/****************************************************************************       Title: grab partial images from camera, measure frame rate**    $RCSfile: grab_partial_image.c,v $**   $Revision: 1.4.2.29 $$Name:  $**       $Date: 2006/07/04 08:24:56 $**   Copyright: LGPL $Author: ddouxchamps $** Description:****    Grab partial image from camera. Camera must be format 7**    (scalable image size) compatible. e.g., Basler A101f****-------------------------------------------------------------------------****************************************************************************/#include <stdio.h>#include <libdc1394/dc1394_control.h>#include <libdc1394/dc1394_utils.h>#include <stdlib.h>#include <time.h>#include <sys/times.h>int main(int argc, char *argv[]) {  FILE* imagefile;  dc1394camera_t *camera, **cameras=NULL;  uint_t numCameras;  int grab_n_frames = 10;  struct tms tms_buf;  clock_t start_time;  float elapsed_time;  int i;  unsigned int min_bytes, max_bytes;  unsigned int actual_bytes;  unsigned long long int total_bytes = 0;  unsigned int width, height;  int err=dc1394_find_cameras(&cameras, &numCameras);  if (err!=DC1394_SUCCESS) {    fprintf( stderr, "Unable to look for cameras\n\n"             "Please check \n"	     "  - if the kernel modules `ieee1394',`raw1394' and `ohci1394' are loaded \n"	     "  - if you have read/write access to /dev/raw1394\n\n");    exit(1);  }  /*-----------------------------------------------------------------------   *  get the camera nodes and describe them as we find them   *-----------------------------------------------------------------------*/  if (numCameras<1) {    fprintf(stderr, "no cameras found :(\n");    exit(1);  }  camera=cameras[0];  printf("working with the first camera on the bus\n");    // free the other cameras  for (i=1;i<numCameras;i++)    dc1394_free_camera(cameras[i]);  free(cameras);    //fprintf(stderr,"handle: 0x%x, node: 0x%x\n",camera->handle,camera->node);  /*-----------------------------------------------------------------------   *  setup capture for format 7   *-----------------------------------------------------------------------*/  //fprintf(stderr,"handle: 0x%x\n",capture.handle);  dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400);  dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_FORMAT7_1);  dc1394_format7_set_roi(camera, DC1394_VIDEO_MODE_FORMAT7_1,			 DC1394_COLOR_CODING_MONO8,			 DC1394_USE_MAX_AVAIL, // use max packet size			 0, 0, // left, top			 1280, 1024);  // width, height  DC1394_ERR_RTN(err,"Unable to set Format7 mode 0.\nEdit the example file manually to fit your camera capabilities\n");  err=dc1394_capture_setup(camera);  DC1394_ERR_CLN_RTN(err, dc1394_free_camera(camera), "Error capturing\n");  //fprintf(stderr,"handle: 0x%x\n",capture.handle);  /* set trigger mode */  /*  if( dc1394_set_trigger_mode(camera, TRIGGER_MODE_0)      != DC1394_SUCCESS)  {    fprintf( stderr, "unable to set camera trigger mode\n");    dc1394_release_capture(&capture);    dc1394_free_camera(camera);    exit(1);  }  fprintf(stderr,"handle: 0x%x\n",capture.handle);  */  /*-----------------------------------------------------------------------   *  print allowed and used packet size   *-----------------------------------------------------------------------*/  if (dc1394_format7_get_packet_para(camera, DC1394_VIDEO_MODE_FORMAT7_0, &min_bytes, &max_bytes) != DC1394_SUCCESS) { /* PACKET_PARA_INQ */    printf("Packet para inq error\n");    return DC1394_FAILURE;  }  printf( "camera reports allowed packet size from %d - %d bytes\n", min_bytes, max_bytes);    if (dc1394_format7_get_byte_per_packet(camera, DC1394_VIDEO_MODE_FORMAT7_0, &actual_bytes) != DC1394_SUCCESS) {    printf("dc1394_query_format7_byte_per_packet error\n");    return DC1394_FAILURE;  }  printf( "camera reports actual packet size = %d bytes\n",          actual_bytes);  if (dc1394_format7_get_total_bytes(camera, DC1394_VIDEO_MODE_FORMAT7_0, &total_bytes) != DC1394_SUCCESS) {    printf("dc1394_query_format7_total_bytes error\n");    return DC1394_FAILURE;  }  printf( "camera reports total bytes per frame = %lld bytes\n", total_bytes);  //fprintf(stderr,"handle: 0x%x\n",capture.handle);    /*-----------------------------------------------------------------------   *  have the camera start sending us data   *-----------------------------------------------------------------------*/  if (dc1394_video_set_transmission(camera,DC1394_ON) !=DC1394_SUCCESS) {    fprintf( stderr, "unable to start camera iso transmission\n");    dc1394_capture_stop(camera);    dc1394_free_camera(camera);    exit(1);  }  //usleep(5000000);  //fprintf(stderr,"handle: 0x%x\n",capture.handle);  /*-----------------------------------------------------------------------   *  capture 10 frames and measure the time for this operation   *-----------------------------------------------------------------------*/  start_time = times(&tms_buf);  for( i = 0; i < grab_n_frames; ++i) {    //fprintf(stderr,"capturing frame %d/%d\r",i,grab_n_frames);    /*-----------------------------------------------------------------------     *  capture one frame     *-----------------------------------------------------------------------*/    if (dc1394_capture(&camera,1)!=DC1394_SUCCESS) {      //fprintf(stderr,"Error 1\n");      //fprintf(stderr,"handle: 0x%x\n",capture.handle);      dc1394_capture_stop(camera);      //fprintf(stderr,"Error 2\n");      //fprintf(stderr,"handle: 0x%x\n",capture.handle);      dc1394_free_camera(camera);      //fprintf(stderr,"Error 3\n");      exit(1);    }    /*---------------------------------------------------------------------     *  output elapsed time     *---------------------------------------------------------------------*/    elapsed_time = (float)(times(&tms_buf) - start_time) / CLOCKS_PER_SEC;    printf( "got frame %d. elapsed time: %g sec ==> %g frames/second\n",            i, elapsed_time, (float)i / elapsed_time);  }    /*-----------------------------------------------------------------------   *  Stop data transmission   *-----------------------------------------------------------------------*/  if (dc1394_video_set_transmission(camera,DC1394_OFF)!=DC1394_SUCCESS) {    printf("couldn't stop the camera?\n");  }  /*-----------------------------------------------------------------------   *  save last image as Part.pgm   *-----------------------------------------------------------------------*/  imagefile=fopen("Part.pgm","w");      dc1394_get_image_size_from_video_mode(camera, DC1394_VIDEO_MODE_FORMAT7_1,          &width, &height);  fprintf(imagefile,"P5\n%u %u\n255\n", width, height);  fwrite((const char *)dc1394_capture_get_dma_buffer (camera), 1,         height * width, imagefile);  fclose(imagefile);  printf("wrote: Part.pgm\n");    /*-----------------------------------------------------------------------   *  Close camera   *-----------------------------------------------------------------------*/  dc1394_capture_stop(camera);  dc1394_video_set_transmission(camera, DC1394_OFF);  dc1394_free_camera(camera);  return 0;}