[libdc] Trouble connecting 3 firewire (point grey) cameras (Cocoa, OSX 10.6)

[Jabeer A. <jab...@gm...>]

Hi,

I am a beginner and this my first attempt at trying to program a device. I
cannot thank David and the team of libdc1394 enough for this library. It
makes life in the non-pc scientific world survivable.

I am working on a computer vision project and would like to connect 3 BW FW
cameras for a detailed viewpoint. I have managed to get 2 cameras connected
working so far. They are both point grey FW cameras but different models. I
am trying to add a 3rd camera to the set, which is also another different
model but very similar to cam 2.

Each camera exists as an object and only the "camNum" distinguishes them. I
try to programmatically assign ISO channels to each camera (ch 0, 1 & 2
respectively) based on the "camNum". If I do not, camera 3 always gets
assigned channel 0 along with camera 1. Then I configure each camera
differently based on their respective camNum.

Then I issue the command "err=dc1394_capture_setup(camera,4,
DC1394_CAPTURE_FLAGS_DEFAULT)". The 3rd camera set up fails here. I use an
example error message but the entire thing says

"*libdc1394 warning: Forcefully killing servicing task...*

*libdc1394 error: Not enough iso bandwidth or channels are available to
begin capture*

*libdc1394 error: Generic failure: in -[IEEEcams setCamera:]
(/Commons/Jabeer/3Dscanning/IEEE_stereo copy 2/IEEEcams.m, line 177): Could
not setup camera-**make sure that the video mode and framerate are **supported
by your camera"*
The ERROR MESSAGE ZONE is highlighted below in the source code. I have tried
all combinations of 2 camera set up and it works with the code provided
below. Prior to setCamera function i initialize with "dc1394_new()" and also
get camera list by "dc1394_camera_enumerate (d, &list)", which i do not
release or free.

I cannot seem to come up with any solution. I tried all the different
framerate and videomode settings and I know that as a pair any 2 camera
works fine. Any help anybody. The entire project is stuck still on this
problem.

Thanks
Jabeer Ahmed

 - (int) setCamera:(int) camNum

{

if (err == DC1394_SUCCESS)

{

 if(camNum<list->num)

 {

 camera = dc1394_camera_new(d,list->ids[camNum].guid);

    if (!camera) {

  dc1394_log_error("Failed to initialize camera\n");

  return 1;

 }

 }else

 return 1;


 /* Print camera information */

printf("\n\ncam%d\n",camNum+1);

 printf("model: %s\n",camera->model);


 /* Get Framerate infomation */

  dc1394framerates_t frate;

 dc1394_video_get_supported_framerates(camera,
DC1394_VIDEO_MODE_640x480_MONO8, &frate);

 printf("frame rates = %u\n",frate.num);

  for(int i = 0;i<frate.num;i++)

 {

 printf("frame Rate = %u\n",frate.framerates[i]);

 }


 /* Assign ISO channel */

  unsigned int channel;

 dc1394_video_get_iso_channel(camera, &channel);

 printf("iso channel = %u\n",channel);

 dc1394_video_set_iso_channel(camera, camNum);


if(camNum == 0)

 {

   /* Set Operation mode and framerate*/

   dc1394_video_set_operation_mode(camera,DC1394_OPERATION_MODE_1394B);

 dc1394_video_set_framerate(camera,38);


 /* Set ISO speed Information*/

   dc1394speed_t speeds;

 err = dc1394_video_get_iso_speed(camera, &speeds);

 printf("supported iso speed = %u\n",speeds);

 err=dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_800);

 DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set iso speed");

         /*Set Features Shutter & Exposure */

   err=dc1394_feature_set_value(camera, DC1394_FEATURE_SHUTTER, 500);

 err=dc1394_feature_set_value(camera, DC1394_FEATURE_EXPOSURE, 30);

       }


 if(camNum == 1)

 {

  /* Set Operation mode and framerate*/

   dc1394_video_set_operation_mode(camera,DC1394_OPERATION_MODE_1394B);

 dc1394_video_set_framerate(camera,36);

         /* Set ISO speed Information*/

   dc1394speed_t speeds;

 err = dc1394_video_get_iso_speed(camera, &speeds);

 printf("supported iso speed = %u\n",speeds);

 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");

   }

  if(camNum == 2)

 {


  /* Set Operation mode and framerate*/

   dc1394_video_set_operation_mode(camera,DC1394_OPERATION_MODE_1394B);

 dc1394_video_set_framerate(camera,36);


 /* Set ISO speed Information*/

   dc1394speed_t speeds;

 err = dc1394_video_get_iso_speed(camera, &speeds);

 printf("supported iso speed = %u\n",speeds);

 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");

   }

   /* *****    ERROR MESSAGE ZONE      ***** */

    err=dc1394_capture_setup(camera,4, DC1394_CAPTURE_FLAGS_DEFAULT);

 DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not setup
camera-\nmake sure that the video mode and framerate are\nsupported by your
camera\n");


  /* ***** End of ERROR MESSAGE  ZONE ***** */


 /* Get Frame Information */

  err=dc1394_video_set_transmission(camera, DC1394_ON);

 err=dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);/*
Capture */

  imgSize.width = frame->size[0];

 imgSize.height= frame->size[1];

 imgBitDepth =   frame->data_depth;

 imgLength =     frame->image_bytes;

  err=dc1394_capture_enqueue(camera, frame);                             /*
Release the buffer */

 err=dc1394_video_set_transmission(camera, DC1394_OFF);                 /*
Stop transmission */


/* Finish initialization */

  setupOK = YES;

 dc1394_camera_free_list (list);

 frame = NULL;

 return err;

   }else return 1;

 }