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/*
* Grab partial image from camera. Camera must be format 7
* (scalable image size) compatible.
*
* Written by Damien Douxchamps <ddouxchamps@users.sf.net>
*
* 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 <stdint.h>
#include <dc1394/dc1394.h>
#include <stdlib.h>
#include <time.h>
#include <inttypes.h>
#ifdef _WIN32
#define times 0**(int*)
struct tms {int a;};
#else
#include <sys/times.h>
#endif
int main(int argc, char *argv[])
{
FILE* imagefile;
dc1394camera_t *camera;
int grab_n_frames = 10;
struct tms tms_buf;
clock_t start_time;
float elapsed_time;
int i;
unsigned int min_bytes, max_bytes;
unsigned int actual_bytes;
uint64_t total_bytes = 0;
unsigned int width, height;
dc1394video_frame_t *frame=NULL;
dc1394_t * d;
dc1394camera_list_t * list;
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;
}
camera = dc1394_camera_new (d, list->ids[0].guid);
if (!camera) {
dc1394_log_error("Failed to initialize camera with guid %"PRIx64,
list->ids[0].guid);
return 1;
}
dc1394_camera_free_list (list);
printf("Using camera with GUID %"PRIx64"\n", camera->guid);
/*-----------------------------------------------------------------------
* setup capture for format 7
*-----------------------------------------------------------------------*/
dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400);
dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_FORMAT7_0);
err = dc1394_format7_set_roi(camera, DC1394_VIDEO_MODE_FORMAT7_0,
DC1394_COLOR_CODING_MONO8,
DC1394_USE_MAX_AVAIL, // use max packet size
0, 0, // left, top
640, 480); // width, height
DC1394_ERR_RTN(err,"Unable to set Format7 mode 0.\nEdit the example file manually to fit your camera capabilities");
err=dc1394_capture_setup(camera, 4, DC1394_CAPTURE_FLAGS_DEFAULT);
DC1394_ERR_CLN_RTN(err, dc1394_camera_free(camera), "Error capturing");
/*-----------------------------------------------------------------------
* print allowed and used packet size
*-----------------------------------------------------------------------*/
err=dc1394_format7_get_packet_parameters(camera, DC1394_VIDEO_MODE_FORMAT7_0, &min_bytes, &max_bytes);
DC1394_ERR_RTN(err,"Packet para inq error");
printf( "camera reports allowed packet size from %d - %d bytes\n", min_bytes, max_bytes);
err=dc1394_format7_get_packet_size(camera, DC1394_VIDEO_MODE_FORMAT7_0, &actual_bytes);
DC1394_ERR_RTN(err,"dc1394_format7_get_packet_size error");
printf( "camera reports actual packet size = %d bytes\n", actual_bytes);
err=dc1394_format7_get_total_bytes(camera, DC1394_VIDEO_MODE_FORMAT7_0, &total_bytes);
DC1394_ERR_RTN(err,"dc1394_query_format7_total_bytes error");
printf( "camera reports total bytes per frame = %"PRId64" bytes\n",
total_bytes);
/*-----------------------------------------------------------------------
* have the camera start sending us data
*-----------------------------------------------------------------------*/
err=dc1394_video_set_transmission(camera,DC1394_ON);
if (err!=DC1394_SUCCESS) {
dc1394_log_error("unable to start camera iso transmission");
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
exit(1);
}
/*-----------------------------------------------------------------------
* capture 10 frames and measure the time for this operation
*-----------------------------------------------------------------------*/
start_time = times(&tms_buf);
for( i = 0; i < grab_n_frames; ++i) {
/*-----------------------------------------------------------------------
* capture one frame
*-----------------------------------------------------------------------*/
err=dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
if (err!=DC1394_SUCCESS) {
dc1394_log_error("unable to capture");
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
exit(1);
}
/*---------------------------------------------------------------------
* output elapsed time
*---------------------------------------------------------------------*/
elapsed_time = (float)(times(&tms_buf) - start_time) / CLOCKS_PER_SEC;
printf( "got frame %d. elapsed time: %g sec ==> %g frames/second\n",
i, elapsed_time, (float)i / elapsed_time);
// release buffer
dc1394_capture_enqueue(camera,frame);
}
/*-----------------------------------------------------------------------
* stop data transmission
*-----------------------------------------------------------------------*/
err=dc1394_video_set_transmission(camera,DC1394_OFF);
DC1394_ERR_RTN(err,"couldn't stop the camera?");
/*-----------------------------------------------------------------------
* save last image as Part.pgm
*-----------------------------------------------------------------------*/
imagefile=fopen("Part.pgm","wb");
dc1394_get_image_size_from_video_mode(camera, DC1394_VIDEO_MODE_FORMAT7_0, &width, &height);
fprintf(imagefile,"P5\n%u %u\n255\n", width, height);
fwrite(frame->image, 1, height * width, imagefile);
fclose(imagefile);
printf("wrote: Part.pgm\n");
/*-----------------------------------------------------------------------
* close camera, cleanup
*-----------------------------------------------------------------------*/
dc1394_capture_stop(camera);
dc1394_video_set_transmission(camera, DC1394_OFF);
dc1394_camera_free(camera);
dc1394_free (d);
return 0;
}
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