diff --git a/src/bumblebee.cpp b/src/bumblebee.cpp
index 6cbcfe5d1775ae4b3550765e2d796728651b139f..b09249ad79406f1b79555bf083da4b999619a014 100755
--- a/src/bumblebee.cpp
+++ b/src/bumblebee.cpp
@@ -58,13 +58,25 @@ void CBumblebee::set_config(unsigned int *left_off,unsigned int *top_off,unsigne
}
this->mode=DC1394_VIDEO_MODE_FORMAT7_3;
// configure the camera
- if(this->stereo_coding==MONO)
+ if(this->stereo_coding==MONO)// the image sensor is mono
{
this->coding=MONO;
dc1394_coding=DC1394_COLOR_CODING_MONO16;
}
- else
+ else// the image sensor is color
{
+ if(coding==RAW)// the desired coding is RAW
+ {
+ this->stereo_depth=DEPTH8;
+ this->stereo_coding=RAW;
+ }
+ else if(coding==RGB)
+ {
+ this->stereo_depth=DEPTH24;
+ this->stereo_coding=RGB;
+ }
+ else
+ throw CFirewireCameraException(_HERE_,"Invalid color coding");
this->coding=RAW;
dc1394_coding=DC1394_COLOR_CODING_RAW16;
}
@@ -194,7 +206,7 @@ void CBumblebee::get_stereo_image(char **left,char **right)
}
else
{
- depth = (int)ceil((float)this->depth/8.0);
+ depth = (int)ceil((float)this->stereo_depth/8.0);
*left = new char[this->width*this->height*depth];
*right = new char[this->width*this->height*depth];
memcpy(*left,de_interleaved,this->width*this->height*depth);
@@ -249,7 +261,7 @@ void CBumblebee::get_stereo_image(char **left,char **right)
}
else
{
- depth = (int)ceil((float)this->depth/8.0);
+ depth = (int)ceil((float)this->stereo_depth/8.0);
*left = new char[this->width*this->height*depth];
*right = new char[this->width*this->height*depth];
memcpy(*left,de_interleaved,this->width*this->height*depth);
@@ -260,6 +272,127 @@ void CBumblebee::get_stereo_image(char **left,char **right)
}
}
+void Cbumblebee::get_stereo_image_shared(char *left,char *right)
+{
+ int depth;
+ dc1394error_t error;
+ dc1394video_frame_t *frame;
+ unsigned char *de_interleaved,*RGB_image;
+
+ if ( *left != NULL || *right != 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);
+ de_interleaved=new unsigned char[this->width*this->height*depth];
+ // de-interlace the 16 bit data into 2 bayer tile pattern images
+ dc1394_deinterlace_stereo( (unsigned char *)frame->image,
+ de_interleaved,
+ this->width,
+ 2*this->height);
+
+ if(this->stereo_coding==RGB)
+ {
+ depth = (int)ceil((float)this->stereo_depth/8.0);
+ 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,
+ RGB_image,
+ this->width,
+ 2*this->height,
+ this->bayer_pattern,
+ DC1394_BAYER_METHOD_NEAREST);
+
+ memcpy(left,RGB_image,this->width*this->height*depth);
+ memcpy(right,RGB_image+this->height*this->width*depth,this->width*this->height*depth);
+ delete[] RGB_image;
+ }
+ else
+ {
+ depth = (int)ceil((float)this->stereo_depth/8.0);
+ memcpy(left,de_interleaved,this->width*this->height*depth);
+ memcpy(right,de_interleaved+this->height*this->width*depth,this->width*this->height*depth);
+ }
+ if(this->frame_buffer!=NULL)
+ delete[] this->frame_buffer;
+ depth = (int)ceil((float)this->depth/8.0);
+ this->frame_buffer = new char[this->width*this->height*depth];
+ memcpy(this->frame_buffer,frame->image,this->width*this->height*this->depth/8.0);
+ 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");
+ delete[] de_interleaved;
+ }
+ else
+ {
+ this->image_access.enter();
+ depth = (int)ceil((float)this->depth/8.0);
+ de_interleaved=new unsigned char[this->width*this->height*depth];
+ // de-interlace the 16 bit data into 2 bayer tile pattern images
+ dc1394_deinterlace_stereo( (unsigned char *)this->frame_buffer,
+ de_interleaved,
+ this->width,
+ 2*this->height);
+
+ if(this->stereo_coding==RGB)
+ {
+ depth = (int)ceil((float)this->stereo_depth/8.0);
+ 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,
+ RGB_image,
+ this->width,
+ 2*this->height,
+ this->bayer_pattern,
+ DC1394_BAYER_METHOD_NEAREST);
+
+ memcpy(left,RGB_image,this->width*this->height*depth);
+ memcpy(right,RGB_image+this->width*this->height*depth,this->width*this->height*depth);
+ delete[] RGB_image;
+ }
+ else
+ {
+ depth = (int)ceil((float)this->stereo_depth/8.0);
+ memcpy(left,de_interleaved,this->width*this->height*depth);
+ memcpy(right,de_interleaved+this->height*this->width*depth,this->width*this->height*depth);
+ }
+ this->image_access.exit();
+ delete[] de_interleaved;
+ }
+}
+
void CBumblebee::save_stereo_image(std::string &filename,char *left, char *right)
{
std::string header,name;
@@ -287,7 +420,7 @@ void CBumblebee::save_stereo_image(std::string &filename,char *left, char *right
header+=" ";
header+=text.str();
header+='\n';
- if ( this->depth == DEPTH48 )
+ if ( this->stereo_depth == DEPTH48 )
header+="65535\n";
else
header+="255\n";
@@ -302,7 +435,7 @@ void CBumblebee::save_stereo_image(std::string &filename,char *left, char *right
header+=" ";
header+=text.str();
header+='\n';
- if ( this->depth == DEPTH16 )
+ if ( this->stereo_depth == DEPTH16 )
header+="65535\n";
else
header+="255\n";
@@ -310,7 +443,7 @@ void CBumblebee::save_stereo_image(std::string &filename,char *left, char *right
depth = (int)ceil((float)this->stereo_depth/8.0);
write(file_left,header.c_str(),header.size());
write(file_right,header.c_str(),header.size());
- for( i = 0 ; i < this->height ; i++ )
+ for( i = 0 ; i < this->height ; i++ )
{
write(file_left,&left[i*this->width*depth],this->width*depth);
write(file_right,&right[i*this->width*depth],this->width*depth);
diff --git a/src/bumblebee.h b/src/bumblebee.h
index b7b9c598cabc424c9e52c75c82a227613a359dfd..71a99c63bca30ae61ab2f69afb8ad6065db6db5b 100755
--- a/src/bumblebee.h
+++ b/src/bumblebee.h
@@ -44,6 +44,11 @@ class CBumblebee : public CPTGCamera
*
*/
void get_stereo_image(char **left,char **right);
+ /**
+ * \brief
+ *
+ */
+ void get_stereo_image_shared(char *left,char *right);
/**
* \brief
*
diff --git a/src/examples/bumblebee.cpp b/src/examples/bumblebee.cpp
index 98ebb2b194b5c84a8795041e6f7625af6f946d0f..d76dcbc255522b8de585f5db5d239dbb048f7ade 100755
--- a/src/examples/bumblebee.cpp
+++ b/src/examples/bumblebee.cpp
@@ -40,6 +40,8 @@ int main(int argc, char *argv[])
event_server=CEventServer::instance();
bumblebee->get_config(&left_off,&top_off,&width,&height,&framerate,&depth,&coding);
framerate=20;
+ coding=MONO;
+ depth=DEPTH8;
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;
@@ -52,7 +54,7 @@ int main(int argc, char *argv[])
{
text.str("");
gettimeofday(&start_time,NULL);
- event_server->wait_all(events,0);
+ event_server->wait_all(events,1000);
bumblebee->get_stereo_image(&left,&right);
filename="image_";
text << i;