support --framerate in py_capture.py

tridge · Mar 14, 2014 · 4c8c010 · 4c8c010
1 parent 44b670b
commit 4c8c010
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Showing 5 changed files with 17 additions and 5 deletions.
diff --git a/cuav/camera/chameleon.c b/cuav/camera/chameleon.c
@@ -23,6 +23,7 @@
  */
 
 #define _GNU_SOURCE
+#define USE_LIBDC1394 0
 
 #include <stdio.h>
 #include <stdint.h>
@@ -625,7 +626,7 @@ chameleon_get_image_size_from_video_mode(struct chameleon_camera *camera, dc1394
     return DC1394_FAILURE;
 }
 
-static dc1394error_t
+dc1394error_t
 chameleon_video_get_framerate(struct chameleon_camera *camera, dc1394framerate_t *framerate)
 {
     uint32_t value;

diff --git a/cuav/camera/chameleon_util.c b/cuav/camera/chameleon_util.c
@@ -304,7 +304,7 @@ chameleon_camera_t *open_camera(bool colour_chameleon, uint8_t depth, uint16_t b
 
 	printf("Using camera with GUID %"PRIx64"\n", camera->guid);
 
-	camera_setup(camera, depth, brightness, 8);
+	camera_setup(camera, depth, brightness, 7);
 
 	return camera;
 
@@ -515,6 +515,9 @@ void camera_set_framerate(chameleon_camera_t *camera, uint8_t framerate)
   } else {
     rate = DC1394_FRAMERATE_1_875;
   }
-  printf("Setting rate 0x%x\n", (unsigned)rate);
+  printf("Setting rate %u 0x%x\n", (unsigned)framerate, (unsigned)rate);
   CHECK(chameleon_video_set_framerate(camera, rate));
+  rate = 0;
+  CHECK(chameleon_video_get_framerate(camera, &rate));
+  printf("Got rate %u 0x%x\n", (unsigned)framerate, (unsigned)rate);
 }
diff --git a/cuav/camera/include/chameleon.h b/cuav/camera/include/chameleon.h
@@ -420,6 +420,7 @@ int chameleon_camera_reset(struct chameleon_camera *c);
 int chameleon_video_set_iso_speed(struct chameleon_camera *camera, dc1394speed_t speed);
 int chameleon_video_set_mode(struct chameleon_camera *camera, dc1394video_mode_t mode);
 int chameleon_video_set_framerate(struct chameleon_camera *camera, dc1394framerate_t framerate);
+dc1394error_t chameleon_video_get_framerate(struct chameleon_camera *camera, dc1394framerate_t *framerate);
 int chameleon_capture_setup(struct chameleon_camera *c, uint32_t num_dma_buffers, uint32_t flags);
 dc1394error_t
 chameleon_feature_set_power(struct chameleon_camera *camera, dc1394feature_t feature, dc1394switch_t value);

diff --git a/cuav/camera/include/chameleon_dc1394.h b/cuav/camera/include/chameleon_dc1394.h
@@ -1,3 +1,4 @@
+#error "error, including dc1394.h"
 #include <dc1394/dc1394.h>
 
 #define chameleon_t dc1394_t 

diff --git a/cuav/camera/py_capture.py b/cuav/camera/py_capture.py
@@ -1,9 +1,10 @@
 #!/usr/bin/python
 
-import chameleon, numpy, os, time, threading, Queue, cv, sys
+import numpy, os, time, threading, Queue, cv, sys
 
 from cuav.image import scanner
 from cuav.lib import cuav_util
+from cuav.camera import chameleon
 
 from optparse import OptionParser
 parser = OptionParser("py_capture.py [options]")
@@ -17,6 +18,7 @@
 parser.add_option("--quality", type='int', default=95, help="compression quality")
 parser.add_option("--brightness", type='int', default=100, help="auto-exposure brightness")
 parser.add_option("--trigger", action='store_true', default=False, help="use triggering")
+parser.add_option("--framerate", type='int', default=0, help="capture framerate Hz")
 (opts, args) = parser.parse_args()
 
 class capture_state():
@@ -48,6 +50,9 @@ def get_base_time():
   h = chameleon.open(not opts.mono, opts.depth, opts.brightness)
   print('camera is open')
 
+  if opts.framerate != 0:
+    chameleon.set_framerate(h, opts.framerate)
+
   while frame_time is None:
     try:
       base_time = time.time()
@@ -153,10 +158,11 @@ def run_capture():
     if opts.save and not opts.compress:
       state.save_queue.put((base_time+frame_time, im, False))
 
-    print("Captured %s shutter=%f tdelta=%f ft=%f loss=%u qsave=%u qbayer=%u qcompress=%u scan=%u" % (
+    print("Captured %s shutter=%f tdelta=%f(%.2f) ft=%f loss=%u qsave=%u qbayer=%u qcompress=%u scan=%u" % (
         cuav_util.frame_time(base_time+frame_time),
         shutter, 
         frame_time - last_frame_time,
+        1.0/(frame_time - last_frame_time),
         frame_time,
         frame_loss,
         state.save_queue.qsize(),