| ARToolKit | Mailing List Archive |
|
| From: | Roland Riepl <dodger@n .....> | Received: | Feb 2, 2007 |
| To | artoolkit@h .................. | ||
| Subject: | ARToolkit, Firewire Cameras and Linux | ||
Dear ARToolKit Community, for a university project I want to use ARToolKit with 2 Sony DFW-X700 cameras. I am running Debian Sarge on a 2.6.15 Kernel with most of the Firewire options in the Kernel enabled. I succesfully compiled ARToolkit after adding a few packages like libdv4-dev, libdc1394-11-dev, etc. but when i try to run the simpleTest binary I get following message. burninglucy:/home/devel/ARToolKit/bin# ./simpleTest2 No video config string supplied, using defaults. Auto-detecting firewire camera because card and node is not specified 1394 card 0 node 0 is a [SONY - DFW-X700 v1.60D] --> auto detected 1394 card 0 node 1 is a [SONY - DFW-X700 v1.60D] --> not used 1394 card 0 node 2 is not a camera [INVALID] Using the firewire camera on card 0 and node 0 Sorry, Unsupported Video Format for IEEE1394 Camera. If I export any video mode manually with (for instance) export ARTOOLKIT_CONFIG="-mode=640x480_RGB", I get burninglucy:/home/devel/ARToolKit/bin# ./simpleTest2 Using config string from environment [-mode=640x480_RGB]. Auto-detecting firewire camera because card and node is not specified 1394 card 0 node 0 is a [SONY - DFW-X700 v1.60D] --> auto detected 1394 card 0 node 1 is a [SONY - DFW-X700 v1.60D] --> not used 1394 card 0 node 2 is not a camera [INVALID] Using the firewire camera on card 0 and node 0 Unsupported Mode for the specified camera. I looked at the source code of the video.c but didn't find out where to look for the problem. Any help, hint or idea is very appreciated! Thanks in advance and best regards, Roland |
|||
| From: | Daniel Wagner <daniel@i ...............> | Received: | Feb 2, 2007 |
| To | ARToolKit Mailinglist <artoolkit@h ..................> | ||
| Subject: | Re: ARToolkit, Firewire Cameras and Linux | ||
Debadeepta Dey wrote: > Thirdly if all else fails then check pixel formats ... is your camera > capable of rbg capture? mine was a mono so i had to replicate the > channels to fill buffers. Just a small hint: it is a lot faster to use the gray image directly instead of duplicating channels. You save memory, time to duplicate the channels and have better cache usage during the labeling phase. Doing that is pretty easy: - define a new preprocessor setting in the config.h file - set AR_PIX_SIZE_DEFAULT to 1 - look for the #ifdef/#endif blocks in the source code and add the new code If you run into problems, look into the ARTK+ code... All together only a few lines of code (i guess less than 10) have to by copied and modified. Daniel |
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| From: | Roland Riepl <dodger@n .....> | Received: | Feb 2, 2007 |
| To | Debadeepta Dey <3dey.dce@g ........> | ||
| Subject: | Re: ARToolkit, Firewire Cameras and Linux | ||
Hi again !
Thanks for your quick answer.
Coriander really gave me some information. However, I am still not quite
understanding one
thing.
For Firewire, i can choose between the following modes:
=========================================
ARVideo may be configured using one or more of the following options,
separated by a space:
-node=N
specifies detected node ID of a FireWire camera (-1: Any).
-card=N
specifies the FireWire adaptor id number (-1: Any).
-mode=[320x240_YUV422|640x480_RGB|640x480_YUV411]
specifies input image format.
-rate=N
specifies desired framerate of a FireWire camera.
(1.875, 3.75, 7.5, 15, 30, 60)
-[name]=N where name is brightness, iris, shutter, gain, saturation,
gamma, sharpness
(value must be a legal value for this parameter - use coriander to
find what they are
=========================================
So I checked with coriandar the possible modes of my camera:
These are:
320x240_YUV422
640x480_YUV422
800x600_YUV422
1024x800_YUV422
I managed to get simpleTest running, with the -mode=320x240_YUV422
and the framerate paramater, but the problem is that I need a higher
resolution.
Best would be 1024x800_YUV422, but I dont know how to choose that option
in ARToolKit.
It seems that it is not be available.
Am I wrong? (hopefully)
Can this be changed?
If yes, can I do it myself or do I need to be a very good at C-code?
Thanks and best regards,
Roland
Debadeepta Dey wrote:
> Hi Roland,
>
> I had the exact same problem with a pair of Videre Firewire cameras I
> was using.
> Run Coriander on the firewire cameras you have and check their settings
> secondly supply a video config string with the correct resolution and
> modes----see what are the relevant parameters in the API doc of
> ARToolkit , you will find a special page for configuring video formats
> in there if you have not found one already.
> Thirdly if all else fails then check pixel formats ... is your camera
> capable of rbg capture? mine was a mono so i had to replicate the
> channels to fill buffers.
> best of luck
>
> On 2/2/07, Roland Riepl <dodger@n .....> wrote:
>
>> Dear ARToolKit Community,
>>
>> for a university project I want to use ARToolKit with 2 Sony DFW-X700
>> cameras. I am running Debian Sarge on a
>> 2.6.15 Kernel with most of the Firewire options in the Kernel enabled.
>>
>> I succesfully compiled ARToolkit after adding a few packages like
>> libdv4-dev, libdc1394-11-dev, etc. but when i try
>> to run the simpleTest binary I get following message.
>>
>> burninglucy:/home/devel/ARToolKit/bin# ./simpleTest2
>> No video config string supplied, using defaults.
>> Auto-detecting firewire camera because card and node is not specified
>> 1394 card 0 node 0 is a [SONY - DFW-X700 v1.60D] --> auto detected
>> 1394 card 0 node 1 is a [SONY - DFW-X700 v1.60D] --> not used
>> 1394 card 0 node 2 is not a camera [INVALID]
>> Using the firewire camera on card 0 and node 0
>> Sorry, Unsupported Video Format for IEEE1394 Camera.
>>
>>
>> If I export any video mode manually with (for instance)
>> export ARTOOLKIT_CONFIG="-mode=640x480_RGB",
>>
>> I get
>>
>> burninglucy:/home/devel/ARToolKit/bin# ./simpleTest2
>> Using config string from environment [-mode=640x480_RGB].
>> Auto-detecting firewire camera because card and node is not specified
>> 1394 card 0 node 0 is a [SONY - DFW-X700 v1.60D] --> auto detected
>> 1394 card 0 node 1 is a [SONY - DFW-X700 v1.60D] --> not used
>> 1394 card 0 node 2 is not a camera [INVALID]
>> Using the firewire camera on card 0 and node 0
>> Unsupported Mode for the specified camera.
>>
>>
>> I looked at the source code of the video.c but didn't find out
>> where to look for the problem.
>>
>> Any help, hint or idea is very appreciated!
>>
>> Thanks in advance and best regards,
>> Roland
>>
>>
>
>
|
|||
| From: | Roland Riepl <dodger@n .....> | Received: | Feb 2, 2007 |
| To | artoolkit@h .................. | ||
| Subject: | Re: ARToolkit, Firewire Cameras and Linux | ||
Hi again!
Thanks alot. This piece of code really helped alot. I've added different
modes which
my camera is able to handle (at least on coriander's opinion which gives
me good
streams).
Here's a small part of the changes I've made in order to give you an
overview which
modes i added.
switch( vid->mode )
{
case VIDEO_MODE_320x240_YUV422:
vid->int_mode = MODE_320x240_YUV422;
break;
case VIDEO_MODE_640x480_YUV411:
vid->int_mode = MODE_640x480_YUV411;
break;
case VIDEO_MODE_800x600_YUV422:
vid->int_mode = MODE_800x600_YUV422;
break;
case VIDEO_MODE_1024x768_YUV422:
vid->int_mode = MODE_1024x768_YUV422;
break;
case VIDEO_MODE_640x480_YUV422:
vid->int_mode = MODE_640x480_YUV422;
break;
case VIDEO_MODE_640x480_RGB:
vid->int_mode = MODE_640x480_RGB;
break;
......
If I recompile the toolkit and launch the executable simpleTest with
# ARTOOLKIT_CONFIG="-mode=640x480_YUV422 -rate=15" ./simpleTest2
everything works fine.
However, if I start the program with
# ARTOOLKIT_CONFIG="-mode=800x600_YUV422 -rate=15" ./simpleTest2
i get
Using config string from environment [-mode=800x600_YUV422 -rate=15].
Auto-detecting firewire camera because card and node is not specified
1394 card 0 node 0 is a [SONY - DFW-X700 v1.60D] --> auto detected
1394 card 0 node 1 is not a camera [INVALID]
Using the firewire camera on card 0 and node 0
Unsupported Mode for the specified camera.
According to coriander my camera should support this mode. Any ideas
what's possibly wrong?
Another question is also bugging my mind :)
What's the differnce in coriander between the Format_0, Mode_x and
Format_1, Mode_x ? I ask this question because 640x480 YUV 422 is Format_0
and the higher ones are Format_1.
Best regards,
Roland
Debadeepta Dey wrote:
> Here is the code listing for the video.c file I had modified to
> include the case of
> "case VIDEO_MODE_1280x960_MONO: "
>
> here goes----------------------------------
>
>
> /*
> * Revision: 1.0 Date: 2002/01/01
> * Video capture subrutine for Linux/libdc1394 devices
> * author: Kiyoshi Kiyokawa ( kiyo@c ........ )
> * Hirokazu Kato ( kato@s ........................ )
> *
> *
> * Revision: 1.1 Date: 2004/09/30
> * Modifications by Wayne Piekarski ( wayne@c .............. )
> * - #ifdef macros added to support the many different versions of
> libdc1394
> * - Initialisation code rewritten to support multiple 1394 busses
> * - Either autodetect of cameras or specifying the exact camera is
> now possible
> * - Support for changing of various 1394 camera properties
> *
> * Revision 1.1.1 Date: 2005/03/14
> * Patch by Henrik Erkkonen to support version 11 of libdc1394.
> *
> */
>
> #include <sys/ioctl.h>
> #include <sys/types.h>
> #include <sys/stat.h>
> #include <sys/mman.h>
> #include <fcntl.h>
> #include <unistd.h>
> #include <stdio.h>
> #include <stdlib.h>
> #include <string.h>
> #include <linux/types.h>
> #include <libraw1394/raw1394.h>
> #include <libdc1394/dc1394_control.h>
> #include <AR/config.h>
> #include <AR/ar.h>
> #include <AR/video.h>
>
>
>
>
> /* Do not touch the following macros! */
> #undef LIBDC_8
> #undef LIBDC_9
> #undef LIBDC_10
> #undef LIBDC_11
> #undef LIBDC_DEF
>
>
> /* ----------------------- MAKE ANY #define CHANGES HERE ONLY
> -------------------------------- */
> /* This define controls if we use the new or old libDC1394 API
> functions. The new code is much
> more stable for multiple cameras and so is recommended */
> // #define LIBDC_8
> // #define LIBDC_9
> // #define LIBDC_10
> #define LIBDC_11
> /* ----------------------- MAKE ANY #define CHANGES HERE ONLY
> -------------------------------- */
>
>
> /* These are some extra constants I defined for my modifications */
> #define DEFAULT_VIDEO_CARD -1
> #define MAX_PORTS 4 /* This is the maximum number of Firewire cards we
> can have installed in the system, it is an arbitrary number */
>
>
> /* Error checking to ensure we have a proper configuration, and put
> some debugging out */
> #ifdef LIBDC_8
> #warning Compiling using original 0.8.3 libDC library (single camera
> only) - debian: libdc1394-8-dev
> #warning The 0.8.3 libDC code is dangerous and has a number of bugs
> which will cause trouble - upgrade to 0.9.1 or later!
> #define LIBDC_DEF
> #endif
>
> #ifdef LIBDC_9
> #warning Compiling using the newer and safer 0.9.1 libDC library
> (multiple camera support) - debian: libdc1394-9-dev
> #define LIBDC_DEF
> #endif
>
> #ifdef LIBDC_10
> #warning Compiling using the newer and safer 0.9.5 libDC library
> (multiple camera support) - debian: libdc1394-10-dev
> #define LIBDC_DEF
> #endif
>
> #ifdef LIBDC_11
> #warning Compiling using the 1.0.0 libDC library
> #define LIBDC_DEF
> #endif
>
> #ifndef LIBDC_DEF
> #error One of the LIBDC_[8,9,10,11] macros must be defined to compile
> this code properly!
> #endif
>
>
>
>
> static AR2VideoParamT *gVid = NULL;
>
> int arVideoDispOption( void )
> {
> return ar2VideoDispOption();
> }
>
> int arVideoOpen( char *config )
> {
> if( gVid != NULL ) {
> printf("Device has been opened!!\n");
> return -1;
> }
> gVid = ar2VideoOpen( config );
> if( gVid == NULL ) return -1;
>
> return 0;
> }
>
> int arVideoClose( void )
> {
> int result;
>
> if( gVid == NULL ) return -1;
>
> result = ar2VideoClose(gVid);
> gVid = NULL;
> return (result);
> }
>
> int arVideoInqSize( int *x, int *y )
> {
> if( gVid == NULL ) return -1;
>
> return ar2VideoInqSize( gVid, x, y );
> }
>
> ARUint8 *arVideoGetImage( void )
> {
> if( gVid == NULL ) return NULL;
>
> return ar2VideoGetImage( gVid );
> }
>
> int arVideoCapStart( void )
> {
> if( gVid == NULL ) return -1;
>
> return ar2VideoCapStart( gVid );
> }
>
> int arVideoCapStop( void )
> {
> if( gVid == NULL ) return -1;
>
> return ar2VideoCapStop( gVid );
> }
>
> int arVideoCapNext( void )
> {
> if( gVid == NULL ) return -1;
>
> return ar2VideoCapNext( gVid );
> }
>
> /*-------------------------------------------*/
>
>
> typedef struct __arVideo1394
> {
> raw1394handle_t handle;
> } ARVideo1394;
>
> static ARVideo1394 arV1394;
> static int initFlag = 0;
>
> static int ar2Video1394Init( int debug, int *card, int *node );
>
>
> int ar2VideoDispOption( void )
> {
> printf("ARVideo may be configured using one or more of the
> following options,\n");
> printf("separated by a space:\n\n");
> printf(" -node=N\n");
> printf(" specifies detected node ID of a FireWire camera (-1:
> Any).\n");
> printf(" -card=N\n");
> printf(" specifies the FireWire adaptor id number (-1: Any).\n");
> printf(" -mode=[320x240_YUV422|640x480_RGB|640x480_YUV411]\n");
> printf(" specifies input image format.\n");
> printf(" -rate=N\n");
> printf(" specifies desired framerate of a FireWire camera. \n");
> printf(" (1.875, 3.75, 7.5, 15, 30, 60)\n");
> printf(" -[name]=N where name is brightness, iris, shutter, gain,
> saturation, gamma, sharpness\n");
> printf(" (value must be a legal value for this parameter - use
> coriander to find what they are\n");
> printf("\n");
>
> return 0;
> }
>
> AR2VideoParamT *ar2VideoOpen( char *config )
> {
> char video1394devname [128];
> AR2VideoParamT *vid;
> ARUint32 p1,p2;
> quadlet_t value;
> char *a, line[256];
> int i;
>
> int brightness = -1;
> int iris = -1;
> int shutter = -1;
> int gain = -1;
> int saturation = -1;
> int gamma = -1;
> int sharpness = -1;
>
> arMalloc( vid, AR2VideoParamT, 1 );
> vid->node = DEFAULT_VIDEO_NODE;
> vid->card = DEFAULT_VIDEO_CARD;
> vid->mode = DEFAULT_VIDEO_MODE;
>
>
>
> vid->rate = DEFAULT_VIDEO_FRAME_RATE;
> vid->channel = 0;
> vid->speed = SPEED_400;
>
> vid->format = FORMAT_SVGA_NONCOMPRESSED_2;//changed
> according to our camera
> vid->dma_buf_num = 16;
> vid->debug = 0;
> vid->status = 0;
>
> a = config;
> if( a != NULL) {
> for(;;) {
> while( *a == ' ' || *a == '\t' ) a++;
> if( *a == '\0' ) break;
>
> if( strncmp( a, "-mode=", 6 ) == 0 ) {
> if ( strncmp( &a[6], "320x240_YUV422", 14 ) == 0 ) {
> vid->mode = VIDEO_MODE_320x240_YUV422;
> }
> else if ( strncmp( &a[6], "640x480_YUV411", 14 ) == 0 ) {
> vid->mode = VIDEO_MODE_640x480_YUV411;
> }
> else if ( strncmp( &a[6], "640x480_RGB", 11 ) == 0 ) {
> vid->mode = VIDEO_MODE_640x480_RGB;
> }
> else if ( strncmp( &a[6], "1280x960_MONO", 11 ) == 0 ) {
> vid->mode = VIDEO_MODE_1280x960_MONO;
> }
> else {
> ar2VideoDispOption();
> free( vid );
> return 0;
> }
> }
>
> else if( strncmp( a, "-iris=", 6 ) == 0 ) {
> sscanf( a, "%s", line );
> if( sscanf( &line[6], "%d", &iris ) == 0 ) {
> ar2VideoDispOption();
> free( vid );
> return 0;
> }
> }
> else if( strncmp( a, "-gain=", 6 ) == 0 ) {
> sscanf( a, "%s", line );
> if( sscanf( &line[6], "%d", &gain ) == 0 ) {
> ar2VideoDispOption();
> free( vid );
> return 0;
> }
> }
>
> else if( strncmp( a, "-node=", 6 ) == 0 ) {
> sscanf( a, "%s", line );
> if( sscanf( &line[6], "%d", &vid->node ) == 0 ) {
> ar2VideoDispOption();
> free( vid );
> return 0;
> }
> }
> else if( strncmp( a, "-card=", 6 ) == 0 ) {
> sscanf( a, "%s", line );
> if( sscanf( &line[6], "%d", &vid->card ) == 0 ) {
> ar2VideoDispOption();
> free( vid );
> return 0;
> }
> }
> else if( strncmp( a, "-rate=", 6 ) == 0 ) {
> if ( strncmp( &a[6], "1.875", 5 ) == 0 ) {
> vid->rate = VIDEO_FRAME_RATE_1_875;
> }
> else if ( strncmp( &a[6], "3.75", 4 ) == 0 ) {
> vid->rate = VIDEO_FRAME_RATE_3_75;
> }
> else if ( strncmp( &a[6], "7.5", 3 ) == 0 ) {
> vid->rate = VIDEO_FRAME_RATE_7_5;
> }
> else if ( strncmp( &a[6], "15", 2 ) == 0 ) {
> vid->rate = VIDEO_FRAME_RATE_15;
> }
> else if ( strncmp( &a[6], "30", 2 ) == 0 ) {
> vid->rate = VIDEO_FRAME_RATE_30;
> }
> else if ( strncmp( &a[6], "60", 2 ) == 0 ) {
> vid->rate = VIDEO_FRAME_RATE_60;
> }
> else {
> ar2VideoDispOption();
> free( vid );
> return 0;
> }
> }
> else if( strncmp( a, "-debug", 6 ) == 0 ) {
> vid->debug = 1;
> }
> else {
> ar2VideoDispOption();
> free( vid );
> return 0;
> }
>
> while( *a != ' ' && *a != '\t' && *a != '\0') a++;
> }
> }
>
>
> if( initFlag == 0 )
> {
> if( ar2Video1394Init(vid->debug, &vid->card, &vid->node) < 0 )
> exit(0);
> initFlag = 1;
> }
>
> switch( vid->mode ) {
> case VIDEO_MODE_320x240_YUV422:
> vid->int_mode = MODE_320x240_YUV422;
> break;
> case VIDEO_MODE_640x480_YUV411:
> vid->int_mode = MODE_640x480_YUV411;
> break;
> case VIDEO_MODE_640x480_RGB:
> vid->int_mode = MODE_640x480_RGB;
> case VIDEO_MODE_1280x960_MONO:
> vid->int_mode = MODE_1280x960_MONO;
> break;
> default:
> printf("Sorry, Unsupported Video Format for IEEE1394
> Camera.\n");
> exit(1);
> }
> switch( vid->rate ) {
> case VIDEO_FRAME_RATE_1_875:
> vid->int_rate = FRAMERATE_1_875;
> break;
> case VIDEO_FRAME_RATE_3_75:
> vid->int_rate = FRAMERATE_3_75;
> break;
> case VIDEO_FRAME_RATE_7_5:
> vid->int_rate = FRAMERATE_7_5;
> break;
> case VIDEO_FRAME_RATE_15:
> vid->int_rate = FRAMERATE_15;
> break;
> case VIDEO_FRAME_RATE_30:
> vid->int_rate = FRAMERATE_30;
> break;
> case VIDEO_FRAME_RATE_60:
> vid->int_rate = FRAMERATE_60;
> break;
> default:
> printf("Sorry, Unsupported Frame Rate for IEEE1394 Camera.\n");
> exit(1);
> }
> printf ("framerate, %d" ,vid->int_rate);
>
> /*-----------------------------------------------------------------------*/
>
> /* report camera's
> features */
>
> /*-----------------------------------------------------------------------*/
>
> if( dc1394_get_camera_feature_set(arV1394.handle,
> vid->node,
> &(vid->features)) != DC1394_SUCCESS ) {
> fprintf( stderr, "unable to get feature set\n");
> }
> else if( vid->debug ) {
> dc1394_print_feature_set( &(vid->features) );
> }
>
>
> /* Change the camera settings if we need to */
> if (iris != -1)
> {
> fprintf (stderr, "Adjusting IRIS setting to %d\n", iris);
> dc1394_set_iris (arV1394.handle, vid->node, (unsigned int)iris);
> }
> if (gain != -1)
> {
> fprintf (stderr, "Adjusting GAIN setting to %d\n", gain);
> dc1394_set_gain (arV1394.handle, vid->node, (unsigned int)gain);
> }
>
>
> /* Dump out the new parameters now */
> if (vid->debug)
> dc1394_print_feature_set( &(vid->features) );
>
>
>
> /*-----------------------------------------------------------------------*/
>
> /* check
> parameters */
>
> /*-----------------------------------------------------------------------*/
>
> if( dc1394_query_supported_formats(arV1394.handle, vid->node,
> &value) != DC1394_SUCCESS ) {
> fprintf( stderr, "unable to query_supported_formats\n");
> }
> i = 31 - (FORMAT_SVGA_NONCOMPRESSED_2 - FORMAT_MIN);
> p1 = 1 << i;
> p2 = value & p1;
> if( p2 == 0 ) {
> fprintf( stderr, "unable to use this camera on
> VGA_NONCOMPRESSED format.\n");
> exit(0);
> }
> dc1394_query_supported_modes(arV1394.handle, vid->node,
> FORMAT_SVGA_NONCOMPRESSED_2, &value);
> i = 31 - (vid->int_mode - MODE_FORMAT0_MIN);
> p1 = 1 << i;
> p2 = value & p1;
> if( p2 == 0 ) {
> fprintf( stderr, "Unsupported Mode for the specified camera.\n");
> ar2VideoDispOption();
> exit(0);
> }
> dc1394_query_supported_framerates(arV1394.handle, vid->node,
> FORMAT_SVGA_NONCOMPRESSED_2, vid->int_mode, &value);
> i = 31 - (vid->int_rate - FRAMERATE_MIN);
> p1 = 1 << i;
> p2 = value & p1;
> if( p2 == 0 ) {
> fprintf( stderr, "Unsupported Framerate for the specified
> mode.\n");
> ar2VideoDispOption();
> exit(0);
> }
>
>
> /*-----------------------------------------------------------------------*/
>
> /* setup
> capture */
>
> /*-----------------------------------------------------------------------*/
>
> sprintf (video1394devname, "/dev/video1394/%d", vid->card);
> if( dc1394_setup_capture(arV1394.handle,
> vid->node,
> #ifndef LIBDC_8
> vid->node,
> #else
> vid->channel,
> #endif
> vid->format,
> vid->int_mode,
> vid->speed,
> vid->int_rate,
>
> &(vid->camera)) != DC1394_SUCCESS ) {
> fprintf( stderr,"unable DMA to setup camera-\n"
> "check if you did 'insmod video1394' or,\n"
> "check line %d of %s to make sure\n"
> "that the video mode,framerate and format are\n"
> "supported by your camera\n",
> __LINE__,__FILE__);
> exit(0);
> }
>
> /* set trigger mode */
> if( dc1394_set_trigger_mode(arV1394.handle, vid->node,
> TRIGGER_MODE_0) != DC1394_SUCCESS ) {
> fprintf( stderr, "unable to set camera trigger mode (ignored)\n");
> }
>
> arMalloc( vid->image, ARUint8, (vid->camera.frame_width *
> vid->camera.frame_height * AR_PIX_SIZE_DEFAULT) );
>
> return vid;
> }
>
> int ar2VideoClose( AR2VideoParamT *vid )
> {
> int i;
>
> if (vid->status == 1 || vid->status == 2) ar2VideoCapStop(vid);
>
> #if 0
> dc1394_release_camera(arV1394.handle, &(vid->camera));
> #endif
> free( vid->image );
> free( vid );
>
> raw1394_destroy_handle(arV1394.handle);
> initFlag = 0;
>
> return 0;
> }
>
> int ar2VideoCapStart( AR2VideoParamT *vid )
> {
> char video1394devname [128];
>
>
> if(vid->status != 0 && vid->status != 3){
> printf("arVideoCapStart has already been called.\n");
> return -1;
> }
>
>
> /*-----------------------------------------------------------------------*/
>
> /* setup
> capture */
>
> /*-----------------------------------------------------------------------*/
>
> sprintf (video1394devname, "/dev/video1394/%d", vid->card);
> if( vid->status == 3 ) {
> if( dc1394_setup_capture(arV1394.handle,
> vid->node,
> #ifndef LIBDC_8
> vid->node,
> #else
> vid->channel,
> #endif
> vid->format,
> vid->int_mode,
> vid->speed,
> vid->int_rate,
>
> &(vid->camera)) != DC1394_SUCCESS ) {
> fprintf( stderr,"unable to DMA1 setup camera-\n"
> "check if you did 'insmod video1394' or,\n"
> "check line %d of %s to make sure\n"
> "that the video mode,framerate and format are\n"
> "supported by your camera\n",
> __LINE__,__FILE__);
> exit(0);
> }
> }
>
> if( dc1394_start_iso_transmission(arV1394.handle, vid->node) !=
> DC1394_SUCCESS ) {
> fprintf( stderr, "unable to start camera iso transmission\n");
> return -1;
> }
>
> vid->status = 1;
>
> return 0;
> }
>
> int ar2VideoCapNext( AR2VideoParamT *vid )
> {
> if(vid->status == 0 || vid->status == 3){
> printf("arVideoCapStart has never been called.\n");
> return -1;
> }
>
> return 0;
> }
>
> int ar2VideoCapStop( AR2VideoParamT *vid )
> {
>
> if( dc1394_single_capture(arV1394.handle ,&(vid->camera) ) !=
> DC1394_SUCCESS ) {
> fprintf( stderr, "unable to capture a frame\n");
> }
>
> if(vid->status == 0){
> printf("arVideoCapStart has never been called.\n");
> return -1;
> }
> vid->status = 3;
>
> if( dc1394_stop_iso_transmission(arV1394.handle, vid->node) !=
> DC1394_SUCCESS ) {
> printf("couldn't stop the camera?\n");
> return -1;
> }
>
> dc1394_release_camera(arV1394.handle, &(vid->camera));
>
> return 0;
> }
>
> int ar2VideoInqSize(AR2VideoParamT *vid, int *x,int *y)
> {
> *x = vid->camera.frame_width;
> *y = vid->camera.frame_height;
>
> return 0;
> }
>
> ARUint8 *ar2VideoGetImage( AR2VideoParamT *vid )
> {
> register ARUint8 *buf, *buf2;
> register int i, j;
> register int U, V, R, G, B, V2, U5, UV;
> register int Y0, Y1, Y2, Y3,Y;
> register ARUint8 r, g, b;
> // printf("we are in getimage Dey");
> if(vid->status == 0){
> printf("arVideoCapStart has never been called.\n");
> return NULL;
> }
> /*
> if(vid->status == 2){
> printf("arVideoCapNext has never been called since previous
> arVideoGetImage.\n");
> return NULL;
> }*/
>
> if( dc1394_single_capture(arV1394.handle, &(vid->camera) ) !=
> DC1394_SUCCESS ) {
> fprintf( stderr, "unable to capture a frame\n");
> return NULL;
> }
> vid->status = 2;
>
>
> switch( vid->int_mode ) {
> case MODE_640x480_RGB:
> return (ARUint8 *)vid->camera.capture_buffer;
>
> case MODE_640x480_YUV411:
> buf = vid->image;
> buf2 = (ARUint8 *)vid->camera.capture_buffer;
> for( i = vid->camera.frame_height * vid->camera.frame_width
> / 4; i; i--) {
> U = ((ARUint8)*buf2++ - 128) * 0.354;
> U5 = 5*U;
> Y0 = (ARUint8)*buf2++;
> Y1 = (ARUint8)*buf2++;
> V = ((ARUint8)*buf2++ - 128) * 0.707;
> V2 = 2*V;
> Y2 = (ARUint8)*buf2++;
> Y3 = (ARUint8)*buf2++;
> UV = - U - V;
>
> // Original equations
> // R = Y + 1.402 V
> // G = Y - 0.344 U - 0.714 V
> // B = Y + 1.772 U
> R = Y0 + V2;
> if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
>
> G = Y0 + UV;
> if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
>
> B = Y0 + U5;
> if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
>
> *buf++ = (ARUint8)R;
> *buf++ = (ARUint8)G;
> *buf++ = (ARUint8)B;
>
> //---
> R = Y1 + V2;
> if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
>
> G = Y1 + UV;
> if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
>
> B = Y1 + U5;
> if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
>
> *buf++ = (ARUint8)R;
> *buf++ = (ARUint8)G;
> *buf++ = (ARUint8)B;
>
> //---
> R = Y2 + V2;
> if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
>
> G = Y2 + UV;
> if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
>
> B = Y2 + U5;
> if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
>
> *buf++ = (ARUint8)R;
> *buf++ = (ARUint8)G;
> *buf++ = (ARUint8)B;
>
> //---
> R = Y3 + V2;
> if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
>
> G = Y3 + UV;
> if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
>
> B = Y3 + U5;
> if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
>
> *buf++ = (ARUint8)R;
> *buf++ = (ARUint8)G;
> *buf++ = (ARUint8)B;
> }
> return vid->image;
>
> case MODE_320x240_YUV422:
> buf = vid->image;
> buf2 = (ARUint8 *)vid->camera.capture_buffer;
> for( i = vid->camera.frame_height * vid->camera.frame_width
> / 2; i; i-- ) {
> U = ((ARUint8)*buf2++ - 128) * 0.354;
> U5 = 5*U;
> Y0 = (ARUint8)*buf2++;
> V = ((ARUint8)*buf2++ - 128) * 0.707;
> V2 = 2*V;
> Y1 = (ARUint8)*buf2++;
> UV = - U - V;
>
> //---
> R = Y0 + V2;
> if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
>
> G = Y0 + UV;
> if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
>
> B = Y0 + U5;
> if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
>
> *buf++ = (ARUint8)R;
> *buf++ = (ARUint8)G;
> *buf++ = (ARUint8)B;
>
> //---
> R = Y1 + V2;
> if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
>
> G = Y1 + UV;
> if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
>
> B = Y1 + U5;
> if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
>
> *buf++ = (ARUint8)R;
> *buf++ = (ARUint8)G;
> *buf++ = (ARUint8)B;
> }
> return vid->image;
>
> case MODE_1280x960_MONO:
> buf = vid->image;
> buf2 = (ARUint8 *)vid->camera.capture_buffer;
> for(i = 0; i < (vid->camera.frame_height *
> vid->camera.frame_width); i++ ){
> //for( i = vid->camera.frame_height * vid->camera.frame_width;
> i; i--) {
> U = (ARUint8)*buf2++ ;
>
>
> // printf("printing your case Dey");
>
>
> // Original equations
> // R = Y + 1.402 V
> // G = Y - 0.344 U - 0.714 V
> // B = Y + 1.772 U
> R = U;
> if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
>
> G = U;
> if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
>
> B = U;
> if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
>
> *buf++ = (ARUint8)R;
> *buf++ = (ARUint8)G;
> *buf++ = (ARUint8)B;
>
>
> }
> return vid->image;
> }
> printf("no case matched Dey");
> return NULL;
> }
>
>
>
>
> static int ar2Video1394Init( int debug, int *card, int *node )
> {
> int i;
>
> /* The user must either specify both card and node, or neither of
> them */
> if (((*card == -1) && (*node != -1)) ||
> ((*card != -1) && (*node == -1)))
> {
> fprintf (stderr, "Card value is %d and node value is %d, you must
> either auto-detect both or specify both\n");
> exit (1);
> }
>
> /* If the user has specified so, we will autodetect for the camera
> and grab the first one we can find */
> if ((*card == -1) && (*node == -1))
> {
> /* Find the total number of firewire cards in the system */
> int numPorts = MAX_PORTS;
> int p;
> struct raw1394_portinfo ports[MAX_PORTS];
> raw1394handle_t raw_handle = raw1394_new_handle ();
> if (raw_handle == NULL)
> {
> fprintf (stderr, "Could not acquire a raw1394 handle - driver not
> installed?\n");
> exit (1);
> }
> numPorts = raw1394_get_port_info (raw_handle, ports, numPorts);
> raw1394_destroy_handle (raw_handle);
>
> /* Perform autodetection */
> printf ("Auto-detecting firewire camera because card and node is not
> specified\n");
>
> /* We need to traverse all available cards and process each one */
> for (p = 0; p < numPorts; p++)
> {
> /* Open up OHCI and assign a handle */
> int numnodes, c;
> raw1394handle_t handle;
> handle = dc1394_create_handle (p);
> if (handle == NULL)
> continue;
>
> /* Get the camera nodes */
> numnodes = raw1394_get_nodecount (handle);
> if (numnodes <= 1)
> continue;
>
> /* Get info for each camera node */
> for (c = 0; c < numnodes; c++)
> {
> dc1394_camerainfo info;
> if (dc1394_get_camera_info (handle, c, &info) < 0)
> {
> printf ("1394 card %d node %d is not a camera
> [INVALID]\n", p, c);
> }
> else
> {
> printf ("1394 card %d node %d is a [%s - %s] --> ", p, c,
> info.vendor, info.model);
>
> /* Store the node numbers */
> if (*card == -1)
> {
> printf ("auto detected\n");
> *card = p;
> *node = c;
> }
> else
> printf ("not used\n");
> }
> }
> }
>
> /* If we still haven't found a camera then we are in trouble */
> if ((*card == -1) && (*node == -1))
> {
> fprintf (stderr, "Could not auto detect any cameras on the %d
> firewire cards available\n", numPorts);
> exit (1);
> }
> printf ("Using the firewire camera on card %d and node %d\n",
> *card, *node);
> }
>
>
> /* Lets create a handle so it can be used later on */
> arV1394.handle = dc1394_create_handle(*card);
> printf("Testing");
> if (arV1394.handle==NULL)
> {
> fprintf (stderr, "Could not acquire a raw1394 handle, did you insmod
> the drivers?\n");
> exit(1);
> }
>
>
> /* Success */
> return 0;
> }
>
> -------------------------------------------------------------------------------------------------------------------
>
>
|
|||
| From: | "Debadeepta Dey" <3dey.dce@g ........> | Received: | Feb 2, 2007 |
| To | "Roland Riepl" <dodger@n .....> | ||
| Subject: | Re: ARToolkit, Firewire Cameras and Linux | ||
Hi Roland, I had the exact same problem with a pair of Videre Firewire cameras I was using. Run Coriander on the firewire cameras you have and check their settings secondly supply a video config string with the correct resolution and modes----see what are the relevant parameters in the API doc of ARToolkit , you will find a special page for configuring video formats in there if you have not found one already. Thirdly if all else fails then check pixel formats ... is your camera capable of rbg capture? mine was a mono so i had to replicate the channels to fill buffers. best of luck On 2/2/07, Roland Riepl <dodger@n .....> wrote: > Dear ARToolKit Community, > > for a university project I want to use ARToolKit with 2 Sony DFW-X700 > cameras. I am running Debian Sarge on a > 2.6.15 Kernel with most of the Firewire options in the Kernel enabled. > > I succesfully compiled ARToolkit after adding a few packages like > libdv4-dev, libdc1394-11-dev, etc. but when i try > to run the simpleTest binary I get following message. > > burninglucy:/home/devel/ARToolKit/bin# ./simpleTest2 > No video config string supplied, using defaults. > Auto-detecting firewire camera because card and node is not specified > 1394 card 0 node 0 is a [SONY - DFW-X700 v1.60D] --> auto detected > 1394 card 0 node 1 is a [SONY - DFW-X700 v1.60D] --> not used > 1394 card 0 node 2 is not a camera [INVALID] > Using the firewire camera on card 0 and node 0 > Sorry, Unsupported Video Format for IEEE1394 Camera. > > > If I export any video mode manually with (for instance) > export ARTOOLKIT_CONFIG="-mode=640x480_RGB", > > I get > > burninglucy:/home/devel/ARToolKit/bin# ./simpleTest2 > Using config string from environment [-mode=640x480_RGB]. > Auto-detecting firewire camera because card and node is not specified > 1394 card 0 node 0 is a [SONY - DFW-X700 v1.60D] --> auto detected > 1394 card 0 node 1 is a [SONY - DFW-X700 v1.60D] --> not used > 1394 card 0 node 2 is not a camera [INVALID] > Using the firewire camera on card 0 and node 0 > Unsupported Mode for the specified camera. > > > I looked at the source code of the video.c but didn't find out > where to look for the problem. > > Any help, hint or idea is very appreciated! > > Thanks in advance and best regards, > Roland > > -- Debadeepta Dey, Research Intern, Hitech Robotics Systemz, India. |
|||
| From: | "Debadeepta Dey" <3dey.dce@g ........> | Received: | Feb 2, 2007 |
| To | "Roland Riepl" <dodger@n .....> | ||
| Subject: | Re: ARToolkit, Firewire Cameras and Linux | ||
Here is the code listing for the video.c file I had modified to
include the case of
"case VIDEO_MODE_1280x960_MONO: "
here goes----------------------------------
/*
* Revision: 1.0 Date: 2002/01/01
* Video capture subrutine for Linux/libdc1394 devices
* author: Kiyoshi Kiyokawa ( kiyo@c ........ )
* Hirokazu Kato ( kato@s ........................ )
*
*
* Revision: 1.1 Date: 2004/09/30
* Modifications by Wayne Piekarski ( wayne@c .............. )
* - #ifdef macros added to support the many different versions of libdc1394
* - Initialisation code rewritten to support multiple 1394 busses
* - Either autodetect of cameras or specifying the exact camera is
now possible
* - Support for changing of various 1394 camera properties
*
* Revision 1.1.1 Date: 2005/03/14
* Patch by Henrik Erkkonen to support version 11 of libdc1394.
*
*/
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/mman.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <linux/types.h>
#include <libraw1394/raw1394.h>
#include <libdc1394/dc1394_control.h>
#include <AR/config.h>
#include <AR/ar.h>
#include <AR/video.h>
/* Do not touch the following macros! */
#undef LIBDC_8
#undef LIBDC_9
#undef LIBDC_10
#undef LIBDC_11
#undef LIBDC_DEF
/* ----------------------- MAKE ANY #define CHANGES HERE ONLY
-------------------------------- */
/* This define controls if we use the new or old libDC1394 API
functions. The new code is much
more stable for multiple cameras and so is recommended */
// #define LIBDC_8
// #define LIBDC_9
// #define LIBDC_10
#define LIBDC_11
/* ----------------------- MAKE ANY #define CHANGES HERE ONLY
-------------------------------- */
/* These are some extra constants I defined for my modifications */
#define DEFAULT_VIDEO_CARD -1
#define MAX_PORTS 4 /* This is the maximum number of Firewire cards we
can have installed in the system, it is an arbitrary number */
/* Error checking to ensure we have a proper configuration, and put
some debugging out */
#ifdef LIBDC_8
#warning Compiling using original 0.8.3 libDC library (single camera
only) - debian: libdc1394-8-dev
#warning The 0.8.3 libDC code is dangerous and has a number of bugs
which will cause trouble - upgrade to 0.9.1 or later!
#define LIBDC_DEF
#endif
#ifdef LIBDC_9
#warning Compiling using the newer and safer 0.9.1 libDC library
(multiple camera support) - debian: libdc1394-9-dev
#define LIBDC_DEF
#endif
#ifdef LIBDC_10
#warning Compiling using the newer and safer 0.9.5 libDC library
(multiple camera support) - debian: libdc1394-10-dev
#define LIBDC_DEF
#endif
#ifdef LIBDC_11
#warning Compiling using the 1.0.0 libDC library
#define LIBDC_DEF
#endif
#ifndef LIBDC_DEF
#error One of the LIBDC_[8,9,10,11] macros must be defined to compile
this code properly!
#endif
static AR2VideoParamT *gVid = NULL;
int arVideoDispOption( void )
{
return ar2VideoDispOption();
}
int arVideoOpen( char *config )
{
if( gVid != NULL ) {
printf("Device has been opened!!\n");
return -1;
}
gVid = ar2VideoOpen( config );
if( gVid == NULL ) return -1;
return 0;
}
int arVideoClose( void )
{
int result;
if( gVid == NULL ) return -1;
result = ar2VideoClose(gVid);
gVid = NULL;
return (result);
}
int arVideoInqSize( int *x, int *y )
{
if( gVid == NULL ) return -1;
return ar2VideoInqSize( gVid, x, y );
}
ARUint8 *arVideoGetImage( void )
{
if( gVid == NULL ) return NULL;
return ar2VideoGetImage( gVid );
}
int arVideoCapStart( void )
{
if( gVid == NULL ) return -1;
return ar2VideoCapStart( gVid );
}
int arVideoCapStop( void )
{
if( gVid == NULL ) return -1;
return ar2VideoCapStop( gVid );
}
int arVideoCapNext( void )
{
if( gVid == NULL ) return -1;
return ar2VideoCapNext( gVid );
}
/*-------------------------------------------*/
typedef struct __arVideo1394
{
raw1394handle_t handle;
} ARVideo1394;
static ARVideo1394 arV1394;
static int initFlag = 0;
static int ar2Video1394Init( int debug, int *card, int *node );
int ar2VideoDispOption( void )
{
printf("ARVideo may be configured using one or more of the
following options,\n");
printf("separated by a space:\n\n");
printf(" -node=N\n");
printf(" specifies detected node ID of a FireWire camera (-1: Any).\n");
printf(" -card=N\n");
printf(" specifies the FireWire adaptor id number (-1: Any).\n");
printf(" -mode=[320x240_YUV422|640x480_RGB|640x480_YUV411]\n");
printf(" specifies input image format.\n");
printf(" -rate=N\n");
printf(" specifies desired framerate of a FireWire camera. \n");
printf(" (1.875, 3.75, 7.5, 15, 30, 60)\n");
printf(" -[name]=N where name is brightness, iris, shutter, gain,
saturation, gamma, sharpness\n");
printf(" (value must be a legal value for this parameter - use
coriander to find what they are\n");
printf("\n");
return 0;
}
AR2VideoParamT *ar2VideoOpen( char *config )
{
char video1394devname [128];
AR2VideoParamT *vid;
ARUint32 p1,p2;
quadlet_t value;
char *a, line[256];
int i;
int brightness = -1;
int iris = -1;
int shutter = -1;
int gain = -1;
int saturation = -1;
int gamma = -1;
int sharpness = -1;
arMalloc( vid, AR2VideoParamT, 1 );
vid->node = DEFAULT_VIDEO_NODE;
vid->card = DEFAULT_VIDEO_CARD;
vid->mode = DEFAULT_VIDEO_MODE;
vid->rate = DEFAULT_VIDEO_FRAME_RATE;
vid->channel = 0;
vid->speed = SPEED_400;
vid->format = FORMAT_SVGA_NONCOMPRESSED_2;//changed
according to our camera
vid->dma_buf_num = 16;
vid->debug = 0;
vid->status = 0;
a = config;
if( a != NULL) {
for(;;) {
while( *a == ' ' || *a == '\t' ) a++;
if( *a == '\0' ) break;
if( strncmp( a, "-mode=", 6 ) == 0 ) {
if ( strncmp( &a[6], "320x240_YUV422", 14 ) == 0 ) {
vid->mode = VIDEO_MODE_320x240_YUV422;
}
else if ( strncmp( &a[6], "640x480_YUV411", 14 ) == 0 ) {
vid->mode = VIDEO_MODE_640x480_YUV411;
}
else if ( strncmp( &a[6], "640x480_RGB", 11 ) == 0 ) {
vid->mode = VIDEO_MODE_640x480_RGB;
}
else if ( strncmp( &a[6], "1280x960_MONO", 11 ) == 0 ) {
vid->mode = VIDEO_MODE_1280x960_MONO;
}
else {
ar2VideoDispOption();
free( vid );
return 0;
}
}
else if( strncmp( a, "-iris=", 6 ) == 0 ) {
sscanf( a, "%s", line );
if( sscanf( &line[6], "%d", &iris ) == 0 ) {
ar2VideoDispOption();
free( vid );
return 0;
}
}
else if( strncmp( a, "-gain=", 6 ) == 0 ) {
sscanf( a, "%s", line );
if( sscanf( &line[6], "%d", &gain ) == 0 ) {
ar2VideoDispOption();
free( vid );
return 0;
}
}
else if( strncmp( a, "-node=", 6 ) == 0 ) {
sscanf( a, "%s", line );
if( sscanf( &line[6], "%d", &vid->node ) == 0 ) {
ar2VideoDispOption();
free( vid );
return 0;
}
}
else if( strncmp( a, "-card=", 6 ) == 0 ) {
sscanf( a, "%s", line );
if( sscanf( &line[6], "%d", &vid->card ) == 0 ) {
ar2VideoDispOption();
free( vid );
return 0;
}
}
else if( strncmp( a, "-rate=", 6 ) == 0 ) {
if ( strncmp( &a[6], "1.875", 5 ) == 0 ) {
vid->rate = VIDEO_FRAME_RATE_1_875;
}
else if ( strncmp( &a[6], "3.75", 4 ) == 0 ) {
vid->rate = VIDEO_FRAME_RATE_3_75;
}
else if ( strncmp( &a[6], "7.5", 3 ) == 0 ) {
vid->rate = VIDEO_FRAME_RATE_7_5;
}
else if ( strncmp( &a[6], "15", 2 ) == 0 ) {
vid->rate = VIDEO_FRAME_RATE_15;
}
else if ( strncmp( &a[6], "30", 2 ) == 0 ) {
vid->rate = VIDEO_FRAME_RATE_30;
}
else if ( strncmp( &a[6], "60", 2 ) == 0 ) {
vid->rate = VIDEO_FRAME_RATE_60;
}
else {
ar2VideoDispOption();
free( vid );
return 0;
}
}
else if( strncmp( a, "-debug", 6 ) == 0 ) {
vid->debug = 1;
}
else {
ar2VideoDispOption();
free( vid );
return 0;
}
while( *a != ' ' && *a != '\t' && *a != '\0') a++;
}
}
if( initFlag == 0 )
{
if( ar2Video1394Init(vid->debug, &vid->card, &vid->node) < 0 )
exit(0);
initFlag = 1;
}
switch( vid->mode ) {
case VIDEO_MODE_320x240_YUV422:
vid->int_mode = MODE_320x240_YUV422;
break;
case VIDEO_MODE_640x480_YUV411:
vid->int_mode = MODE_640x480_YUV411;
break;
case VIDEO_MODE_640x480_RGB:
vid->int_mode = MODE_640x480_RGB;
case VIDEO_MODE_1280x960_MONO:
vid->int_mode = MODE_1280x960_MONO;
break;
default:
printf("Sorry, Unsupported Video Format for IEEE1394 Camera.\n");
exit(1);
}
switch( vid->rate ) {
case VIDEO_FRAME_RATE_1_875:
vid->int_rate = FRAMERATE_1_875;
break;
case VIDEO_FRAME_RATE_3_75:
vid->int_rate = FRAMERATE_3_75;
break;
case VIDEO_FRAME_RATE_7_5:
vid->int_rate = FRAMERATE_7_5;
break;
case VIDEO_FRAME_RATE_15:
vid->int_rate = FRAMERATE_15;
break;
case VIDEO_FRAME_RATE_30:
vid->int_rate = FRAMERATE_30;
break;
case VIDEO_FRAME_RATE_60:
vid->int_rate = FRAMERATE_60;
break;
default:
printf("Sorry, Unsupported Frame Rate for IEEE1394 Camera.\n");
exit(1);
}
printf ("framerate, %d" ,vid->int_rate);
/*-----------------------------------------------------------------------*/
/* report camera's features */
/*-----------------------------------------------------------------------*/
if( dc1394_get_camera_feature_set(arV1394.handle,
vid->node,
&(vid->features)) != DC1394_SUCCESS ) {
fprintf( stderr, "unable to get feature set\n");
}
else if( vid->debug ) {
dc1394_print_feature_set( &(vid->features) );
}
/* Change the camera settings if we need to */
if (iris != -1)
{
fprintf (stderr, "Adjusting IRIS setting to %d\n", iris);
dc1394_set_iris (arV1394.handle, vid->node, (unsigned int)iris);
}
if (gain != -1)
{
fprintf (stderr, "Adjusting GAIN setting to %d\n", gain);
dc1394_set_gain (arV1394.handle, vid->node, (unsigned int)gain);
}
/* Dump out the new parameters now */
if (vid->debug)
dc1394_print_feature_set( &(vid->features) );
/*-----------------------------------------------------------------------*/
/* check parameters */
/*-----------------------------------------------------------------------*/
if( dc1394_query_supported_formats(arV1394.handle, vid->node,
&value) != DC1394_SUCCESS ) {
fprintf( stderr, "unable to query_supported_formats\n");
}
i = 31 - (FORMAT_SVGA_NONCOMPRESSED_2 - FORMAT_MIN);
p1 = 1 << i;
p2 = value & p1;
if( p2 == 0 ) {
fprintf( stderr, "unable to use this camera on
VGA_NONCOMPRESSED format.\n");
exit(0);
}
dc1394_query_supported_modes(arV1394.handle, vid->node,
FORMAT_SVGA_NONCOMPRESSED_2, &value);
i = 31 - (vid->int_mode - MODE_FORMAT0_MIN);
p1 = 1 << i;
p2 = value & p1;
if( p2 == 0 ) {
fprintf( stderr, "Unsupported Mode for the specified camera.\n");
ar2VideoDispOption();
exit(0);
}
dc1394_query_supported_framerates(arV1394.handle, vid->node,
FORMAT_SVGA_NONCOMPRESSED_2, vid->int_mode, &value);
i = 31 - (vid->int_rate - FRAMERATE_MIN);
p1 = 1 << i;
p2 = value & p1;
if( p2 == 0 ) {
fprintf( stderr, "Unsupported Framerate for the specified mode.\n");
ar2VideoDispOption();
exit(0);
}
/*-----------------------------------------------------------------------*/
/* setup capture */
/*-----------------------------------------------------------------------*/
sprintf (video1394devname, "/dev/video1394/%d", vid->card);
if( dc1394_setup_capture(arV1394.handle,
vid->node,
#ifndef LIBDC_8
vid->node,
#else
vid->channel,
#endif
vid->format,
vid->int_mode,
vid->speed,
vid->int_rate,
&(vid->camera)) != DC1394_SUCCESS ) {
fprintf( stderr,"unable DMA to setup camera-\n"
"check if you did 'insmod video1394' or,\n"
"check line %d of %s to make sure\n"
"that the video mode,framerate and format are\n"
"supported by your camera\n",
__LINE__,__FILE__);
exit(0);
}
/* set trigger mode */
if( dc1394_set_trigger_mode(arV1394.handle, vid->node,
TRIGGER_MODE_0) != DC1394_SUCCESS ) {
fprintf( stderr, "unable to set camera trigger mode (ignored)\n");
}
arMalloc( vid->image, ARUint8, (vid->camera.frame_width *
vid->camera.frame_height * AR_PIX_SIZE_DEFAULT) );
return vid;
}
int ar2VideoClose( AR2VideoParamT *vid )
{
int i;
if (vid->status == 1 || vid->status == 2) ar2VideoCapStop(vid);
#if 0
dc1394_release_camera(arV1394.handle, &(vid->camera));
#endif
free( vid->image );
free( vid );
raw1394_destroy_handle(arV1394.handle);
initFlag = 0;
return 0;
}
int ar2VideoCapStart( AR2VideoParamT *vid )
{
char video1394devname [128];
if(vid->status != 0 && vid->status != 3){
printf("arVideoCapStart has already been called.\n");
return -1;
}
/*-----------------------------------------------------------------------*/
/* setup capture */
/*-----------------------------------------------------------------------*/
sprintf (video1394devname, "/dev/video1394/%d", vid->card);
if( vid->status == 3 ) {
if( dc1394_setup_capture(arV1394.handle,
vid->node,
#ifndef LIBDC_8
vid->node,
#else
vid->channel,
#endif
vid->format,
vid->int_mode,
vid->speed,
vid->int_rate,
&(vid->camera)) != DC1394_SUCCESS ) {
fprintf( stderr,"unable to DMA1 setup camera-\n"
"check if you did 'insmod video1394' or,\n"
"check line %d of %s to make sure\n"
"that the video mode,framerate and format are\n"
"supported by your camera\n",
__LINE__,__FILE__);
exit(0);
}
}
if( dc1394_start_iso_transmission(arV1394.handle, vid->node) !=
DC1394_SUCCESS ) {
fprintf( stderr, "unable to start camera iso transmission\n");
return -1;
}
vid->status = 1;
return 0;
}
int ar2VideoCapNext( AR2VideoParamT *vid )
{
if(vid->status == 0 || vid->status == 3){
printf("arVideoCapStart has never been called.\n");
return -1;
}
return 0;
}
int ar2VideoCapStop( AR2VideoParamT *vid )
{
if( dc1394_single_capture(arV1394.handle ,&(vid->camera) ) !=
DC1394_SUCCESS ) {
fprintf( stderr, "unable to capture a frame\n");
}
if(vid->status == 0){
printf("arVideoCapStart has never been called.\n"); return -1;
}
vid->status = 3;
if( dc1394_stop_iso_transmission(arV1394.handle, vid->node) !=
DC1394_SUCCESS ) {
printf("couldn't stop the camera?\n");
return -1;
}
dc1394_release_camera(arV1394.handle, &(vid->camera));
return 0;
}
int ar2VideoInqSize(AR2VideoParamT *vid, int *x,int *y)
{
*x = vid->camera.frame_width;
*y = vid->camera.frame_height;
return 0;
}
ARUint8 *ar2VideoGetImage( AR2VideoParamT *vid )
{
register ARUint8 *buf, *buf2;
register int i, j;
register int U, V, R, G, B, V2, U5, UV;
register int Y0, Y1, Y2, Y3,Y;
register ARUint8 r, g, b;
// printf("we are in getimage Dey");
if(vid->status == 0){
printf("arVideoCapStart has never been called.\n");
return NULL;
}
/*
if(vid->status == 2){
printf("arVideoCapNext has never been called since previous
arVideoGetImage.\n");
return NULL;
}*/
if( dc1394_single_capture(arV1394.handle, &(vid->camera) ) !=
DC1394_SUCCESS ) {
fprintf( stderr, "unable to capture a frame\n");
return NULL;
}
vid->status = 2;
switch( vid->int_mode ) {
case MODE_640x480_RGB:
return (ARUint8 *)vid->camera.capture_buffer;
case MODE_640x480_YUV411:
buf = vid->image;
buf2 = (ARUint8 *)vid->camera.capture_buffer;
for( i = vid->camera.frame_height * vid->camera.frame_width
/ 4; i; i--) {
U = ((ARUint8)*buf2++ - 128) * 0.354;
U5 = 5*U;
Y0 = (ARUint8)*buf2++;
Y1 = (ARUint8)*buf2++;
V = ((ARUint8)*buf2++ - 128) * 0.707;
V2 = 2*V;
Y2 = (ARUint8)*buf2++;
Y3 = (ARUint8)*buf2++;
UV = - U - V;
// Original equations
// R = Y + 1.402 V
// G = Y - 0.344 U - 0.714 V
// B = Y + 1.772 U
R = Y0 + V2;
if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
G = Y0 + UV;
if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
B = Y0 + U5;
if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
*buf++ = (ARUint8)R;
*buf++ = (ARUint8)G;
*buf++ = (ARUint8)B;
//---
R = Y1 + V2;
if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
G = Y1 + UV;
if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
B = Y1 + U5;
if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
*buf++ = (ARUint8)R;
*buf++ = (ARUint8)G;
*buf++ = (ARUint8)B;
//---
R = Y2 + V2;
if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
G = Y2 + UV;
if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
B = Y2 + U5;
if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
*buf++ = (ARUint8)R;
*buf++ = (ARUint8)G;
*buf++ = (ARUint8)B;
//---
R = Y3 + V2;
if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
G = Y3 + UV;
if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
B = Y3 + U5;
if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
*buf++ = (ARUint8)R;
*buf++ = (ARUint8)G;
*buf++ = (ARUint8)B;
}
return vid->image;
case MODE_320x240_YUV422:
buf = vid->image;
buf2 = (ARUint8 *)vid->camera.capture_buffer;
for( i = vid->camera.frame_height * vid->camera.frame_width
/ 2; i; i-- ) {
U = ((ARUint8)*buf2++ - 128) * 0.354;
U5 = 5*U;
Y0 = (ARUint8)*buf2++;
V = ((ARUint8)*buf2++ - 128) * 0.707;
V2 = 2*V;
Y1 = (ARUint8)*buf2++;
UV = - U - V;
//---
R = Y0 + V2;
if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
G = Y0 + UV;
if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
B = Y0 + U5;
if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
*buf++ = (ARUint8)R;
*buf++ = (ARUint8)G;
*buf++ = (ARUint8)B;
//---
R = Y1 + V2;
if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
G = Y1 + UV;
if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
B = Y1 + U5;
if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
*buf++ = (ARUint8)R;
*buf++ = (ARUint8)G;
*buf++ = (ARUint8)B;
}
return vid->image;
case MODE_1280x960_MONO:
buf = vid->image;
buf2 = (ARUint8 *)vid->camera.capture_buffer;
for(i = 0; i < (vid->camera.frame_height * vid->camera.frame_width); i++ ){
//for( i = vid->camera.frame_height * vid->camera.frame_width; i; i--) {
U = (ARUint8)*buf2++ ;
// printf("printing your case Dey");
// Original equations
// R = Y + 1.402 V
// G = Y - 0.344 U - 0.714 V
// B = Y + 1.772 U
R = U;
if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
G = U;
if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
B = U;
if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
*buf++ = (ARUint8)R;
*buf++ = (ARUint8)G;
*buf++ = (ARUint8)B;
}
return vid->image;
}
printf("no case matched Dey");
return NULL;
}
static int ar2Video1394Init( int debug, int *card, int *node )
{
int i;
/* The user must either specify both card and node, or neither of them */
if (((*card == -1) && (*node != -1)) ||
((*card != -1) && (*node == -1)))
{
fprintf (stderr, "Card value is %d and node value is %d, you must
either auto-detect both or specify both\n");
exit (1);
}
/* If the user has specified so, we will autodetect for the camera
and grab the first one we can find */
if ((*card == -1) && (*node == -1))
{
/* Find the total number of firewire cards in the system */
int numPorts = MAX_PORTS;
int p;
struct raw1394_portinfo ports[MAX_PORTS];
raw1394handle_t raw_handle = raw1394_new_handle ();
if (raw_handle == NULL)
{
fprintf (stderr, "Could not acquire a raw1394 handle - driver not
installed?\n");
exit (1);
}
numPorts = raw1394_get_port_info (raw_handle, ports, numPorts);
raw1394_destroy_handle (raw_handle);
/* Perform autodetection */
printf ("Auto-detecting firewire camera because card and node is not
specified\n");
/* We need to traverse all available cards and process each one */
for (p = 0; p < numPorts; p++)
{
/* Open up OHCI and assign a handle */
int numnodes, c;
raw1394handle_t handle;
handle = dc1394_create_handle (p);
if (handle == NULL)
continue;
/* Get the camera nodes */
numnodes = raw1394_get_nodecount (handle);
if (numnodes <= 1)
continue;
/* Get info for each camera node */
for (c = 0; c < numnodes; c++)
{
dc1394_camerainfo info;
if (dc1394_get_camera_info (handle, c, &info) < 0)
{
printf ("1394 card %d node %d is not a camera [INVALID]\n", p, c);
}
else
{
printf ("1394 card %d node %d is a [%s - %s] --> ", p, c,
info.vendor, info.model);
/* Store the node numbers */
if (*card == -1)
{
printf ("auto detected\n");
*card = p;
*node = c;
}
else
printf ("not used\n");
}
}
}
/* If we still haven't found a camera then we are in trouble */
if ((*card == -1) && (*node == -1))
{
fprintf (stderr, "Could not auto detect any cameras on the %d
firewire cards available\n", numPorts);
exit (1);
}
printf ("Using the firewire camera on card %d and node %d\n", *card, *node);
}
/* Lets create a handle so it can be used later on */
arV1394.handle = dc1394_create_handle(*card);
printf("Testing");
if (arV1394.handle==NULL)
{
fprintf (stderr, "Could not acquire a raw1394 handle, did you insmod
the drivers?\n");
exit(1);
}
/* Success */
return 0;
}
-------------------------------------------------------------------------------------------------------------------
|
|||
| From: | "Debadeepta Dey" <3dey.dce@g ........> | Received: | Feb 2, 2007 |
| To | "Roland Riepl" <dodger@n .....> | ||
| Subject: | Re: ARToolkit, Firewire Cameras and Linux | ||
at 800*600 your frame rate is again 15 . can you grab thru coriander
at 15fps and 800*600?
I guess the frame rate has to go down . nevertheless try at a lower
frame rate and check.
On 2/2/07, Roland Riepl <dodger@n .....> wrote:
> Hi again!
>
> Thanks alot. This piece of code really helped alot. I've added different
> modes which
> my camera is able to handle (at least on coriander's opinion which gives
> me good
> streams).
>
> Here's a small part of the changes I've made in order to give you an
> overview which
> modes i added.
>
> switch( vid->mode )
> {
> case VIDEO_MODE_320x240_YUV422:
> vid->int_mode = MODE_320x240_YUV422;
> break;
> case VIDEO_MODE_640x480_YUV411:
> vid->int_mode = MODE_640x480_YUV411;
> break;
> case VIDEO_MODE_800x600_YUV422:
> vid->int_mode = MODE_800x600_YUV422;
> break;
> case VIDEO_MODE_1024x768_YUV422:
> vid->int_mode = MODE_1024x768_YUV422;
> break;
> case VIDEO_MODE_640x480_YUV422:
> vid->int_mode = MODE_640x480_YUV422;
> break;
> case VIDEO_MODE_640x480_RGB:
> vid->int_mode = MODE_640x480_RGB;
> break;
> ......
>
>
> If I recompile the toolkit and launch the executable simpleTest with
> # ARTOOLKIT_CONFIG="-mode=640x480_YUV422 -rate=15" ./simpleTest2
> everything works fine.
>
> However, if I start the program with
> # ARTOOLKIT_CONFIG="-mode=800x600_YUV422 -rate=15" ./simpleTest2
>
> i get
>
> Using config string from environment [-mode=800x600_YUV422 -rate=15].
> Auto-detecting firewire camera because card and node is not specified
> 1394 card 0 node 0 is a [SONY - DFW-X700 v1.60D] --> auto detected
> 1394 card 0 node 1 is not a camera [INVALID]
> Using the firewire camera on card 0 and node 0
> Unsupported Mode for the specified camera.
>
>
> According to coriander my camera should support this mode. Any ideas
> what's possibly wrong?
>
> Another question is also bugging my mind :)
> What's the differnce in coriander between the Format_0, Mode_x and
> Format_1, Mode_x ? I ask this question because 640x480 YUV 422 is Format_0
> and the higher ones are Format_1.
>
> Best regards,
> Roland
>
>
>
>
> Debadeepta Dey wrote:
>
> > Here is the code listing for the video.c file I had modified to
> > include the case of
> > "case VIDEO_MODE_1280x960_MONO: "
> >
> > here goes----------------------------------
> >
> >
> > /*
> > * Revision: 1.0 Date: 2002/01/01
> > * Video capture subrutine for Linux/libdc1394 devices
> > * author: Kiyoshi Kiyokawa ( kiyo@c ........ )
> > * Hirokazu Kato ( kato@s ........................ )
> > *
> > *
> > * Revision: 1.1 Date: 2004/09/30
> > * Modifications by Wayne Piekarski ( wayne@c .............. )
> > * - #ifdef macros added to support the many different versions of
> > libdc1394
> > * - Initialisation code rewritten to support multiple 1394 busses
> > * - Either autodetect of cameras or specifying the exact camera is
> > now possible
> > * - Support for changing of various 1394 camera properties
> > *
> > * Revision 1.1.1 Date: 2005/03/14
> > * Patch by Henrik Erkkonen to support version 11 of libdc1394.
> > *
> > */
> >
> > #include <sys/ioctl.h>
> > #include <sys/types.h>
> > #include <sys/stat.h>
> > #include <sys/mman.h>
> > #include <fcntl.h>
> > #include <unistd.h>
> > #include <stdio.h>
> > #include <stdlib.h>
> > #include <string.h>
> > #include <linux/types.h>
> > #include <libraw1394/raw1394.h>
> > #include <libdc1394/dc1394_control.h>
> > #include <AR/config.h>
> > #include <AR/ar.h>
> > #include <AR/video.h>
> >
> >
> >
> >
> > /* Do not touch the following macros! */
> > #undef LIBDC_8
> > #undef LIBDC_9
> > #undef LIBDC_10
> > #undef LIBDC_11
> > #undef LIBDC_DEF
> >
> >
> > /* ----------------------- MAKE ANY #define CHANGES HERE ONLY
> > -------------------------------- */
> > /* This define controls if we use the new or old libDC1394 API
> > functions. The new code is much
> > more stable for multiple cameras and so is recommended */
> > // #define LIBDC_8
> > // #define LIBDC_9
> > // #define LIBDC_10
> > #define LIBDC_11
> > /* ----------------------- MAKE ANY #define CHANGES HERE ONLY
> > -------------------------------- */
> >
> >
> > /* These are some extra constants I defined for my modifications */
> > #define DEFAULT_VIDEO_CARD -1
> > #define MAX_PORTS 4 /* This is the maximum number of Firewire cards we
> > can have installed in the system, it is an arbitrary number */
> >
> >
> > /* Error checking to ensure we have a proper configuration, and put
> > some debugging out */
> > #ifdef LIBDC_8
> > #warning Compiling using original 0.8.3 libDC library (single camera
> > only) - debian: libdc1394-8-dev
> > #warning The 0.8.3 libDC code is dangerous and has a number of bugs
> > which will cause trouble - upgrade to 0.9.1 or later!
> > #define LIBDC_DEF
> > #endif
> >
> > #ifdef LIBDC_9
> > #warning Compiling using the newer and safer 0.9.1 libDC library
> > (multiple camera support) - debian: libdc1394-9-dev
> > #define LIBDC_DEF
> > #endif
> >
> > #ifdef LIBDC_10
> > #warning Compiling using the newer and safer 0.9.5 libDC library
> > (multiple camera support) - debian: libdc1394-10-dev
> > #define LIBDC_DEF
> > #endif
> >
> > #ifdef LIBDC_11
> > #warning Compiling using the 1.0.0 libDC library
> > #define LIBDC_DEF
> > #endif
> >
> > #ifndef LIBDC_DEF
> > #error One of the LIBDC_[8,9,10,11] macros must be defined to compile
> > this code properly!
> > #endif
> >
> >
> >
> >
> > static AR2VideoParamT *gVid = NULL;
> >
> > int arVideoDispOption( void )
> > {
> > return ar2VideoDispOption();
> > }
> >
> > int arVideoOpen( char *config )
> > {
> > if( gVid != NULL ) {
> > printf("Device has been opened!!\n");
> > return -1;
> > }
> > gVid = ar2VideoOpen( config );
> > if( gVid == NULL ) return -1;
> >
> > return 0;
> > }
> >
> > int arVideoClose( void )
> > {
> > int result;
> >
> > if( gVid == NULL ) return -1;
> >
> > result = ar2VideoClose(gVid);
> > gVid = NULL;
> > return (result);
> > }
> >
> > int arVideoInqSize( int *x, int *y )
> > {
> > if( gVid == NULL ) return -1;
> >
> > return ar2VideoInqSize( gVid, x, y );
> > }
> >
> > ARUint8 *arVideoGetImage( void )
> > {
> > if( gVid == NULL ) return NULL;
> >
> > return ar2VideoGetImage( gVid );
> > }
> >
> > int arVideoCapStart( void )
> > {
> > if( gVid == NULL ) return -1;
> >
> > return ar2VideoCapStart( gVid );
> > }
> >
> > int arVideoCapStop( void )
> > {
> > if( gVid == NULL ) return -1;
> >
> > return ar2VideoCapStop( gVid );
> > }
> >
> > int arVideoCapNext( void )
> > {
> > if( gVid == NULL ) return -1;
> >
> > return ar2VideoCapNext( gVid );
> > }
> >
> > /*-------------------------------------------*/
> >
> >
> > typedef struct __arVideo1394
> > {
> > raw1394handle_t handle;
> > } ARVideo1394;
> >
> > static ARVideo1394 arV1394;
> > static int initFlag = 0;
> >
> > static int ar2Video1394Init( int debug, int *card, int *node );
> >
> >
> > int ar2VideoDispOption( void )
> > {
> > printf("ARVideo may be configured using one or more of the
> > following options,\n");
> > printf("separated by a space:\n\n");
> > printf(" -node=N\n");
> > printf(" specifies detected node ID of a FireWire camera (-1:
> > Any).\n");
> > printf(" -card=N\n");
> > printf(" specifies the FireWire adaptor id number (-1: Any).\n");
> > printf(" -mode=[320x240_YUV422|640x480_RGB|640x480_YUV411]\n");
> > printf(" specifies input image format.\n");
> > printf(" -rate=N\n");
> > printf(" specifies desired framerate of a FireWire camera. \n");
> > printf(" (1.875, 3.75, 7.5, 15, 30, 60)\n");
> > printf(" -[name]=N where name is brightness, iris, shutter, gain,
> > saturation, gamma, sharpness\n");
> > printf(" (value must be a legal value for this parameter - use
> > coriander to find what they are\n");
> > printf("\n");
> >
> > return 0;
> > }
> >
> > AR2VideoParamT *ar2VideoOpen( char *config )
> > {
> > char video1394devname [128];
> > AR2VideoParamT *vid;
> > ARUint32 p1,p2;
> > quadlet_t value;
> > char *a, line[256];
> > int i;
> >
> > int brightness = -1;
> > int iris = -1;
> > int shutter = -1;
> > int gain = -1;
> > int saturation = -1;
> > int gamma = -1;
> > int sharpness = -1;
> >
> > arMalloc( vid, AR2VideoParamT, 1 );
> > vid->node = DEFAULT_VIDEO_NODE;
> > vid->card = DEFAULT_VIDEO_CARD;
> > vid->mode = DEFAULT_VIDEO_MODE;
> >
> >
> >
> > vid->rate = DEFAULT_VIDEO_FRAME_RATE;
> > vid->channel = 0;
> > vid->speed = SPEED_400;
> >
> > vid->format = FORMAT_SVGA_NONCOMPRESSED_2;//changed
> > according to our camera
> > vid->dma_buf_num = 16;
> > vid->debug = 0;
> > vid->status = 0;
> >
> > a = config;
> > if( a != NULL) {
> > for(;;) {
> > while( *a == ' ' || *a == '\t' ) a++;
> > if( *a == '\0' ) break;
> >
> > if( strncmp( a, "-mode=", 6 ) == 0 ) {
> > if ( strncmp( &a[6], "320x240_YUV422", 14 ) == 0 ) {
> > vid->mode = VIDEO_MODE_320x240_YUV422;
> > }
> > else if ( strncmp( &a[6], "640x480_YUV411", 14 ) == 0 ) {
> > vid->mode = VIDEO_MODE_640x480_YUV411;
> > }
> > else if ( strncmp( &a[6], "640x480_RGB", 11 ) == 0 ) {
> > vid->mode = VIDEO_MODE_640x480_RGB;
> > }
> > else if ( strncmp( &a[6], "1280x960_MONO", 11 ) == 0 ) {
> > vid->mode = VIDEO_MODE_1280x960_MONO;
> > }
> > else {
> > ar2VideoDispOption();
> > free( vid );
> > return 0;
> > }
> > }
> >
> > else if( strncmp( a, "-iris=", 6 ) == 0 ) {
> > sscanf( a, "%s", line );
> > if( sscanf( &line[6], "%d", &iris ) == 0 ) {
> > ar2VideoDispOption();
> > free( vid );
> > return 0;
> > }
> > }
> > else if( strncmp( a, "-gain=", 6 ) == 0 ) {
> > sscanf( a, "%s", line );
> > if( sscanf( &line[6], "%d", &gain ) == 0 ) {
> > ar2VideoDispOption();
> > free( vid );
> > return 0;
> > }
> > }
> >
> > else if( strncmp( a, "-node=", 6 ) == 0 ) {
> > sscanf( a, "%s", line );
> > if( sscanf( &line[6], "%d", &vid->node ) == 0 ) {
> > ar2VideoDispOption();
> > free( vid );
> > return 0;
> > }
> > }
> > else if( strncmp( a, "-card=", 6 ) == 0 ) {
> > sscanf( a, "%s", line );
> > if( sscanf( &line[6], "%d", &vid->card ) == 0 ) {
> > ar2VideoDispOption();
> > free( vid );
> > return 0;
> > }
> > }
> > else if( strncmp( a, "-rate=", 6 ) == 0 ) {
> > if ( strncmp( &a[6], "1.875", 5 ) == 0 ) {
> > vid->rate = VIDEO_FRAME_RATE_1_875;
> > }
> > else if ( strncmp( &a[6], "3.75", 4 ) == 0 ) {
> > vid->rate = VIDEO_FRAME_RATE_3_75;
> > }
> > else if ( strncmp( &a[6], "7.5", 3 ) == 0 ) {
> > vid->rate = VIDEO_FRAME_RATE_7_5;
> > }
> > else if ( strncmp( &a[6], "15", 2 ) == 0 ) {
> > vid->rate = VIDEO_FRAME_RATE_15;
> > }
> > else if ( strncmp( &a[6], "30", 2 ) == 0 ) {
> > vid->rate = VIDEO_FRAME_RATE_30;
> > }
> > else if ( strncmp( &a[6], "60", 2 ) == 0 ) {
> > vid->rate = VIDEO_FRAME_RATE_60;
> > }
> > else {
> > ar2VideoDispOption();
> > free( vid );
> > return 0;
> > }
> > }
> > else if( strncmp( a, "-debug", 6 ) == 0 ) {
> > vid->debug = 1;
> > }
> > else {
> > ar2VideoDispOption();
> > free( vid );
> > return 0;
> > }
> >
> > while( *a != ' ' && *a != '\t' && *a != '\0') a++;
> > }
> > }
> >
> >
> > if( initFlag == 0 )
> > {
> > if( ar2Video1394Init(vid->debug, &vid->card, &vid->node) < 0 )
> > exit(0);
> > initFlag = 1;
> > }
> >
> > switch( vid->mode ) {
> > case VIDEO_MODE_320x240_YUV422:
> > vid->int_mode = MODE_320x240_YUV422;
> > break;
> > case VIDEO_MODE_640x480_YUV411:
> > vid->int_mode = MODE_640x480_YUV411;
> > break;
> > case VIDEO_MODE_640x480_RGB:
> > vid->int_mode = MODE_640x480_RGB;
> > case VIDEO_MODE_1280x960_MONO:
> > vid->int_mode = MODE_1280x960_MONO;
> > break;
> > default:
> > printf("Sorry, Unsupported Video Format for IEEE1394
> > Camera.\n");
> > exit(1);
> > }
> > switch( vid->rate ) {
> > case VIDEO_FRAME_RATE_1_875:
> > vid->int_rate = FRAMERATE_1_875;
> > break;
> > case VIDEO_FRAME_RATE_3_75:
> > vid->int_rate = FRAMERATE_3_75;
> > break;
> > case VIDEO_FRAME_RATE_7_5:
> > vid->int_rate = FRAMERATE_7_5;
> > break;
> > case VIDEO_FRAME_RATE_15:
> > vid->int_rate = FRAMERATE_15;
> > break;
> > case VIDEO_FRAME_RATE_30:
> > vid->int_rate = FRAMERATE_30;
> > break;
> > case VIDEO_FRAME_RATE_60:
> > vid->int_rate = FRAMERATE_60;
> > break;
> > default:
> > printf("Sorry, Unsupported Frame Rate for IEEE1394 Camera.\n");
> > exit(1);
> > }
> > printf ("framerate, %d" ,vid->int_rate);
> >
> > /*-----------------------------------------------------------------------*/
> >
> > /* report camera's
> > features */
> >
> > /*-----------------------------------------------------------------------*/
> >
> > if( dc1394_get_camera_feature_set(arV1394.handle,
> > vid->node,
> > &(vid->features)) != DC1394_SUCCESS ) {
> > fprintf( stderr, "unable to get feature set\n");
> > }
> > else if( vid->debug ) {
> > dc1394_print_feature_set( &(vid->features) );
> > }
> >
> >
> > /* Change the camera settings if we need to */
> > if (iris != -1)
> > {
> > fprintf (stderr, "Adjusting IRIS setting to %d\n", iris);
> > dc1394_set_iris (arV1394.handle, vid->node, (unsigned int)iris);
> > }
> > if (gain != -1)
> > {
> > fprintf (stderr, "Adjusting GAIN setting to %d\n", gain);
> > dc1394_set_gain (arV1394.handle, vid->node, (unsigned int)gain);
> > }
> >
> >
> > /* Dump out the new parameters now */
> > if (vid->debug)
> > dc1394_print_feature_set( &(vid->features) );
> >
> >
> >
> > /*-----------------------------------------------------------------------*/
> >
> > /* check
> > parameters */
> >
> > /*-----------------------------------------------------------------------*/
> >
> > if( dc1394_query_supported_formats(arV1394.handle, vid->node,
> > &value) != DC1394_SUCCESS ) {
> > fprintf( stderr, "unable to query_supported_formats\n");
> > }
> > i = 31 - (FORMAT_SVGA_NONCOMPRESSED_2 - FORMAT_MIN);
> > p1 = 1 << i;
> > p2 = value & p1;
> > if( p2 == 0 ) {
> > fprintf( stderr, "unable to use this camera on
> > VGA_NONCOMPRESSED format.\n");
> > exit(0);
> > }
> > dc1394_query_supported_modes(arV1394.handle, vid->node,
> > FORMAT_SVGA_NONCOMPRESSED_2, &value);
> > i = 31 - (vid->int_mode - MODE_FORMAT0_MIN);
> > p1 = 1 << i;
> > p2 = value & p1;
> > if( p2 == 0 ) {
> > fprintf( stderr, "Unsupported Mode for the specified camera.\n");
> > ar2VideoDispOption();
> > exit(0);
> > }
> > dc1394_query_supported_framerates(arV1394.handle, vid->node,
> > FORMAT_SVGA_NONCOMPRESSED_2, vid->int_mode, &value);
> > i = 31 - (vid->int_rate - FRAMERATE_MIN);
> > p1 = 1 << i;
> > p2 = value & p1;
> > if( p2 == 0 ) {
> > fprintf( stderr, "Unsupported Framerate for the specified
> > mode.\n");
> > ar2VideoDispOption();
> > exit(0);
> > }
> >
> >
> > /*-----------------------------------------------------------------------*/
> >
> > /* setup
> > capture */
> >
> > /*-----------------------------------------------------------------------*/
> >
> > sprintf (video1394devname, "/dev/video1394/%d", vid->card);
> > if( dc1394_setup_capture(arV1394.handle,
> > vid->node,
> > #ifndef LIBDC_8
> > vid->node,
> > #else
> > vid->channel,
> > #endif
> > vid->format,
> > vid->int_mode,
> > vid->speed,
> > vid->int_rate,
> >
> > &(vid->camera)) != DC1394_SUCCESS ) {
> > fprintf( stderr,"unable DMA to setup camera-\n"
> > "check if you did 'insmod video1394' or,\n"
> > "check line %d of %s to make sure\n"
> > "that the video mode,framerate and format are\n"
> > "supported by your camera\n",
> > __LINE__,__FILE__);
> > exit(0);
> > }
> >
> > /* set trigger mode */
> > if( dc1394_set_trigger_mode(arV1394.handle, vid->node,
> > TRIGGER_MODE_0) != DC1394_SUCCESS ) {
> > fprintf( stderr, "unable to set camera trigger mode (ignored)\n");
> > }
> >
> > arMalloc( vid->image, ARUint8, (vid->camera.frame_width *
> > vid->camera.frame_height * AR_PIX_SIZE_DEFAULT) );
> >
> > return vid;
> > }
> >
> > int ar2VideoClose( AR2VideoParamT *vid )
> > {
> > int i;
> >
> > if (vid->status == 1 || vid->status == 2) ar2VideoCapStop(vid);
> >
> > #if 0
> > dc1394_release_camera(arV1394.handle, &(vid->camera));
> > #endif
> > free( vid->image );
> > free( vid );
> >
> > raw1394_destroy_handle(arV1394.handle);
> > initFlag = 0;
> >
> > return 0;
> > }
> >
> > int ar2VideoCapStart( AR2VideoParamT *vid )
> > {
> > char video1394devname [128];
> >
> >
> > if(vid->status != 0 && vid->status != 3){
> > printf("arVideoCapStart has already been called.\n");
> > return -1;
> > }
> >
> >
> > /*-----------------------------------------------------------------------*/
> >
> > /* setup
> > capture */
> >
> > /*-----------------------------------------------------------------------*/
> >
> > sprintf (video1394devname, "/dev/video1394/%d", vid->card);
> > if( vid->status == 3 ) {
> > if( dc1394_setup_capture(arV1394.handle,
> > vid->node,
> > #ifndef LIBDC_8
> > vid->node,
> > #else
> > vid->channel,
> > #endif
> > vid->format,
> > vid->int_mode,
> > vid->speed,
> > vid->int_rate,
> >
> > &(vid->camera)) != DC1394_SUCCESS ) {
> > fprintf( stderr,"unable to DMA1 setup camera-\n"
> > "check if you did 'insmod video1394' or,\n"
> > "check line %d of %s to make sure\n"
> > "that the video mode,framerate and format are\n"
> > "supported by your camera\n",
> > __LINE__,__FILE__);
> > exit(0);
> > }
> > }
> >
> > if( dc1394_start_iso_transmission(arV1394.handle, vid->node) !=
> > DC1394_SUCCESS ) {
> > fprintf( stderr, "unable to start camera iso transmission\n");
> > return -1;
> > }
> >
> > vid->status = 1;
> >
> > return 0;
> > }
> >
> > int ar2VideoCapNext( AR2VideoParamT *vid )
> > {
> > if(vid->status == 0 || vid->status == 3){
> > printf("arVideoCapStart has never been called.\n");
> > return -1;
> > }
> >
> > return 0;
> > }
> >
> > int ar2VideoCapStop( AR2VideoParamT *vid )
> > {
> >
> > if( dc1394_single_capture(arV1394.handle ,&(vid->camera) ) !=
> > DC1394_SUCCESS ) {
> > fprintf( stderr, "unable to capture a frame\n");
> > }
> >
> > if(vid->status == 0){
> > printf("arVideoCapStart has never been called.\n");
> > return -1;
> > }
> > vid->status = 3;
> >
> > if( dc1394_stop_iso_transmission(arV1394.handle, vid->node) !=
> > DC1394_SUCCESS ) {
> > printf("couldn't stop the camera?\n");
> > return -1;
> > }
> >
> > dc1394_release_camera(arV1394.handle, &(vid->camera));
> >
> > return 0;
> > }
> >
> > int ar2VideoInqSize(AR2VideoParamT *vid, int *x,int *y)
> > {
> > *x = vid->camera.frame_width;
> > *y = vid->camera.frame_height;
> >
> > return 0;
> > }
> >
> > ARUint8 *ar2VideoGetImage( AR2VideoParamT *vid )
> > {
> > register ARUint8 *buf, *buf2;
> > register int i, j;
> > register int U, V, R, G, B, V2, U5, UV;
> > register int Y0, Y1, Y2, Y3,Y;
> > register ARUint8 r, g, b;
> > // printf("we are in getimage Dey");
> > if(vid->status == 0){
> > printf("arVideoCapStart has never been called.\n");
> > return NULL;
> > }
> > /*
> > if(vid->status == 2){
> > printf("arVideoCapNext has never been called since previous
> > arVideoGetImage.\n");
> > return NULL;
> > }*/
> >
> > if( dc1394_single_capture(arV1394.handle, &(vid->camera) ) !=
> > DC1394_SUCCESS ) {
> > fprintf( stderr, "unable to capture a frame\n");
> > return NULL;
> > }
> > vid->status = 2;
> >
> >
> > switch( vid->int_mode ) {
> > case MODE_640x480_RGB:
> > return (ARUint8 *)vid->camera.capture_buffer;
> >
> > case MODE_640x480_YUV411:
> > buf = vid->image;
> > buf2 = (ARUint8 *)vid->camera.capture_buffer;
> > for( i = vid->camera.frame_height * vid->camera.frame_width
> > / 4; i; i--) {
> > U = ((ARUint8)*buf2++ - 128) * 0.354;
> > U5 = 5*U;
> > Y0 = (ARUint8)*buf2++;
> > Y1 = (ARUint8)*buf2++;
> > V = ((ARUint8)*buf2++ - 128) * 0.707;
> > V2 = 2*V;
> > Y2 = (ARUint8)*buf2++;
> > Y3 = (ARUint8)*buf2++;
> > UV = - U - V;
> >
> > // Original equations
> > // R = Y + 1.402 V
> > // G = Y - 0.344 U - 0.714 V
> > // B = Y + 1.772 U
> > R = Y0 + V2;
> > if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
> >
> > G = Y0 + UV;
> > if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
> >
> > B = Y0 + U5;
> > if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
> >
> > *buf++ = (ARUint8)R;
> > *buf++ = (ARUint8)G;
> > *buf++ = (ARUint8)B;
> >
> > //---
> > R = Y1 + V2;
> > if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
> >
> > G = Y1 + UV;
> > if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
> >
> > B = Y1 + U5;
> > if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
> >
> > *buf++ = (ARUint8)R;
> > *buf++ = (ARUint8)G;
> > *buf++ = (ARUint8)B;
> >
> > //---
> > R = Y2 + V2;
> > if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
> >
> > G = Y2 + UV;
> > if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
> >
> > B = Y2 + U5;
> > if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
> >
> > *buf++ = (ARUint8)R;
> > *buf++ = (ARUint8)G;
> > *buf++ = (ARUint8)B;
> >
> > //---
> > R = Y3 + V2;
> > if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
> >
> > G = Y3 + UV;
> > if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
> >
> > B = Y3 + U5;
> > if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
> >
> > *buf++ = (ARUint8)R;
> > *buf++ = (ARUint8)G;
> > *buf++ = (ARUint8)B;
> > }
> > return vid->image;
> >
> > case MODE_320x240_YUV422:
> > buf = vid->image;
> > buf2 = (ARUint8 *)vid->camera.capture_buffer;
> > for( i = vid->camera.frame_height * vid->camera.frame_width
> > / 2; i; i-- ) {
> > U = ((ARUint8)*buf2++ - 128) * 0.354;
> > U5 = 5*U;
> > Y0 = (ARUint8)*buf2++;
> > V = ((ARUint8)*buf2++ - 128) * 0.707;
> > V2 = 2*V;
> > Y1 = (ARUint8)*buf2++;
> > UV = - U - V;
> >
> > //---
> > R = Y0 + V2;
> > if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
> >
> > G = Y0 + UV;
> > if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
> >
> > B = Y0 + U5;
> > if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
> >
> > *buf++ = (ARUint8)R;
> > *buf++ = (ARUint8)G;
> > *buf++ = (ARUint8)B;
> >
> > //---
> > R = Y1 + V2;
> > if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
> >
> > G = Y1 + UV;
> > if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
> >
> > B = Y1 + U5;
> > if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
> >
> > *buf++ = (ARUint8)R;
> > *buf++ = (ARUint8)G;
> > *buf++ = (ARUint8)B;
> > }
> > return vid->image;
> >
> > case MODE_1280x960_MONO:
> > buf = vid->image;
> > buf2 = (ARUint8 *)vid->camera.capture_buffer;
> > for(i = 0; i < (vid->camera.frame_height *
> > vid->camera.frame_width); i++ ){
> > //for( i = vid->camera.frame_height * vid->camera.frame_width;
> > i; i--) {
> > U = (ARUint8)*buf2++ ;
> >
> >
> > // printf("printing your case Dey");
> >
> >
> > // Original equations
> > // R = Y + 1.402 V
> > // G = Y - 0.344 U - 0.714 V
> > // B = Y + 1.772 U
> > R = U;
> > if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
> >
> > G = U;
> > if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
> >
> > B = U;
> > if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
> >
> > *buf++ = (ARUint8)R;
> > *buf++ = (ARUint8)G;
> > *buf++ = (ARUint8)B;
> >
> >
> > }
> > return vid->image;
> > }
> > printf("no case matched Dey");
> > return NULL;
> > }
> >
> >
> >
> >
> > static int ar2Video1394Init( int debug, int *card, int *node )
> > {
> > int i;
> >
> > /* The user must either specify both card and node, or neither of
> > them */
> > if (((*card == -1) && (*node != -1)) ||
> > ((*card != -1) && (*node == -1)))
> > {
> > fprintf (stderr, "Card value is %d and node value is %d, you must
> > either auto-detect both or specify both\n");
> > exit (1);
> > }
> >
> > /* If the user has specified so, we will autodetect for the camera
> > and grab the first one we can find */
> > if ((*card == -1) && (*node == -1))
> > {
> > /* Find the total number of firewire cards in the system */
> > int numPorts = MAX_PORTS;
> > int p;
> > struct raw1394_portinfo ports[MAX_PORTS];
> > raw1394handle_t raw_handle = raw1394_new_handle ();
> > if (raw_handle == NULL)
> > {
> > fprintf (stderr, "Could not acquire a raw1394 handle - driver not
> > installed?\n");
> > exit (1);
> > }
> > numPorts = raw1394_get_port_info (raw_handle, ports, numPorts);
> > raw1394_destroy_handle (raw_handle);
> >
> > /* Perform autodetection */
> > printf ("Auto-detecting firewire camera because card and node is not
> > specified\n");
> >
> > /* We need to traverse all available cards and process each one */
> > for (p = 0; p < numPorts; p++)
> > {
> > /* Open up OHCI and assign a handle */
> > int numnodes, c;
> > raw1394handle_t handle;
> > handle = dc1394_create_handle (p);
> > if (handle == NULL)
> > continue;
> >
> > /* Get the camera nodes */
> > numnodes = raw1394_get_nodecount (handle);
> > if (numnodes <= 1)
> > continue;
> >
> > /* Get info for each camera node */
> > for (c = 0; c < numnodes; c++)
> > {
> > dc1394_camerainfo info;
> > if (dc1394_get_camera_info (handle, c, &info) < 0)
> > {
> > printf ("1394 card %d node %d is not a camera
> > [INVALID]\n", p, c);
> > }
> > else
> > {
> > printf ("1394 card %d node %d is a [%s - %s] --> ", p, c,
> > info.vendor, info.model);
> >
> > /* Store the node numbers */
> > if (*card == -1)
> > {
> > printf ("auto detected\n");
> > *card = p;
> > *node = c;
> > }
> > else
> > printf ("not used\n");
> > }
> > }
> > }
> >
> > /* If we still haven't found a camera then we are in trouble */
> > if ((*card == -1) && (*node == -1))
> > {
> > fprintf (stderr, "Could not auto detect any cameras on the %d
> > firewire cards available\n", numPorts);
> > exit (1);
> > }
> > printf ("Using the firewire camera on card %d and node %d\n",
> > *card, *node);
> > }
> >
> >
> > /* Lets create a handle so it can be used later on */
> > arV1394.handle = dc1394_create_handle(*card);
> > printf("Testing");
> > if (arV1394.handle==NULL)
> > {
> > fprintf (stderr, "Could not acquire a raw1394 handle, did you insmod
> > the drivers?\n");
> > exit(1);
> > }
> >
> >
> > /* Success */
> > return 0;
> > }
> >
> > -------------------------------------------------------------------------------------------------------------------
> >
> >
>
>
>
--
Debadeepta Dey,
Research Intern,
Hitech Robotics Systemz,
India.
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