1 /*
2 * Grab partial images from camera. Camera must be format 7
3 * (scalable image size) compatible. The images are written
4 * in a PVN file
5 *
6 * Written by Damien Douxchamps <ddouxchamps@users.sf.net>
7 *
8 * This library is free software; you can redistribute it and/or
9 * modify it under the terms of the GNU Lesser General Public
10 * License as published by the Free Software Foundation; either
11 * version 2.1 of the License, or (at your option) any later version.
12 *
13 * This library is distributed in the hope that it will be useful,
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 * Lesser General Public License for more details.
17 *
18 * You should have received a copy of the GNU Lesser General Public
19 * License along with this library; if not, write to the Free Software
20 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
21 */
22
23 #include <stdio.h>
24 #include <stdint.h>
25 #include <dc1394/dc1394.h>
26 #include <stdlib.h>
27 #include <time.h>
28 #include <inttypes.h>
29 #include <unistd.h>
30
31 #ifdef _WIN32
32 #define times 0**(int*)
33 struct tms {int a;};
34 #else
35 #include <sys/times.h>
36 #endif
37
38 #define WIDTH 1280
39 #define HEIGHT 1024
40
main(int argn,char * argv[])41 int main(int argn, char *argv[])
42 {
43 FILE* imagefile;
44 dc1394camera_t *camera;
45 int i;
46 unsigned int width, height;
47 dc1394video_frame_t *frame=NULL;
48 dc1394_t * d;
49 dc1394camera_list_t * list;
50 dc1394error_t err;
51
52 int nimages;
53
54 if (argn<2) {
55 fprintf(stderr,"Usage:\n grab_partial_pvn <number of images>\n");
56 exit(1);
57 }
58
59 nimages=atoi(argv[1]);
60
61 d = dc1394_new ();
62 if (!d)
63 return 1;
64 err=dc1394_camera_enumerate (d, &list);
65 DC1394_ERR_RTN(err,"Failed to enumerate cameras");
66
67 if (list->num == 0) {
68 dc1394_log_error("No cameras found");
69 return 1;
70 }
71
72 camera = dc1394_camera_new (d, list->ids[0].guid);
73 if (!camera) {
74 dc1394_log_error("Failed to initialize camera with guid %"PRIx64,
75 list->ids[0].guid);
76 return 1;
77 }
78 dc1394_camera_free_list (list);
79
80 printf("Using camera with GUID %"PRIx64"\n", camera->guid);
81
82 /*-----------------------------------------------------------------------
83 * setup capture for format 7
84 *-----------------------------------------------------------------------*/
85
86 dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400);
87 dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_FORMAT7_0);
88 err = dc1394_format7_set_roi(camera, DC1394_VIDEO_MODE_FORMAT7_0,
89 DC1394_COLOR_CODING_MONO8,
90 DC1394_USE_MAX_AVAIL, // use max packet size
91 0, 0, // left, top
92 WIDTH, HEIGHT); // width, height
93 DC1394_ERR_RTN(err,"Unable to set Format7 mode 0.\nEdit the example file manually to fit your camera capabilities");
94
95 err=dc1394_capture_setup(camera, 4, DC1394_CAPTURE_FLAGS_DEFAULT);
96 DC1394_ERR_CLN_RTN(err, dc1394_camera_free(camera), "Error capturing");
97
98 /*-----------------------------------------------------------------------
99 * have the camera start sending us data
100 *-----------------------------------------------------------------------*/
101 err=dc1394_video_set_transmission(camera,DC1394_ON);
102 if (err!=DC1394_SUCCESS) {
103 dc1394_log_error("unable to start camera iso transmission");
104 dc1394_capture_stop(camera);
105 dc1394_camera_free(camera);
106 exit(1);
107 }
108
109 dc1394_get_image_size_from_video_mode(camera, DC1394_VIDEO_MODE_FORMAT7_0, &width, &height);
110
111 //sleep(10);
112
113 imagefile=fopen(argv[1],"wb");
114
115 fprintf(imagefile,"PV5a\nWIDTH: %d\nHEIGHT: %d\nMAXVAL: 8\nFRAMERATE: 10\n",WIDTH,HEIGHT);
116
117 for(i=0; i<nimages; ++i) {
118 //int k;
119 //for (k=0;k<4;k++) { // empty buffer
120 // err=dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
121 // dc1394_capture_enqueue(camera,frame);
122 //}
123 /*-----------------------------------------------------------------------
124 * capture one frame
125 *-----------------------------------------------------------------------*/
126 err=dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
127 if (err!=DC1394_SUCCESS) {
128 dc1394_log_error("unable to capture");
129 dc1394_capture_stop(camera);
130 dc1394_camera_free(camera);
131 exit(1);
132 }
133
134 fwrite(frame->image, 1, height * width, imagefile);
135
136 // release buffer
137 dc1394_capture_enqueue(camera,frame);
138 fprintf(stderr,"Got frame %d\n",i);
139 }
140
141 fclose(imagefile);
142 /*-----------------------------------------------------------------------
143 * stop data transmission
144 *-----------------------------------------------------------------------*/
145 err=dc1394_video_set_transmission(camera,DC1394_OFF);
146 DC1394_ERR_RTN(err,"couldn't stop the camera?");
147
148 /*-----------------------------------------------------------------------
149 * close camera, cleanup
150 *-----------------------------------------------------------------------*/
151 dc1394_capture_stop(camera);
152 dc1394_video_set_transmission(camera, DC1394_OFF);
153 dc1394_camera_free(camera);
154 dc1394_free (d);
155 return 0;
156 }
157