我正在尝试使用 libdc1394 从 Point Gray firewire 1394 相机获取图像。这是代码。
#include <stdio.h>
#include <stdint.h>
#include <dc1394/dc1394.h>
#include <stdlib.h>
#include <inttypes.h>
#ifndef _WIN32
#include <unistd.h>
#endif
#define IMAGE_FILE_NAME "image.ppm"
/*-----------------------------------------------------------------------
* 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[])
{
FILE* imagefile;
dc1394camera_t *camera;
unsigned int width, height;
dc1394video_frame_t *frame=NULL;
//dc1394featureset_t features;
dc1394_t * d;
dc1394camera_list_t * list;
dc1394error_t err;
d = dc1394_new ();
if (!d)
return 1;
err=dc1394_camera_enumerate (d, &list);
DC1394_ERR_RTN(err,"Failed to enumerate cameras");
if (list->num == 0) {
dc1394_log_error("No cameras found");
return 1;
}
camera = dc1394_camera_new (d, list->ids[0].guid);
if (!camera) {
dc1394_log_error("Failed to initialize camera with guid %llx", list->ids[0].guid);
return 1;
}
dc1394_camera_free_list (list);
printf("Using camera with GUID %"PRIx64"\n", camera->guid);
/*-----------------------------------------------------------------------
* setup capture
*-----------------------------------------------------------------------*/
err=dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_1394B);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set 1394B mode");
err=dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_800);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set iso speed");
err=dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_FORMAT7_0);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set video mode\n");
err=dc1394_format7_set_roi(camera, DC1394_VIDEO_MODE_FORMAT7_0, DC1394_COLOR_CODING_RAW16, DC1394_USE_MAX_AVAIL, 0, 0, 1024, 726);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not ROI\n");
err=dc1394_capture_setup(camera,4, DC1394_CAPTURE_FLAGS_DEFAULT);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not setup camera-\nmake sure that the video mode and framerate are\nsupported by your camera\n");
/*-----------------------------------------------------------------------
* GIJS edit: show F7 info
*-----------------------------------------------------------------------*/
uint32_t unit_bytes;
uint32_t max_bytes;
err=dc1394_format7_get_packet_parameters(camera, DC1394_VIDEO_MODE_FORMAT7_0, &unit_bytes, &max_bytes );
printf("\n[DEBUG] F7 Info\n");
printf("[DEBUG] unit_byte: %d (error %d)\n", unit_bytes, err );
printf("[DEBUG] max_bytes: %d (error %d)\n", max_bytes, err );
uint32_t packet_size;
err=dc1394_format7_get_packet_size(camera, DC1394_VIDEO_MODE_FORMAT7_0, &packet_size );
printf("[DEBUG] packet_size: %d (error %d)\n", packet_size, err );
uint32_t packets_per_frame;
err=dc1394_format7_get_packets_per_frame(camera, DC1394_VIDEO_MODE_FORMAT7_0, &packets_per_frame );
printf("[DEBUG] packets_per_frame: %d (error %d)\n", packets_per_frame, err );
uint32_t pixels_per_frame;
err=dc1394_format7_get_pixel_number(camera, DC1394_VIDEO_MODE_FORMAT7_0, &pixels_per_frame );
printf("[DEBUG] pixels_per_frame: %d (error %d)\n", pixels_per_frame, err );
uint32_t recommended_packet_size;
err=dc1394_format7_get_recommended_packet_size(camera, DC1394_VIDEO_MODE_FORMAT7_0, &recommended_packet_size );
printf("[DEBUG] recommended_packet_size: %d (error %d)\n", recommended_packet_size, err );
uint32_t total_bytes;
err=dc1394_format7_get_total_bytes(camera, DC1394_VIDEO_MODE_FORMAT7_0, &total_bytes );
printf("[DEBUG] total_size: %d (error %d)\n", total_bytes, err );
/*-----------------------------------------------------------------------
* 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\n");
/*-----------------------------------------------------------------------
* 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\n");
/*-----------------------------------------------------------------------
* check if frame is corrupt
*-----------------------------------------------------------------------*/
printf("\n[DEBUG] is frame corrupt: ");
if( dc1394_capture_is_frame_corrupt( camera, frame) )
printf("YES\n");
else
printf("NO\n");
/*-----------------------------------------------------------------------
* show frame info
*-----------------------------------------------------------------------*/
printf("\n[DEBUG] Frame Info\n");
printf("[DEBUG] image_bytes: %d\n", frame->image_bytes);
printf("[DEBUG] size[0]: %d\n", frame->size[0]);
printf("[DEBUG] size[1]: %d\n", frame->size[1]);
printf("[DEBUG] allocated_image_bytes: %d\n", frame->allocated_image_bytes );
printf("[DEBUG] total_bytes: %d\n", frame->total_bytes );
printf("[DEBUG] color_coding: %d\n", frame->color_coding);
printf("[DEBUG] color_filter: %d\n", frame->color_filter);
printf("[DEBUG] packet_size: %d\n", frame->packet_size);
printf("[DEBUG] packets_per_frame: %d\n", frame->packets_per_frame);
printf("[DEBUG] padding_bytes: %d\n", frame->padding_bytes);
printf("[DEBUG] timestamp: %d\n", frame->timestamp);
printf("[DEBUG] stride: %d\n", frame->stride);
printf("[DEBUG] data_depth: %d\n", frame->data_depth);
printf("[DEBUG] id: %d\n", frame->id);
printf("[DEBUG] frames_behind: %d\n", frame->frames_behind);
printf("[DEBUG] image: %u\n", frame->image);
/*-----------------------------------------------------------------------
* stop data transmission
*-----------------------------------------------------------------------*/
err=dc1394_video_set_transmission(camera,DC1394_OFF);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not stop the camera?\n");
/*-----------------------------------------------------------------------
* save image as 'Image.pgm'
*-----------------------------------------------------------------------*/
imagefile=fopen(IMAGE_FILE_NAME, "wb");
if( imagefile == NULL) {
perror( "Can't create output file");
cleanup_and_exit(camera);
}
width = 1104;
height = 624;
fprintf(imagefile,"P6\n%u %u\n65536\n", width, height);
int nbytes = fwrite(frame->image, 2, height*width, imagefile);
fclose(imagefile);
printf("wrote: " IMAGE_FILE_NAME " (%d image bytes)\n",nbytes*2);
/*-----------------------------------------------------------------------
* close camera
*-----------------------------------------------------------------------*/
dc1394_video_set_transmission(camera, DC1394_OFF);
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
dc1394_free (d);
return 0;
}
它编译得很完美，但是当我尝试执行它时。我收到以下错误。
libdc1394 error: Format_7 Error_flag_1 is set: in _dc1394_v130_handshake (format7.c, line 122): invalid image position, size, color coding or ISO speed
libdc1394 error: Format_7 Error_flag_1 is set: in dc1394_format7_set_roi (format7.c, line 803): Handshaking failed after setting color_coding
libdc1394 error: Format_7 Error_flag_1 is set: in main (test.c, line 90): Could not ROI
有人可以告诉我如何设置 dc1394_format7_set_roi(parametre) 和 dc1394_video_set_mode (parameter) 来获得立体图像。