/* This is the contributed code:
Firewire and video4linux camera support for videoio

2003-03-12  Magnus Lundin
lundin@mlu.mine.nu

THIS EXEPERIMENTAL CODE
Tested on 2.4.19 with 1394, video1394, v4l, dc1394 and raw1394 support

This set of files adds support for firevre and usb cameras.
First it tries to install a firewire camera,
if that fails it tries a v4l/USB camera

It has been tested with the motempl sample program

INSTALLATION
Install OpenCV
Install v4l
Install dc1394 raw1394 - coriander should work with your camera
    Backup videoio folder
    Copy new files
    cd into videoio folder
    make clean  (cvcap.cpp must be rebuilt)
    make
    make install


The build is controlled by the following entries in the videoio Makefile:

libvideoio_la_LIBADD = -L/usr/X11R6/lib -lXm -lMrm -lUil -lpng  -ljpeg -lz -ltiff -lavcodec -lraw1394 -ldc1394_control
DEFS = -DHAVE_CONFIG_H -DHAVE_DC1394 HAVE_CAMV4L


Now it should be possible to use videoio camera functions, works for me.


THINGS TO DO
Better ways to select 1394 or v4l camera
Better support for videosize
Format7

Comments and changes welcome
/Magnus

2005-10-19 Roman Stanchak
rstanchak@yahoo.com

Support added for setting MODE and other DC1394 properties.  Also added CONVERT_RGB flag
which indicates whether or not color conversion is performed in cvRetrieveFrame.  The default
for CONVERT_RGB=1 for backward compatibility.

Tested with 2.6.12 with libdc1394-1.0.0, libraw1394-0.10.1 using a Point Grey Flea

*/


/*M///////////////////////////////////////////////////////////////////////////////////////
//
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//
//  By downloading, copying, installing or using the software you agree to this license.
//  If you do not agree to this license, do not download, install,
//  copy or use the software.
//
//
//                        Intel License Agreement
//                For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
//   * Redistribution's of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
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//
//   * The name of Intel Corporation may not be used to endorse or promote products
//     derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
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// (including, but not limited to, procurement of substitute goods or services;
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//M*/

#include "precomp.hpp"

#if !defined _WIN32 && defined HAVE_DC1394

#include <unistd.h>
#include <stdint.h>
#include <libraw1394/raw1394.h>
#include <libdc1394/dc1394_control.h>

#ifdef NDEBUG
#define CV_WARN(message)
#else
#define CV_WARN(message) fprintf(stderr, "warning: %s (%s:%d)\n", message, __FILE__, __LINE__)
#endif

#define CV_DC1394_CALL(expr)                                                  \
if((expr)<0){                                                                 \
    OPENCV_ERROR(CV_StsInternal, "", "libdc1394 function call returned < 0"); \
}

#define  DELAY              50000

// bpp for 16-bits cameras... this value works for PtGrey DragonFly...
#define MONO16_BPP 8

/* should be in pixelformat */
static void uyv2bgr(const unsigned char *src, unsigned char *dest, unsigned long long int NumPixels);
static void uyvy2bgr(const unsigned char *src, unsigned char *dest, unsigned long long int NumPixels);
static void uyyvyy2bgr(const unsigned char *src, unsigned char *dest, unsigned long long int NumPixels);
static void y2bgr(const unsigned char *src, unsigned char *dest, unsigned long long int NumPixels);
static void y162bgr(const unsigned char *src, unsigned char *dest, unsigned long long int NumPixels, int bits);
static void rgb482bgr(const unsigned char *src8, unsigned char *dest, unsigned long long int NumPixels, int bits);

static const char * videodev[4]={
  "/dev/video1394/0",
  "/dev/video1394/1",
  "/dev/video1394/2",
  "/dev/video1394/3"
};

typedef struct CvCaptureCAM_DC1394
{
    raw1394handle_t handle;
    nodeid_t  camera_node;
    dc1394_cameracapture* camera;
    int format;
    int mode;
    int color_mode;
    int frame_rate;
    const char * device_name;
    IplImage frame;
    int convert;
    int buffer_is_writeable;  // indicates whether frame.imageData is allocated by OpenCV or DC1394
}
CvCaptureCAM_DC1394;

static void icvCloseCAM_DC1394( CvCaptureCAM_DC1394* capture );

static int icvGrabFrameCAM_DC1394( CvCaptureCAM_DC1394* capture );
static IplImage* icvRetrieveFrameCAM_DC1394( CvCaptureCAM_DC1394* capture, int );

static double icvGetPropertyCAM_DC1394( CvCaptureCAM_DC1394* capture, int property_id );
static int    icvSetPropertyCAM_DC1394( CvCaptureCAM_DC1394* capture, int property_id, double value );

// utility functions
static int    icvFormatSupportedCAM_DC1394(int format, quadlet_t formats);
static int    icvModeSupportedCAM_DC1394(int format, int mode, quadlet_t modes);
static int    icvColorMode( int mode );
static unsigned int icvGetBestFrameRate( CvCaptureCAM_DC1394 * capture, int format, int mode);
static int    icvResizeFrame(CvCaptureCAM_DC1394 * capture);

/***********************   Implementations  ***************************************/
#define MAX_PORTS 3
#define MAX_CAMERAS 8
#define NUM_BUFFERS 8
struct raw1394_portinfo ports[MAX_PORTS];
static raw1394handle_t handles[MAX_PORTS];
static int camCount[MAX_PORTS];
static int numPorts = -1;
static int numCameras = 0;
static nodeid_t *camera_nodes;
struct camnode {dc1394_cameracapture cam;int portnum;} cameras[MAX_CAMERAS];

static const int preferred_modes[]
= {
    // uncomment the following line to test a particular mode:
    //FORMAT_VGA_NONCOMPRESSED, MODE_640x480_MONO16, 0,
    FORMAT_SVGA_NONCOMPRESSED_2,
    MODE_1600x1200_RGB, MODE_1600x1200_YUV422, MODE_1280x960_RGB, MODE_1280x960_YUV422,
    MODE_1600x1200_MONO, MODE_1280x960_MONO, MODE_1600x1200_MONO16, MODE_1280x960_MONO16,
    FORMAT_SVGA_NONCOMPRESSED_1,
    MODE_1024x768_RGB, MODE_1024x768_YUV422, MODE_800x600_RGB, MODE_800x600_YUV422,
    MODE_1024x768_MONO, MODE_800x600_MONO, MODE_1024x768_MONO16, MODE_800x600_MONO16,
    FORMAT_VGA_NONCOMPRESSED,
   MODE_640x480_RGB, MODE_640x480_YUV422, MODE_640x480_YUV411, MODE_320x240_YUV422,
    MODE_160x120_YUV444, MODE_640x480_MONO, MODE_640x480_MONO16,
    FORMAT_SCALABLE_IMAGE_SIZE,
    MODE_FORMAT7_0, MODE_FORMAT7_1, MODE_FORMAT7_2, MODE_FORMAT7_3,
    MODE_FORMAT7_4, MODE_FORMAT7_5, MODE_FORMAT7_6, MODE_FORMAT7_7,
    0
};

void icvInitCapture_DC1394(){
    int p;

    raw1394handle_t raw_handle = raw1394_new_handle();
    if( raw_handle == 0 ) {
        numPorts = 0;
        return;
    }
    numPorts = raw1394_get_port_info(raw_handle, ports, MAX_PORTS);
    raw1394_destroy_handle(raw_handle);
    for (p = 0; p < numPorts; p++) {
        handles[p] = dc1394_create_handle(p);
        if (handles[p]==NULL) {  numPorts=-1; return; /*ERROR_CLEANUP_EXIT*/   }

        /* get the camera nodes and describe them as we find them */
        camera_nodes = dc1394_get_camera_nodes(handles[p], &camCount[p], 0);
        for (int i=0;i<camCount[p];i++) {
            cameras[numCameras].cam.node = camera_nodes[i];
            cameras[numCameras].portnum = p;
            dc1394_stop_iso_transmission(handles[p], camera_nodes[i]);
            numCameras++;
        }
    }
};

static CvCaptureCAM_DC1394 * icvCaptureFromCAM_DC1394 (int index)
{
    quadlet_t modes[8], formats;
    int i;

    if (numPorts<0) icvInitCapture_DC1394();
    if (numPorts==0)
        return 0;     /* No i1394 ports found */
    if (numCameras<1)
        return 0;
    if (index>=numCameras)
        return 0;
    if (index<0)
        return 0;

    CvCaptureCAM_DC1394 * pcap = (CvCaptureCAM_DC1394*)cvAlloc(sizeof(*pcap));

    /* Select a port and camera */
    pcap->device_name = videodev[cameras[index].portnum];
    pcap->handle = handles[cameras[index].portnum];
    pcap->camera = &cameras[index].cam;

    // get supported formats
    if (dc1394_query_supported_formats(pcap->handle, pcap->camera->node, &formats)<0) {
        fprintf(stderr,"%s:%d: Could not query supported formats\n",__FILE__,__LINE__);
        formats=0x0;
    }
    for (i=0; i < NUM_FORMATS; i++) {
        modes[i]=0;
        if (icvFormatSupportedCAM_DC1394(i+FORMAT_MIN, formats)){
            if (dc1394_query_supported_modes(pcap->handle, pcap->camera->node, i+FORMAT_MIN, &modes[i])<0) {
                fprintf(stderr,"%s:%d: Could not query Format%d modes\n",__FILE__,__LINE__,i);
            }
        }
    }

    pcap->format = 0;
    pcap->mode = 0;
    pcap->color_mode = 0;
    pcap->frame_rate = 0;

    int format_idx = -1;

    // scan the list of preferred modes, and find a supported one
    for(i=0; (pcap->mode == 0) && (preferred_modes[i] != 0); i++) {
        if((preferred_modes[i] >= FORMAT_MIN) && (preferred_modes[i] <= FORMAT_MAX)) {
            pcap->format = preferred_modes[i];
            format_idx = preferred_modes[i] - FORMAT_MIN;
            continue;
        }
        assert(format_idx != -1);
        if ( ! icvFormatSupportedCAM_DC1394(pcap->format, formats) )
            continue;
        if ( icvModeSupportedCAM_DC1394(pcap->format, preferred_modes[i], modes[format_idx]) ){
            pcap->mode = preferred_modes[i];
        }
    }
    if (pcap->mode == 0) {
        fprintf(stderr,"%s:%d: Could not find a supported mode for this camera\n",__FILE__,__LINE__);
        goto ERROR;
    }

    pcap->color_mode = icvColorMode( pcap->mode );
    if( pcap->color_mode == -1){
        fprintf(stderr,"%s:%d: ERROR: BPP is Unsupported!!\n",__FILE__,__LINE__);
        goto ERROR;
    }

    // set frame rate to optimal value given format and mode
    pcap->frame_rate = icvGetBestFrameRate(pcap, pcap->format, pcap->mode);

    if (pcap->format!=FORMAT_SCALABLE_IMAGE_SIZE) { // everything except Format 7
        if (dc1394_dma_setup_capture(pcap->handle, pcap->camera->node, index+1 /*channel*/,
                    pcap->format, pcap->mode, SPEED_400,
                    pcap->frame_rate, NUM_BUFFERS, 1 /*drop_frames*/,
                    pcap->device_name, pcap->camera) != DC1394_SUCCESS) {
            fprintf(stderr,"%s:%d: Failed to setup DMA capture with VIDEO1394\n",__FILE__,__LINE__);
            goto ERROR;
        }
    }
    else {
        if(dc1394_dma_setup_format7_capture(pcap->handle,pcap->camera->node,index+1 /*channel*/,
                    pcap->mode, SPEED_400, QUERY_FROM_CAMERA,
                    (unsigned int)QUERY_FROM_CAMERA, (unsigned int)QUERY_FROM_CAMERA,
                    (unsigned int)QUERY_FROM_CAMERA, (unsigned int)QUERY_FROM_CAMERA,
                    NUM_BUFFERS, 1 /*drop_frames*/,
                    pcap->device_name, pcap->camera) != DC1394_SUCCESS) {
            fprintf(stderr,"%s:%d: Failed to setup DMA capture with VIDEO1394\n",__FILE__,__LINE__);
            goto ERROR;
        }
    }

    if (dc1394_start_iso_transmission(pcap->handle, pcap->camera->node)!=DC1394_SUCCESS) {
        fprintf(stderr,"%s:%d: Could not start ISO transmission\n",__FILE__,__LINE__);
        goto ERROR;
    }

    usleep(DELAY);

    dc1394bool_t status;
    if (dc1394_get_iso_status(pcap->handle, pcap->camera->node, &status)!=DC1394_SUCCESS) {
        fprintf(stderr,"%s:%d: Could get ISO status",__FILE__,__LINE__);
        goto ERROR;
    }
    if (status==DC1394_FALSE) {
        fprintf(stderr,"%s:%d: ISO transmission refuses to start",__FILE__,__LINE__);
        goto ERROR;
    }

    // convert camera image to RGB by default
    pcap->convert=1;

    // no image data allocated yet
    pcap->buffer_is_writeable = 0;

    memset(&(pcap->frame), 0, sizeof(IplImage));
    icvResizeFrame( pcap );
    return pcap;

ERROR:
    return 0;
};

static void icvCloseCAM_DC1394( CvCaptureCAM_DC1394* capture ){
    dc1394_stop_iso_transmission(capture->handle, capture->camera->node);
    dc1394_dma_unlisten (capture->handle, capture->camera);
    /* Deallocate space for RGBA data */
    if(capture->convert){
        cvFree(&capture->frame.imageData);
    }
}

static int icvGrabFrameCAM_DC1394( CvCaptureCAM_DC1394* capture ){
    // TODO: should this function wait until the next frame is available or return
    // immediately ?
    float waiting = 0;
    do{
        int result = dc1394_dma_single_capture_poll(capture->camera);
        if(result==DC1394_SUCCESS){
            return 1;
        }
        else if(result==DC1394_NO_FRAME){
            usleep(1000000/120);  //sleep for at least a 1/2 of the frame rate
            waiting += 1.0/120.0;
        }
        else{
            printf("dc1394_dma_single_capture_poll failed\n");
            return 0;
        }
    } while(waiting<2);
    printf("dc1394_dma_single_capture_poll timed out\n");
    return 0;
}

static IplImage* icvRetrieveFrameCAM_DC1394( CvCaptureCAM_DC1394* capture, int ){
    if(capture->camera->capture_buffer )
    {
        if(capture->convert){
            /* Convert to RGBA */
            unsigned char * src = (unsigned char *)capture->camera->capture_buffer;
            unsigned char * dst = (unsigned char *)capture->frame.imageData;
            switch (capture->color_mode) {
                case COLOR_FORMAT7_RGB8:
                    //printf("icvRetrieveFrame convert RGB to BGR\n");
                    /* Convert RGB to BGR */
                    for (int i=0;i<capture->frame.imageSize;i+=6) {
                        dst[i]   = src[i+2];
                        dst[i+1] = src[i+1];
                        dst[i+2] = src[i];
                        dst[i+3] = src[i+5];
                        dst[i+4] = src[i+4];
                        dst[i+5] = src[i+3];
                    }
                    break;
                case COLOR_FORMAT7_YUV422:
                    //printf("icvRetrieveFrame convert YUV422 to BGR %d\n");
                    uyvy2bgr(src,
                            dst,
                            capture->camera->frame_width * capture->camera->frame_height);
                    break;
                case COLOR_FORMAT7_MONO8:
                    //printf("icvRetrieveFrame convert MONO8 to BGR %d\n");
                    y2bgr(src,
                            dst,
                            capture->camera->frame_width * capture->camera->frame_height);
                    break;
                case COLOR_FORMAT7_YUV411:
                    //printf("icvRetrieveFrame convert YUV411 to BGR %d\n");
                    uyyvyy2bgr(src,
                            dst,
                            capture->camera->frame_width * capture->camera->frame_height);
                    break;
                case COLOR_FORMAT7_YUV444:
                    //printf("icvRetrieveFrame convert YUV444 to BGR %d\n");
                    uyv2bgr(src,
                            dst,
                            capture->camera->frame_width * capture->camera->frame_height);
                    break;
                case COLOR_FORMAT7_MONO16:
                    //printf("icvRetrieveFrame convert MONO16 to BGR %d\n");
                    y162bgr(src,
                            dst,
                            capture->camera->frame_width * capture->camera->frame_height, MONO16_BPP);
                    break;
                case COLOR_FORMAT7_RGB16:
                    //printf("icvRetrieveFrame convert RGB16 to BGR %d\n");
                    rgb482bgr(src,
                            dst,
                            capture->camera->frame_width * capture->camera->frame_height, MONO16_BPP);
                    break;
                default:
                    fprintf(stderr,"%s:%d: Unsupported color mode %d\n",__FILE__,__LINE__,capture->color_mode);
                    return 0;
            } /* switch (capture->mode) */
        }
        else{
            // return raw data
            capture->frame.imageData = (char *) capture->camera->capture_buffer;
            capture->frame.imageDataOrigin = (char *) capture->camera->capture_buffer;
        }

        // TODO: if convert=0, we are not actually done with the buffer
        // but this seems to work anyway.
        dc1394_dma_done_with_buffer(capture->camera);

        return &capture->frame;
    }
    return 0;
};

static double icvGetPropertyCAM_DC1394( CvCaptureCAM_DC1394* capture, int property_id ){
    int index=-1;
    switch ( property_id ) {
        case CV_CAP_PROP_CONVERT_RGB:
            return capture->convert;
        case CV_CAP_PROP_MODE:
            return capture->mode;
        case CV_CAP_PROP_FORMAT:
            return capture->format;
        case CV_CAP_PROP_FPS:
            CV_DC1394_CALL(dc1394_get_video_framerate(capture->handle, capture->camera->node,
                    (unsigned int *) &capture->camera->frame_rate));
            switch(capture->camera->frame_rate) {
                case FRAMERATE_1_875:
                    return 1.875;
                case FRAMERATE_3_75:
                    return 3.75;
                case FRAMERATE_7_5:
                    return 7.5;
                case FRAMERATE_15:
                    return 15.;
                case FRAMERATE_30:
                    return 30.;
                case FRAMERATE_60:
                    return 60;
#if NUM_FRAMERATES > 6
                case FRAMERATE_120:
                    return 120;
#endif
#if NUM_FRAMERATES > 7
                case FRAMERATE_240:
                    return 240;
#endif
            }
        default:
            index = property_id;  // did they pass in a LIBDC1394 feature flag?
            break;
    }
    if(index>=FEATURE_MIN && index<=FEATURE_MAX){
        dc1394bool_t has_feature;
        CV_DC1394_CALL( dc1394_is_feature_present(capture->handle, capture->camera->node,
                                                  index, &has_feature));
        if(!has_feature){
            CV_WARN("Feature is not supported by this camera");
        }
        else{
            unsigned int value;
            dc1394_get_feature_value(capture->handle, capture->camera->node, index, &value);
            return (double) value;
        }
    }

    return 0;
};

// resize capture->frame appropriately depending on camera and capture settings
static int icvResizeFrame(CvCaptureCAM_DC1394 * capture){
    if(capture->convert){
        // resize if sizes are different, formats are different
        // or conversion option has changed
        if(capture->camera->frame_width != capture->frame.width ||
           capture->camera->frame_height != capture->frame.height ||
           capture->frame.depth != 8 ||
           capture->frame.nChannels != 3 ||
           capture->frame.imageData == NULL ||
           capture->buffer_is_writeable == 0)
        {
            if(capture->frame.imageData && capture->buffer_is_writeable){
                cvReleaseData( &(capture->frame));
            }
            cvInitImageHeader( &capture->frame, cvSize( capture->camera->frame_width,
                                                        capture->camera->frame_height ),
                                IPL_DEPTH_8U, 3, IPL_ORIGIN_TL, 4 );
            cvCreateData( &(capture->frame) );
            capture->buffer_is_writeable = 1;
        }

    }
    else {
        // free image data if allocated by opencv
        if(capture->buffer_is_writeable){
            cvReleaseData(&(capture->frame));
        }

        // figure out number of channels and bpp
        int bpp = 8;
        int nch = 3;
        int width = capture->camera->frame_width;
        int height = capture->camera->frame_height;
        double code = CV_FOURCC('B','G','R',0);
        switch(capture->color_mode){
        case COLOR_FORMAT7_YUV422:
            nch = 2;
            code = CV_FOURCC('Y','4','2','2');
            break;
        case COLOR_FORMAT7_MONO8:
            code = CV_FOURCC('Y',0,0,0);
            nch = 1;
            break;
        case COLOR_FORMAT7_YUV411:
            code = CV_FOURCC('Y','4','1','1');
            width *= 2;
            nch = 3;  //yy[u/v]
            break;
        case COLOR_FORMAT7_YUV444:
            code = CV_FOURCC('Y','U','V',0);
            nch = 3;
            break;
        case COLOR_FORMAT7_MONO16:
            code = CV_FOURCC('Y',0,0,0);
            bpp = IPL_DEPTH_16S;
            nch = 1;
            break;
        case COLOR_FORMAT7_RGB16:
            bpp = IPL_DEPTH_16S;
            nch = 3;
            break;
        default:
            break;
        }
        // reset image header
        cvInitImageHeader( &capture->frame,cvSize( width, height ), bpp, nch, IPL_ORIGIN_TL, 4 );
        //assert(capture->frame.imageSize == capture->camera->quadlets_per_frame*4);
        capture->buffer_is_writeable = 0;
    }
    return 1;
}

// Toggle setting about whether or not RGB color conversion is to be performed
// Allocates/Initializes capture->frame appropriately
int icvSetConvertRGB(CvCaptureCAM_DC1394 * capture, int convert){
    if(convert==capture->convert){
        // no action necessary
        return 1;
    }
    capture->convert = convert;
    return icvResizeFrame( capture );
}

// given desired format, mode, and modes bitmask from camera, determine if format and mode are supported
static int
icvFormatSupportedCAM_DC1394(int format, quadlet_t formats){
    // formats is a bitmask whose higher order bits indicate whether format is supported
    int shift = 31 - (format - FORMAT_MIN);
    int mask = 1 << shift;
    return (formats & mask) != 0;
}

// analyze modes bitmask from camera to determine if desired format and mode are supported
static int
icvModeSupportedCAM_DC1394(int format, int mode, quadlet_t modes){
    // modes is a bitmask whose higher order bits indicate whether mode is supported
    int format_idx = format - FORMAT_MIN;
    int mode_format_min = MODE_FORMAT0_MIN + 32*format_idx;
    int shift = 31 - (mode - mode_format_min);
    int mask = 0x1 << shift;
    return (modes & mask) != 0;
}

// Setup camera to use given dc1394 mode
static int
icvSetModeCAM_DC1394( CvCaptureCAM_DC1394 * capture, int mode ){
    quadlet_t modes, formats;
    //printf("<icvSetModeCAM_DC1394>\n");

    // figure out corrent format for this mode
    int format = (mode - MODE_FORMAT0_MIN) / 32 + FORMAT_MIN;

    // get supported formats
    if (dc1394_query_supported_formats(capture->handle, capture->camera->node, &formats)<0) {
        fprintf(stderr,"%s:%d: Could not query supported formats\n",__FILE__,__LINE__);
        return 0;
    }

    // is format for requested mode supported ?
    if(icvFormatSupportedCAM_DC1394(format, formats)==0){
        return 0;
    }

    // get supported modes for requested format
    if (dc1394_query_supported_modes(capture->handle, capture->camera->node, format, &modes)<0){
        fprintf(stderr,"%s:%d: Could not query supported modes for format %d\n",__FILE__,__LINE__, capture->format);
        return 0;
    }

    // is requested mode supported ?
    if(! icvModeSupportedCAM_DC1394(format, mode, modes) ){
        return 0;
    }

    int color_mode = icvColorMode( mode );

    if(color_mode == -1){
        return 0;
    }

    int frame_rate = icvGetBestFrameRate(capture, format, mode);

    dc1394_dma_unlisten(capture->handle, capture->camera);
    if (dc1394_dma_setup_capture(capture->handle, capture->camera->node, capture->camera->channel /*channel*/,
                format, mode, SPEED_400,
                frame_rate, NUM_BUFFERS, 1 /*drop_frames*/,
                capture->device_name, capture->camera) != DC1394_SUCCESS) {
        fprintf(stderr,"%s:%d: Failed to setup DMA capture with VIDEO1394\n",__FILE__,__LINE__);
        return 0;
    }
    dc1394_start_iso_transmission(capture->handle, capture->camera->node);

    capture->frame_rate = frame_rate;
    capture->format = format;
    capture->mode = mode;
    capture->color_mode = color_mode;

    // now fix image size to match new mode
    icvResizeFrame( capture );
    return 1;
}

// query camera for supported frame rates and select fastest for given format and mode
static unsigned int icvGetBestFrameRate( CvCaptureCAM_DC1394 * capture, int format, int mode  ){
    quadlet_t framerates;
    if (dc1394_query_supported_framerates(capture->handle, capture->camera->node,
                format, mode, &framerates)!=DC1394_SUCCESS)
    {
        fprintf(stderr,"%s:%d: Could not query supported framerates\n",__FILE__,__LINE__);
        framerates = 0;
    }

    for (int f=FRAMERATE_MAX; f>=FRAMERATE_MIN; f--) {
        if (framerates & (0x1<< (31-(f-FRAMERATE_MIN)))) {
            return f;
        }
    }
    return 0;
}

static int
icvSetFrameRateCAM_DC1394( CvCaptureCAM_DC1394 * capture, double value ){
    unsigned int fps=15;
    if(capture->format == FORMAT_SCALABLE_IMAGE_SIZE)
        return 0; /* format 7 has no fixed framerates */
    if (value==-1){
        fps=icvGetBestFrameRate( capture, capture->format, capture->mode );
    }
    else if (value==1.875)
        fps=FRAMERATE_1_875;
    else if (value==3.75)
        fps=FRAMERATE_3_75;
    else if (value==7.5)
        fps=FRAMERATE_7_5;
    else if (value==15)
        fps=FRAMERATE_15;
    else if (value==30)
        fps=FRAMERATE_30;
    else if (value==60)
        fps=FRAMERATE_60;
#if NUM_FRAMERATES > 6
    else if (value==120)
        fps=FRAMERATE_120;
#endif
#if NUM_FRAMERATES > 7
    else if (value==240)
        fps=FRAMERATE_240;
#endif
    dc1394_set_video_framerate(capture->handle, capture->camera->node,fps);
    dc1394_get_video_framerate(capture->handle, capture->camera->node,
                    (unsigned int *) &capture->camera->frame_rate);

    return fps==(unsigned int) capture->camera->frame_rate;
}

// for given mode return color format
static int
icvColorMode( int mode ){
    switch(mode) {
    case MODE_160x120_YUV444:
        return COLOR_FORMAT7_YUV444;
    case MODE_320x240_YUV422:
    case MODE_640x480_YUV422:
    case MODE_800x600_YUV422:
    case MODE_1024x768_YUV422:
    case MODE_1280x960_YUV422:
    case MODE_1600x1200_YUV422:
        return COLOR_FORMAT7_YUV422;
    case MODE_640x480_YUV411:
        return COLOR_FORMAT7_YUV411;
    case MODE_640x480_RGB:
    case MODE_800x600_RGB:
    case MODE_1024x768_RGB:
    case MODE_1280x960_RGB:
    case MODE_1600x1200_RGB:
        return COLOR_FORMAT7_RGB8;
    case MODE_640x480_MONO:
    case MODE_800x600_MONO:
    case MODE_1024x768_MONO:
    case MODE_1280x960_MONO:
    case MODE_1600x1200_MONO:
        return COLOR_FORMAT7_MONO8;
    case MODE_640x480_MONO16:
    case MODE_800x600_MONO16:
    case MODE_1024x768_MONO16:
    case MODE_1280x960_MONO16:
    case MODE_1600x1200_MONO16:
        return COLOR_FORMAT7_MONO16;
    case MODE_FORMAT7_0:
    case MODE_FORMAT7_1:
    case MODE_FORMAT7_2:
    case MODE_FORMAT7_3:
    case MODE_FORMAT7_4:
    case MODE_FORMAT7_5:
    case MODE_FORMAT7_6:
    case MODE_FORMAT7_7:
        fprintf(stderr,"%s:%d: Format7 not yet supported\n",__FILE__,__LINE__);
    default:
        break;
    }
    return -1;
}

// function to set camera properties using dc1394 feature enum
// val == -1 indicates to set this property to 'auto'
static int
icvSetFeatureCAM_DC1394( CvCaptureCAM_DC1394* capture, int feature_id, int val){
        dc1394bool_t isOn = DC1394_FALSE;
        dc1394bool_t hasAutoCapability = DC1394_FALSE;
        dc1394bool_t isAutoOn = DC1394_FALSE;
        unsigned int nval;
        unsigned int minval,maxval;

        // Turn the feature on if it is OFF
        if( dc1394_is_feature_on(capture->handle, capture->camera->node, feature_id, &isOn)
                == DC1394_FAILURE ) {
            return 0;
        }
        if( isOn == DC1394_FALSE ) {
                // try to turn it on.
                if( dc1394_feature_on_off(capture->handle, capture->camera->node, feature_id, 1) == DC1394_FAILURE ) {
                    fprintf(stderr, "error turning feature %d on!\n", feature_id);
                    return 0;
                }
        }

        // Check if the feature supports auto mode
        dc1394_has_auto_mode(capture->handle, capture->camera->node, feature_id, &hasAutoCapability);
        if( hasAutoCapability ) {

            // now check if the auto is on.
            if( dc1394_is_feature_auto(capture->handle, capture->camera->node, feature_id, &isAutoOn ) == DC1394_FAILURE ) {
                fprintf(stderr, "error determining if feature %d has auto on!\n", feature_id);
                return 0;
            }
        }
        // Caller requested auto mode, but cannot support it
        else if(val==-1){
            fprintf(stderr, "feature %d does not support auto mode\n", feature_id);
            return 0;
        }

        if(val==-1){
            // if the auto mode isn't enabled, enable it
            if( isAutoOn == DC1394_FALSE ) {
                if(dc1394_auto_on_off(capture->handle, capture->camera->node, feature_id, 1) == DC1394_FAILURE ) {
                    fprintf(stderr, "error turning feature %d auto ON!\n", feature_id);
                    return 0;
                }
            }
            return 1;
        }

        // ELSE turn OFF auto and adjust feature manually
        if( isAutoOn == DC1394_TRUE ) {
            if(dc1394_auto_on_off(capture->handle, capture->camera->node, feature_id, 0) == DC1394_FAILURE ) {
                fprintf(stderr, "error turning feature %d auto OFF!\n", feature_id);
                return 0;
            }
        }

        // Clamp val to within feature range
        CV_DC1394_CALL(	dc1394_get_min_value(capture->handle, capture->camera->node, feature_id, &minval));
        CV_DC1394_CALL(	dc1394_get_max_value(capture->handle, capture->camera->node, feature_id, &maxval));
        val = (int)MIN(maxval, MAX((unsigned)val, minval));


        if (dc1394_set_feature_value(capture->handle, capture->camera->node, feature_id, val) ==
                DC1394_FAILURE){
            fprintf(stderr, "error setting feature value\n");
            return 0;
        }
        if (dc1394_get_feature_value(capture->handle, capture->camera->node, feature_id, &nval) ==
                DC1394_FAILURE){
            fprintf(stderr, "error setting feature value\n");
            return 0;
        }
        return nval==(unsigned int)val;

}

// cvSetCaptureProperty callback function implementation
static int
icvSetPropertyCAM_DC1394( CvCaptureCAM_DC1394* capture, int property_id, double value ){
    int index=-1;
    switch ( property_id ) {
        case CV_CAP_PROP_CONVERT_RGB:
            return icvSetConvertRGB( capture, value != 0 );
        case CV_CAP_PROP_MODE:
            return icvSetModeCAM_DC1394( capture, (int) value );
        case CV_CAP_PROP_FPS:
            return icvSetFrameRateCAM_DC1394( capture, value );
        case CV_CAP_PROP_BRIGHTNESS:
            index = FEATURE_BRIGHTNESS;
            break;
        case CV_CAP_PROP_CONTRAST:
            index = FEATURE_GAMMA;
            break;
        case CV_CAP_PROP_SATURATION:
            index = FEATURE_SATURATION;
            break;
        case CV_CAP_PROP_HUE:
            index = FEATURE_HUE;
            break;
        case CV_CAP_PROP_GAIN:
            index = FEATURE_GAIN;
            break;
        default:
            index = property_id;  // did they pass in a LIBDC1394 feature flag?
            break;
    }
    if(index>=FEATURE_MIN && index<=FEATURE_MAX){
        return icvSetFeatureCAM_DC1394(capture, index, (int) value);
    }
    return 0;
};

/**********************************************************************
 *
 *  CONVERSION FUNCTIONS TO RGB 24bpp
 *
 **********************************************************************/

/* color conversion functions from Bart Nabbe. *//* corrected by Damien: bad coeficients in YUV2RGB */
#define YUV2RGB(y, u, v, r, g, b)\
    r = y + ((v*1436) >> 10);\
g = y - ((u*352 + v*731) >> 10);\
b = y + ((u*1814) >> 10);\
r = r < 0 ? 0 : r;\
g = g < 0 ? 0 : g;\
b = b < 0 ? 0 : b;\
r = r > 255 ? 255 : r;\
g = g > 255 ? 255 : g;\
b = b > 255 ? 255 : b

    static void
uyv2bgr(const unsigned char *src, unsigned char *dest,
        unsigned long long int NumPixels)
{
    int i = NumPixels + (NumPixels << 1) - 1;
    int j = NumPixels + (NumPixels << 1) - 1;
    int y, u, v;
    int r, g, b;

    while (i > 0) {
        v = src[i--] - 128;
        y = src[i--];
        u = src[i--] - 128;
        YUV2RGB(y, u, v, r, g, b);
        dest[j--] = r;
        dest[j--] = g;
        dest[j--] = b;
    }
}

    static void
uyvy2bgr(const unsigned char *src, unsigned char *dest,
        unsigned long long int NumPixels)
{
    int i = (NumPixels << 1) - 1;
    int j = NumPixels + (NumPixels << 1) - 1;
    int y0, y1, u, v;
    int r, g, b;

    while (i > 0) {
        y1 = src[i--];
        v = src[i--] - 128;
        y0 = src[i--];
        u = src[i--] - 128;
        YUV2RGB(y1, u, v, r, g, b);
        dest[j--] = r;
        dest[j--] = g;
        dest[j--] = b;
        YUV2RGB(y0, u, v, r, g, b);
        dest[j--] = r;
        dest[j--] = g;
        dest[j--] = b;
    }
}


    static void
uyyvyy2bgr(const unsigned char *src, unsigned char *dest,
        unsigned long long int NumPixels)
{
    int i = NumPixels + (NumPixels >> 1) - 1;
    int j = NumPixels + (NumPixels << 1) - 1;
    int y0, y1, y2, y3, u, v;
    int r, g, b;

    while (i > 0) {
        y3 = src[i--];
        y2 = src[i--];
        v = src[i--] - 128;
        y1 = src[i--];
        y0 = src[i--];
        u = src[i--] - 128;
        YUV2RGB(y3, u, v, r, g, b);
        dest[j--] = r;
        dest[j--] = g;
        dest[j--] = b;
        YUV2RGB(y2, u, v, r, g, b);
        dest[j--] = r;
        dest[j--] = g;
        dest[j--] = b;
        YUV2RGB(y1, u, v, r, g, b);
        dest[j--] = r;
        dest[j--] = g;
        dest[j--] = b;
        YUV2RGB(y0, u, v, r, g, b);
        dest[j--] = r;
        dest[j--] = g;
        dest[j--] = b;
    }
}

    static void
y2bgr(const unsigned char *src, unsigned char *dest,
        unsigned long long int NumPixels)
{
    int i = NumPixels - 1;
    int j = NumPixels + (NumPixels << 1) - 1;
    int y;

    while (i > 0) {
        y = src[i--];
        dest[j--] = y;
        dest[j--] = y;
        dest[j--] = y;
    }
}

    static void
y162bgr(const unsigned char *src, unsigned char *dest,
        unsigned long long int NumPixels, int bits)
{
    int i = (NumPixels << 1) - 1;
    int j = NumPixels + (NumPixels << 1) - 1;
    int y;

    while (i > 0) {
        y = src[i--];
        y = (y + (src[i--] << 8)) >> (bits - 8);
        dest[j--] = y;
        dest[j--] = y;
        dest[j--] = y;
    }
}

// this one was in coriander but didn't take bits into account
    static void
rgb482bgr(const unsigned char *src, unsigned char *dest,
        unsigned long long int NumPixels, int bits)
{
    int i = (NumPixels << 1) - 1;
    int j = NumPixels + (NumPixels << 1) - 1;
    int y;

    while (i > 0) {
        y = src[i--];
        dest[j-2] = (y + (src[i--] << 8)) >> (bits - 8);
        j--;
        y = src[i--];
        dest[j] = (y + (src[i--] << 8)) >> (bits - 8);
        j--;
        y = src[i--];
        dest[j+2] = (y + (src[i--] << 8)) >> (bits - 8);
        j--;
    }
}


class CvCaptureCAM_DC1394_CPP : public CvCapture
{
public:
    CvCaptureCAM_DC1394_CPP() { captureDC1394 = 0; }
    virtual ~CvCaptureCAM_DC1394_CPP() { close(); }

    virtual bool open( int index );
    virtual void close();

    virtual double getProperty(int) const CV_OVERRIDE;
    virtual bool setProperty(int, double) CV_OVERRIDE;
    virtual bool grabFrame() CV_OVERRIDE;
    virtual IplImage* retrieveFrame(int) CV_OVERRIDE;
    virtual int getCaptureDomain() CV_OVERRIDE { return CV_CAP_DC1394; } // Return the type of the capture object: CV_CAP_VFW, etc...
protected:

    CvCaptureCAM_DC1394* captureDC1394;
};

bool CvCaptureCAM_DC1394_CPP::open( int index )
{
    close();
    captureDC1394 = icvCaptureFromCAM_DC1394(index);
    return captureDC1394 != 0;
}

void CvCaptureCAM_DC1394_CPP::close()
{
    if( captureDC1394 )
    {
        icvCloseCAM_DC1394( captureDC1394 );
        cvFree( &captureDC1394 );
    }
}

bool CvCaptureCAM_DC1394_CPP::grabFrame()
{
    return captureDC1394 ? icvGrabFrameCAM_DC1394( captureDC1394 ) != 0 : false;
}

IplImage* CvCaptureCAM_DC1394_CPP::retrieveFrame(int)
{
    return captureDC1394 ? (IplImage*)icvRetrieveFrameCAM_DC1394( captureDC1394, 0 ) : 0;
}

double CvCaptureCAM_DC1394_CPP::getProperty( int propId ) const
{
    // Simulate mutable (C++11-like) member variable
    // (some members are used to cache property settings).
    CvCaptureCAM_DC1394* cap = const_cast<CvCaptureCAM_DC1394*>(captureDC1394);

    return cap ? icvGetPropertyCAM_DC1394( cap, propId ) : 0;
}

bool CvCaptureCAM_DC1394_CPP::setProperty( int propId, double value )
{
    return captureDC1394 ? icvSetPropertyCAM_DC1394( captureDC1394, propId, value ) != 0 : false;
}

CvCapture* cvCreateCameraCapture_DC1394( int index )
{
    CvCaptureCAM_DC1394_CPP* capture = new CvCaptureCAM_DC1394_CPP;

    if( capture->open( index ))
        return capture;

    delete capture;
    return 0;
}

#endif