| Current File : //usr/share/doc/libdc1394-devel-2.2.2/grab_gray_image.c |
/*
* Get one gray image using libdc1394 and store it as portable gray map
* (pgm). Based on 'samplegrab' from Chris Urmson
*
* Written by Damien Douxchamps <ddouxchamps@users.sf.net>
*
* 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
*/
#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.pgm"
/*-----------------------------------------------------------------------
* 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;
int i;
dc1394featureset_t features;
dc1394framerates_t framerates;
dc1394video_modes_t video_modes;
dc1394framerate_t framerate;
dc1394video_mode_t video_mode = 0;
dc1394color_coding_t coding;
unsigned int width, height;
dc1394video_frame_t *frame;
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 %"PRIx64, list->ids[0].guid);
return 1;
}
dc1394_camera_free_list (list);
printf("Using camera with GUID %"PRIx64"\n", camera->guid);
/*-----------------------------------------------------------------------
* get the best video mode and highest framerate. This can be skipped
* if you already know which mode/framerate you want...
*-----------------------------------------------------------------------*/
// get video modes:
err=dc1394_video_get_supported_modes(camera,&video_modes);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Can't get video modes");
// select highest res mode:
for (i=video_modes.num-1;i>=0;i--) {
if (!dc1394_is_video_mode_scalable(video_modes.modes[i])) {
dc1394_get_color_coding_from_video_mode(camera,video_modes.modes[i], &coding);
if (coding==DC1394_COLOR_CODING_MONO8) {
video_mode=video_modes.modes[i];
break;
}
}
}
if (i < 0) {
dc1394_log_error("Could not get a valid MONO8 mode");
cleanup_and_exit(camera);
}
err=dc1394_get_color_coding_from_video_mode(camera, video_mode,&coding);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not get color coding");
// get highest framerate
err=dc1394_video_get_supported_framerates(camera,video_mode,&framerates);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not get framrates");
framerate=framerates.framerates[framerates.num-1];
/*-----------------------------------------------------------------------
* setup capture
*-----------------------------------------------------------------------*/
err=dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set iso speed");
err=dc1394_video_set_mode(camera, video_mode);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set video mode");
err=dc1394_video_set_framerate(camera, framerate);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set framerate");
err=dc1394_capture_setup(camera,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");
/*-----------------------------------------------------------------------
* report camera's features
*-----------------------------------------------------------------------*/
err=dc1394_feature_get_all(camera,&features);
if (err!=DC1394_SUCCESS) {
dc1394_log_warning("Could not get feature set");
}
else {
dc1394_feature_print_all(&features, stdout);
}
/*-----------------------------------------------------------------------
* 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");
/*-----------------------------------------------------------------------
* 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");
/*-----------------------------------------------------------------------
* 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");
/*-----------------------------------------------------------------------
* save image as 'Image.pgm'
*-----------------------------------------------------------------------*/
imagefile=fopen(IMAGE_FILE_NAME, "wb");
if( imagefile == NULL) {
perror( "Can't create '" IMAGE_FILE_NAME "'");
cleanup_and_exit(camera);
}
dc1394_get_image_size_from_video_mode(camera, video_mode, &width, &height);
fprintf(imagefile,"P5\n%u %u 255\n", width, height);
fwrite(frame->image, 1, height*width, imagefile);
fclose(imagefile);
printf("wrote: " IMAGE_FILE_NAME "\n");
/*-----------------------------------------------------------------------
* close camera
*-----------------------------------------------------------------------*/
dc1394_video_set_transmission(camera, DC1394_OFF);
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
dc1394_free (d);
return 0;
}