From 977d2350dd7ca1838045ace0e4b15928c82dc478 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Wed, 27 Mar 2013 10:27:56 +0000
Subject: [PATCH] Solved some bugs in the bumblebee driver. Added the
possibility to change the framerate in the bumblebee camera.
---
src/bumblebee.cpp | 48 +++++++++++++++++++++++----
src/bumblebee.h | 5 +++
src/examples/bumblebee.cpp | 12 ++++---
src/examples/firewire_camera_cont.cpp | 2 --
src/examples/ladybug.cpp | 2 +-
5 files changed, 54 insertions(+), 15 deletions(-)
diff --git a/src/bumblebee.cpp b/src/bumblebee.cpp
index 27bcd0b..0ced744 100755
--- a/src/bumblebee.cpp
+++ b/src/bumblebee.cpp
@@ -44,6 +44,9 @@ void CBumblebee::set_config(unsigned int *left_off,unsigned int *top_off,unsigne
uint64_t total_bytes;
dc1394color_coding_t dc1394_coding;
dc1394error_t error;
+ uint32_t min_bpp;
+ uint32_t max_bpp;
+
unsigned int bpp;
// set the operation mode
@@ -56,13 +59,36 @@ void CBumblebee::set_config(unsigned int *left_off,unsigned int *top_off,unsigne
this->mode=DC1394_VIDEO_MODE_FORMAT7_3;
// configure the camera
if(coding==MONO)
+ {
+ this->coding=MONO;
dc1394_coding=DC1394_COLOR_CODING_MONO16;
+ }
else
+ {
+ this->coding=RAW;
dc1394_coding=DC1394_COLOR_CODING_RAW16;
+ }
+
+ // compute the desired frame rate
+ total_bytes=(*width)*(*height)*((int)DEPTH16/8);
+ error = dc1394_format7_get_packet_parameters(this->camera_handle,this->mode,&min_bpp,&max_bpp);
+ if ( error != DC1394_SUCCESS )
+ {
+ DEBUG_INFO("failed.\n");
+ /* handle the error */
+ throw CFirewireInternalException(_HERE_,error);
+ }
+ bpp=(int)((*framerate)*total_bytes/(this->iso_rate*2));
+ if(bpp<min_bpp || bpp>max_bpp)
+ {
+ DEBUG_INFO("failed.\n");
+ /* handle exception */
+ throw CFirewireCameraException(_HERE_,"Unsupported packet size. Please change the desired framerate.");
+ }
error=dc1394_format7_set_roi(this->camera_handle,
this->mode,
dc1394_coding,
- DC1394_USE_MAX_AVAIL,
+ bpp,//DC1394_USE_MAX_AVAIL,
0,
0,
*width,
@@ -72,12 +98,11 @@ void CBumblebee::set_config(unsigned int *left_off,unsigned int *top_off,unsigne
// handle exceptions
throw CFirewireInternalException(_HERE_,error);
}
- this->left_offset=*left_off;
- this->top_offset=*top_off;
+ this->left_offset=0;
+ this->top_offset=0;
this->width=*width;
this->height=*height;
- this->coding=coding;
- this->depth=depth;
+ this->depth=DEPTH16;
// compute the actual framerate
error = dc1394_format7_get_total_bytes(this->camera_handle,this->mode,&total_bytes);
if ( error != DC1394_SUCCESS )
@@ -97,6 +122,15 @@ void CBumblebee::set_config(unsigned int *left_off,unsigned int *top_off,unsigne
this->set_num_DMA_buffers(4);
}
+void CBumblebee::get_stereo_config(unsigned int *width,unsigned int *height, float *framerate, depths_t *depth, codings_t *coding)
+{
+ (*width)=this->width;
+ (*height)=this->height;
+ (*framerate)=this->framerate;
+ (*depth)=this->stereo_depth;
+ (*coding)=this->stereo_coding;
+}
+
void CBumblebee::get_stereo_image(char **left,char **right)
{
int depth;
@@ -142,7 +176,7 @@ void CBumblebee::get_stereo_image(char **left,char **right)
if(this->stereo_coding==RGB)
{
depth = (int)ceil((float)this->stereo_depth/8.0);
- RGB_image=new unsigned char[this->width*this->height*depth];
+ RGB_image=new unsigned char[this->width*2*this->height*depth];
// extract color from the bayer tile image
// note: this will alias colors on the top and bottom rows
dc1394_bayer_decoding_8bit( de_interleaved,
@@ -197,7 +231,7 @@ void CBumblebee::get_stereo_image(char **left,char **right)
if(this->stereo_coding==RGB)
{
depth = (int)ceil((float)this->stereo_depth/8.0);
- RGB_image=new unsigned char[this->width*this->height*depth];
+ RGB_image=new unsigned char[this->width*2*this->height*depth];
// extract color from the bayer tile image
// note: this will alias colors on the top and bottom rows
dc1394_bayer_decoding_8bit( de_interleaved,
diff --git a/src/bumblebee.h b/src/bumblebee.h
index d3663da..b7b9c59 100755
--- a/src/bumblebee.h
+++ b/src/bumblebee.h
@@ -34,6 +34,11 @@ class CBumblebee : public CPTGCamera
*/
void set_config(unsigned int *left_off,unsigned int *top_off,unsigned int *width,unsigned int *height, float *framerate, depths_t depth, codings_t coding);
// stereo camera operation functions
+ /**
+ * \brief
+ *
+ */
+ void get_stereo_config(unsigned int *width,unsigned int *height, float *framerate, depths_t *depth, codings_t *coding);
/**
* \brief
*
diff --git a/src/examples/bumblebee.cpp b/src/examples/bumblebee.cpp
index afe0d15..982fc0f 100755
--- a/src/examples/bumblebee.cpp
+++ b/src/examples/bumblebee.cpp
@@ -7,7 +7,7 @@
#include <sstream>
#include <iostream>
-const int num_frames=100;
+const int num_frames=10;
int main(int argc, char *argv[])
{
@@ -24,8 +24,7 @@ int main(int argc, char *argv[])
char *left=NULL,*right=NULL;
std::string new_frame,filename;
std::stringstream text;
- uint64_t guid=0x0000b09d01006b6fb5;
-// uint64_t guid=0x00B09D01007D6D85LL;
+ //uint64_t guid=0x0000b09d01006b6fb5;
std::list<std::string> events;
try
@@ -36,13 +35,16 @@ int main(int argc, char *argv[])
server->init();
std::cout << "Num. Cam. : " << server->get_num_cameras() << std::endl;
/* get the new camera with index 0 */
- /* get the new camera with guid = 0x00B09D01007D6D85 */
-// server->get_pgr_stereo_camera_guid(guid,&camera1);
server->get_bumblebee_camera(0,&bumblebee);
/* get the reference to the event server */
event_server=CEventServer::instance();
bumblebee->get_config(&left_off,&top_off,&width,&height,&framerate,&depth,&coding);
+ framerate=20;
+ bumblebee->set_config(&left_off,&top_off,&width,&height,&framerate,depth,coding);
+ bumblebee->get_stereo_config(&width,&height,&framerate,&depth,&coding);
+ std::cout << "Image size: " << width << "x" << height << std::endl;
std::cout << "Fremerate: " << framerate << std::endl;
+ std::cout << "Color coding: " << (int)coding << "-" << (int)depth << std::endl;
bumblebee->get_new_frame_event_id(new_frame);
events.push_back(new_frame);
bumblebee->start();
diff --git a/src/examples/firewire_camera_cont.cpp b/src/examples/firewire_camera_cont.cpp
index 47c58cb..e8fca35 100644
--- a/src/examples/firewire_camera_cont.cpp
+++ b/src/examples/firewire_camera_cont.cpp
@@ -45,8 +45,6 @@ int main(int argc, char *argv[])
event_list.push_back(new_frame);
/* configure the camera */
camera1->get_config(&left_off,&top_off,&width,&height,&framerate,&depth,&coding);
- framerate=3.75;
- height=4608;
camera1->set_config(&left_off,&top_off,&width,&height,&framerate,depth,coding);
std::cout << framerate << std::endl;
/* start continuous acquisition */
diff --git a/src/examples/ladybug.cpp b/src/examples/ladybug.cpp
index e047645..965fe9c 100755
--- a/src/examples/ladybug.cpp
+++ b/src/examples/ladybug.cpp
@@ -44,7 +44,7 @@ int main(int argc, char *argv[])
ladybug->get_config(&left_off,&top_off,&width,&height,&framerate,&depth,&coding);
std::cout << "Fremerate: " << framerate << std::endl;
// coding=MONO;
- framerate=30;
+ framerate=10;
ladybug->set_config(&left_off,&top_off,&width,&height,&framerate,depth,coding);
ladybug->get_new_frame_event_id(new_frame);
events.push_back(new_frame);
--
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