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/*
* 1394-Based Digital Camera Control Library
* Basler Smart Feature Framework specific extensions
* Copyright (C) 2006 Mikael Olenfalk, Tobii Technology AB, Stockholm Sweden
*
* Written by Mikael Olenfalk <mikael _DOT_ olenfalk _AT_ tobii _DOT_ com>
* Version : 16/02/2005
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <inttypes.h>
#include <string.h>
#include <dc1394/dc1394.h>
#include <dc1394/vendor/basler.h>
int list_cameras (dc1394_t * d, dc1394camera_list_t * list)
{
uint32_t i;
dc1394bool_t sff_available;
dc1394camera_t * camera;
for (i = 0; i < list->num; i++) {
sff_available = DC1394_FALSE;
camera = dc1394_camera_new (d, list->ids[i].guid);
dc1394_basler_sff_is_available (camera, &sff_available);
printf ("%02d:0x%"PRIx64":%s:%s:%s\n", i, camera->guid,
camera->vendor, camera->model, sff_available ? "SFF" : "NO SFF");
dc1394_camera_free (camera);
}
return 0;
}
int print_usage ()
{
printf ("usage: basler_sff_extended_data [--list-cameras|[--guid GUID]]\n");
return 1;
}
int main (int argc, char **argv)
{
dc1394error_t err;
dc1394camera_t *camera = NULL;
dc1394bool_t sff_available;
uint32_t i, max_height, max_width;
uint64_t guid = 0x0LL, total_bytes;
uint8_t* buffer;
dc1394basler_sff_t chunk;
dc1394basler_sff_extended_data_stream_t* sff_ext;
dc1394basler_sff_dcam_values_t* sff_dcam;
dc1394_t * d;
dc1394camera_list_t * list;
d = dc1394_new ();
if (!d)
return 1;
err=dc1394_camera_enumerate (d, &list);
DC1394_ERR_RTN(err,"Failed to enumerate cameras\n");
if (list->num == 0) {
dc1394_log_error("No cameras found");
return 1;
}
/* parse arguments */
if (argc == 2) {
if (!strcmp (argv[1], "--list-cameras"))
list_cameras (d, list);
else
print_usage();
dc1394_camera_free_list (list);
dc1394_free (d);
return 0;
} else if (argc == 3) {
if (!strcmp (argv[1], "--guid")) {
if (sscanf (argv[2], "0x%"PRIx64, &guid) == 1) {
} else {
dc1394_camera_free_list (list);
dc1394_free (d);
return print_usage();
}
}
} else if (argc != 1) {
dc1394_camera_free_list (list);
dc1394_free (d);
return print_usage();
}
if (guid == 0x0LL) {
printf ("I: found %d camera%s, working with camera 0\n", list->num,
list->num == 1 ? "" : "s");
camera = dc1394_camera_new (d, list->ids[0].guid);
} else {
camera = dc1394_camera_new (d, guid);
if (camera == NULL) {
dc1394_log_error("no camera with guid 0x%"PRIx64" found", guid);
return 1;
}
printf ("I: found camera with guid 0x%"PRIx64"\n", guid);
}
dc1394_camera_free_list (list);
/*
* setup format7 with a roi allocating a quarter of the screen and bounce around the roi, while changing gain and brightness
*/
err = dc1394_video_set_mode (camera, DC1394_VIDEO_MODE_FORMAT7_0);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot choose format7_0");
printf ("I: video mode is format7_0\n");
err = dc1394_feature_set_value (camera, DC1394_FEATURE_GAIN, 100);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set gain");
printf ("I: gain is 100\n");
err = dc1394_feature_set_value (camera, DC1394_FEATURE_SHUTTER, 50);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set shutter");
printf ("I: shutter is 50\n");
err = dc1394_feature_set_value (camera, DC1394_FEATURE_BRIGHTNESS, 150);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set brightness");
printf ("I: brightness is 150\n");
err = dc1394_format7_get_max_image_size (camera, DC1394_VIDEO_MODE_FORMAT7_0, &max_width, &max_height);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot get max image size for format7_0");
printf ("I: max image size is: height = %d, width = %d\n", max_height, max_width);
err = dc1394_format7_set_roi (camera, DC1394_VIDEO_MODE_FORMAT7_0, DC1394_COLOR_CODING_MONO8,
DC1394_USE_RECOMMENDED, 0, 0, max_width / 2, max_height / 2);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot set roi");
printf ("I: roi is (0, 0) - (%d, %d)\n", max_width / 2, max_height / 2);
err = dc1394_format7_get_total_bytes (camera, DC1394_VIDEO_MODE_FORMAT7_0, &total_bytes);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot get total bytes");
printf ("I: total bytes is %"PRIu64" before SFF enabled\n", total_bytes);
err = dc1394_basler_sff_is_available (camera, &sff_available);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera),"cannot check if SFF is available");
if (!sff_available) {
dc1394_camera_free (camera);
dc1394_log_error("SFF is not available");
return 2;
} else {
printf ("I: SFF is available\n");
}
err = dc1394_basler_sff_feature_enable (camera, DC1394_BASLER_SFF_EXTENDED_DATA_STREAM, DC1394_ON);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera), "cannot enable Extended_Data_Stream");
err = dc1394_format7_get_total_bytes (camera, DC1394_VIDEO_MODE_FORMAT7_0, &total_bytes);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera), "cannot get total bytes");
printf ("I: total bytes is %"PRIu64" after Extended_Data_Stream was enabled\n", total_bytes);
err = dc1394_basler_sff_feature_enable (camera, DC1394_BASLER_SFF_DCAM_VALUES, DC1394_ON);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera), "cannot enable DCAM_Values");
err = dc1394_format7_get_total_bytes (camera, DC1394_VIDEO_MODE_FORMAT7_0, &total_bytes);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera), "cannot get total bytes");
printf ("I: total bytes is %"PRIu64" after DCAM_Values was enabled\n", total_bytes);
err = dc1394_capture_setup (camera, 10, DC1394_CAPTURE_FLAGS_DEFAULT);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera), "cannot setup capture");
err = dc1394_video_set_transmission (camera, DC1394_ON);
if (err != DC1394_SUCCESS)
dc1394_capture_stop (camera);
DC1394_ERR_CLN_RTN(err,dc1394_camera_free (camera), "cannot enable transmission");
i = 0;
dc1394video_frame_t* frame;
while (i < 100) {
err = dc1394_capture_dequeue (camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
if (err != DC1394_SUCCESS) {
dc1394_log_error("capture failed (%d)", err);
break;
}
buffer = frame->image;
/* parse chunks and print */
// printf ("-- %02d - %d\n", i, dc1394_capture_get_bytes_per_frame(camera));
dc1394_basler_sff_chunk_iterate_init (&chunk, buffer, total_bytes, DC1394_FALSE);
while ((err = dc1394_basler_sff_chunk_iterate(&chunk)) == DC1394_SUCCESS) {
switch (chunk.feature_id) {
case DC1394_BASLER_SFF_EXTENDED_DATA_STREAM:
{
sff_ext = (dc1394basler_sff_extended_data_stream_t*)(chunk.chunk_data);
printf ("top: %04d left: %04d height: %04d width: %04d\n",
sff_ext->top, sff_ext->left, sff_ext->height, sff_ext->width);
break;
}
case DC1394_BASLER_SFF_DCAM_VALUES:
{
sff_dcam = (dc1394basler_sff_dcam_values_t*)(chunk.chunk_data);
printf ("gain: %04d brightness: %04d shutter: %04d\n",
sff_dcam->gain_csr.value, sff_dcam->brightness_csr.value, sff_dcam->shutter_csr.value);
break;
}
default:
break;
}
}
if (err != DC1394_BASLER_NO_MORE_SFF_CHUNKS) {
dc1394_log_error("error parsing chunks");
break;
}
err = dc1394_capture_enqueue(camera, frame);
if (err != DC1394_SUCCESS) {
dc1394_log_error("cannot release buffer");
break;
}
err = dc1394_format7_set_image_position (camera, DC1394_VIDEO_MODE_FORMAT7_0, (((i+1) * 10) % max_height) / 2 - 1, (((i+1) * 10) % max_width) / 2 - 1);
if (err != DC1394_SUCCESS) {
dc1394_log_error("cannot set image position %d - %d", (((i+1) * 10) % max_height) / 2 - 1, (((i+1) * 10) % max_width) / 2 - 1);
}
i++;
}
dc1394_video_set_transmission (camera, DC1394_OFF);
dc1394_capture_stop (camera);
dc1394_camera_free (camera);
dc1394_free (d);
return 0;
}
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