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/*
* Capture program prototype for the spherical 6-CCD Ladybug
* camera from Point Grey
*
* 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
*
* Notes:
*
* - Uses the first camera on the bus, then setup the camera
* in JPEG mode (mode 7), and capture NFRAMES frames to the HDD.
*
* - the image size has to be set so that the 6 sub-images,
* encoded in JPEG, will fit in the total RAW image size.
* If less than 6 frames are written you should use a larger
* HEIGHT. Also, each color field is saved in an individual
* frame. This results in 24 images (512x384) being written
* for each (future) hemispherical image.
*
* Easy adaptation include:
* - using 1394a instead of 1394b
* - using RAW instead of JPEG
*
* For more information have a look at the format specs in
* "Ladybug Stream File Specification" that is included in the
* Ladybug SDK.
*
*/
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <stdint.h>
#include <inttypes.h>
#include <dc1394/dc1394.h>
// change this to switch from RAW to JPEG
#define VIDEO_MODE DC1394_VIDEO_MODE_FORMAT7_7
// number of frames to be recorded. The total number of files written to disk will be 24xNFRAMES.
#define NFRAMES 10
// file basename
#define BASENAME "~/test"
int
main(int argn, char **argv)
{
dc1394error_t err;
dc1394camera_t *camera;
dc1394video_frame_t *frame;
char filename[256];
FILE *fd;
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");
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 %llx",list->ids[0].guid);
return 1;
}
dc1394_camera_free_list (list);
printf("Using camera \"%s %s\"\n",camera->vendor,camera->model);
// 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_800);
DC1394_ERR_RTN(err,"Could not set 800Mbps speed");
err=dc1394_video_set_mode(camera, VIDEO_MODE);
DC1394_ERR_RTN(err,"Could not set video mode");
err=dc1394_format7_set_roi(camera, VIDEO_MODE, DC1394_COLOR_CODING_MONO8, 2000, 0,0, 512, 2015);
DC1394_ERR_RTN(err,"Could not set ROI");
// setup 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");
int cam, k, i=0;
unsigned int jpgadr, jpgsize, adr;
while (i<NFRAMES) {
// capture frame
err=dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
DC1394_ERR_RTN(err,"Could not dequeue a frame");
// do something with the image
for (cam=0;cam<6;cam++) {
for (k=0;k<4;k++) {
adr=0x340+(5-cam)*32+(3-k)*8;
jpgadr=(((unsigned int)*(frame->image+adr))<<24)+
(((unsigned int)*(frame->image+adr+1))<<16)+
(((unsigned int)*(frame->image+adr+2))<<8)+
(((unsigned int)*(frame->image+adr+3)));
adr+=4;
jpgsize=(((unsigned int)*(frame->image+adr))<<24)+
(((unsigned int)*(frame->image+adr+1))<<16)+
(((unsigned int)*(frame->image+adr+2))<<8)+
(((unsigned int)*(frame->image+adr+3)));
if (jpgsize!=0) {
sprintf(filename,"%s-%05d-%d-%d.jpg",BASENAME,i,cam,k);
fd=fopen(filename,"w");
fwrite((unsigned char *)(jpgadr+frame->image),jpgsize,1,fd);
fclose(fd);
}
}
}
sprintf(filename,"%s-%05d.raw",BASENAME,i);
fd=fopen(filename,"w");
fwrite(frame->image,frame->total_bytes,1,fd);
fclose(fd);
// release frame
err=dc1394_capture_enqueue(camera, frame);
DC1394_ERR_RTN(err,"Could not enqueue a frame");
fprintf(stderr,"%d\r",i);
i++;
}
// stop capture
err=dc1394_video_set_transmission(camera, DC1394_OFF);
DC1394_ERR_RTN(err,"Could not stop transmission");
err=dc1394_capture_stop(camera);
DC1394_ERR_RTN(err,"Could not stop capture");
dc1394_camera_free (camera);
dc1394_free (d);
return 0;
}
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