Added a function to get the bayer pattern of the sensor.

Added a function to get the image data with a provied pointer.

src/examples/firewire_camera_cont.cpp

@@ -20,7 +20,7 @@ int main(int argc, char *argv[])
   unsigned int left_off,top_off;
   depths_t depth;
   codings_t coding;
-  int i=0;
+  int i=0,bayer_pattern;
   std::list<std::string> event_list;
   float framerate=30;
   char *image=NULL;
@@ -47,6 +47,8 @@ int main(int argc, char *argv[])
     camera1->get_config(&left_off,&top_off,&width,&height,&framerate,&depth,&coding);
     camera1->set_config(&left_off,&top_off,&width,&height,&framerate,depth,coding);
     std::cout << framerate << std::endl;
+    camera1->get_bayer_pattern((dc1394color_filter_t *)&bayer_pattern);
+    std::cout << bayer_pattern << std::endl;
     /* start continuous acquisition */
     camera1->start();
     for ( i=0 ; i<num_frames ; i++ )

src/firewirecamera.cpp

@@ -9,6 +9,7 @@
 #include <math.h>
 #include <sstream>
 #include <iostream>
+#include <dc1394/register.h>
 
 CFirewireCamera::CFirewireCamera(dc1394_t *firewire,uint64_t camera_id)
 {
@@ -1545,6 +1546,64 @@ void CFirewireCamera::get_image(char **image)
   }
 }
 
+void CFirewireCamera::get_image_shared(char *image)
+{
+  int depth;
+  dc1394error_t error; 
+  dc1394video_frame_t *frame;
+
+  if ( image != NULL)
+  {
+    DEBUG_INFO("Invalid image buffer.\n");
+    /* handle error */
+    throw CFirewireCameraException(_HERE_,"Invalid image buffer. Please provide an unallocated memory buffer.");
+  }
+  DEBUG_INFO("Capturing a new image ... ");
+  if ( this->one_shot_mode == DC1394_ON )
+  {
+    /* set the one shot mode */
+    DEBUG_INFO("Setting the one shot mode ... ");
+    error = dc1394_video_set_one_shot(this->camera_handle,DC1394_ON);
+    if ( error != DC1394_SUCCESS )
+    {
+      DEBUG_INFO("failed\n");
+      /* handle the error */ 
+      throw CFirewireInternalException(_HERE_,error);
+    }
+    DEBUG_INFO("ok\n");
+    DEBUG_INFO("Dequeuing a DMA buffer ... ");
+    error = dc1394_capture_dequeue(this->camera_handle,DC1394_CAPTURE_POLICY_WAIT,&frame);
+    if ( error != DC1394_SUCCESS )
+    {
+      DEBUG_INFO("failed\n");
+      /* handle error */
+      throw CFirewireInternalException(_HERE_,error);
+    }
+    depth = (int)ceil((float)this->depth/8.0);
+    if(this->frame_buffer!=NULL)
+      delete[] this->frame_buffer;
+    this->frame_buffer = new char[this->width*this->height*depth];
+    memcpy(image,frame->image,this->width*this->height*depth);
+    memcpy(this->frame_buffer,frame->image,this->width*this->height*depth);
+    DEBUG_INFO("ok\n");
+    DEBUG_INFO("Freeing the DMA buffer ... ");
+    error = dc1394_capture_enqueue(this->camera_handle,frame);
+    if ( error != DC1394_SUCCESS )
+    {
+      DEBUG_INFO("failed\n");
+      /* handle error */
+      throw CFirewireInternalException(_HERE_,error);
+    } 
+    DEBUG_INFO("ok\n");
+  }
+  else
+  {
+    this->image_access.enter();
+    depth = (int)ceil((float)this->depth/8.0);
+    memcpy(image,this->frame_buffer,this->width*this->height*depth);
+    this->image_access.exit();
+  }
+}
 #ifdef HAVE_OPENCV_H
 void CFirewireCamera::get_image(cv::Mat &image)
 {
@@ -1661,6 +1720,19 @@ void CFirewireCamera::get_new_frame_event_id(std::string& event_id)
   event_id=this->new_frame_event_id;
 }
 
+void CFirewireCamera::get_bayer_pattern(dc1394color_filter_t *pattern)
+{
+  dc1394error_t error;
+
+  error=dc1394_format7_get_color_filter(this->camera_handle,this->mode,pattern);
+  if ( error != DC1394_SUCCESS )
+  {
+    DEBUG_INFO("failed\n");
+    /* handle error */
+    throw CFirewireInternalException(_HERE_,error);
+  } 
+}
+
 void CFirewireCamera::set_num_DMA_buffers(int num)
 {
   dc1394error_t error;

src/firewirecamera.h

@@ -1059,6 +1059,11 @@ class CFirewireCamera
      *
      */
     void get_image(char **image);
+    /**
+      * \brief
+      *
+      */
+    void get_image_shared(char *image);
 #ifdef HAVE_OPENCV_H 
     /**
     * As get_image() but returns an OpenCV2.0-c++-like image
@@ -1164,6 +1169,11 @@ class CFirewireCamera
      *
      */ 
     void get_new_frame_event_id(std::string& event_id);
+    /** 
+     * \brief
+     * 
+     */
+    void get_bayer_pattern(dc1394color_filter_t *pattern);
     /** 
      * \brief Function to show the general information of the associated camera
      *