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– Attachment 7455 Details for
Bug 34715
[FR] добавить патч для поддержки кривых камер FLIR?
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[patch]
реализация объездов для кривой камеры
libdc1394-2.1.2-flir.patch (text/plain), 20.25 KB, created by
Michael Shigorin
on 2018-03-26 19:36:53 MSK
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Description:
реализация объездов для кривой камеры
Filename:
MIME Type:
Creator:
Michael Shigorin
Created:
2018-03-26 19:36:53 MSK
Size:
20.25 KB
patch
obsolete
>diff -crB ../distrib/libdc1394-2.1.2/dc1394/camera.h libdc1394-2.1.2-flir/dc1394/camera.h >*** ../distrib/libdc1394-2.1.2/dc1394/camera.h 2009-06-11 06:05:47.000000000 +0200 >--- libdc1394-2.1.2-flir/dc1394/camera.h 2009-09-30 18:06:59.000000000 +0200 >*************** >*** 33,38 **** >--- 33,45 ---- > */ > > /** >+ * FLIR A40 camera unit spec ID >+ * >+ * It is used to verify that we have a FLIR camera >+ */ >+ #define FLIR_A40_MAGIC 0x407F >+ >+ /** > * List of IIDC versions > * > * Currently, the following versions exist: 1.04, 1.20, PTGREY, 1.30 and 1.31 (1.32 coming soon) >diff -crB ../distrib/libdc1394-2.1.2/dc1394/control.c libdc1394-2.1.2-flir/dc1394/control.c >*** ../distrib/libdc1394-2.1.2/dc1394/control.c 2009-06-11 06:05:47.000000000 +0200 >--- libdc1394-2.1.2-flir/dc1394/control.c 2009-11-16 11:20:17.000000000 +0100 >*************** >*** 84,89 **** >--- 84,90 ---- > update_camera_info (dc1394camera_t *camera) > { > uint32_t value=0, quadval = 0; // set to zero to avoid valgrind errors >+ uint32_t flir_value = 1; > > dc1394_get_control_register(camera, REG_CAMERA_BASIC_FUNC_INQ, &value); > >*************** >*** 512,517 **** >--- 513,530 ---- > err=dc1394_get_control_register(camera, REG_CAMERA_V_FORMAT_INQ, &sup_formats); > DC1394_ERR_RTN(err, "Could not get supported formats"); > >+ if (camera->unit_spec_ID == FLIR_A40_MAGIC) >+ { >+ /* >+ * FLIR has 0 in REG_CAMERA_V_FORMAT_INQ and in corresponding modes. One >+ * can find out formats examing REG_CAMERA_V_MODE_INQ_BASE + i. It returns 0 >+ * for supported formats and 'Error' for unsupported. To find modes >+ * one should inquiry framerates. Supported modes will have meaningfull >+ * values for framerates. >+ */ >+ sup_formats = 0x81000000; // Format_0 & Format_7 >+ } >+ > // for each format check supported modes and add them as we find them. > > modes->num=0; >*************** >*** 520,525 **** >--- 533,542 ---- > err=dc1394_get_control_register(camera, REG_CAMERA_V_MODE_INQ_BASE + ((DC1394_FORMAT0-DC1394_FORMAT_MIN) * 0x04U), &value); > DC1394_ERR_RTN(err, "Could not get supported modes for Format_0"); > >+ if (camera->unit_spec_ID == FLIR_A40_MAGIC) >+ { >+ value = 0x10000000; >+ } > for (mode=DC1394_VIDEO_MODE_FORMAT0_MIN;mode<=DC1394_VIDEO_MODE_FORMAT0_MAX;mode++) { > if ((value & (0x1<<(31-(mode-DC1394_VIDEO_MODE_FORMAT0_MIN)))) > 0) { > modes->modes[modes->num]=mode; >*************** >*** 568,573 **** >--- 585,594 ---- > err=dc1394_get_control_register(camera, REG_CAMERA_V_MODE_INQ_BASE + ((DC1394_FORMAT7-DC1394_FORMAT_MIN) * 0x04U), &value); > DC1394_ERR_RTN(err, "Could not get supported modes for Format_4"); > >+ if (camera->unit_spec_ID == FLIR_A40_MAGIC) >+ { >+ value = 0xE0000000; >+ } > for (mode=DC1394_VIDEO_MODE_FORMAT7_MIN;mode<=DC1394_VIDEO_MODE_FORMAT7_MAX;mode++) { > if ((value & (0x1<<(31-(mode-DC1394_VIDEO_MODE_FORMAT7_MIN))))>0) { > modes->modes[modes->num]=mode; >*************** >*** 2100,2106 **** >--- 2121,2129 ---- > if (disp->camera_read (pcam, offset + 4 * i, &quad, 1) < 0) > goto fail; > if ((quad >> 24) == 0x40) >+ { > command_regs_base = quad & 0xffffff; >+ } > else if ((quad >> 24) == 0x81) { > /* > The iSight version 1.0.3 has two 0x81 (vendor) leaves instead >*************** >*** 2142,2159 **** > camera->vendor = get_leaf_string (pcam, disp, vendor_name_offset); > camera->model = get_leaf_string (pcam, disp, model_name_offset); > >! if (camera->unit_spec_ID == 0xA02D) { > if (info->unit_sw_version == 0x100) > camera->iidc_version = DC1394_IIDC_VERSION_1_04; > else if (info->unit_sw_version == 0x101) > camera->iidc_version = DC1394_IIDC_VERSION_1_20; >! else if (info->unit_sw_version == 0x102) { > camera->iidc_version = DC1394_IIDC_VERSION_1_30; > // only add sub_sw_version if it is valid. Otherwise > // consider that it's IIDC 1.30 (hence add nothing) > if ((unit_sub_sw_version >> 4)<=9) > camera->iidc_version += unit_sub_sw_version >> 4; > } > } > else > camera->iidc_version = DC1394_IIDC_VERSION_PTGREY; >--- 2165,2194 ---- > camera->vendor = get_leaf_string (pcam, disp, vendor_name_offset); > camera->model = get_leaf_string (pcam, disp, model_name_offset); > >! if (camera->unit_spec_ID == 0xA02D || camera->unit_spec_ID == FLIR_A40_MAGIC) // FLIR check >! { > if (info->unit_sw_version == 0x100) > camera->iidc_version = DC1394_IIDC_VERSION_1_04; > else if (info->unit_sw_version == 0x101) > camera->iidc_version = DC1394_IIDC_VERSION_1_20; >! else if (info->unit_sw_version == 0x102) >! { >! printf("IIDC 1.30, %d\n", DC1394_IIDC_VERSION_1_30); > camera->iidc_version = DC1394_IIDC_VERSION_1_30; > // only add sub_sw_version if it is valid. Otherwise > // consider that it's IIDC 1.30 (hence add nothing) > if ((unit_sub_sw_version >> 4)<=9) > camera->iidc_version += unit_sub_sw_version >> 4; > } >+ else if (info->unit_sw_version == 0x1002) >+ { >+ // FLIR, IIDC 1.30 >+ camera->iidc_version = DC1394_IIDC_VERSION_1_30; >+ // only add sub_sw_version if it is valid. Otherwise >+ // consider that it's IIDC 1.30 (hence add nothing) >+ if ((unit_sub_sw_version >> 4)<=9) >+ camera->iidc_version += unit_sub_sw_version >> 4; >+ } > } > else > camera->iidc_version = DC1394_IIDC_VERSION_PTGREY; >Only in libdc1394-2.1.2-flir/dc1394: control.c~ >diff -crB ../distrib/libdc1394-2.1.2/dc1394/enumeration.c libdc1394-2.1.2-flir/dc1394/enumeration.c >*** ../distrib/libdc1394-2.1.2/dc1394/enumeration.c 2009-06-11 06:05:47.000000000 +0200 >--- libdc1394-2.1.2-flir/dc1394/enumeration.c 2009-10-01 10:41:22.000000000 +0200 >*************** >*** 57,62 **** >--- 57,64 ---- > return 0; > } > } >+ //printf("unit_sw of added camera is 0x%X\n", info->unit_sw_version); >+ > d->cameras = realloc (d->cameras, (n + 1) * sizeof (camera_info_t)); > memcpy (d->cameras + n, info, sizeof (camera_info_t)); > d->num_cameras = n + 1; >*************** >*** 94,99 **** >--- 96,102 ---- > { > if (offset >= num_quads) > return -1; >+ //printf("Offset is 0x%X\n", offset); > int num_entries = quads[offset] >> 16; > if (offset + num_entries >= num_quads) > return -1; >*************** >*** 110,123 **** >--- 113,136 ---- > > uint32_t * dquads = quads + offset + 1; > int i; >+ //dc1394_log_debug("Looking into unit directory for %d entries", num_entries); > for (i = 0; i < num_entries; i++) { > uint32_t q = dquads[i]; > if ((q >> 24) == 0x12) >+ { > info.unit_spec_ID = q & 0xffffff; >+ // printf("Got unit_spec id: 0x%X\n", info.unit_spec_ID); >+ } > if ((q >> 24) == 0x13) >+ { > info.unit_sw_version = q & 0xffffff; >+ //printf("Got unit_sw 0x%X\n", info.unit_sw_version); >+ } > if ((q >> 24) == 0xD4) >+ { >+ //printf("Found unit_dependet_directory pointer: 0x%X\n", offset); > info.unit_dependent_directory = (q & 0xffffff) + offset + i + 1; >+ } > if ((q >> 24) == 0x17) > info.model_id = q & 0xffffff; > } >*************** >*** 142,151 **** > > (updated 2005-04-30) > */ > > if ((info.unit_spec_ID != 0xA02D) && >! (info.unit_spec_ID != 0xB09D)) > return -1; > if (!info.unit_dependent_directory) > return -1; > >--- 155,178 ---- > > (updated 2005-04-30) > */ >+ /* >+ Note on FLIR cameras: >+ FLIR is not fully compatible with IIDC specs, though it is possible >+ to work with these cameras. The following modification have been >+ tested with FLIR A40 camera. >+ >+ Vadim Frolov >+ >+ (updated 2009-10-01) >+ */ > > if ((info.unit_spec_ID != 0xA02D) && >! (info.unit_spec_ID != 0xB09D) && >! (info.unit_spec_ID != FLIR_A40_MAGIC)) >! { >! dc1394_log_debug("Not a IIDC compilant, not a PG camera and not a FLIR"); > return -1; >+ } > if (!info.unit_dependent_directory) > return -1; > >*************** >*** 156,162 **** > goto done; > > dquads = quads + info.unit_dependent_directory + 1; >! for (i = 0; i < num_entries; i++) { > uint32_t q = dquads[i]; > if ((q >> 24) == 0x81) > info.vendor = parse_leaf ((q & 0xffffff) + >--- 183,190 ---- > goto done; > > dquads = quads + info.unit_dependent_directory + 1; >! for (i = 0; i < num_entries; i++) >! { > uint32_t q = dquads[i]; > if ((q >> 24) == 0x81) > info.vendor = parse_leaf ((q & 0xffffff) + >diff -crB ../distrib/libdc1394-2.1.2/dc1394/internal.c libdc1394-2.1.2-flir/dc1394/internal.c >*** ../distrib/libdc1394-2.1.2/dc1394/internal.c 2009-06-11 06:05:47.000000000 +0200 >--- libdc1394-2.1.2-flir/dc1394/internal.c 2009-10-01 10:09:39.000000000 +0200 >*************** >*** 266,271 **** >--- 266,278 ---- > > frame->yuv_byte_order = DC1394_BYTE_ORDER_UYVY; > >+ if (camera->unit_spec_ID == FLIR_A40_MAGIC) >+ { >+ // increase packet size on 40 bytes >+ frame->packet_size += 40; >+ printf("FLIR: set packet size to %d\n", frame->packet_size); >+ } >+ > frame->total_bytes = frame->packets_per_frame * frame->packet_size; > > err = dc1394_get_color_coding_from_video_mode (camera, video_mode, &frame->color_coding); >diff -crB ../distrib/libdc1394-2.1.2/dc1394/linux/capture.c libdc1394-2.1.2-flir/dc1394/linux/capture.c >*** ../distrib/libdc1394-2.1.2/dc1394/linux/capture.c 2009-06-11 06:05:47.000000000 +0200 >--- libdc1394-2.1.2-flir/dc1394/linux/capture.c 2009-11-16 11:16:33.000000000 +0100 >*************** >*** 2,8 **** > * 1394-Based Digital Camera Control Library > * > * Camera Capture Code for Linux >! * > * Written by > * Chris Urmson <curmson@ri.cmu.edu> > * Damien Douxchamps <ddouxchamps@users.sf.net> >--- 2,8 ---- > * 1394-Based Digital Camera Control Library > * > * Camera Capture Code for Linux >! * > * Written by > * Chris Urmson <curmson@ri.cmu.edu> > * Damien Douxchamps <ddouxchamps@users.sf.net> >*************** >*** 381,386 **** >--- 381,389 ---- > dc1394video_frame_t * frame_tmp; > int cb; > int result=-1; >+ unsigned long i = 0; >+ unsigned char* cur_packet = NULL; >+ unsigned long cur_offset = 0; > > if ( (policy<DC1394_CAPTURE_POLICY_MIN) || (policy>DC1394_CAPTURE_POLICY_MAX) ) > return DC1394_INVALID_CAPTURE_POLICY; >*************** >*** 425,430 **** >--- 428,446 ---- > frame_tmp->frames_behind = vwait.buffer; > frame_tmp->timestamp = (uint64_t) vwait.filltime.tv_sec * 1000000 + vwait.filltime.tv_usec; > >+ /* FLIR A40 modifications */ >+ if (craw->camera->unit_spec_ID == FLIR_A40_MAGIC) >+ { >+ /* we need to process each packet and remove first 40 bytes from it. >+ * Remove header from each packet and make continuous frame. */ >+ for (i=0; i < frame_tmp->packets_per_frame; i++) >+ { >+ cur_packet = frame_tmp->image + (frame_tmp->packet_size*i); >+ memmove(frame_tmp->image + cur_offset, cur_packet + 40, frame_tmp->packet_size-40); >+ cur_offset += (frame_tmp->packet_size-40); >+ } >+ } >+ > *frame=frame_tmp; > > return DC1394_SUCCESS; >diff -crB ../distrib/libdc1394-2.1.2/dc1394/register.c libdc1394-2.1.2-flir/dc1394/register.c >*** ../distrib/libdc1394-2.1.2/dc1394/register.c 2009-06-11 06:05:47.000000000 +0200 >--- libdc1394-2.1.2-flir/dc1394/register.c 2009-09-07 19:41:54.000000000 +0200 >*************** >*** 94,99 **** >--- 94,100 ---- > dc1394_get_control_registers (dc1394camera_t *camera, uint64_t offset, > uint32_t *value, uint32_t num_regs) > { >+ //dc1394_log_debug("Camera command registers base is 0x%X", camera->command_registers_base); > return dc1394_get_registers (camera, > camera->command_registers_base + offset, value, num_regs); > } >Only in libdc1394-2.1.2-flir/examples: 1 >diff -crB ../distrib/libdc1394-2.1.2/examples/grab_color_image2.c libdc1394-2.1.2-flir/examples/grab_color_image2.c >*** ../distrib/libdc1394-2.1.2/examples/grab_color_image2.c 2009-06-11 06:05:47.000000000 +0200 >--- libdc1394-2.1.2-flir/examples/grab_color_image2.c 2009-09-28 19:44:22.000000000 +0200 >*************** >*** 207,212 **** >--- 207,213 ---- > DC1394_ERR_RTN(err,"Could not get list of modes"); > > uint32_t selected_mode = modes.modes[modes.num-1]; >+ selected_mode = DC1394_VIDEO_MODE_640x480_YUV422; > > /*----------------------------------------------------------------------- > * setup capture >diff -crB ../distrib/libdc1394-2.1.2/examples/grab_color_image.c libdc1394-2.1.2-flir/examples/grab_color_image.c >*** ../distrib/libdc1394-2.1.2/examples/grab_color_image.c 2009-06-11 06:05:47.000000000 +0200 >--- libdc1394-2.1.2-flir/examples/grab_color_image.c 2009-09-28 18:16:29.000000000 +0200 >*************** >*** 80,86 **** > 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, DC1394_VIDEO_MODE_640x480_RGB8); > DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set video mode\n"); > > err=dc1394_video_set_framerate(camera, DC1394_FRAMERATE_7_5); >--- 80,86 ---- > 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, DC1394_VIDEO_MODE_640x480_YUV422); > DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set video mode\n"); > > err=dc1394_video_set_framerate(camera, DC1394_FRAMERATE_7_5); >diff -crB ../distrib/libdc1394-2.1.2/examples/grab_gray_image.c libdc1394-2.1.2-flir/examples/grab_gray_image.c >*** ../distrib/libdc1394-2.1.2/examples/grab_gray_image.c 2009-06-11 06:05:47.000000000 +0200 >--- libdc1394-2.1.2-flir/examples/grab_gray_image.c 2009-10-01 10:03:09.000000000 +0200 >*************** >*** 26,32 **** > #include <inttypes.h> > > #ifndef _WIN32 >! #include <unistd.h> > #endif > > #define IMAGE_FILE_NAME "image.pgm" >--- 26,32 ---- > #include <inttypes.h> > > #ifndef _WIN32 >! //#include <unistd.r> > #endif > > #define IMAGE_FILE_NAME "image.pgm" >*************** >*** 57,62 **** >--- 57,65 ---- > dc1394video_frame_t *frame; > dc1394_t * d; > dc1394camera_list_t * list; >+ long q = 0; >+ long p = 0; >+ unsigned char *cur_frame; > > dc1394error_t err; > >*************** >*** 98,115 **** > } > } > } >! 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 >--- 101,119 ---- > } > } > } >! //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]; >! printf("spec id 0x%llX\n", camera->unit_spec_ID); > > /*----------------------------------------------------------------------- > * setup capture >*************** >*** 118,127 **** > 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); >--- 122,134 ---- > 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); >! video_mode = DC1394_VIDEO_MODE_640x480_YUV422; >! err = dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_640x480_YUV422); > DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set video mode"); > >! //err=dc1394_video_set_framerate(camera, framerate); >! err = dc1394_video_set_framerate(camera, DC1394_FRAMERATE_7_5); > DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set framerate"); > > err=dc1394_capture_setup(camera,4, DC1394_CAPTURE_FLAGS_DEFAULT); >*************** >*** 130,142 **** > /*----------------------------------------------------------------------- > * 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 >--- 137,149 ---- > /*----------------------------------------------------------------------- > * 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 >*************** >*** 166,175 **** > 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"); > > /*----------------------------------------------------------------------- >--- 173,202 ---- > cleanup_and_exit(camera); > } > >+ printf("Total bytes: %d, image bytes %d, padding bytes %d, packet size %d\n \ >+ packets_per_frame %d, allocated %d\n", frame->total_bytes, frame->image_bytes, frame->padding_bytes, frame->packet_size, >+ frame->packets_per_frame, frame->allocated_image_bytes); >+ >+ >+ //unsigned int data[320*240]; > dc1394_get_image_size_from_video_mode(camera, video_mode, &width, &height); >+ printf("Image size is %dx%d\n", width, height); >+ // for (long q=0; q < (height/2); q++) >+ // { >+ // for (long p=0; p < (width/2); p++) >+ // { >+ //// printf("Writing to index %d, from %d\n", 320*q+p, (640*4*q) + (4*p) + 1); >+ // data[320*q + p] = frame->image[ (640*q) + (p) + 1]; >+ // } >+ // } >+ // >+ // width = 320; >+ // height = 240; >+ >+ printf("Total bytes %d\n", frame->total_bytes); > fprintf(imagefile,"P5\n%u %u 255\n", width, height); >! fwrite(frame->image, 1, frame->total_bytes, imagefile); >! fclose(imagefile); //tahrung > printf("wrote: " IMAGE_FILE_NAME "\n"); > > /*----------------------------------------------------------------------- >Only in libdc1394-2.1.2-flir/examples: grab_gray_image.c~ >Only in libdc1394-2.1.2-flir/examples: image.pgm >Only in libdc1394-2.1.2-flir/examples: image.ppm >Only in libdc1394-2.1.2-flir/examples: ImageRGB.ppm
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