ExampleDC1394.cpp

Example for capturing images using DC1394 library directly without an instance of BIAS::VideoSource_DCAM.

Author

esquivel (adapted from libDC1394 examples)

Date

09/2012

/*
  This file is part of the BIAS library (Basic ImageAlgorithmS).

  Copyright (C) 2003-2009    (see file CONTACT for details)
  Multimediale Systeme der Informationsverarbeitung
  Institut fuer Informatik
  Christian-Albrechts-Universitaet Kiel


  BIAS 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.

  BIAS 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 BIAS; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

/** @example ExampleDC1394.cpp
    @ingroup g_examples
    @ingroup g_videosource
    @brief   Example for capturing images using DC1394 library directly
             without an instance of BIAS::VideoSource_DCAM.
    @author  esquivel (adapted from libDC1394 examples)
    @date    09/2012
*/

#include <Base/Image/Image.hh>
#include <Base/Image/ImageIO.hh>
#include <dc1394/dc1394.h>
#include <inttypes.h>
#include <unistd.h>
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>

#define NUM_DMA_BUFFERS 4

using namespace BIAS;
using namespace std;

/*-----------------------------------------------------------------------
 *  Releases the cameras and exits
 *-----------------------------------------------------------------------*/
void cleanup_and_exit(dc1394camera_t *camera)
{
  dc1394_video_set_transmission(camera, DC1394_OFF);
  dc1394_capture_stop(camera);
  dc1394_camera_free(camera);
  exit(1);
}

int main(int argc, char *argv[])
{
  dc1394camera_t *camera;
  dc1394framerate_t framerate = DC1394_FRAMERATE_15;
  dc1394video_mode_t video_mode = DC1394_VIDEO_MODE_800x600_MONO8;
  dc1394color_coding_t color_coding = DC1394_COLOR_CODING_MONO8;
  dc1394video_frame_t *frame = NULL;
  dc1394_t *dc = NULL;
  dc1394error_t err;

  int image_number = 1;
  bool show_features = false;
  bool detect_video_mode = true;

  if (argc > 1) {
    image_number = atoi(argv[1]);
    if (image_number < 1) image_number = 1;
  }

  dc = dc1394_new();
  if (!dc) return 1;

  dc1394camera_list_t *list;
  err = dc1394_camera_enumerate (dc, &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(dc, list->ids[0].guid);
  if (!camera) {
    dc1394_log_error("Failed to initialize camera with guid %d", (int)list->ids[0].guid);
    return 1;
  }
  dc1394_camera_free_list(list);

  cout << "Using camera with GUID " << camera->guid << endl;

  /*-----------------------------------------------------------------------
   *  detect the best video mode and highest framerate automatically
   *-----------------------------------------------------------------------*/
  if (detect_video_mode)
  {
    // get video modes
    dc1394video_modes_t video_modes;
    err = dc1394_video_get_supported_modes(camera, &video_modes);
    DC1394_ERR_CLN_RTN(err, cleanup_and_exit(camera), "Can't get video modes");

    // select highest resolution mode for grey images
    bool found_mode = false;
    for (int i = video_modes.num-1; i>= 0; i--) {
      if (!dc1394_is_video_mode_scalable(video_modes.modes[i])) {
        dc1394_get_color_coding_from_video_mode(camera, video_modes.modes[i], &color_coding);
        if (color_coding == DC1394_COLOR_CODING_MONO8) {
          video_mode = video_modes.modes[i];
          found_mode = true;
          break;
        }
      }
    }
    if (!found_mode) {
      dc1394_log_error("Could not get a valid MONO8 mode");
      cleanup_and_exit(camera);
    }

    err = dc1394_get_color_coding_from_video_mode(camera, video_mode, &color_coding);
    DC1394_ERR_CLN_RTN(err, cleanup_and_exit(camera), "Could not get color coding");

    // get highest framerate
    dc1394framerates_t framerates;
    err = dc1394_video_get_supported_framerates(camera, video_mode, &framerates);
    DC1394_ERR_CLN_RTN(err, cleanup_and_exit(camera), "Could not get framerates");
    framerate = framerates.framerates[framerates.num-1];
  }

  /*-----------------------------------------------------------------------
   *  setup capture
   *-----------------------------------------------------------------------*/

  if (color_coding != DC1394_COLOR_CODING_MONO8 &&
      color_coding != DC1394_COLOR_CODING_RGB8) {
    dc1394_log_error("Color coding has to be MONO8 or RGB8");
    cleanup_and_exit(camera);
  }

  err = dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400);
  DC1394_ERR_CLN_RTN(err, cleanup_and_exit(camera), "Could not set iso speed");

  err = dc1394_video_set_mode(camera, video_mode);
  DC1394_ERR_CLN_RTN(err, cleanup_and_exit(camera), "Could not set video mode");

  err = dc1394_video_set_framerate(camera, framerate);
  DC1394_ERR_CLN_RTN(err, cleanup_and_exit(camera), "Could not set framerate");

  err = dc1394_capture_setup(camera, NUM_DMA_BUFFERS, DC1394_CAPTURE_FLAGS_DEFAULT);
  DC1394_ERR_CLN_RTN(err, cleanup_and_exit(camera), "Could not setup camera\n"
                     "Make sure that the video mode and framerate are\n"
                     "supported by your camera");

  /*-----------------------------------------------------------------------
   *  report camera's features
   *-----------------------------------------------------------------------*/
  if (show_features) {
    dc1394featureset_t features;
    err = dc1394_feature_get_all(camera, &features);
    if (err != DC1394_SUCCESS) {
      dc1394_log_warning("Could not get feature set");
    }
    else {
      dc1394_feature_print_all(&features, stdout);
    }
  }

  /*-----------------------------------------------------------------------
   *  create image for data storage
   *-----------------------------------------------------------------------*/
  unsigned int width, height;
  float fps;
  dc1394_get_image_size_from_video_mode(camera, video_mode, &width, &height);
  dc1394_framerate_as_float(framerate, &fps);
  const bool grey_image = (color_coding == DC1394_COLOR_CODING_MONO8);
  const unsigned int channels = (grey_image ? 1 : 3);
  const unsigned int bytes = channels * width * height;
  //unsigned char *buffer = new unsigned char[bytes];
  BIAS::Image<unsigned char> image(width, height, channels);

  cout << "Starting capture with image size " << width << " x "
       << height << " (" << (grey_image ? "MONO8" : "RGB8") << ") with "
       << fps << " frames/sec" << endl;

  /*-----------------------------------------------------------------------
   *  have the camera start sending us data
   *-----------------------------------------------------------------------*/
  err = dc1394_video_set_transmission(camera, DC1394_ON);
  DC1394_ERR_CLN_RTN(err, cleanup_and_exit(camera),
                     "Could not start camera iso transmission");

  for (int image_no = 0; image_no < image_number; image_no++)
  {
    /*-----------------------------------------------------------------------
     *  capture one frame
     *-----------------------------------------------------------------------*/
    err = dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
    DC1394_ERR_CLN_RTN(err, cleanup_and_exit(camera), "Could not capture a frame");
    // memcpy(buffer, frame->image, bytes);
    memcpy(image.GetImageData(), frame->image, bytes);

    /*-----------------------------------------------------------------------
     *  save image to file
     *-----------------------------------------------------------------------*/

    char filename[32];
    sprintf(filename, "image-%04d.%s", image_no, grey_image ? "pgm" : "ppm");
/*
    FILE* imagefile;
    imagefile = fopen(filename, "wb");
    if (imagefile == NULL) {
      char errormessage[128];
      sprintf(errormessage, "Can't create '%s')", filename);
      perror(errormessage);
      cleanup_and_exit(camera);
    }
    if (grey_image)
      fprintf(imagefile, "P5\n%u %u 255\n", width, height);
    else
      fprintf(imagefile, "P6\n%u %u 255\n", width, height);
    fwrite(buffer, 1, bytes, imagefile);
    fclose(imagefile);
*/
    BIAS::ImageIO::Save(filename, image);
    cout << "Wrote " << filename << endl << flush;

    /*-----------------------------------------------------------------------
     *  enqueue frame in DMA buffer
     *-----------------------------------------------------------------------*/
    err = dc1394_capture_enqueue(camera, frame);
  }

  /*-----------------------------------------------------------------------
   *  close camera
   *-----------------------------------------------------------------------*/
  dc1394_video_set_transmission(camera, DC1394_OFF);
  DC1394_ERR_CLN_RTN(err, cleanup_and_exit(camera), "Could not stop the camera");
  dc1394_capture_stop(camera);
  dc1394_camera_free(camera);
  dc1394_free(dc);

  cout << "Closed camera connection" << endl;

  // release memory
  //delete[] buffer;

  return 0;
}