ieee1394 iicd

main.c

#include <stdlib.h>
#include <stdio.h>
#include <dc1394/dc1394.h>
#include <inttypes.h>

int main(int argc, char** argv) {
	dc1394_t * d;
	dc1394camera_list_t * list;
	dc1394error_t err;
	dc1394camera_t *camera;
	dc1394featureset_t features;
	dc1394color_coding_t color_coding;
	dc1394video_frame_t* frame;
	uint32_t packet_size, left, top, width, height;
	FILE* imagefile;
	int i = 0;

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

	err = dc1394_camera_enumerate (d, &list);
	printf("Enumerated cameras. %d cameras found\n", list->num);

	if (list->num == 0)
		return 1;

	camera = dc1394_camera_new (d, list->ids[0].guid);
	printf("Using first camera %" PRIx64 "\n", list->ids[0].guid);

	if (!camera)
		return 1;

	dc1394_camera_free_list (list);

	err = dc1394_camera_reset(camera);
	printf("Reset camera: %s\n", dc1394_error_get_string(err));

	err = dc1394_feature_get_all(camera, &features);
	if (err != DC1394_SUCCESS) {
		printf("Could not get camera feature set\n");
		goto fail_feature_get_all;
	}

	dc1394_feature_print_all(&features, stdout);

	dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400);
	dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_FORMAT7_0);

	err = dc1394_format7_set_roi(camera, DC1394_VIDEO_MODE_FORMAT7_0, DC1394_COLOR_CODING_MONO16, DC1394_USE_MAX_AVAIL, 0, 0, DC1394_USE_MAX_AVAIL, DC1394_USE_MAX_AVAIL);
	if (err != DC1394_SUCCESS) {
		printf("Could not set format 7 roi\n");
		goto fail_format7_set_roi;
        }

	err = dc1394_format7_get_roi(camera, DC1394_VIDEO_MODE_FORMAT7_0, &color_coding, &packet_size, &left, &top, &width, &height);
	if (err != DC1394_SUCCESS) {
		printf("Could not get format 7 roi\n");
		goto fail_format7_get_roi;
        }
	printf("Camera packet size = %u bytes\n", packet_size);
	printf("Camera frame geometry = (%u,%u) (%u,%u)\n", left, top, width, height);
	printf("Camera color coding = %d\n", color_coding);

	err = dc1394_capture_setup(camera, 4, DC1394_CAPTURE_FLAGS_DEFAULT);
	if (err != DC1394_SUCCESS) {
		printf("Could not set camera capture\n");
		goto fail_capture_setup;
        }

	err = dc1394_video_set_transmission(camera, DC1394_ON);
	if (err != DC1394_SUCCESS) {
		printf("Could not start camera iso transmission\n");
		goto fail_video_set_transmission;
        }

	for (i = 0; i < 100; ++i) {
		err = dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
		if (err != DC1394_SUCCESS) {
			printf("Could not dequeue frame\n");
			goto fail_capture_dequeue;
		}

		printf("%d %" PRIu64 "\n", i, frame->timestamp);

		dc1394_capture_enqueue(camera, frame);
	}

	dc1394_video_set_transmission(camera,DC1394_OFF);

	imagefile = fopen("frame.pgm","wb");
	fprintf(imagefile,"P5\n%u %u\n65535\n", width, height);
	fwrite(frame->image, 2, height * width, imagefile);
	fclose(imagefile);

	dc1394_capture_stop(camera);
	dc1394_camera_free(camera);
	dc1394_free(d);

	return 0;

fail_capture_dequeue:
fail_video_set_transmission:
	dc1394_capture_stop(camera);
fail_capture_setup:
fail_format7_get_roi:
fail_format7_set_roi:
fail_feature_get_all:
	dc1394_camera_free(camera);
	dc1394_free(d);

	return 1;
}