Solved some bugs in the bumblebee driver.

Added the possibility to change the framerate in the bumblebee camera.

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,

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
      * 

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();

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 */

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);