Hello community, here is the log from the commit of package libdc1394 for openSUSE:Factory checked in at 2016-02-11 12:32:34 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ Comparing /work/SRC/openSUSE:Factory/libdc1394 (Old) and /work/SRC/openSUSE:Factory/.libdc1394.new (New) ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Package is "libdc1394" Changes: -------- --- /work/SRC/openSUSE:Factory/libdc1394/libdc1394.changes 2015-11-24 22:32:25.000000000 +0100 +++ /work/SRC/openSUSE:Factory/.libdc1394.new/libdc1394.changes 2016-02-11 12:32:35.000000000 +0100 @@ -1,0 +2,9 @@ +Wed Feb 3 14:09:56 UTC 2016 - [email protected] + +- Update to 2.2.4: + - Add USB IDs for some Point Grey cameras + - Re-activate the EdgeSense debayering algorithm (patent has expired) + - USB-captured frames now have a valid timestamp + - Look for USB enpoints on all interfaces + +------------------------------------------------------------------- Old: ---- libdc1394-2.2.3.tar.gz New: ---- libdc1394-2.2.4.tar.gz ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ Other differences: ------------------ ++++++ libdc1394.spec ++++++ --- /var/tmp/diff_new_pack.CwW5Y8/_old 2016-02-11 12:32:36.000000000 +0100 +++ /var/tmp/diff_new_pack.CwW5Y8/_new 2016-02-11 12:32:36.000000000 +0100 @@ -1,7 +1,7 @@ # # spec file for package libdc1394 # -# Copyright (c) 2015 SUSE LINUX GmbH, Nuernberg, Germany. +# Copyright (c) 2016 SUSE LINUX GmbH, Nuernberg, Germany. # # All modifications and additions to the file contributed by third parties # remain the property of their copyright owners, unless otherwise agreed @@ -17,7 +17,7 @@ Name: libdc1394 -Version: 2.2.3 +Version: 2.2.4 Release: 0 Summary: 1394-Based Digital Camera Control Library License: LGPL-2.1+ ++++++ libdc1394-2.2.3.tar.gz -> libdc1394-2.2.4.tar.gz ++++++ diff -urN '--exclude=CVS' '--exclude=.cvsignore' '--exclude=.svn' '--exclude=.svnignore' old/libdc1394-2.2.3/AUTHORS new/libdc1394-2.2.4/AUTHORS --- old/libdc1394-2.2.3/AUTHORS 2014-03-06 03:57:21.000000000 +0100 +++ new/libdc1394-2.2.4/AUTHORS 2015-03-21 07:35:09.000000000 +0100 @@ -1,5 +1,5 @@ -This is the list of the individuals who have contributed to libdc1394. -If your name should have been here please contact Damien Douxchamps. +This is the list of individuals who have contributed to libdc1394. +If your name should have been here please contact the maintainer. Christophe Achard AgBr @@ -12,6 +12,7 @@ D. Bahadir Alexis Ballier Matthias Barkhoff +Robin Beitra Etienne Bieber Blaise Argentum Brom @@ -19,6 +20,7 @@ Maya Cakmak Tim Canham Jim Cassidy +Paul Chavent Hugo Costelha danalien Damien Delannay @@ -78,6 +80,7 @@ Robert Olsen Yasutoshi Onishi Thomas Passot +Martin Peris Alain Perrier Gord Peters Rodolphe Pineau diff -urN '--exclude=CVS' '--exclude=.cvsignore' '--exclude=.svn' '--exclude=.svnignore' old/libdc1394-2.2.3/NEWS new/libdc1394-2.2.4/NEWS --- old/libdc1394-2.2.3/NEWS 2013-02-25 13:35:15.000000000 +0100 +++ new/libdc1394-2.2.4/NEWS 2016-02-03 14:16:15.000000000 +0100 @@ -1,6 +1,15 @@ Release information and news: ----------------------------- +-- 2.2.4 + - Add USB IDs for some Point Grey cameras + - Re-activate the EdgeSense debayering algorithm (patent has expired) + - USB-captured frames now have a valid timestamp + - Look for USB enpoints on all interfaces + +-- 2.2.3 + - Add USB IDs for some Point Grey cameras + -- 2.2.1 - all files are now under the LGPL2 license - Don't expose internal symbols diff -urN '--exclude=CVS' '--exclude=.cvsignore' '--exclude=.svn' '--exclude=.svnignore' old/libdc1394-2.2.3/configure new/libdc1394-2.2.4/configure --- old/libdc1394-2.2.3/configure 2014-09-10 01:28:21.000000000 +0200 +++ new/libdc1394-2.2.4/configure 2016-02-03 14:13:06.000000000 +0100 @@ -1,6 +1,6 @@ #! /bin/sh # Guess values for system-dependent variables and create Makefiles. -# Generated by GNU Autoconf 2.69 for libdc1394 2.2.3. +# Generated by GNU Autoconf 2.69 for libdc1394 2.2.4. # # Report bugs to <[email protected]>. # @@ -590,8 +590,8 @@ # Identity of this package. PACKAGE_NAME='libdc1394' PACKAGE_TARNAME='libdc1394' -PACKAGE_VERSION='2.2.3' -PACKAGE_STRING='libdc1394 2.2.3' +PACKAGE_VERSION='2.2.4' +PACKAGE_STRING='libdc1394 2.2.4' PACKAGE_BUGREPORT='[email protected]' PACKAGE_URL='' @@ -1421,7 +1421,7 @@ # Omit some internal or obsolete options to make the list less imposing. # This message is too long to be a string in the A/UX 3.1 sh. cat <<_ACEOF -\`configure' configures libdc1394 2.2.3 to adapt to many kinds of systems. +\`configure' configures libdc1394 2.2.4 to adapt to many kinds of systems. Usage: $0 [OPTION]... [VAR=VALUE]... @@ -1496,7 +1496,7 @@ if test -n "$ac_init_help"; then case $ac_init_help in - short | recursive ) echo "Configuration of libdc1394 2.2.3:";; + short | recursive ) echo "Configuration of libdc1394 2.2.4:";; esac cat <<\_ACEOF @@ -1633,7 +1633,7 @@ test -n "$ac_init_help" && exit $ac_status if $ac_init_version; then cat <<\_ACEOF -libdc1394 configure 2.2.3 +libdc1394 configure 2.2.4 generated by GNU Autoconf 2.69 Copyright (C) 2012 Free Software Foundation, Inc. @@ -2056,7 +2056,7 @@ This file contains any messages produced by compilers while running configure, to aid debugging if configure makes a mistake. -It was created by libdc1394 $as_me 2.2.3, which was +It was created by libdc1394 $as_me 2.2.4, which was generated by GNU Autoconf 2.69. Invocation command line was $ $0 $@ @@ -6301,7 +6301,7 @@ # Define the identity of the package. PACKAGE='libdc1394' - VERSION='2.2.3' + VERSION='2.2.4' cat >>confdefs.h <<_ACEOF @@ -16589,7 +16589,7 @@ lt_current=23 -lt_revision=10 +lt_revision=11 lt_age=1 @@ -17261,7 +17261,7 @@ # report actual input values of CONFIG_FILES etc. instead of their # values after options handling. ac_log=" -This file was extended by libdc1394 $as_me 2.2.3, which was +This file was extended by libdc1394 $as_me 2.2.4, which was generated by GNU Autoconf 2.69. Invocation command line was CONFIG_FILES = $CONFIG_FILES @@ -17327,7 +17327,7 @@ cat >>$CONFIG_STATUS <<_ACEOF || ac_write_fail=1 ac_cs_config="`$as_echo "$ac_configure_args" | sed 's/^ //; s/[\\""\`\$]/\\\\&/g'`" ac_cs_version="\\ -libdc1394 config.status 2.2.3 +libdc1394 config.status 2.2.4 configured by $0, generated by GNU Autoconf 2.69, with options \\"\$ac_cs_config\\" diff -urN '--exclude=CVS' '--exclude=.cvsignore' '--exclude=.svn' '--exclude=.svnignore' old/libdc1394-2.2.3/configure.ac new/libdc1394-2.2.4/configure.ac --- old/libdc1394-2.2.3/configure.ac 2014-09-10 01:26:05.000000000 +0200 +++ new/libdc1394-2.2.4/configure.ac 2016-02-03 14:12:31.000000000 +0100 @@ -1,6 +1,6 @@ # process this file with autoconf to get a configure script AC_PREREQ([2.6.0]) -AC_INIT([libdc1394],[2.2.3],[[email protected]]) +AC_INIT([libdc1394],[2.2.4],[[email protected]]) AC_CONFIG_SRCDIR([dc1394/control.c]) AC_CONFIG_MACRO_DIR([m4]) @@ -143,7 +143,7 @@ dnl 4. If the interface has removed or changed elements, set AGE to 0. dnl --------------------------------------------------------------------------- lt_current=23 -lt_revision=10 +lt_revision=11 lt_age=1 AC_SUBST(lt_current) diff -urN '--exclude=CVS' '--exclude=.cvsignore' '--exclude=.svn' '--exclude=.svnignore' old/libdc1394-2.2.3/dc1394/bayer.c new/libdc1394-2.2.4/dc1394/bayer.c --- old/libdc1394-2.2.3/dc1394/bayer.c 2011-08-21 08:32:57.000000000 +0200 +++ new/libdc1394-2.2.4/dc1394/bayer.c 2016-02-03 14:08:22.000000000 +0100 @@ -500,8 +500,273 @@ dc1394error_t dc1394_bayer_EdgeSense(const uint8_t *restrict bayer, uint8_t *restrict rgb, int sx, int sy, int tile) { - /* Removed due to patent concerns */ - return DC1394_FUNCTION_NOT_SUPPORTED; + uint8_t *outR, *outG, *outB; + register int i3, j3, base; + int i, j; + int dh, dv; + int tmp; + int sx3=sx*3; + + // sx and sy should be even + switch (tile) { + case DC1394_COLOR_FILTER_GRBG: + case DC1394_COLOR_FILTER_BGGR: + outR = &rgb[0]; + outG = &rgb[1]; + outB = &rgb[2]; + break; + case DC1394_COLOR_FILTER_GBRG: + case DC1394_COLOR_FILTER_RGGB: + outR = &rgb[2]; + outG = &rgb[1]; + outB = &rgb[0]; + break; + default: + return DC1394_INVALID_COLOR_FILTER; + } + + switch (tile) { + case DC1394_COLOR_FILTER_GRBG: //--------------------------------------------------------- + case DC1394_COLOR_FILTER_GBRG: + // copy original RGB data to output images + for (i = 0, i3=0; i < sy*sx; i += (sx<<1), i3 += (sx3<<1)) { + for (j = 0, j3=0; j < sx; j += 2, j3+=6) { + base=i3+j3; + outG[base] = bayer[i + j]; + outG[base + sx3 + 3] = bayer[i + j + sx + 1]; + outR[base + 3] = bayer[i + j + 1]; + outB[base + sx3] = bayer[i + j + sx]; + } + } + // process GREEN channel + for (i3= 3*sx3; i3 < (sy - 2)*sx3; i3 += (sx3<<1)) { + for (j3=6; j3 < sx3 - 9; j3+=6) { + base=i3+j3; + dh = abs(((outB[base - 6] + + outB[base + 6]) >> 1) - + outB[base]); + dv = abs(((outB[base - (sx3<<1)] + + outB[base + (sx3<<1)]) >> 1) - + outB[base]); + tmp = (((outG[base - 3] + outG[base + 3]) >> 1) * (dh<=dv) + + ((outG[base - sx3] + outG[base + sx3]) >> 1) * (dh>dv)); + //tmp = (dh==dv) ? tmp>>1 : tmp; + CLIP(tmp, outG[base]); + } + } + + for (i3=2*sx3; i3 < (sy - 3)*sx3; i3 += (sx3<<1)) { + for (j3=9; j3 < sx3 - 6; j3+=6) { + base=i3+j3; + dh = abs(((outR[base - 6] + + outR[base + 6]) >>1 ) - + outR[base]); + dv = abs(((outR[base - (sx3<<1)] + + outR[base + (sx3<<1)]) >>1 ) - + outR[base]); + tmp = (((outG[base - 3] + outG[base + 3]) >> 1) * (dh<=dv) + + ((outG[base - sx3] + outG[base + sx3]) >> 1) * (dh>dv)); + //tmp = (dh==dv) ? tmp>>1 : tmp; + CLIP(tmp, outG[base]); + } + } + // process RED channel + for (i3=0; i3 < (sy - 1)*sx3; i3 += (sx3<<1)) { + for (j3=6; j3 < sx3 - 3; j3+=6) { + base=i3+j3; + tmp = outG[base] + + ((outR[base - 3] - + outG[base - 3] + + outR[base + 3] - + outG[base + 3]) >> 1); + CLIP(tmp, outR[base]); + } + } + for (i3=sx3; i3 < (sy - 2)*sx3; i3 += (sx3<<1)) { + for (j3=3; j3 < sx3; j3+=6) { + base=i3+j3; + tmp = outG[base] + + ((outR[base - sx3] - + outG[base - sx3] + + outR[base + sx3] - + outG[base + sx3]) >> 1); + CLIP(tmp, outR[base]); + } + for (j3=6; j3 < sx3 - 3; j3+=6) { + base=i3+j3; + tmp = outG[base] + + ((outR[base - sx3 - 3] - + outG[base - sx3 - 3] + + outR[base - sx3 + 3] - + outG[base - sx3 + 3] + + outR[base + sx3 - 3] - + outG[base + sx3 - 3] + + outR[base + sx3 + 3] - + outG[base + sx3 + 3]) >> 2); + CLIP(tmp, outR[base]); + } + } + + // process BLUE channel + for (i3=sx3; i3 < sy*sx3; i3 += (sx3<<1)) { + for (j3=3; j3 < sx3 - 6; j3+=6) { + base=i3+j3; + tmp = outG[base] + + ((outB[base - 3] - + outG[base - 3] + + outB[base + 3] - + outG[base + 3]) >> 1); + CLIP(tmp, outB[base]); + } + } + for (i3=2*sx3; i3 < (sy - 1)*sx3; i3 += (sx3<<1)) { + for (j3=0; j3 < sx3 - 3; j3+=6) { + base=i3+j3; + tmp = outG[base] + + ((outB[base - sx3] - + outG[base - sx3] + + outB[base + sx3] - + outG[base + sx3]) >> 1); + CLIP(tmp, outB[base]); + } + for (j3=3; j3 < sx3 - 6; j3+=6) { + base=i3+j3; + tmp = outG[base] + + ((outB[base - sx3 - 3] - + outG[base - sx3 - 3] + + outB[base - sx3 + 3] - + outG[base - sx3 + 3] + + outB[base + sx3 - 3] - + outG[base + sx3 - 3] + + outB[base + sx3 + 3] - + outG[base + sx3 + 3]) >> 2); + CLIP(tmp, outB[base]); + } + } + break; + + case DC1394_COLOR_FILTER_BGGR: //--------------------------------------------------------- + case DC1394_COLOR_FILTER_RGGB: + // copy original RGB data to output images + for (i = 0, i3=0; i < sy*sx; i += (sx<<1), i3 += (sx3<<1)) { + for (j = 0, j3=0; j < sx; j += 2, j3+=6) { + base=i3+j3; + outB[base] = bayer[i + j]; + outR[base + sx3 + 3] = bayer[i + sx + (j + 1)]; + outG[base + 3] = bayer[i + j + 1]; + outG[base + sx3] = bayer[i + sx + j]; + } + } + // process GREEN channel + for (i3=2*sx3; i3 < (sy - 2)*sx3; i3 += (sx3<<1)) { + for (j3=6; j3 < sx3 - 9; j3+=6) { + base=i3+j3; + dh = abs(((outB[base - 6] + + outB[base + 6]) >> 1) - + outB[base]); + dv = abs(((outB[base - (sx3<<1)] + + outB[base + (sx3<<1)]) >> 1) - + outB[base]); + tmp = (((outG[base - 3] + outG[base + 3]) >> 1) * (dh<=dv) + + ((outG[base - sx3] + outG[base + sx3]) >> 1) * (dh>dv)); + //tmp = (dh==dv) ? tmp>>1 : tmp; + CLIP(tmp, outG[base]); + } + } + for (i3=3*sx3; i3 < (sy - 3)*sx3; i3 += (sx3<<1)) { + for (j3=9; j3 < sx3 - 6; j3+=6) { + base=i3+j3; + dh = abs(((outR[base - 6] + + outR[base + 6]) >> 1) - + outR[base]); + dv = abs(((outR[base - (sx3<<1)] + + outR[base + (sx3<<1)]) >> 1) - + outR[base]); + tmp = (((outG[base - 3] + outG[base + 3]) >> 1) * (dh<=dv) + + ((outG[base - sx3] + outG[base + sx3]) >> 1) * (dh>dv)); + //tmp = (dh==dv) ? tmp>>1 : tmp; + CLIP(tmp, outG[base]); + } + } + // process RED channel + for (i3=sx3; i3 < (sy - 1)*sx3; i3 += (sx3<<1)) { // G-points (1/2) + for (j3=6; j3 < sx3 - 3; j3+=6) { + base=i3+j3; + tmp = outG[base] + + ((outR[base - 3] - + outG[base - 3] + + outR[base + 3] - + outG[base + 3]) >>1); + CLIP(tmp, outR[base]); + } + } + for (i3=2*sx3; i3 < (sy - 2)*sx3; i3 += (sx3<<1)) { + for (j3=3; j3 < sx3; j3+=6) { // G-points (2/2) + base=i3+j3; + tmp = outG[base] + + ((outR[base - sx3] - + outG[base - sx3] + + outR[base + sx3] - + outG[base + sx3]) >> 1); + CLIP(tmp, outR[base]); + } + for (j3=6; j3 < sx3 - 3; j3+=6) { // B-points + base=i3+j3; + tmp = outG[base] + + ((outR[base - sx3 - 3] - + outG[base - sx3 - 3] + + outR[base - sx3 + 3] - + outG[base - sx3 + 3] + + outR[base + sx3 - 3] - + outG[base + sx3 - 3] + + outR[base + sx3 + 3] - + outG[base + sx3 + 3]) >> 2); + CLIP(tmp, outR[base]); + } + } + + // process BLUE channel + for (i = 0,i3=0; i < sy*sx; i += (sx<<1), i3 += (sx3<<1)) { + for (j = 1, j3=3; j < sx - 2; j += 2, j3+=6) { + base=i3+j3; + tmp = outG[base] + + ((outB[base - 3] - + outG[base - 3] + + outB[base + 3] - + outG[base + 3]) >> 1); + CLIP(tmp, outB[base]); + } + } + for (i3=sx3; i3 < (sy - 1)*sx3; i3 += (sx3<<1)) { + for (j3=0; j3 < sx3 - 3; j3+=6) { + base=i3+j3; + tmp = outG[base] + + ((outB[base - sx3] - + outG[base - sx3] + + outB[base + sx3] - + outG[base + sx3]) >> 1); + CLIP(tmp, outB[base]); + } + for (j3=3; j3 < sx3 - 6; j3+=6) { + base=i3+j3; + tmp = outG[base] + + ((outB[base - sx3 - 3] - + outG[base - sx3 - 3] + + outB[base - sx3 + 3] - + outG[base - sx3 + 3] + + outB[base + sx3 - 3] - + outG[base + sx3 - 3] + + outB[base + sx3 + 3] - + outG[base + sx3 + 3]) >> 2); + CLIP(tmp, outB[base]); + } + } + break; + } + + ClearBorders(rgb, sx, sy, 3); + + return DC1394_SUCCESS; } /* coriander's Bayer decoding */ @@ -1048,8 +1313,273 @@ dc1394error_t dc1394_bayer_EdgeSense_uint16(const uint16_t *restrict bayer, uint16_t *restrict rgb, int sx, int sy, int tile, int bits) { - /* Removed due to patent concerns */ - return DC1394_FUNCTION_NOT_SUPPORTED; + uint16_t *outR, *outG, *outB; + register int i3, j3, base; + int i, j; + int dh, dv; + int tmp; + int sx3=sx*3; + + // sx and sy should be even + switch (tile) { + case DC1394_COLOR_FILTER_GRBG: + case DC1394_COLOR_FILTER_BGGR: + outR = &rgb[0]; + outG = &rgb[1]; + outB = &rgb[2]; + break; + case DC1394_COLOR_FILTER_GBRG: + case DC1394_COLOR_FILTER_RGGB: + outR = &rgb[2]; + outG = &rgb[1]; + outB = &rgb[0]; + break; + default: + return DC1394_INVALID_COLOR_FILTER; + } + + switch (tile) { + case DC1394_COLOR_FILTER_GRBG: //--------------------------------------------------------- + case DC1394_COLOR_FILTER_GBRG: + // copy original RGB data to output images + for (i = 0, i3=0; i < sy*sx; i += (sx<<1), i3 += (sx3<<1)) { + for (j = 0, j3=0; j < sx; j += 2, j3+=6) { + base=i3+j3; + outG[base] = bayer[i + j]; + outG[base + sx3 + 3] = bayer[i + j + sx + 1]; + outR[base + 3] = bayer[i + j + 1]; + outB[base + sx3] = bayer[i + j + sx]; + } + } + // process GREEN channel + for (i3= 3*sx3; i3 < (sy - 2)*sx3; i3 += (sx3<<1)) { + for (j3=6; j3 < sx3 - 9; j3+=6) { + base=i3+j3; + dh = abs(((outB[base - 6] + + outB[base + 6]) >> 1) - + outB[base]); + dv = abs(((outB[base - (sx3<<1)] + + outB[base + (sx3<<1)]) >> 1) - + outB[base]); + tmp = (((outG[base - 3] + outG[base + 3]) >> 1) * (dh<=dv) + + ((outG[base - sx3] + outG[base + sx3]) >> 1) * (dh>dv)); + //tmp = (dh==dv) ? tmp>>1 : tmp; + CLIP16(tmp, outG[base], bits); + } + } + + for (i3=2*sx3; i3 < (sy - 3)*sx3; i3 += (sx3<<1)) { + for (j3=9; j3 < sx3 - 6; j3+=6) { + base=i3+j3; + dh = abs(((outR[base - 6] + + outR[base + 6]) >>1 ) - + outR[base]); + dv = abs(((outR[base - (sx3<<1)] + + outR[base + (sx3<<1)]) >>1 ) - + outR[base]); + tmp = (((outG[base - 3] + outG[base + 3]) >> 1) * (dh<=dv) + + ((outG[base - sx3] + outG[base + sx3]) >> 1) * (dh>dv)); + //tmp = (dh==dv) ? tmp>>1 : tmp; + CLIP16(tmp, outG[base], bits); + } + } + // process RED channel + for (i3=0; i3 < (sy - 1)*sx3; i3 += (sx3<<1)) { + for (j3=6; j3 < sx3 - 3; j3+=6) { + base=i3+j3; + tmp = outG[base] + + ((outR[base - 3] - + outG[base - 3] + + outR[base + 3] - + outG[base + 3]) >> 1); + CLIP16(tmp, outR[base], bits); + } + } + for (i3=sx3; i3 < (sy - 2)*sx3; i3 += (sx3<<1)) { + for (j3=3; j3 < sx3; j3+=6) { + base=i3+j3; + tmp = outG[base] + + ((outR[base - sx3] - + outG[base - sx3] + + outR[base + sx3] - + outG[base + sx3]) >> 1); + CLIP16(tmp, outR[base], bits); + } + for (j3=6; j3 < sx3 - 3; j3+=6) { + base=i3+j3; + tmp = outG[base] + + ((outR[base - sx3 - 3] - + outG[base - sx3 - 3] + + outR[base - sx3 + 3] - + outG[base - sx3 + 3] + + outR[base + sx3 - 3] - + outG[base + sx3 - 3] + + outR[base + sx3 + 3] - + outG[base + sx3 + 3]) >> 2); + CLIP16(tmp, outR[base], bits); + } + } + + // process BLUE channel + for (i3=sx3; i3 < sy*sx3; i3 += (sx3<<1)) { + for (j3=3; j3 < sx3 - 6; j3+=6) { + base=i3+j3; + tmp = outG[base] + + ((outB[base - 3] - + outG[base - 3] + + outB[base + 3] - + outG[base + 3]) >> 1); + CLIP16(tmp, outB[base], bits); + } + } + for (i3=2*sx3; i3 < (sy - 1)*sx3; i3 += (sx3<<1)) { + for (j3=0; j3 < sx3 - 3; j3+=6) { + base=i3+j3; + tmp = outG[base] + + ((outB[base - sx3] - + outG[base - sx3] + + outB[base + sx3] - + outG[base + sx3]) >> 1); + CLIP16(tmp, outB[base], bits); + } + for (j3=3; j3 < sx3 - 6; j3+=6) { + base=i3+j3; + tmp = outG[base] + + ((outB[base - sx3 - 3] - + outG[base - sx3 - 3] + + outB[base - sx3 + 3] - + outG[base - sx3 + 3] + + outB[base + sx3 - 3] - + outG[base + sx3 - 3] + + outB[base + sx3 + 3] - + outG[base + sx3 + 3]) >> 2); + CLIP16(tmp, outB[base], bits); + } + } + break; + + case DC1394_COLOR_FILTER_BGGR: //--------------------------------------------------------- + case DC1394_COLOR_FILTER_RGGB: + // copy original RGB data to output images + for (i = 0, i3=0; i < sy*sx; i += (sx<<1), i3 += (sx3<<1)) { + for (j = 0, j3=0; j < sx; j += 2, j3+=6) { + base=i3+j3; + outB[base] = bayer[i + j]; + outR[base + sx3 + 3] = bayer[i + sx + (j + 1)]; + outG[base + 3] = bayer[i + j + 1]; + outG[base + sx3] = bayer[i + sx + j]; + } + } + // process GREEN channel + for (i3=2*sx3; i3 < (sy - 2)*sx3; i3 += (sx3<<1)) { + for (j3=6; j3 < sx3 - 9; j3+=6) { + base=i3+j3; + dh = abs(((outB[base - 6] + + outB[base + 6]) >> 1) - + outB[base]); + dv = abs(((outB[base - (sx3<<1)] + + outB[base + (sx3<<1)]) >> 1) - + outB[base]); + tmp = (((outG[base - 3] + outG[base + 3]) >> 1) * (dh<=dv) + + ((outG[base - sx3] + outG[base + sx3]) >> 1) * (dh>dv)); + //tmp = (dh==dv) ? tmp>>1 : tmp; + CLIP16(tmp, outG[base], bits); + } + } + for (i3=3*sx3; i3 < (sy - 3)*sx3; i3 += (sx3<<1)) { + for (j3=9; j3 < sx3 - 6; j3+=6) { + base=i3+j3; + dh = abs(((outR[base - 6] + + outR[base + 6]) >> 1) - + outR[base]); + dv = abs(((outR[base - (sx3<<1)] + + outR[base + (sx3<<1)]) >> 1) - + outR[base]); + tmp = (((outG[base - 3] + outG[base + 3]) >> 1) * (dh<=dv) + + ((outG[base - sx3] + outG[base + sx3]) >> 1) * (dh>dv)); + //tmp = (dh==dv) ? tmp>>1 : tmp; + CLIP16(tmp, outG[base], bits); + } + } + // process RED channel + for (i3=sx3; i3 < (sy - 1)*sx3; i3 += (sx3<<1)) { // G-points (1/2) + for (j3=6; j3 < sx3 - 3; j3+=6) { + base=i3+j3; + tmp = outG[base] + + ((outR[base - 3] - + outG[base - 3] + + outR[base + 3] - + outG[base + 3]) >>1); + CLIP16(tmp, outR[base], bits); + } + } + for (i3=2*sx3; i3 < (sy - 2)*sx3; i3 += (sx3<<1)) { + for (j3=3; j3 < sx3; j3+=6) { // G-points (2/2) + base=i3+j3; + tmp = outG[base] + + ((outR[base - sx3] - + outG[base - sx3] + + outR[base + sx3] - + outG[base + sx3]) >> 1); + CLIP16(tmp, outR[base], bits); + } + for (j3=6; j3 < sx3 - 3; j3+=6) { // B-points + base=i3+j3; + tmp = outG[base] + + ((outR[base - sx3 - 3] - + outG[base - sx3 - 3] + + outR[base - sx3 + 3] - + outG[base - sx3 + 3] + + outR[base + sx3 - 3] - + outG[base + sx3 - 3] + + outR[base + sx3 + 3] - + outG[base + sx3 + 3]) >> 2); + CLIP16(tmp, outR[base], bits); + } + } + + // process BLUE channel + for (i = 0,i3=0; i < sy*sx; i += (sx<<1), i3 += (sx3<<1)) { + for (j = 1, j3=3; j < sx - 2; j += 2, j3+=6) { + base=i3+j3; + tmp = outG[base] + + ((outB[base - 3] - + outG[base - 3] + + outB[base + 3] - + outG[base + 3]) >> 1); + CLIP16(tmp, outB[base], bits); + } + } + for (i3=sx3; i3 < (sy - 1)*sx3; i3 += (sx3<<1)) { + for (j3=0; j3 < sx3 - 3; j3+=6) { + base=i3+j3; + tmp = outG[base] + + ((outB[base - sx3] - + outG[base - sx3] + + outB[base + sx3] - + outG[base + sx3]) >> 1); + CLIP16(tmp, outB[base], bits); + } + for (j3=3; j3 < sx3 - 6; j3+=6) { + base=i3+j3; + tmp = outG[base] + + ((outB[base - sx3 - 3] - + outG[base - sx3 - 3] + + outB[base - sx3 + 3] - + outG[base - sx3 + 3] + + outB[base + sx3 - 3] - + outG[base + sx3 - 3] + + outB[base + sx3 + 3] - + outG[base + sx3 + 3]) >> 2); + CLIP16(tmp, outB[base], bits); + } + } + break; + } + + ClearBorders_uint16(rgb, sx, sy, 3); + + return DC1394_SUCCESS; } /* coriander's Bayer decoding */ diff -urN '--exclude=CVS' '--exclude=.cvsignore' '--exclude=.svn' '--exclude=.svnignore' old/libdc1394-2.2.3/dc1394/conversions.h new/libdc1394-2.2.4/dc1394/conversions.h --- old/libdc1394-2.2.3/dc1394/conversions.h 2011-08-21 08:27:26.000000000 +0200 +++ new/libdc1394-2.2.4/dc1394/conversions.h 2016-02-03 14:08:22.000000000 +0100 @@ -141,10 +141,10 @@ * - Bilinear : OpenCV library * * - HQLinear : High-Quality Linear Interpolation For Demosaicing Of Bayer-Patterned * * Color Images, by Henrique S. Malvar, Li-wei He, and Ross Cutler, * - * in Proceedings of the ICASSP'04 Conference. * + * in Proceedings of the ICASSP'04 Conference. * * - Edge Sense II : Laroche, Claude A. "Apparatus and method for adaptively interpolating * * a full color image utilizing chrominance gradients" * - * U.S. Patent 5,373,322. Based on the code found on the website * + * U.S. Patent 5,373,322. Based on the code found on the website * * http://www-ise.stanford.edu/~tingchen/ Converted to C and adapted to * * all four elementary patterns. * * - Downsample : "Known to the Ancients" * diff -urN '--exclude=CVS' '--exclude=.cvsignore' '--exclude=.svn' '--exclude=.svnignore' old/libdc1394-2.2.3/dc1394/usb/capture.c new/libdc1394-2.2.4/dc1394/usb/capture.c --- old/libdc1394-2.2.3/dc1394/usb/capture.c 2013-10-29 15:26:26.000000000 +0100 +++ new/libdc1394-2.2.4/dc1394/usb/capture.c 2015-03-22 15:59:16.000000000 +0100 @@ -26,6 +26,7 @@ #include <inttypes.h> #include <pthread.h> #include <unistd.h> +#include <sys/time.h> #ifdef HAVE_MACOSX #include <CoreFoundation/CoreFoundation.h> #endif @@ -40,6 +41,13 @@ static void LIBUSB_CALL callback (struct libusb_transfer * transfer) { + // Get a software timestamp as soon as possible in this callback. Note that this timestamp + // is not as accurate as the bus timestamp we get with the IEEE1394 interface. For more + // accurate timings, consider using either a hardware external trigger or the camera + // timestamps that can be inserted within the video frame (see Point Grey documentation) + struct timeval filltime; + gettimeofday(&filltime,NULL); + struct usb_frame * f = transfer->user_data; platform_camera_t * craw = f->pcam; @@ -62,6 +70,7 @@ pthread_mutex_lock (&craw->mutex); f->status = status; + f->frame.timestamp = filltime.tv_sec*1000000 + filltime.tv_usec; craw->frames_ready++; pthread_mutex_unlock (&craw->mutex); @@ -107,6 +116,44 @@ return NULL; } +static int +find_interface (libusb_device * usb_dev, uint8_t endpoint_address) +{ + struct libusb_device_descriptor usb_desc; + struct libusb_config_descriptor * config_desc; + int ret; + int i, a, e; + uint8_t ea; + + ret = libusb_get_device_descriptor(usb_dev, &usb_desc); + + if (ret < 0) { + dc1394_log_error ("usb: Failed to get device descriptor"); + return DC1394_FAILURE; + } + + if (usb_desc.bNumConfigurations) { + ret = libusb_get_active_config_descriptor (usb_dev, &config_desc); + if (ret) { + dc1394_log_error ("usb: Failed to get config descriptor"); + return DC1394_FAILURE; + } + + for (i = 0; i < config_desc->bNumInterfaces; i++) { + for (a = 0; a < config_desc->interface[i].num_altsetting; a++) { + for (e = 0; e < config_desc->interface[i].altsetting[a].bNumEndpoints; e++) { + ea = config_desc->interface[i].altsetting[a].endpoint[e].bEndpointAddress; + // Return the interface number for the first suitable interface + if (ea == endpoint_address) + return i; + } + } + } + } + + return DC1394_FAILURE; +} + static dc1394error_t init_frame(platform_camera_t *craw, int index, dc1394video_frame_t *proto) { @@ -226,7 +273,14 @@ } libusb_free_device_list (list, 1); - if (libusb_claim_interface (craw->thread_handle, 0) < 0) { + // Point Grey uses endpoint 0x81, but other manufacturers or models may use another endpoint + int usb_interface = find_interface (libusb_get_device(craw->thread_handle), 0x81); + if (usb_interface == DC1394_FAILURE) { + dc1394_log_error ("usb: capture thread failed to find suitable interface on device"); + dc1394_usb_capture_stop (craw); + return DC1394_FAILURE; + } + if (libusb_claim_interface (craw->thread_handle, usb_interface) < 0) { dc1394_log_error ("usb: capture thread failed to claim interface"); dc1394_usb_capture_stop (craw); return DC1394_FAILURE; diff -urN '--exclude=CVS' '--exclude=.cvsignore' '--exclude=.svn' '--exclude=.svnignore' old/libdc1394-2.2.3/dc1394/usb/control.c new/libdc1394-2.2.4/dc1394/usb/control.c --- old/libdc1394-2.2.3/dc1394/usb/control.c 2014-03-06 03:56:19.000000000 +0100 +++ new/libdc1394-2.2.4/dc1394/usb/control.c 2015-02-12 23:44:23.000000000 +0100 @@ -79,7 +79,9 @@ { 0x1e10, 0x3008 }, // Point Grey Flea 3 (FL3-U3-88S2C) { 0x1e10, 0x300a }, // Point Grey Flea 3 (FL3-U3-13E4C) { 0x1e10, 0x300b }, // Point Grey Flea 3 (FL3-U3-13E4M with 1.43.3.2 FW) + { 0x1e10, 0x3103 }, // Point Grey Grasshopper 3 (GS3-U3-23S6M) { 0x1e10, 0x3300 }, // Point Grey Flea 3 (FL3-U3-13E4M with 2.7.3.0 FW) + { 0x1e10, 0x3800 }, // Point Grey Ladybug 5 (LD5-U3-51S5C-44) { 0, 0 } }; diff -urN '--exclude=CVS' '--exclude=.cvsignore' '--exclude=.svn' '--exclude=.svnignore' old/libdc1394-2.2.3/examples/Makefile.am new/libdc1394-2.2.4/examples/Makefile.am --- old/libdc1394-2.2.3/examples/Makefile.am 2013-10-27 05:21:06.000000000 +0100 +++ new/libdc1394-2.2.4/examples/Makefile.am 2015-02-12 23:51:16.000000000 +0100 @@ -4,7 +4,7 @@ A = grab_gray_image grab_partial_image grab_color_image \ grab_color_image2 helloworld ladybug grab_partial_pvn \ - basler_sff_info basler_sff_extended_data + basler_sff_info basler_sff_extended_data ladybug5capture B = dc1394_reset_bus if HAVE_LIBSDL @@ -45,6 +45,8 @@ ladybug_SOURCES = ladybug.c +ladybug5capture_SOURCES = ladybug5capture.c + grab_gray_image_SOURCES = grab_gray_image.c grab_color_image_SOURCES = grab_color_image.c diff -urN '--exclude=CVS' '--exclude=.cvsignore' '--exclude=.svn' '--exclude=.svnignore' old/libdc1394-2.2.3/examples/Makefile.in new/libdc1394-2.2.4/examples/Makefile.in --- old/libdc1394-2.2.3/examples/Makefile.in 2014-09-10 01:28:21.000000000 +0200 +++ new/libdc1394-2.2.4/examples/Makefile.in 2016-02-03 14:13:06.000000000 +0100 @@ -109,7 +109,7 @@ grab_color_image$(EXEEXT) grab_color_image2$(EXEEXT) \ helloworld$(EXEEXT) ladybug$(EXEEXT) grab_partial_pvn$(EXEEXT) \ basler_sff_info$(EXEEXT) basler_sff_extended_data$(EXEEXT) \ - $(am__EXEEXT_3) $(am__EXEEXT_4) + ladybug5capture$(EXEEXT) $(am__EXEEXT_3) $(am__EXEEXT_4) PROGRAMS = $(bin_PROGRAMS) $(noinst_PROGRAMS) am_basler_sff_extended_data_OBJECTS = \ basler_sff_extended_data.$(OBJEXT) @@ -179,6 +179,10 @@ ladybug_OBJECTS = $(am_ladybug_OBJECTS) ladybug_LDADD = $(LDADD) ladybug_DEPENDENCIES = ../dc1394/libdc1394.la +am_ladybug5capture_OBJECTS = ladybug5capture.$(OBJEXT) +ladybug5capture_OBJECTS = $(am_ladybug5capture_OBJECTS) +ladybug5capture_LDADD = $(LDADD) +ladybug5capture_DEPENDENCIES = ../dc1394/libdc1394.la AM_V_P = $(am__v_P_@AM_V@) am__v_P_ = $(am__v_P_@AM_DEFAULT_V@) am__v_P_0 = false @@ -219,14 +223,16 @@ $(dc1394_vloopback_SOURCES) $(grab_color_image_SOURCES) \ $(grab_color_image2_SOURCES) $(grab_gray_image_SOURCES) \ $(grab_partial_image_SOURCES) $(grab_partial_pvn_SOURCES) \ - $(helloworld_SOURCES) $(ladybug_SOURCES) + $(helloworld_SOURCES) $(ladybug_SOURCES) \ + $(ladybug5capture_SOURCES) DIST_SOURCES = $(basler_sff_extended_data_SOURCES) \ $(basler_sff_info_SOURCES) $(dc1394_iso_SOURCES) \ $(dc1394_multiview_SOURCES) $(dc1394_reset_bus_SOURCES) \ $(dc1394_vloopback_SOURCES) $(grab_color_image_SOURCES) \ $(grab_color_image2_SOURCES) $(grab_gray_image_SOURCES) \ $(grab_partial_image_SOURCES) $(grab_partial_pvn_SOURCES) \ - $(helloworld_SOURCES) $(ladybug_SOURCES) + $(helloworld_SOURCES) $(ladybug_SOURCES) \ + $(ladybug5capture_SOURCES) am__can_run_installinfo = \ case $$AM_UPDATE_INFO_DIR in \ n|no|NO) false;; \ @@ -449,8 +455,8 @@ AM_CPPFLAGS = -I$(top_srcdir) A = grab_gray_image grab_partial_image grab_color_image \ grab_color_image2 helloworld ladybug grab_partial_pvn \ - basler_sff_info basler_sff_extended_data $(am__append_1) \ - $(am__append_3) + basler_sff_info basler_sff_extended_data ladybug5capture \ + $(am__append_1) $(am__append_3) B = dc1394_reset_bus $(am__append_2) @HAVE_LINUX_TRUE@@HAVE_OPENGL_TRUE@GL_LIBS = -lGL @HAVE_OPENGL_TRUE@@HAVE_WINDOWS_TRUE@GL_LIBS = -lopengl32 @@ -458,6 +464,7 @@ LDADD = ../dc1394/libdc1394.la helloworld_SOURCES = helloworld.c ladybug_SOURCES = ladybug.c +ladybug5capture_SOURCES = ladybug5capture.c grab_gray_image_SOURCES = grab_gray_image.c grab_color_image_SOURCES = grab_color_image.c grab_color_image2_SOURCES = grab_color_image2.c @@ -619,6 +626,10 @@ @rm -f ladybug$(EXEEXT) $(AM_V_CCLD)$(LINK) $(ladybug_OBJECTS) $(ladybug_LDADD) $(LIBS) +ladybug5capture$(EXEEXT): $(ladybug5capture_OBJECTS) $(ladybug5capture_DEPENDENCIES) $(EXTRA_ladybug5capture_DEPENDENCIES) + @rm -f ladybug5capture$(EXEEXT) + $(AM_V_CCLD)$(LINK) $(ladybug5capture_OBJECTS) $(ladybug5capture_LDADD) $(LIBS) + mostlyclean-compile: -rm -f *.$(OBJEXT) @@ -639,6 +650,7 @@ @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/grab_partial_pvn.Po@am__quote@ @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/helloworld.Po@am__quote@ @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/ladybug.Po@am__quote@ +@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/ladybug5capture.Po@am__quote@ .c.o: @am__fastdepCC_TRUE@ $(AM_V_CC)$(COMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ $< diff -urN '--exclude=CVS' '--exclude=.cvsignore' '--exclude=.svn' '--exclude=.svnignore' old/libdc1394-2.2.3/examples/ladybug5capture.c new/libdc1394-2.2.4/examples/ladybug5capture.c --- old/libdc1394-2.2.3/examples/ladybug5capture.c 1970-01-01 01:00:00.000000000 +0100 +++ new/libdc1394-2.2.4/examples/ladybug5capture.c 2015-02-12 23:55:40.000000000 +0100 @@ -0,0 +1,205 @@ +/* + * File: ladybug5capture.c + * + * Capture program prototype for the spherical 6-CCD Ladybug 5 + * camera from Point Grey + * + * Written by Martin Peris <[email protected]> + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * Notes: + * + * - Uses the first camera on the bus, then prints the camera information + * and sets up the camera in RAW8 mode (mode 7_0), capture NFRAMES + * frames to the HDD and prints the information of each frame. + * + * - In RAW8 mode the 6 images come in a big array of 2528x12484 pixels. + * Each individual image is supposed to be 2448x2048 but the camera + * introduces some padding. + * + * - Ladybug 5 sensors are arranged in "portrait" orientation to increase + * the vertical field of view. As a result, height measurements appear + * as width, and width measurements appear as height + * + */ + +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <stdint.h> +#include <inttypes.h> + +#include <dc1394/dc1394.h> + +#define NFRAMES 10 + +void print_format7_info(dc1394format7modeset_t *info) +{ + for (int i = 0; i < DC1394_VIDEO_MODE_FORMAT7_NUM; i++) { + if (info->mode[i].present) { + printf("------ Camera format 7_%d information ------\n", i); + printf("Size x : %u\n", info->mode[i].size_x); + printf("Size y : %u\n", info->mode[i].size_y); + printf("Max Size x : %u\n", info->mode[i].max_size_x); + printf("Max Size y : %u\n", info->mode[i].max_size_y); + printf("Pos x : %u\n", info->mode[i].pos_x); + printf("Pos y : %u\n", info->mode[i].pos_y); + printf("Unit Size x : %u\n", info->mode[i].unit_size_x); + printf("Unit Size y : %u\n", info->mode[i].unit_size_y); + printf("Unit Pos x : %u\n", info->mode[i].unit_pos_x); + printf("Unit Pos y : %u\n", info->mode[i].unit_pos_y); + printf("Color codings : "); + for (int j = 0; j < info->mode[i].color_codings.num; j++) { + printf("%u%c ", info->mode[i].color_codings.codings[j], j == info->mode[i].color_codings.num-1 ? ' ':','); + } + printf("\n"); + printf("Color coding : %u\n", info->mode[i].color_coding); + printf("Pixnum : %u\n", info->mode[i].pixnum); + printf("Packet size : %u\n", info->mode[i].packet_size); + printf("Unit Packet size : %u\n", info->mode[i].unit_packet_size); + printf("Max Packet size : %u\n", info->mode[i].max_packet_size); + } + } +} + +void print_frame_info(dc1394video_frame_t *frame) +{ + printf("------ Frame information ------\n"); + printf("Size x : %u\n", frame->size[0]); + printf("Size y : %u\n", frame->size[1]); + printf("Pos x : %u\n", frame->position[0]); + printf("Pos y : %u\n", frame->position[1]); + printf("Color coding : %u\n", frame->color_coding); + printf("Color filter : %u\n", frame->color_filter); + printf("yuv byte order : %u\n", frame->yuv_byte_order); + printf("data depth : %u\n", frame->data_depth); + printf("stride : %u\n", frame->stride); + printf("video mode : %d\n", frame->video_mode); + printf("total bytes : %lu\n", frame->total_bytes); + printf("image bytes : %u\n", frame->image_bytes); + printf("padding bytes : %u\n", frame->padding_bytes); + printf("packet size : %u\n", frame->packet_size); + printf("packets per frame : %u\n", frame->packets_per_frame); + printf("timestamp : %lu\n", frame->timestamp); + printf("frames behind : %u\n", frame->frames_behind); + printf("id : %u\n", frame->id); + printf("allocated image bytes : %lu\n", frame->allocated_image_bytes); + printf("little emdian : %s\n", frame->little_endian == DC1394_TRUE ? "Yes" : "No"); + printf("data in padding : %s\n", frame->data_in_padding == DC1394_TRUE ? "Yes" : "No"); +} + +int main(int argc, const char * argv[]) { + + dc1394_t *d; + dc1394camera_list_t *list; + dc1394error_t err; + dc1394camera_t *camera; + dc1394format7modeset_t modeset; + dc1394video_frame_t *frame; + FILE* imagefile; + char filename[256]; + int i = 0; + + d = dc1394_new(); + if (!d) { + return 1; + } + + err = dc1394_camera_enumerate(d, &list); + DC1394_ERR_RTN(err, "Failed to enumerate cameras"); + if (list->num == 0) { + dc1394_log_error("No cameras found"); + dc1394_free(d); + return 1; + } + printf("Detected %d cameras\n", list->num); + + // Assume that Ladybug 5 is detected as camera #0 + camera = dc1394_camera_new(d, list->ids[0].guid); + if (!camera) { + dc1394_log_error("Failed to initialize camera with guid %llx", list->ids[0].guid); + dc1394_free(d); + } + dc1394_camera_free_list(list); + printf("Using camera %s %s\n", camera->vendor, camera->model); + + // Report camera info + err = dc1394_camera_print_info(camera, stdout); + DC1394_ERR_RTN(err, "Could not print camera info"); + + + // Setup video mode, etc... + err = dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_1394B); + DC1394_ERR_RTN(err, "Could not set B mode"); + err = dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_MAX); + DC1394_ERR_RTN(err, "Could not set max speed"); + err = dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_FORMAT7_0); + DC1394_ERR_RTN(err, "Could not set DC1394_VIDEO_MODE_FORMAT7_0"); + + // Get format7 mode info + err = dc1394_format7_get_modeset(camera, &modeset); + DC1394_ERR_RTN(err, "Could not get format 7 mode info\n"); + print_format7_info(&modeset); + + + // Set format 7 roi + err = dc1394_format7_set_roi(camera, + DC1394_VIDEO_MODE_FORMAT7_0, + modeset.mode[0].color_coding, + modeset.mode[0].max_packet_size, + modeset.mode[0].pos_x, + modeset.mode[0].pos_y, + modeset.mode[0].max_size_x, + modeset.mode[0].max_size_y); + DC1394_ERR_RTN(err, "Could not set max ROI"); + + // Set capture + err = dc1394_capture_setup(camera, 10, DC1394_CAPTURE_FLAGS_DEFAULT); + DC1394_ERR_RTN(err, "Could not setup capture"); + err = dc1394_video_set_transmission(camera, DC1394_ON); + DC1394_ERR_RTN(err, "Could not start transmission"); + + while (i < NFRAMES) { + // Capture image + printf("Capturing image %d\n", i); + err = dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame); + DC1394_ERR_RTN(err, "Could not dequeue a frame"); + + // Do something with the image + print_frame_info(frame); + + // Save the image + sprintf(filename, "%05d.pgm",i); + imagefile = fopen(filename, "wb"); + if ( imagefile == NULL ) { + printf("Could not save image\n"); + continue; + } + fprintf(imagefile, "P5\n%u %u 255\n", frame->size[0], frame->size[1]); + fwrite(frame->image, 1, frame->image_bytes, imagefile); + fclose(imagefile); + printf("Saved image %s\n", filename); + + err = dc1394_capture_enqueue(camera, frame); + DC1394_ERR_RTN(err, "Could enqueue a frame"); + + i++; + } + + dc1394_camera_free(camera); + dc1394_free(d); + return 0; +}
