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/*
* File: ladybug5capture.c
*
* Capture program prototype for the spherical 6-CCD Ladybug 5
* camera from Point Grey
*
* Written by Martin Peris <martin_peris@cyberdyne.jp>
*
* 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 prints the camera information
* and sets up the camera in RAW8 mode (mode 7_0), capture NFRAMES
* frames to the HDD and prints the information of each frame.
*
* - In RAW8 mode the 6 images come in a big array of 2528x12484 pixels.
* Each individual image is supposed to be 2448x2048 but the camera
* introduces some padding.
*
* - Ladybug 5 sensors are arranged in "portrait" orientation to increase
* the vertical field of view. As a result, height measurements appear
* as width, and width measurements appear as height
*
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdint.h>
#include <inttypes.h>
#include <dc1394/dc1394.h>
#define NFRAMES 10
void print_format7_info(dc1394format7modeset_t *info)
{
for (int i = 0; i < DC1394_VIDEO_MODE_FORMAT7_NUM; i++) {
if (info->mode[i].present) {
printf("------ Camera format 7_%d information ------\n", i);
printf("Size x : %u\n", info->mode[i].size_x);
printf("Size y : %u\n", info->mode[i].size_y);
printf("Max Size x : %u\n", info->mode[i].max_size_x);
printf("Max Size y : %u\n", info->mode[i].max_size_y);
printf("Pos x : %u\n", info->mode[i].pos_x);
printf("Pos y : %u\n", info->mode[i].pos_y);
printf("Unit Size x : %u\n", info->mode[i].unit_size_x);
printf("Unit Size y : %u\n", info->mode[i].unit_size_y);
printf("Unit Pos x : %u\n", info->mode[i].unit_pos_x);
printf("Unit Pos y : %u\n", info->mode[i].unit_pos_y);
printf("Color codings : ");
for (int j = 0; j < info->mode[i].color_codings.num; j++) {
printf("%u%c ", info->mode[i].color_codings.codings[j], j == info->mode[i].color_codings.num-1 ? ' ':',');
}
printf("\n");
printf("Color coding : %u\n", info->mode[i].color_coding);
printf("Pixnum : %u\n", info->mode[i].pixnum);
printf("Packet size : %u\n", info->mode[i].packet_size);
printf("Unit Packet size : %u\n", info->mode[i].unit_packet_size);
printf("Max Packet size : %u\n", info->mode[i].max_packet_size);
}
}
}
void print_frame_info(dc1394video_frame_t *frame)
{
printf("------ Frame information ------\n");
printf("Size x : %u\n", frame->size[0]);
printf("Size y : %u\n", frame->size[1]);
printf("Pos x : %u\n", frame->position[0]);
printf("Pos y : %u\n", frame->position[1]);
printf("Color coding : %u\n", frame->color_coding);
printf("Color filter : %u\n", frame->color_filter);
printf("yuv byte order : %u\n", frame->yuv_byte_order);
printf("data depth : %u\n", frame->data_depth);
printf("stride : %u\n", frame->stride);
printf("video mode : %d\n", frame->video_mode);
printf("total bytes : %lu\n", frame->total_bytes);
printf("image bytes : %u\n", frame->image_bytes);
printf("padding bytes : %u\n", frame->padding_bytes);
printf("packet size : %u\n", frame->packet_size);
printf("packets per frame : %u\n", frame->packets_per_frame);
printf("timestamp : %lu\n", frame->timestamp);
printf("frames behind : %u\n", frame->frames_behind);
printf("id : %u\n", frame->id);
printf("allocated image bytes : %lu\n", frame->allocated_image_bytes);
printf("little emdian : %s\n", frame->little_endian == DC1394_TRUE ? "Yes" : "No");
printf("data in padding : %s\n", frame->data_in_padding == DC1394_TRUE ? "Yes" : "No");
}
int main(int argc, const char * argv[]) {
dc1394_t *d;
dc1394camera_list_t *list;
dc1394error_t err;
dc1394camera_t *camera;
dc1394format7modeset_t modeset;
dc1394video_frame_t *frame;
FILE* imagefile;
char filename[256];
int i = 0;
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");
dc1394_free(d);
return 1;
}
printf("Detected %d cameras\n", list->num);
// Assume that Ladybug 5 is detected as camera #0
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);
dc1394_free(d);
}
dc1394_camera_free_list(list);
printf("Using camera %s %s\n", camera->vendor, camera->model);
// Report camera info
err = dc1394_camera_print_info(camera, stdout);
DC1394_ERR_RTN(err, "Could not print camera info");
// 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_MAX);
DC1394_ERR_RTN(err, "Could not set max speed");
err = dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_FORMAT7_0);
DC1394_ERR_RTN(err, "Could not set DC1394_VIDEO_MODE_FORMAT7_0");
// Get format7 mode info
err = dc1394_format7_get_modeset(camera, &modeset);
DC1394_ERR_RTN(err, "Could not get format 7 mode info\n");
print_format7_info(&modeset);
// Set format 7 roi
err = dc1394_format7_set_roi(camera,
DC1394_VIDEO_MODE_FORMAT7_0,
modeset.mode[0].color_coding,
modeset.mode[0].max_packet_size,
modeset.mode[0].pos_x,
modeset.mode[0].pos_y,
modeset.mode[0].max_size_x,
modeset.mode[0].max_size_y);
DC1394_ERR_RTN(err, "Could not set max ROI");
// Set 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");
while (i < NFRAMES) {
// Capture image
printf("Capturing image %d\n", i);
err = dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
DC1394_ERR_RTN(err, "Could not dequeue a frame");
// Do something with the image
print_frame_info(frame);
// Save the image
sprintf(filename, "%05d.pgm",i);
imagefile = fopen(filename, "wb");
if ( imagefile == NULL ) {
printf("Could not save image\n");
continue;
}
fprintf(imagefile, "P5\n%u %u 255\n", frame->size[0], frame->size[1]);
fwrite(frame->image, 1, frame->image_bytes, imagefile);
fclose(imagefile);
printf("Saved image %s\n", filename);
err = dc1394_capture_enqueue(camera, frame);
DC1394_ERR_RTN(err, "Could enqueue a frame");
i++;
}
dc1394_camera_free(camera);
dc1394_free(d);
return 0;
}
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