats);
-static int icvModeSupportedCAM_DC1394(int format, int mode, quadlet_t modes);
-static int icvColorMode( int mode );
-static unsigned int icvGetBestFrameRate( CvCaptureCAM_DC1394 * capture, int format, int mode);
-static int icvResizeFrame(CvCaptureCAM_DC1394 * capture);
-
-/*********************** Implementations ***************************************/
-#define MAX_PORTS 3
-#define MAX_CAMERAS 8
-#define NUM_BUFFERS 8
-struct raw1394_portinfo ports[MAX_PORTS];
-static raw1394handle_t handles[MAX_PORTS];
-static int camCount[MAX_PORTS];
-static int numPorts = -1;
-static int numCameras = 0;
-static nodeid_t *camera_nodes;
-struct camnode {dc1394_cameracapture cam;int portnum;} cameras[MAX_CAMERAS];
-
-static const int preferred_modes[]
-= {
- // uncomment the following line to test a particular mode:
- //FORMAT_VGA_NONCOMPRESSED, MODE_640x480_MONO16, 0,
- FORMAT_SVGA_NONCOMPRESSED_2,
- MODE_1600x1200_RGB, MODE_1600x1200_YUV422, MODE_1280x960_RGB, MODE_1280x960_YUV422,
- MODE_1600x1200_MONO, MODE_1280x960_MONO, MODE_1600x1200_MONO16, MODE_1280x960_MONO16,
- FORMAT_SVGA_NONCOMPRESSED_1,
- MODE_1024x768_RGB, MODE_1024x768_YUV422, MODE_800x600_RGB, MODE_800x600_YUV422,
- MODE_1024x768_MONO, MODE_800x600_MONO, MODE_1024x768_MONO16, MODE_800x600_MONO16,
- FORMAT_VGA_NONCOMPRESSED,
- MODE_640x480_RGB, MODE_640x480_YUV422, MODE_640x480_YUV411, MODE_320x240_YUV422,
- MODE_160x120_YUV444, MODE_640x480_MONO, MODE_640x480_MONO16,
- FORMAT_SCALABLE_IMAGE_SIZE,
- MODE_FORMAT7_0, MODE_FORMAT7_1, MODE_FORMAT7_2, MODE_FORMAT7_3,
- MODE_FORMAT7_4, MODE_FORMAT7_5, MODE_FORMAT7_6, MODE_FORMAT7_7,
- 0
-};
-
-void icvInitCapture_DC1394(){
- int p;
-
- raw1394handle_t raw_handle = raw1394_new_handle();
- if( raw_handle == 0 ) {
- numPorts = 0;
- return;
- }
- numPorts = raw1394_get_port_info(raw_handle, ports, MAX_PORTS);
- raw1394_destroy_handle(raw_handle);
- for (p = 0; p < numPorts; p++) {
- handles[p] = dc1394_create_handle(p);
- if (handles[p]==NULL) { numPorts=-1; return; /*ERROR_CLEANUP_EXIT*/ }
-
- /* get the camera nodes and describe them as we find them */
- camera_nodes = dc1394_get_camera_nodes(handles[p], &camCount[p], 0);
- for (int i=0;i<camCount[p];i++) {
- cameras[numCameras].cam.node = camera_nodes[i];
- cameras[numCameras].portnum = p;
- dc1394_stop_iso_transmission(handles[p], camera_nodes[i]);
- numCameras++;
- }
- }
-};
-
-static CvCaptureCAM_DC1394 * icvCaptureFromCAM_DC1394 (int index)
-{
- quadlet_t modes[8], formats;
- int i;
-
- if (numPorts<0) icvInitCapture_DC1394();
- if (numPorts==0)
- return 0; /* No i1394 ports found */
- if (numCameras<1)
- return 0;
- if (index>=numCameras)
- return 0;
- if (index<0)
- return 0;
-
- CvCaptureCAM_DC1394 * pcap = (CvCaptureCAM_DC1394*)cvAlloc(sizeof(*pcap));
-
- /* Select a port and camera */
- pcap->device_name = videodev[cameras[index].portnum];
- pcap->handle = handles[cameras[index].portnum];
- pcap->camera = &cameras[index].cam;
-
- // get supported formats
- if (dc1394_query_supported_formats(pcap->handle, pcap->camera->node, &formats)<0) {
- fprintf(stderr,"%s:%d: Could not query supported formats\n",__FILE__,__LINE__);
- formats=0x0;
- }
- for (i=0; i < NUM_FORMATS; i++) {
- modes[i]=0;
- if (icvFormatSupportedCAM_DC1394(i+FORMAT_MIN, formats)){
- if (dc1394_query_supported_modes(pcap->handle, pcap->camera->node, i+FORMAT_MIN, &modes[i])<0) {
- fprintf(stderr,"%s:%d: Could not query Format%d modes\n",__FILE__,__LINE__,i);
- }
- }
- }
-
- pcap->format = 0;
- pcap->mode = 0;
- pcap->color_mode = 0;
- pcap->frame_rate = 0;
-
- int format_idx = -1;
-
- // scan the list of preferred modes, and find a supported one
- for(i=0; (pcap->mode == 0) && (preferred_modes[i] != 0); i++) {
- if((preferred_modes[i] >= FORMAT_MIN) && (preferred_modes[i] <= FORMAT_MAX)) {
- pcap->format = preferred_modes[i];
- format_idx = preferred_modes[i] - FORMAT_MIN;
- continue;
- }
- assert(format_idx != -1);
- if ( ! icvFormatSupportedCAM_DC1394(pcap->format, formats) )
- continue;
- if ( icvModeSupportedCAM_DC1394(pcap->format, preferred_modes[i], modes[format_idx]) ){
- pcap->mode = preferred_modes[i];
- }
- }
- if (pcap->mode == 0) {
- fprintf(stderr,"%s:%d: Could not find a supported mode for this camera\n",__FILE__,__LINE__);
- goto ERROR;
- }
-
- pcap->color_mode = icvColorMode( pcap->mode );
- if( pcap->color_mode == -1){
- fprintf(stderr,"%s:%d: ERROR: BPP is Unsupported!!\n",__FILE__,__LINE__);
- goto ERROR;
- }
-
- // set frame rate to optimal value given format and mode
- pcap->frame_rate = icvGetBestFrameRate(pcap, pcap->format, pcap->mode);
-
- if (pcap->format!=FORMAT_SCALABLE_IMAGE_SIZE) { // everything except Format 7
- if (dc1394_dma_setup_capture(pcap->handle, pcap->camera->node, index+1 /*channel*/,
- pcap->format, pcap->mode, SPEED_400,
- pcap->frame_rate, NUM_BUFFERS,
-#ifdef HAVE_DC1394_095
- 0 /*do_extra_buffering*/,
-#endif
- 1 /*DROP_FRAMES*/,
- pcap->device_name, pcap->camera) != DC1394_SUCCESS) {
- fprintf(stderr,"%s:%d: Failed to setup DMA capture with VIDEO1394\n",__FILE__,__LINE__);
- goto ERROR;
- }
- }
- else {
- if(dc1394_dma_setup_format7_capture(pcap->handle,pcap->camera->node,index+1 /*channel*/,
- pcap->mode, SPEED_400, QUERY_FROM_CAMERA,
- (unsigned int)QUERY_FROM_CAMERA, (unsigned int)QUERY_FROM_CAMERA,
- (unsigned int)QUERY_FROM_CAMERA, (unsigned int)QUERY_FROM_CAMERA,
- NUM_BUFFERS,
-#ifdef HAVE_DC1394_095
- 0 /*do_extra_buffering*/,
-#endif
- 1 /*DROP_FRAMES*/,
- pcap->device_name, pcap->camera) != DC1394_SUCCESS) {
- fprintf(stderr,"%s:%d: Failed to setup DMA capture with VIDEO1394\n",__FILE__,__LINE__);
- goto ERROR;
- }
- }
-
- if (dc1394_start_iso_transmission(pcap->handle, pcap->camera->node)!=DC1394_SUCCESS) {
- fprintf(stderr,"%s:%d: Could not start ISO transmission\n",__FILE__,__LINE__);
- goto ERROR;
- }
-
- usleep(DELAY);
-
- dc1394bool_t status;
- if (dc1394_get_iso_status(pcap->handle, pcap->camera->node, &status)!=DC1394_SUCCESS) {
- fprintf(stderr,"%s:%d: Could get ISO status",__FILE__,__LINE__);
- goto ERROR;
- }
- if (status==DC1394_FALSE) {
- fprintf(stderr,"%s:%d: ISO transmission refuses to start",__FILE__,__LINE__);
- goto ERROR;
- }
-
- // convert camera image to RGB by default
- pcap->convert=1;
-
- // no image data allocated yet
- pcap->buffer_is_writeable = 0;
-
- memset(&(pcap->frame), 0, sizeof(IplImage));
- icvResizeFrame( pcap );
- return pcap;
-
-ERROR:
- return 0;
-};
-
-static void icvCloseCAM_DC1394( CvCaptureCAM_DC1394* capture ){
- dc1394_stop_iso_transmission(capture->handle, capture->camera->node);
- dc1394_dma_unlisten (capture->handle, capture->camera);
- /* Deallocate space for RGBA data */
- if(capture->convert){
- cvFree(&capture->frame.imageData);
- }
-}
-
-static int icvGrabFrameCAM_DC1394( CvCaptureCAM_DC1394* capture ){
- // TODO: should this function wait until the next frame is available or return
- // immediately ?
- float waiting = 0;
- do{
- int result = dc1394_dma_single_capture_poll(capture->camera);
- if(result==DC1394_SUCCESS){
- return 1;
- }
- else if(result==DC1394_NO_FRAME){
- usleep(1000000/120); //sleep for at least a 1/2 of the frame rate
- waiting += 1.0/120.0;
- }
- else{
- printf("dc1394_dma_single_capture_poll failed\n");
- return 0;
- }
- } while(waiting<2);
- printf("dc1394_dma_single_capture_poll timed out\n");
- return 0;
-}
-
-static IplImage* icvRetrieveFrameCAM_DC1394( CvCaptureCAM_DC1394* capture ){
- if(capture->camera->capture_buffer )
- {
- if(capture->convert){
- /* Convert to RGBA */
- unsigned char * src = (unsigned char *)capture->camera->capture_buffer;
- unsigned char * dst = (unsigned char *)capture->frame.imageData;
- switch (capture->color_mode) {
- case COLOR_FORMAT7_RGB8:
- printf("icvRetrieveFrame convert RGB to BGR\n");
- /* Convert RGB to BGR */
- for (int i=0;i<capture->frame.imageSize;i+=6) {
- dst[i] = src[i+2];
- dst[i+1] = src[i+1];
- dst[i+2] = src[i];
- dst[i+3] = src[i+5];
- dst[i+4] = src[i+4];
- dst[i+5] = src[i+3];
- }
- break;
- case COLOR_FORMAT7_YUV422:
- //printf("icvRetrieveFrame convert YUV422 to BGR %d\n");
- uyvy2bgr(src,
- dst,
- capture->camera->frame_width * capture->camera->frame_height);
- break;
- case COLOR_FORMAT7_MONO8:
- //printf("icvRetrieveFrame convert MONO8 to BGR %d\n");
- y2bgr(src,
- dst,
- capture->camera->frame_width * capture->camera->frame_height);
- break;
- case COLOR_FORMAT7_YUV411:
- //printf("icvRetrieveFrame convert YUV411 to BGR %d\n");
- uyyvyy2bgr(src,
- dst,
- capture->camera->frame_width * capture->camera->frame_height);
- break;
- case COLOR_FORMAT7_YUV444:
- //printf("icvRetrieveFrame convert YUV444 to BGR %d\n");
- uyv2bgr(src,
- dst,
- capture->camera->frame_width * capture->camera->frame_height);
- break;
- case COLOR_FORMAT7_MONO16:
- //printf("icvRetrieveFrame convert MONO16 to BGR %d\n");
- y162bgr(src,
- dst,
- capture->camera->frame_width * capture->camera->frame_height, MONO16_BPP);
- break;
- case COLOR_FORMAT7_RGB16:
- //printf("icvRetrieveFrame convert RGB16 to BGR %d\n");
- rgb482bgr(src,
- dst,
- capture->camera->frame_width * capture->camera->frame_height, MONO16_BPP);
- break;
- default:
- fprintf(stderr,"%s:%d: Unsupported color mode %d\n",__FILE__,__LINE__,capture->color_mode);
- return 0;
- } /* switch (capture->mode) */
- }
- else{
- // return raw data
- capture->frame.imageData = (char *) capture->camera->capture_buffer;
- capture->frame.imageDataOrigin = (char *) capture->camera->capture_buffer;
- }
-
- // TODO: if convert=0, we are not actually done with the buffer
- // but this seems to work anyway.
- dc1394_dma_done_with_buffer(capture->camera);
-
- return &capture->frame;
- }
- return 0;
-};
-
-static double icvGetPropertyCAM_DC1394( CvCaptureCAM_DC1394* capture, int property_id ){
- int index=-1;
- switch ( property_id ) {
- case CV_CAP_PROP_CONVERT_RGB:
- return capture->convert;
- case CV_CAP_PROP_MODE:
- return capture->mode;
- case CV_CAP_PROP_FORMAT:
- return capture->format;
- case CV_CAP_PROP_FPS:
- CV_DC1394_CALL(dc1394_get_video_framerate(capture->handle, capture->camera->node,
- (unsigned int *) &capture->camera->frame_rate));
- switch(capture->camera->frame_rate) {
- case FRAMERATE_1_875:
- return 1.875;
- case FRAMERATE_3_75:
- return 3.75;
- case FRAMERATE_7_5:
- return 7.5;
- case FRAMERATE_15:
- return 15.;
- case FRAMERATE_30:
- return 30.;
- case FRAMERATE_60:
- return 60;
-#if NUM_FRAMERATES > 6
- case FRAMERATE_120:
- return 120;
-#endif
-#if NUM_FRAMERATES > 7
- case FRAMERATE_240:
- return 240;
-#endif
- }
- default:
- index = property_id; // did they pass in a LIBDC1394 feature flag?
- break;
- }
- if(index>=FEATURE_MIN && index<=FEATURE_MAX){
- dc1394bool_t has_feature;
- CV_DC1394_CALL( dc1394_is_feature_present(capture->handle, capture->camera->node,
- index, &has_feature));
- if(!has_feature){
- CV_WARN("Feature is not supported by this camera");
- }
- else{
- unsigned int value;
- dc1394_get_feature_value(capture->handle, capture->camera->node, index, &value);
- return (double) value;
- }
- }
-
- return 0;
-};
-
-// resize capture->frame appropriately depending on camera and capture settings
-static int icvResizeFrame(CvCaptureCAM_DC1394 * capture){
- if(capture->convert){
- // resize if sizes are different, formats are different
- // or conversion option has changed
- if(capture->camera->frame_width != capture->frame.width ||
- capture->camera->frame_height != capture->frame.height ||
- capture->frame.depth != 8 ||
- capture->frame.nChannels != 3 ||
- capture->frame.imageData == NULL ||
- capture->buffer_is_writeable == 0)
- {
- if(capture->frame.imageData && capture->buffer_is_writeable){
- cvReleaseData( &(capture->frame));
- }
- cvInitImageHeader( &capture->frame, cvSize( capture->camera->frame_width,
- capture->camera->frame_height ),
- IPL_DEPTH_8U, 3, IPL_ORIGIN_TL, 4 );
- cvCreateData( &(capture->frame) );
- capture->buffer_is_writeable = 1;
- }
-
- }
- else {
- // free image data if allocated by opencv
- if(capture->buffer_is_writeable){
- cvReleaseData(&(capture->frame));
- }
-
- // figure out number of channels and bpp
- int bpp = 8;
- int nch = 3;
- int width = capture->camera->frame_width;
- int height = capture->camera->frame_height;
- double code = CV_FOURCC('B','G','R',0);
- switch(capture->color_mode){
- case COLOR_FORMAT7_YUV422:
- nch = 2;
- code = CV_FOURCC('Y','4','2','2');
- break;
- case COLOR_FORMAT7_MONO8:
- code = CV_FOURCC('Y',0,0,0);
- nch = 1;
- break;
- case COLOR_FORMAT7_YUV411:
- code = CV_FOURCC('Y','4','1','1');
- width *= 2;
- nch = 3; //yy[u/v]
- break;
- case COLOR_FORMAT7_YUV444:
- code = CV_FOURCC('Y','U','V',0);
- nch = 3;
- break;
- case COLOR_FORMAT7_MONO16:
- code = CV_FOURCC('Y',0,0,0);
- bpp = IPL_DEPTH_16S;
- nch = 1;
- break;
- case COLOR_FORMAT7_RGB16:
- bpp = IPL_DEPTH_16S;
- nch = 3;
- break;
- default:
- break;
- }
- // reset image header
- cvInitImageHeader( &capture->frame,cvSize( width, height ), bpp, nch, IPL_ORIGIN_TL, 4 );
- //assert(capture->frame.imageSize == capture->camera->quadlets_per_frame*4);
- capture->buffer_is_writeable = 0;
- }
- return 1;
-}
-
-// Toggle setting about whether or not RGB color conversion is to be performed
-// Allocates/Initializes capture->frame appropriately
-int icvSetConvertRGB(CvCaptureCAM_DC1394 * capture, int convert){
- if(convert==capture->convert){
- // no action necessary
- return 1;
- }
- capture->convert = convert;
- return icvResizeFrame( capture );
-}
-
-// given desired format, mode, and modes bitmask from camera, determine if format and mode are supported
-static int
-icvFormatSupportedCAM_DC1394(int format, quadlet_t formats){
- // formats is a bitmask whose higher order bits indicate whether format is supported
- int shift = 31 - (format - FORMAT_MIN);
- int mask = 1 << shift;
- return (formats & mask) != 0;
-}
-
-// analyze modes bitmask from camera to determine if desired format and mode are supported
-static int
-icvModeSupportedCAM_DC1394(int format, int mode, quadlet_t modes){
- // modes is a bitmask whose higher order bits indicate whether mode is supported
- int format_idx = format - FORMAT_MIN;
- int mode_format_min = MODE_FORMAT0_MIN + 32*format_idx;
- int shift = 31 - (mode - mode_format_min);
- int mask = 0x1 << shift;
- return (modes & mask) != 0;
-}
-
-// Setup camera to use given dc1394 mode
-static int
-icvSetModeCAM_DC1394( CvCaptureCAM_DC1394 * capture, int mode ){
- quadlet_t modes, formats;
- //printf("<icvSetModeCAM_DC1394>\n");
-
- // figure out corrent format for this mode
- int format = (mode - MODE_FORMAT0_MIN) / 32 + FORMAT_MIN;
-
- // get supported formats
- if (dc1394_query_supported_formats(capture->handle, capture->camera->node, &formats)<0) {
- fprintf(stderr,"%s:%d: Could not query supported formats\n",__FILE__,__LINE__);
- return 0;
- }
-
- // is format for requested mode supported ?
- if(icvFormatSupportedCAM_DC1394(format, formats)==0){
- return 0;
- }
-
- // get supported modes for requested format
- if (dc1394_query_supported_modes(capture->handle, capture->camera->node, format, &modes)<0){
- fprintf(stderr,"%s:%d: Could not query supported modes for format %d\n",__FILE__,__LINE__, capture->format);
- return 0;
- }
-
- // is requested mode supported ?
- if(! icvModeSupportedCAM_DC1394(format, mode, modes) ){
- return 0;
- }
-
- int color_mode = icvColorMode( mode );
-
- if(color_mode == -1){
- return 0;
- }
-
- int frame_rate = icvGetBestFrameRate(capture, format, mode);
-
- dc1394_dma_unlisten(capture->handle, capture->camera);
- if (dc1394_dma_setup_capture(capture->handle, capture->camera->node, capture->camera->channel /*channel*/,
- format, mode, SPEED_400,
- frame_rate, NUM_BUFFERS,
-#ifdef HAVE_DC1394_095
- 0 /*do_extra_buffering*/,
-#endif
- 1 /*DROP_FRAMES*/,
- capture->device_name, capture->camera) != DC1394_SUCCESS) {
- fprintf(stderr,"%s:%d: Failed to setup DMA capture with VIDEO1394\n",__FILE__,__LINE__);
- return 0;
- }
- dc1394_start_iso_transmission(capture->handle, capture->camera->node);
-
- capture->frame_rate = frame_rate;
- capture->format = format;
- capture->mode = mode;
- capture->color_mode = color_mode;
-
- // now fix image size to match new mode
- icvResizeFrame( capture );
- return 1;
-}
-
-// query camera for supported frame rates and select fastest for given format and mode
-static unsigned int icvGetBestFrameRate( CvCaptureCAM_DC1394 * capture, int format, int mode ){
- quadlet_t framerates;
- if (dc1394_query_supported_framerates(capture->handle, capture->camera->node,
- format, mode, &framerates)!=DC1394_SUCCESS)
- {
- fprintf(stderr,"%s:%d: Could not query supported framerates\n",__FILE__,__LINE__);
- framerates = 0;
- }
-
- for (int f=FRAMERATE_MAX; f>=FRAMERATE_MIN; f--) {
- if (framerates & (0x1<< (31-(f-FRAMERATE_MIN)))) {
- return f;
- }
- }
- return 0;
-}
-
-static int
-icvSetFrameRateCAM_DC1394( CvCaptureCAM_DC1394 * capture, double value ){
- unsigned int fps=15;
- if(capture->format == FORMAT_SCALABLE_IMAGE_SIZE)
- return 0; /* format 7 has no fixed framerates */
- if (value==-1){
- fps=icvGetBestFrameRate( capture, capture->format, capture->mode );
- }
- else if (value==1.875)
- fps=FRAMERATE_1_875;
- else if (value==3.75)
- fps=FRAMERATE_3_75;
- else if (value==7.5)
- fps=FRAMERATE_7_5;
- else if (value==15)
- fps=FRAMERATE_15;
- else if (value==30)
- fps=FRAMERATE_30;
- else if (value==60)
- fps=FRAMERATE_60;
-#if NUM_FRAMERATES > 6
- else if (value==120)
- fps=FRAMERATE_120;
-#endif
-#if NUM_FRAMERATES > 7
- else if (value==240)
- fps=FRAMERATE_240;
-#endif
- dc1394_set_video_framerate(capture->handle, capture->camera->node,fps);
- dc1394_get_video_framerate(capture->handle, capture->camera->node,
- (unsigned int *) &capture->camera->frame_rate);
-
- return fps==(unsigned int) capture->camera->frame_rate;
-}
-
-// for given mode return color format
-static int
-icvColorMode( int mode ){
- switch(mode) {
- case MODE_160x120_YUV444:
- return COLOR_FORMAT7_YUV444;
- case MODE_320x240_YUV422:
- case MODE_640x480_YUV422:
- case MODE_800x600_YUV422:
- case MODE_1024x768_YUV422:
- case MODE_1280x960_YUV422:
- case MODE_1600x1200_YUV422:
- return COLOR_FORMAT7_YUV422;
- case MODE_640x480_YUV411:
- return COLOR_FORMAT7_YUV411;
- case MODE_640x480_RGB:
- case MODE_800x600_RGB:
- case MODE_1024x768_RGB:
- case MODE_1280x960_RGB:
- case MODE_1600x1200_RGB:
- return COLOR_FORMAT7_RGB8;
- case MODE_640x480_MONO:
- case MODE_800x600_MONO:
- case MODE_1024x768_MONO:
- case MODE_1280x960_MONO:
- case MODE_1600x1200_MONO:
- return COLOR_FORMAT7_MONO8;
- case MODE_640x480_MONO16:
- case MODE_800x600_MONO16:
- case MODE_1024x768_MONO16:
- case MODE_1280x960_MONO16:
- case MODE_1600x1200_MONO16:
- return COLOR_FORMAT7_MONO16;
- case MODE_FORMAT7_0:
- case MODE_FORMAT7_1:
- case MODE_FORMAT7_2:
- case MODE_FORMAT7_3:
- case MODE_FORMAT7_4:
- case MODE_FORMAT7_5:
- case MODE_FORMAT7_6:
- case MODE_FORMAT7_7:
- fprintf(stderr,"%s:%d: Format7 not yet supported\n",__FILE__,__LINE__);
- default:
- break;
- }
- return -1;
-}
-
-// function to set camera properties using dc1394 feature enum
-// val == -1 indicates to set this property to 'auto'
-static int
-icvSetFeatureCAM_DC1394( CvCaptureCAM_DC1394* capture, int feature_id, int val){
- dc1394bool_t isOn = DC1394_FALSE;
- dc1394bool_t hasAutoCapability = DC1394_FALSE;
- dc1394bool_t isAutoOn = DC1394_FALSE;
- unsigned int nval;
- unsigned int minval,maxval;
-
- // Turn the feature on if it is OFF
- if( dc1394_is_feature_on(capture->handle, capture->camera->node, feature_id, &isOn)
- == DC1394_FAILURE ) {
- return 0;
- }
- if( isOn == DC1394_FALSE ) {
- // try to turn it on.
- if( dc1394_feature_on_off(capture->handle, capture->camera->node, feature_id, 1) == DC1394_FAILURE ) {
- fprintf(stderr, "error turning feature %d on!\n", feature_id);
- return 0;
- }
- }
-
- // Check if the feature supports auto mode
- dc1394_has_auto_mode(capture->handle, capture->camera->node, feature_id, &hasAutoCapability);
- if( hasAutoCapability ) {
-
- // now check if the auto is on.
- if( dc1394_is_feature_auto(capture->handle, capture->camera->node, feature_id, &isAutoOn ) == DC1394_FAILURE ) {
- fprintf(stderr, "error determining if feature %d has auto on!\n", index);
- return 0;
- }
- }
- // Caller requested auto mode, but cannot support it
- else if(val==-1){
- fprintf(stderr, "feature %d does not support auto mode\n", feature_id);
- return 0;
- }
-
- if(val==-1){
- // if the auto mode isn't enabled, enable it
- if( isAutoOn == DC1394_FALSE ) {
- if(dc1394_auto_on_off(capture->handle, capture->camera->node, feature_id, 1) == DC1394_FAILURE ) {
- fprintf(stderr, "error turning feature %d auto ON!\n", feature_id);
- return 0;
- }
- }
- return 1;
- }
-
- // ELSE turn OFF auto and adjust feature manually
- if( isAutoOn == DC1394_TRUE ) {
- if(dc1394_auto_on_off(capture->handle, capture->camera->node, feature_id, 0) == DC1394_FAILURE ) {
- fprintf(stderr, "error turning feature %d auto OFF!\n", feature_id);
- return 0;
- }
- }
-
- // Clamp val to within feature range
- CV_DC1394_CALL( dc1394_get_min_value(capture->handle, capture->camera->node, feature_id, &minval));
- CV_DC1394_CALL( dc1394_get_max_value(capture->handle, capture->camera->node, feature_id, &maxval));
- val = MIN(maxval, MAX(val, minval));
-
-
- if (dc1394_set_feature_value(capture->handle, capture->camera->node, feature_id, val) ==
- DC1394_FAILURE){
- fprintf(stderr, "error setting feature value\n");
- return 0;
- }
- if (dc1394_get_feature_value(capture->handle, capture->camera->node, feature_id, &nval) ==
- DC1394_FAILURE){
- fprintf(stderr, "error setting feature value\n");
- return 0;
- }
- return nval==(unsigned int)val;
-
-}
-
-// cvSetCaptureProperty callback function implementation
-static int
-icvSetPropertyCAM_DC1394( CvCaptureCAM_DC1394* capture, int property_id, double value ){
- int index=-1;
- switch ( property_id ) {
- case CV_CAP_PROP_CONVERT_RGB:
- return icvSetConvertRGB( capture, value != 0 );
- case CV_CAP_PROP_MODE:
- return icvSetModeCAM_DC1394( capture, (int) value );
- case CV_CAP_PROP_FPS:
- return icvSetFrameRateCAM_DC1394( capture, value );
- case CV_CAP_PROP_BRIGHTNESS:
- index = FEATURE_BRIGHTNESS;
- break;
- case CV_CAP_PROP_CONTRAST:
- index = FEATURE_GAMMA;
- break;
- case CV_CAP_PROP_SATURATION:
- index = FEATURE_SATURATION;
- break;
- case CV_CAP_PROP_HUE:
- index = FEATURE_HUE;
- break;
- case CV_CAP_PROP_GAIN:
- index = FEATURE_GAIN;
- break;
- default:
- index = property_id; // did they pass in a LIBDC1394 feature flag?
- break;
- }
- if(index>=FEATURE_MIN && index<=FEATURE_MAX){
- return icvSetFeatureCAM_DC1394(capture, index, (int) value);
- }
- return 0;
-};
-
-/**********************************************************************
- *
- * CONVERSION FUNCTIONS TO RGB 24bpp
- *
- **********************************************************************/
-
-/* color conversion functions from Bart Nabbe. *//* corrected by Damien: bad coeficients in YUV2RGB */
-#define YUV2RGB(y, u, v, r, g, b)\
- r = y + ((v*1436) >> 10);\
-g = y - ((u*352 + v*731) >> 10);\
-b = y + ((u*1814) >> 10);\
-r = r < 0 ? 0 : r;\
-g = g < 0 ? 0 : g;\
-b = b < 0 ? 0 : b;\
-r = r > 255 ? 255 : r;\
-g = g > 255 ? 255 : g;\
-b = b > 255 ? 255 : b
-
- static void
-uyv2bgr(const unsigned char *src, unsigned char *dest,
- unsigned long long int NumPixels)
-{
- register int i = NumPixels + (NumPixels << 1) - 1;
- register int j = NumPixels + (NumPixels << 1) - 1;
- register int y, u, v;
- register int r, g, b;
-
- while (i > 0) {
- v = src[i--] - 128;
- y = src[i--];
- u = src[i--] - 128;
- YUV2RGB(y, u, v, r, g, b);
- dest[j--] = r;
- dest[j--] = g;
- dest[j--] = b;
- }
-}
-
- static void
-uyvy2bgr(const unsigned char *src, unsigned char *dest,
- unsigned long long int NumPixels)
-{
- register int i = (NumPixels << 1) - 1;
- register int j = NumPixels + (NumPixels << 1) - 1;
- register int y0, y1, u, v;
- register int r, g, b;
-
- while (i > 0) {
- y1 = src[i--];
- v = src[i--] - 128;
- y0 = src[i--];
- u = src[i--] - 128;
- YUV2RGB(y1, u, v, r, g, b);
- dest[j--] = r;
- dest[j--] = g;
- dest[j--] = b;
- YUV2RGB(y0, u, v, r, g, b);
- dest[j--] = r;
- dest[j--] = g;
- dest[j--] = b;
- }
-}
-
-
- static void
-uyyvyy2bgr(const unsigned char *src, unsigned char *dest,
- unsigned long long int NumPixels)
-{
- register int i = NumPixels + (NumPixels >> 1) - 1;
- register int j = NumPixels + (NumPixels << 1) - 1;
- register int y0, y1, y2, y3, u, v;
- register int r, g, b;
-
- while (i > 0) {
- y3 = src[i--];
- y2 = src[i--];
- v = src[i--] - 128;
- y1 = src[i--];
- y0 = src[i--];
- u = src[i--] - 128;
- YUV2RGB(y3, u, v, r, g, b);
- dest[j--] = r;
- dest[j--] = g;
- dest[j--] = b;
- YUV2RGB(y2, u, v, r, g, b);
- dest[j--] = r;
- dest[j--] = g;
- dest[j--] = b;
- YUV2RGB(y1, u, v, r, g, b);
- dest[j--] = r;
- dest[j--] = g;
- dest[j--] = b;
- YUV2RGB(y0, u, v, r, g, b);
- dest[j--] = r;
- dest[j--] = g;
- dest[j--] = b;
- }
-}
-
- static void
-y2bgr(const unsigned char *src, unsigned char *dest,
- unsigned long long int NumPixels)
-{
- register int i = NumPixels - 1;
- register int j = NumPixels + (NumPixels << 1) - 1;
- register int y;
-
- while (i > 0) {
- y = src[i--];
- dest[j--] = y;
- dest[j--] = y;
- dest[j--] = y;
- }
-}
-
- static void
-y162bgr(const unsigned char *src, unsigned char *dest,
- unsigned long long int NumPixels, int bits)
-{
- register int i = (NumPixels << 1) - 1;
- register int j = NumPixels + (NumPixels << 1) - 1;
- register int y;
-
- while (i > 0) {
- y = src[i--];
- y = (y + (src[i--] << 8)) >> (bits - 8);
- dest[j--] = y;
- dest[j--] = y;
- dest[j--] = y;
- }
-}
-
-// this one was in coriander but didn't take bits into account
- static void
-rgb482bgr(const unsigned char *src, unsigned char *dest,
- unsigned long long int NumPixels, int bits)
-{
- register int i = (NumPixels << 1) - 1;
- register int j = NumPixels + (NumPixels << 1) - 1;
- register int y;
-
- while (i > 0) {
- y = src[i--];
- dest[j-2] = (y + (src[i--] << 8)) >> (bits - 8);
- j--;
- y = src[i--];
- dest[j] = (y + (src[i--] << 8)) >> (bits - 8);
- j--;
- y = src[i--];
- dest[j+2] = (y + (src[i--] << 8)) >> (bits - 8);
- j--;
- }
-}
-
-
-class CvCaptureCAM_DC1394_CPP : public CvCapture
-{
-public:
- CvCaptureCAM_DC1394_CPP() { captureDC1394 = 0; }
- virtual ~CvCaptureCAM_DC1394_CPP() { close(); }
-
- virtual bool open( int index );
- virtual void close();
-
- virtual double getProperty(int);
- virtual bool setProperty(int, double);
- virtual bool grabFrame();
- virtual IplImage* retrieveFrame();
-protected:
-
- CvCaptureCAM_DC1394* captureDC1394;
-};
-
-bool CvCaptureCAM_DC1394_CPP::open( int index )
-{
- close();
- captureDC1394 = icvCaptureFromCAM_DC1394(index);
- return captureDC1394 != 0;
-}
-
-void CvCaptureCAM_DC1394_CPP::close()
-{
- if( captureDC1394 )
- {
- icvCloseCAM_DC1394( captureDC1394 );
- cvFree( &captureDC1394 );
- }
-}
-
-bool CvCaptureCAM_DC1394_CPP::grabFrame()
-{
- return captureDC1394 ? icvGrabFrameCAM_DC1394( captureDC1394 ) != 0 : false;
-}
-
-IplImage* CvCaptureCAM_DC1394_CPP::retrieveFrame()
-{
- return captureDC1394 ? (IplImage*)icvRetrieveFrameCAM_DC1394( captureDC1394 ) : 0;
-}
-
-double CvCaptureCAM_DC1394_CPP::getProperty( int propId )
-{
- return captureDC1394 ? icvGetPropertyCAM_DC1394( captureDC1394, propId ) : 0;
-}
-
-bool CvCaptureCAM_DC1394_CPP::setProperty( int propId, double value )
-{
- return captureDC1394 ? icvSetPropertyCAM_DC1394( captureDC1394, propId, value ) != 0 : false;
-}
-
-CvCapture* cvCreateCameraCapture_DC1394( int index )
-{
- CvCaptureCAM_DC1394_CPP* capture = new CvCaptureCAM_DC1394_CPP;
-
- if( capture->open( index ))
- return capture;
-
- delete capture;
- return 0;
-}
-
-#endif
projects / opencv / blobdiff