diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index a87e3844f21f376499af86a86c6c3e1b22434c61..965d79e87f911869a83503187f322645e4cc74fd 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,7 +1,7 @@
# edit the following line to add the source code of the application
-SET(sources firewirecamera.cpp firewireserver.cpp firewireexceptions.cpp pgr_stereo_camera.cpp)
+SET(sources firewirecamera.cpp firewireserver.cpp firewireexceptions.cpp ptg_camera.cpp bumblebee.cpp ladybug.cpp)
# edit the following line to add the header files of the application
-SET(headers firewirecamera.h firewireserver.h firewireexceptions.h pgr_stereo_camera.h)
+SET(headers firewirecamera.h firewireserver.h firewireexceptions.h ptg_camera.h bumblebee.h ladybug.h)
#find the cv support and set HAVE_OPENCV_H for the conditional compilation
FIND_PACKAGE(OpenCV)
diff --git a/src/bumblebee.cpp b/src/bumblebee.cpp
new file mode 100755
index 0000000000000000000000000000000000000000..27bcd0b2357c0151235701f45f6e3e2c7f33b886
--- /dev/null
+++ b/src/bumblebee.cpp
@@ -0,0 +1,292 @@
+#include "bumblebee.h"
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <string.h>
+#include <fcntl.h>
+#include <math.h>
+
+CBumblebee::CBumblebee(dc1394_t *firewire,uint64_t camera_id):CPTGCamera(firewire,camera_id)
+{
+ unsigned int left_off=0,top_off=0,rows,cols;
+ bool color;
+
+ this->stereo_depth=(depths_t)-1;
+ this->stereo_coding=(codings_t)-1;
+ if(strncmp(this->camera_handle->model,"Bumblebee2",strlen("Bumblebee2"))!=0)
+ {
+ /* handle exceptions */
+ throw CFirewireCameraException(_HERE_,"The camera is not a bumblebee2");
+ }
+ this->set_ISO_speed(400);
+ // get the camera information
+ this->get_sensor_info(&color,&rows,&cols);
+ // configure the camera by default
+ if(color)
+ {
+ this->stereo_depth=DEPTH24;
+ this->stereo_coding=RGB;
+ }
+ else
+ {
+ this->stereo_depth=DEPTH8;
+ this->stereo_coding=MONO;
+ }
+ if(color)
+ this->set_config(&left_off,&top_off,&cols,&rows,&framerate,DEPTH16,RAW);
+ else
+ this->set_config(&left_off,&top_off,&cols,&rows,&framerate,DEPTH16,MONO);
+ this->get_bayer_pattern(&this->bayer_pattern);
+}
+
+// overloaded functions from the base class
+void CBumblebee::set_config(unsigned int *left_off,unsigned int *top_off,unsigned int *width,unsigned int *height, float *framerate, depths_t depth, codings_t coding)
+{
+ uint64_t total_bytes;
+ dc1394color_coding_t dc1394_coding;
+ dc1394error_t error;
+ unsigned int bpp;
+
+ // set the operation mode
+ error=dc1394_video_set_mode(this->camera_handle,DC1394_VIDEO_MODE_FORMAT7_3);
+ if(error!=DC1394_SUCCESS)
+ {
+ /* handle exceptions */
+ throw CFirewireInternalException(_HERE_,error);
+ }
+ this->mode=DC1394_VIDEO_MODE_FORMAT7_3;
+ // configure the camera
+ if(coding==MONO)
+ dc1394_coding=DC1394_COLOR_CODING_MONO16;
+ else
+ dc1394_coding=DC1394_COLOR_CODING_RAW16;
+ error=dc1394_format7_set_roi(this->camera_handle,
+ this->mode,
+ dc1394_coding,
+ DC1394_USE_MAX_AVAIL,
+ 0,
+ 0,
+ *width,
+ *height);
+ if(error!=DC1394_SUCCESS)
+ {
+ // handle exceptions
+ throw CFirewireInternalException(_HERE_,error);
+ }
+ this->left_offset=*left_off;
+ this->top_offset=*top_off;
+ this->width=*width;
+ this->height=*height;
+ this->coding=coding;
+ this->depth=depth;
+ // compute the actual framerate
+ error = dc1394_format7_get_total_bytes(this->camera_handle,this->mode,&total_bytes);
+ if ( error != DC1394_SUCCESS )
+ {
+ DEBUG_INFO("failed.\n");
+ /* handle the error */
+ throw CFirewireInternalException(_HERE_,error);
+ }
+ error = dc1394_format7_get_packet_size(this->camera_handle,this->mode,&bpp);
+ if ( error != DC1394_SUCCESS )
+ {
+ DEBUG_INFO("failed.\n");
+ /* handle the error */
+ throw CFirewireInternalException(_HERE_,error);
+ }
+ this->framerate=this->iso_rate*bpp*2/total_bytes;
+ this->set_num_DMA_buffers(4);
+}
+
+void CBumblebee::get_stereo_image(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*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);
+
+ *left = new char[this->width*this->height*depth];
+ *right = new char[this->width*this->height*depth];
+ 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->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);
+ 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*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);
+
+ *left = new char[this->width*this->height*depth];
+ *right = new char[this->width*this->height*depth];
+ 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->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);
+ 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;
+ std::stringstream text;
+ int file_left,file_right,depth=0;
+ unsigned int i=0;
+
+ if(filename.size()==0)
+ {
+ DEBUG_INFO("Invalid filename for the image\n");
+ /* handle the error */
+ throw CFirewireCameraException(_HERE_,"Invalid filename for the image.");
+ }
+ name="left_" + filename;
+ file_left = open(name.c_str(),O_RDWR | O_CREAT,S_IRWXU | S_IRWXG | S_IRWXO);
+ name="right_" + filename;
+ file_right = open(name.c_str(),O_RDWR | O_CREAT,S_IRWXU | S_IRWXG | S_IRWXO);
+ if ( this->stereo_coding == RGB || this->stereo_coding == YUV )
+ {
+ header="P6\n";
+ text << this->width;
+ header+=text.str();
+ text.str("");
+ text << this->height;
+ header+=" ";
+ header+=text.str();
+ header+='\n';
+ if ( this->depth == DEPTH48 )
+ header+="65535\n";
+ else
+ header+="255\n";
+ }
+ else
+ {
+ header="P5\n";
+ text << this->width;
+ header+=text.str();
+ text.str("");
+ text << this->height;
+ header+=" ";
+ header+=text.str();
+ header+='\n';
+ if ( this->depth == DEPTH16 )
+ header+="65535\n";
+ else
+ header+="255\n";
+ }
+ 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++ )
+ {
+ write(file_left,&left[i*this->width*depth],this->width*depth);
+ write(file_right,&right[i*this->width*depth],this->width*depth);
+ }
+ close(file_left);
+ close(file_right);
+}
+
+CBumblebee::~CBumblebee()
+{
+ this->stereo_depth=(depths_t)-1;
+ this->stereo_coding=(codings_t)-1;
+}
diff --git a/src/bumblebee.h b/src/bumblebee.h
new file mode 100755
index 0000000000000000000000000000000000000000..d3663daa958fc5c32e8785813398f8e958434f91
--- /dev/null
+++ b/src/bumblebee.h
@@ -0,0 +1,58 @@
+#ifndef _BUMBLEBEE_H
+#define _BUMBLEBEE_H
+
+#include "ptg_camera.h"
+
+/**
+ * \brief
+ *
+ */
+class CBumblebee : public CPTGCamera
+{
+ protected:
+ // stereo attributes
+ /**
+ * \brief
+ *
+ */
+ depths_t stereo_depth;
+ /**
+ * \brief
+ *
+ */
+ codings_t stereo_coding;
+ public:
+ /**
+ * \brief
+ *
+ */
+ CBumblebee(dc1394_t *firewire,uint64_t camera_id);
+ // configuration functions
+ /**
+ * \brief
+ *
+ */
+ 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_image(char **left,char **right);
+ /**
+ * \brief
+ *
+ */
+ void save_stereo_image(std::string &filename,char *left, char *right);
+ /**
+ * \brief
+ *
+ */
+ ~CBumblebee();
+ /**
+ * \brief
+ *
+ */
+};
+
+#endif
diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
index 009621face698a326ea50139348977da697dec02..9912e94cb4022ff0ec6fbf01cf56e8f14173e61b 100644
--- a/src/examples/CMakeLists.txt
+++ b/src/examples/CMakeLists.txt
@@ -25,6 +25,16 @@ ADD_EXECUTABLE(bumblebee bumblebee.cpp)
# edit the following line to add the necessary libraries
TARGET_LINK_LIBRARIES(bumblebee ${iriutils_LIBRARY} ${raw1394_LIBRARY} ${dc1394_LIBRARY} firewire pthread)
+# edit the following line to add the source code for the example and the name of the executable
+ADD_EXECUTABLE(ptg_camera ptg_camera.cpp)
+# edit the following line to add the necessary libraries
+TARGET_LINK_LIBRARIES(ptg_camera ${iriutils_LIBRARY} ${raw1394_LIBRARY} ${dc1394_LIBRARY} firewire pthread)
+
+# edit the following line to add the source code for the example and the name of the executable
+ADD_EXECUTABLE(ladybug ladybug.cpp)
+# edit the following line to add the necessary libraries
+TARGET_LINK_LIBRARIES(ladybug ${iriutils_LIBRARY} ${raw1394_LIBRARY} ${dc1394_LIBRARY} firewire pthread)
+
if (USE_CV)
# edit the following line to add the source code for the example and the name of the executable
ADD_EXECUTABLE(firewire_cont_CV firewire_camera_cont_CV.cpp)
diff --git a/src/examples/bumblebee.cpp b/src/examples/bumblebee.cpp
index 633d53ad581e4c488af2195cb1b1ee49ee8f845a..afe0d15e8c68aa8d7f7bf93d58556be27351b3a1 100755
--- a/src/examples/bumblebee.cpp
+++ b/src/examples/bumblebee.cpp
@@ -1,5 +1,5 @@
#include "firewireserver.h"
-#include "pgr_stereo_camera.h"
+#include "bumblebee.h"
#include "firewireexceptions.h"
#include "eventserver.h"
#include <sys/time.h>
@@ -14,7 +14,7 @@ int main(int argc, char *argv[])
CFirewireServer *server;
CEventServer *event_server;
timeval start_time,end_time;
- CPGRStereoCamera *camera1=NULL;
+ CBumblebee *bumblebee=NULL;
long elapsed_time[num_frames];
unsigned int left_off,top_off,width,height;
float framerate;
@@ -24,7 +24,8 @@ int main(int argc, char *argv[])
char *left=NULL,*right=NULL;
std::string new_frame,filename;
std::stringstream text;
- uint64_t guid=0x00B09D01007D6D85LL;
+ uint64_t guid=0x0000b09d01006b6fb5;
+// uint64_t guid=0x00B09D01007D6D85LL;
std::list<std::string> events;
try
@@ -36,25 +37,26 @@ int main(int argc, char *argv[])
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_pgr_stereo_camera_guid(guid,&camera1);
+ server->get_bumblebee_camera(0,&bumblebee);
/* get the reference to the event server */
event_server=CEventServer::instance();
- camera1->get_config(&left_off,&top_off,&width,&height,&framerate,&depth,&coding);
+ bumblebee->get_config(&left_off,&top_off,&width,&height,&framerate,&depth,&coding);
std::cout << "Fremerate: " << framerate << std::endl;
- camera1->get_new_frame_event_id(new_frame);
+ bumblebee->get_new_frame_event_id(new_frame);
events.push_back(new_frame);
- camera1->start();
+ bumblebee->start();
for ( i=0 ; i<num_frames ; i++ )
{
text.str("");
gettimeofday(&start_time,NULL);
event_server->wait_all(events,0);
- camera1->get_stereo_image(&left,&right);
+ bumblebee->get_stereo_image(&left,&right);
filename="image_";
text << i;
filename+=text.str();
filename+=".ppm";
- camera1->save_stereo_image(filename,left,right);
+ bumblebee->save_stereo_image(filename,left,right);
if(left!=NULL)
{
delete[] left;
@@ -69,8 +71,8 @@ int main(int argc, char *argv[])
elapsed_time[i]=(end_time.tv_sec-start_time.tv_sec)*1000000+end_time.tv_usec-start_time.tv_usec;
std::cout << "Elapsed time: " << elapsed_time[i] << "s" << std::endl;
}
- camera1->stop();
- delete camera1;
+ bumblebee->stop();
+ delete bumblebee;
server->close();
}
catch(CException& e)
diff --git a/src/examples/firewire_camera_cont.cpp b/src/examples/firewire_camera_cont.cpp
index 82d0d236a14364de55b6e8f3f7757f5d572ff07c..47c58cbff807abc4dd2be9a15eba59b6b9927d93 100644
--- a/src/examples/firewire_camera_cont.cpp
+++ b/src/examples/firewire_camera_cont.cpp
@@ -7,7 +7,7 @@
#include <string>
#include <sstream>
-const int num_frames=1000;
+const int num_frames=10;
int main(int argc, char *argv[])
{
@@ -22,7 +22,7 @@ int main(int argc, char *argv[])
codings_t coding;
int i=0;
std::list<std::string> event_list;
- float framerate=15;
+ float framerate=30;
char *image=NULL;
std::string new_frame,filename;
std::stringstream text;
@@ -45,7 +45,10 @@ 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 */
camera1->start();
for ( i=0 ; i<num_frames ; i++ )
diff --git a/src/examples/ladybug.cpp b/src/examples/ladybug.cpp
new file mode 100755
index 0000000000000000000000000000000000000000..7f4d202410d5f2691e9a1d94001d6d67d89e97f8
--- /dev/null
+++ b/src/examples/ladybug.cpp
@@ -0,0 +1,104 @@
+#include "firewireserver.h"
+#include "ladybug.h"
+#include "firewireexceptions.h"
+#include "eventserver.h"
+#include <sys/time.h>
+#include <string>
+#include <sstream>
+#include <iostream>
+
+const int num_frames=1;
+
+int main(int argc, char *argv[])
+{
+ CFirewireServer *server;
+ CEventServer *event_server;
+ timeval start_time,end_time;
+ CLadyBug *ladybug=NULL;
+ long elapsed_time[num_frames];
+ unsigned int left_off,top_off,width,height;
+ float framerate;
+ codings_t coding;
+ depths_t depth;
+ int i=0;
+ char *front=NULL,*front_right=NULL,*rear_right=NULL,*rear_left=NULL,*front_left=NULL,*top=NULL;
+ std::string new_frame,filename;
+ std::stringstream text;
+ uint64_t guid=0x0000b09d01006b6fb5;
+// uint64_t guid=0x00B09D01007D6D85LL;
+ std::list<std::string> events;
+
+ try
+ {
+ /* get the reference to the firewire camera server */
+ server=CFirewireServer::instance();
+ /* initialize the camera server */
+ 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_ladybug_camera(0,&ladybug);
+ /* get the reference to the event server */
+ event_server=CEventServer::instance();
+ ladybug->get_config(&left_off,&top_off,&width,&height,&framerate,&depth,&coding);
+ std::cout << "Fremerate: " << framerate << std::endl;
+ coding=MONO;
+ 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);
+ ladybug->start();
+ for ( i=0 ; i<num_frames ; i++ )
+ {
+ text.str("");
+ gettimeofday(&start_time,NULL);
+ event_server->wait_all(events,0);
+ ladybug->get_images(&front,&front_right,&rear_right,&rear_left,&front_left,&top);
+ filename="image_";
+ text << i;
+ filename+=text.str();
+ filename+=".ppm";
+ ladybug->save_images(filename,front,front_right,rear_right,rear_left,front_left,top);
+ if(front!=NULL)
+ {
+ delete[] front;
+ front=NULL;
+ }
+ if(front_right!=NULL)
+ {
+ delete[] front_right;
+ front_right=NULL;
+ }
+ if(rear_right!=NULL)
+ {
+ delete[] rear_right;
+ rear_right=NULL;
+ }
+ if(rear_left!=NULL)
+ {
+ delete[] rear_left;
+ rear_left=NULL;
+ }
+ if(front_left!=NULL)
+ {
+ delete[] front_left;
+ front_left=NULL;
+ }
+ if(top!=NULL)
+ {
+ delete[] top;
+ top=NULL;
+ }
+ gettimeofday(&end_time,NULL);
+ elapsed_time[i]=(end_time.tv_sec-start_time.tv_sec)*1000000+end_time.tv_usec-start_time.tv_usec;
+ std::cout << "Elapsed time: " << elapsed_time[i] << "s" << std::endl;
+ }
+ ladybug->stop();
+ delete ladybug;
+ server->close();
+ }
+ catch(CException& e)
+ {
+ std::cout << e.what() << std::endl;
+ }
+}
diff --git a/src/examples/ptg_camera.cpp b/src/examples/ptg_camera.cpp
new file mode 100755
index 0000000000000000000000000000000000000000..d4a946cd29a6286a0b71ba3cc9daf9016913e3ff
--- /dev/null
+++ b/src/examples/ptg_camera.cpp
@@ -0,0 +1,84 @@
+#include "firewireserver.h"
+#include "ptg_camera.h"
+#include "firewireexceptions.h"
+#include "eventserver.h"
+#include <sys/time.h>
+#include <string>
+#include <sstream>
+#include <iostream>
+
+const int num_frames=1;
+
+int main(int argc, char *argv[])
+{
+ CFirewireServer *server;
+ CEventServer *event_server;
+ timeval start_time,end_time;
+ CPTGCamera *camera=NULL;
+ long elapsed_time[num_frames];
+ unsigned int left_off,top_off,width,height;
+ float framerate;
+ codings_t coding;
+ depths_t depth;
+ int i=0;
+ char *image=NULL;
+ std::string new_frame,filename;
+ std::stringstream text;
+ uint64_t guid=0x0000b09d01006b6fb5;
+// uint64_t guid=0x00B09D01007D6D85LL;
+ std::list<std::string> events;
+
+ try
+ {
+ /* get the reference to the firewire camera server */
+ server=CFirewireServer::instance();
+ /* initialize the camera server */
+ server->init();
+ std::cout << "Num. Cam. : " << server->get_num_cameras() << std::endl;
+ /* get the new camera with index 0 */
+// server->get_pgr_stereo_camera_guid(guid,&camera1);
+ server->get_ptg_camera(0,&camera);
+ /* get the reference to the event server */
+ event_server=CEventServer::instance();
+ /* configure the camera */
+ camera->set_ISO_speed(800);
+ camera->get_config(&left_off,&top_off,&width,&height,&framerate,&depth,&coding);
+ framerate=30;
+ coding=MONO;
+ depth=DEPTH8;
+ /* select the left or right camera */
+ camera->select_sensor(5);//left
+ camera->set_config(&left_off,&top_off,&width,&height,&framerate,depth,coding);
+ std::cout << "Fremerate: " << framerate << std::endl;
+ camera->get_new_frame_event_id(new_frame);
+ events.push_back(new_frame);
+ camera->start();
+ for ( i=0 ; i<num_frames ; i++ )
+ {
+ text.str("");
+ gettimeofday(&start_time,NULL);
+ event_server->wait_all(events,0);
+ camera->get_image(&image);
+ filename="image_";
+ text << i;
+ filename+=text.str();
+ filename+=".ppm";
+ camera->save_image(filename,image);
+ if(image!=NULL)
+ {
+ delete[] image;
+ image=NULL;
+ }
+ gettimeofday(&end_time,NULL);
+ elapsed_time[i]=(end_time.tv_sec-start_time.tv_sec)*1000000+end_time.tv_usec-start_time.tv_usec;
+ std::cout << "Elapsed time: " << elapsed_time[i] << "s" << std::endl;
+ }
+ camera->stop();
+ delete camera;
+ server->close();
+ }
+ catch(CException& e)
+ {
+ std::cout << e.what() << std::endl;
+ }
+}
diff --git a/src/firewireserver.cpp b/src/firewireserver.cpp
index ac9db77074c9a694c46f44ec1196e7f8661e8d85..0a3909aaac4ddecd943240320ba03bc094a3dff8 100644
--- a/src/firewireserver.cpp
+++ b/src/firewireserver.cpp
@@ -1,6 +1,5 @@
#include "firewireserver.h"
#include "firewirecamera.h"
-#include "pgr_stereo_camera.h"
#include <iostream>
void DEBUG_INFO(const char *string,int param1, int param2)
@@ -164,7 +163,7 @@ void CFirewireServer::get_camera_guid(uint64_t uid,CFirewireCamera **camera)
throw CFirewireCameraException(_HERE_,"No connected camera has the desired identifier");
}
-void CFirewireServer::get_pgr_stereo_camera(int id,CPGRStereoCamera **camera)
+void CFirewireServer::get_ptg_camera(int id,CPTGCamera **camera)
{
if ( *camera != NULL )
{
@@ -185,11 +184,11 @@ void CFirewireServer::get_pgr_stereo_camera(int id,CPGRStereoCamera **camera)
/* handle the error */
throw CFirewireCameraException(_HERE_,"The desired camera is already in use.");
}
- *camera = new CPGRStereoCamera(this->dc1394_handle,this->camera_list->ids[id].guid);
+ *camera = new CPTGCamera(this->dc1394_handle,this->camera_list->ids[id].guid);
this->active_cameras[id]=true;
}
-void CFirewireServer::get_pgr_stereo_camera_guid(uint64_t uid,CPGRStereoCamera **camera)
+void CFirewireServer::get_ptg_camera_guid(uint64_t uid,CPTGCamera **camera)
{
int i=0;
@@ -212,7 +211,125 @@ void CFirewireServer::get_pgr_stereo_camera_guid(uint64_t uid,CPGRStereoCamera *
}
else
{
- (*camera) = new CPGRStereoCamera(this->dc1394_handle,uid);
+ *camera = new CPTGCamera(this->dc1394_handle,uid);
+ this->active_cameras[i]=true;
+ return;
+ }
+ }
+ }
+ DEBUG_INFO("No camera present with the given identifier: %d\n",uid);
+ /* handle the error */
+ throw CFirewireCameraException(_HERE_,"No connected camera has the desired identifier");
+}
+
+void CFirewireServer::get_bumblebee_camera(int id,CBumblebee **camera)
+{
+ if ( *camera != NULL )
+ {
+ DEBUG_INFO("Camera already initialized.\n");
+ /* handle the error */
+ throw CFirewireCameraException(_HERE_,"The camera object has already been created. Please supply an unitialized CFirewireCamera object.");
+ }
+ DEBUG_INFO("Creating a new firewire camera with index %d\n",id);
+ if ( id < 0 || id >= this->num_cameras )
+ {
+ DEBUG_INFO("Invalid camera index %d\n",id);
+ /* handle the error */
+ throw CFirewireCameraException(_HERE_,"The supplied camera index is outside the valid range. Check the number of available cameras first.");
+ }
+ if(this->active_cameras[id]==true)
+ {
+ DEBUG_INFO("The camera %d is already in use.\n",id);
+ /* handle the error */
+ throw CFirewireCameraException(_HERE_,"The desired camera is already in use.");
+ }
+ *camera = new CBumblebee(this->dc1394_handle,this->camera_list->ids[id].guid);
+ this->active_cameras[id]=true;
+}
+
+void CFirewireServer::get_bumblebee_camera_guid(uint64_t uid,CBumblebee **camera)
+{
+ int i=0;
+
+ if ( *camera != NULL )
+ {
+ DEBUG_INFO("Camera already initialized.\n");
+ /* handle the error */
+ throw CFirewireCameraException(_HERE_,"The camera object has already been created. Please supply an unitialized CFirewireCamera object.");
+ }
+ DEBUG_INFO("Creating a new firewire camera with identifier %d\n",uid);
+ for(i = 0; i < this->num_cameras ; i++)
+ {
+ if(this->camera_list->ids[i].guid==uid)
+ {
+ if(this->active_cameras[i]==true)
+ {
+ DEBUG_INFO("The camera with guid %d is already in use.\n",uid);
+ /* handle the error */
+ throw CFirewireCameraException(_HERE_,"The desired camera is already in use.");
+ }
+ else
+ {
+ (*camera) = new CBumblebee(this->dc1394_handle,uid);
+ this->active_cameras[i]=true;
+ return;
+ }
+ }
+ }
+ DEBUG_INFO("No camera present with the given identifier: %d\n",uid);
+ /* handle the error */
+ throw CFirewireCameraException(_HERE_,"No connected camera has the desired identifier");
+}
+
+void CFirewireServer::get_ladybug_camera(int id,CLadyBug **camera)
+{
+ if ( *camera != NULL )
+ {
+ DEBUG_INFO("Camera already initialized.\n");
+ /* handle the error */
+ throw CFirewireCameraException(_HERE_,"The camera object has already been created. Please supply an unitialized CFirewireCamera object.");
+ }
+ DEBUG_INFO("Creating a new firewire camera with index %d\n",id);
+ if ( id < 0 || id >= this->num_cameras )
+ {
+ DEBUG_INFO("Invalid camera index %d\n",id);
+ /* handle the error */
+ throw CFirewireCameraException(_HERE_,"The supplied camera index is outside the valid range. Check the number of available cameras first.");
+ }
+ if(this->active_cameras[id]==true)
+ {
+ DEBUG_INFO("The camera %d is already in use.\n",id);
+ /* handle the error */
+ throw CFirewireCameraException(_HERE_,"The desired camera is already in use.");
+ }
+ *camera = new CLadyBug(this->dc1394_handle,this->camera_list->ids[id].guid);
+ this->active_cameras[id]=true;
+}
+
+void CFirewireServer::get_ladybug_camera_guid(uint64_t uid,CLadyBug **camera)
+{
+ int i=0;
+
+ if ( *camera != NULL )
+ {
+ DEBUG_INFO("Camera already initialized.\n");
+ /* handle the error */
+ throw CFirewireCameraException(_HERE_,"The camera object has already been created. Please supply an unitialized CFirewireCamera object.");
+ }
+ DEBUG_INFO("Creating a new firewire camera with identifier %d\n",uid);
+ for(i = 0; i < this->num_cameras ; i++)
+ {
+ if(this->camera_list->ids[i].guid==uid)
+ {
+ if(this->active_cameras[i]==true)
+ {
+ DEBUG_INFO("The camera with guid %d is already in use.\n",uid);
+ /* handle the error */
+ throw CFirewireCameraException(_HERE_,"The desired camera is already in use.");
+ }
+ else
+ {
+ (*camera) = new CLadyBug(this->dc1394_handle,uid);
this->active_cameras[i]=true;
return;
}
diff --git a/src/firewireserver.h b/src/firewireserver.h
index 12662c15b06995c00da84385ade0c2bf79437e06..a0d0f2d9c1dcb8fa2ed695c645e52adbab8bc147 100644
--- a/src/firewireserver.h
+++ b/src/firewireserver.h
@@ -4,7 +4,9 @@
#include <dc1394/dc1394.h>
#include "firewireexceptions.h"
#include "firewirecamera.h"
-#include "pgr_stereo_camera.h"
+#include "ptg_camera.h"
+#include "bumblebee.h"
+#include "ladybug.h"
/**
* \brief Firewire camera server
@@ -259,13 +261,38 @@ class CFirewireServer
*
*
*/
- void get_pgr_stereo_camera(int id, CPGRStereoCamera **camera);
+ void get_ptg_camera(int id, CPTGCamera **camera);
/**
* \brief
*
*
*/
- void get_pgr_stereo_camera_guid(uint64_t uid, CPGRStereoCamera **camera);
+ void get_ptg_camera_guid(uint64_t uid, CPTGCamera **camera);
+ /**
+ * \brief
+ *
+ *
+ */
+ void get_bumblebee_camera(int id, CBumblebee **camera);
+ /**
+ * \brief
+ *
+ *
+ */
+ void get_bumblebee_camera_guid(uint64_t uid, CBumblebee **camera);
+ /**
+ * \brief
+ *
+ *
+ */
+ void get_ladybug_camera(int id, CLadyBug **camera);
+ /**
+ * \brief
+ *
+ *
+ */
+ void get_ladybug_camera_guid(uint64_t uid, CLadyBug **camera);
+
/**
* \brief Function to free a camera
*
diff --git a/src/ladybug.cpp b/src/ladybug.cpp
new file mode 100755
index 0000000000000000000000000000000000000000..8bc0eadc39a0fff734adfe030bb738a7a84a9e98
--- /dev/null
+++ b/src/ladybug.cpp
@@ -0,0 +1,271 @@
+#include "ladybug.h"
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <string.h>
+#include <fcntl.h>
+#include <math.h>
+
+CLadyBug::CLadyBug(dc1394_t *firewire,uint64_t camera_id):CPTGCamera(firewire,camera_id)
+{
+ unsigned int left_off=0,top_off=0,rows=4608,cols=1024;
+ float framerate=3.75;
+ dc1394error_t error;
+
+ if(strncmp(this->camera_handle->model,"Compressor",strlen("Compressor"))!=0)
+ {
+ /* handle exceptions */
+ throw CFirewireCameraException(_HERE_,"The camera is not a Ladybug2");
+ }
+ this->set_ISO_speed(800);
+ // configure the camera by default
+ this->multi_depth=DEPTH24;
+ this->multi_coding=RGB;
+ this->multi_width=1024;
+ this->multi_height=768;
+ error=dc1394_set_control_register(this->camera_handle,0x1E88,0xFFFFFF);
+ if(error!=DC1394_SUCCESS)
+ {
+ /* handle exceptions */
+ throw CFirewireInternalException(_HERE_,error);
+ }
+ CPTGCamera::set_config(&left_off,&top_off,&cols,&rows,&framerate,DEPTH8,MONO);
+ this->get_bayer_pattern(&this->bayer_pattern);
+}
+
+void CLadyBug::set_config(unsigned int *left_off,unsigned int *top_off,unsigned int *width,unsigned int *height, float *framerate, depths_t depth, codings_t coding)
+{
+ /* do nothing, just avoid the base class function to be called */
+ if(coding==RGB || coding==MONO)
+ this->multi_coding=coding;
+ else
+ {
+ /* handle exceptions */
+ }
+}
+
+void CLadyBug::get_images(char **front, char **front_right, char **rear_right, char **rear_left, char **front_left, char **top)
+{
+ int depth;
+ dc1394error_t error;
+ dc1394video_frame_t *frame;
+ unsigned char *RGB_image;
+
+ if ( *front != NULL || *front_right != NULL || *rear_right != NULL || *rear_left != NULL || *front_left != NULL || *top != 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);
+ }
+ if(this->multi_coding==RGB)
+ {
+ depth = (int)ceil((float)this->multi_depth/8.0);
+ RGB_image=new unsigned char[this->width*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( (unsigned char *)frame->image,
+ RGB_image,
+ this->width,
+ this->height,
+ this->bayer_pattern,
+ DC1394_BAYER_METHOD_NEAREST);
+
+ *front = new char[this->multi_width*this->multi_height*depth];
+ *front_right = new char[this->multi_width*this->multi_height*depth];
+ *rear_right = new char[this->multi_width*this->multi_height*depth];
+ *rear_left = new char[this->multi_width*this->multi_height*depth];
+ *front_left = new char[this->multi_width*this->multi_height*depth];
+ *top = new char[this->multi_width*this->multi_height*this->depth];
+ memcpy(*front,RGB_image,this->multi_width*this->multi_height*depth);
+ memcpy(*front_right,RGB_image+this->multi_height*this->multi_width*depth,this->multi_width*this->multi_height*depth);
+ memcpy(*rear_right,RGB_image+2*(this->multi_height*this->multi_width*depth),this->multi_width*this->multi_height*depth);
+ memcpy(*rear_left,RGB_image+3*(this->multi_height*this->multi_width*depth),this->multi_width*this->multi_height*depth);
+ memcpy(*front_left,RGB_image+4*(this->multi_height*this->multi_width*depth),this->multi_width*this->multi_height*depth);
+ memcpy(*top,RGB_image+5*(this->multi_height*this->multi_width*depth),this->multi_width*this->multi_height*depth);
+ delete[] RGB_image;
+ }
+ else
+ {
+ depth = (int)ceil((float)this->depth/8.0);
+ *front = new char[this->width*this->height*depth];
+ *front_right = new char[this->multi_width*this->multi_height*depth];
+ *rear_right = new char[this->multi_width*this->multi_height*depth];
+ *rear_left = new char[this->multi_width*this->multi_height*depth];
+ *front_left = new char[this->multi_width*this->multi_height*depth];
+ *top = new char[this->multi_width*this->multi_height*this->depth];
+ memcpy(*front,(unsigned char *)frame->image,this->multi_width*this->multi_height*depth);
+ memcpy(*front_right,(unsigned char *)frame->image+this->multi_height*this->multi_width*depth,this->multi_width*this->multi_height*depth);
+ memcpy(*rear_right,(unsigned char *)frame->image+2*(this->multi_height*this->multi_width*depth),this->multi_width*this->multi_height*depth);
+ memcpy(*rear_left,(unsigned char *)frame->image+3*(this->multi_height*this->multi_width*depth),this->multi_width*this->multi_height*depth);
+ memcpy(*front_left,(unsigned char *)frame->image+4*(this->multi_height*this->multi_width*depth),this->multi_width*this->multi_height*depth);
+ memcpy(*top,(unsigned char *)frame->image+5*(this->multi_height*this->multi_width*depth),this->multi_width*this->multi_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");
+ }
+ else
+ {
+ this->image_access.enter();
+ if(this->multi_coding==RGB)
+ {
+ depth = (int)ceil((float)this->multi_depth/8.0);
+ RGB_image=new unsigned char[this->width*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( (unsigned char *)this->frame_buffer,
+ RGB_image,
+ this->width,
+ this->height,
+ this->bayer_pattern,
+ DC1394_BAYER_METHOD_NEAREST);
+
+ *front = new char[this->multi_width*this->multi_height*depth];
+ *front_right = new char[this->multi_width*this->multi_height*depth];
+ *rear_right = new char[this->multi_width*this->multi_height*depth];
+ *rear_left = new char[this->multi_width*this->multi_height*depth];
+ *front_left = new char[this->multi_width*this->multi_height*depth];
+ *top = new char[this->multi_width*this->multi_height*this->depth];
+ memcpy(*front,RGB_image,this->multi_width*this->multi_height*depth);
+ memcpy(*front_right,RGB_image+this->multi_height*this->multi_width*depth,this->multi_width*this->multi_height*depth);
+ memcpy(*rear_right,RGB_image+2*(this->multi_height*this->multi_width*depth),this->multi_width*this->multi_height*depth);
+ memcpy(*rear_left,RGB_image+3*(this->multi_height*this->multi_width*depth),this->multi_width*this->multi_height*depth);
+ memcpy(*front_left,RGB_image+4*(this->multi_height*this->multi_width*depth),this->multi_width*this->multi_height*depth);
+ memcpy(*top,RGB_image+5*(this->multi_height*this->multi_width*depth),this->multi_width*this->multi_height*depth);
+ delete[] RGB_image;
+ }
+ else
+ {
+ depth = (int)ceil((float)this->depth/8.0);
+ *front = new char[this->multi_width*this->multi_height*depth];
+ *front_right = new char[this->multi_width*this->multi_height*depth];
+ *rear_right = new char[this->multi_width*this->multi_height*depth];
+ *rear_left = new char[this->multi_width*this->multi_height*depth];
+ *front_left = new char[this->multi_width*this->multi_height*depth];
+ *top = new char[this->multi_width*this->multi_height*this->depth];
+ memcpy(*front,(unsigned char *)this->frame_buffer,this->multi_width*this->multi_height*depth);
+ memcpy(*front_right,(unsigned char *)this->frame_buffer+this->multi_height*this->multi_width*depth,this->multi_width*this->multi_height*depth);
+ memcpy(*rear_right,(unsigned char *)this->frame_buffer+2*(this->multi_height*this->multi_width*depth),this->multi_width*this->multi_height*depth);
+ memcpy(*rear_left,(unsigned char *)this->frame_buffer+3*(this->multi_height*this->multi_width*depth),this->multi_width*this->multi_height*depth);
+ memcpy(*front_left,(unsigned char *)this->frame_buffer+4*(this->multi_height*this->multi_width*depth),this->multi_width*this->multi_height*depth);
+ memcpy(*top,(unsigned char *)this->frame_buffer+5*(this->multi_height*this->multi_width*depth),this->multi_width*this->multi_height*depth);
+ }
+ this->image_access.exit();
+ }
+}
+
+void CLadyBug::save_images(std::string &filename,char *front, char *front_right, char *rear_right, char *rear_left, char *front_left, char *top)
+{
+ std::string header,name;
+ std::stringstream text;
+ int file_front,file_front_right,file_rear_right,file_rear_left,file_front_left,file_top,depth=0;
+ unsigned int i=0;
+
+ if(filename.size()==0)
+ {
+ DEBUG_INFO("Invalid filename for the image\n");
+ /* handle the error */
+ throw CFirewireCameraException(_HERE_,"Invalid filename for the image.");
+ }
+ name="front_" + filename;
+ file_front = open(name.c_str(),O_RDWR | O_CREAT,S_IRWXU | S_IRWXG | S_IRWXO);
+ name="front_right_" + filename;
+ file_front_right = open(name.c_str(),O_RDWR | O_CREAT,S_IRWXU | S_IRWXG | S_IRWXO);
+ name="rear_right_" + filename;
+ file_rear_right = open(name.c_str(),O_RDWR | O_CREAT,S_IRWXU | S_IRWXG | S_IRWXO);
+ name="rear_left_" + filename;
+ file_rear_left = open(name.c_str(),O_RDWR | O_CREAT,S_IRWXU | S_IRWXG | S_IRWXO);
+ name="front_left_" + filename;
+ file_front_left = open(name.c_str(),O_RDWR | O_CREAT,S_IRWXU | S_IRWXG | S_IRWXO);
+ name="top_" + filename;
+ file_top = open(name.c_str(),O_RDWR | O_CREAT,S_IRWXU | S_IRWXG | S_IRWXO);
+ if ( this->multi_coding == RGB )
+ {
+ header="P6\n";
+ text << this->multi_width;
+ header+=text.str();
+ text.str("");
+ text << this->multi_height;
+ header+=" ";
+ header+=text.str();
+ header+='\n';
+ if ( this->multi_depth == DEPTH48 )
+ header+="65535\n";
+ else
+ header+="255\n";
+ }
+ else
+ {
+ header="P5\n";
+ text << this->multi_width;
+ header+=text.str();
+ text.str("");
+ text << this->multi_height;
+ header+=" ";
+ header+=text.str();
+ header+='\n';
+ if ( this->multi_depth == DEPTH16 )
+ header+="65535\n";
+ else
+ header+="255\n";
+ }
+ depth = (int)ceil((float)this->multi_depth/8.0);
+ write(file_front,header.c_str(),header.size());
+ write(file_front_right,header.c_str(),header.size());
+ write(file_rear_right,header.c_str(),header.size());
+ write(file_rear_left,header.c_str(),header.size());
+ write(file_front_left,header.c_str(),header.size());
+ write(file_top,header.c_str(),header.size());
+ for( i = 0 ; i < this->multi_height ; i++ )
+ {
+ write(file_front,&front[i*this->multi_width*depth],this->multi_width*depth);
+ write(file_front_right,&front_right[i*this->multi_width*depth],this->multi_width*depth);
+ write(file_rear_right,&rear_right[i*this->multi_width*depth],this->multi_width*depth);
+ write(file_rear_left,&rear_left[i*this->multi_width*depth],this->multi_width*depth);
+ write(file_front_left,&front_left[i*this->multi_width*depth],this->multi_width*depth);
+ write(file_top,&top[i*this->multi_width*depth],this->multi_width*depth);
+ }
+ close(file_front);
+ close(file_front_right);
+ close(file_rear_right);
+ close(file_rear_left);
+ close(file_front_left);
+ close(file_top);
+}
+
+CLadyBug::~CLadyBug()
+{
+
+}
diff --git a/src/ladybug.h b/src/ladybug.h
new file mode 100755
index 0000000000000000000000000000000000000000..a81c4e1e495e48a27cdb3faffeb2187b8502f7d7
--- /dev/null
+++ b/src/ladybug.h
@@ -0,0 +1,57 @@
+#ifndef _LADYBUG_H
+#define _LADYBUG_H
+
+#include "ptg_camera.h"
+
+class CLadyBug : public CPTGCamera
+{
+ protected:
+ /**
+ * \brief
+ *
+ */
+ depths_t multi_depth;
+ /**
+ * \brief
+ *
+ */
+ codings_t multi_coding;
+ /**
+ * \brief
+ *
+ */
+ unsigned int multi_width;
+ /**
+ * \brief
+ *
+ */
+ unsigned int multi_height;
+ public:
+ /**
+ * \brief
+ *
+ */
+ CLadyBug(dc1394_t *firewire,uint64_t camera_id);
+ /**
+ * \brief
+ *
+ */
+ 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);
+ /**
+ * \brief
+ *
+ */
+ void get_images(char **front, char **front_right, char **rear_right, char **rear_left, char **front_left, char **top);
+ /**
+ * \brief
+ *
+ */
+ void save_images(std::string &filename,char *front, char *front_right, char *rear_right, char *rear_left, char *front_left, char *top);
+ /**
+ * \brief
+ *
+ */
+ ~CLadyBug();
+};
+
+#endif
diff --git a/src/pgr_stereo_camera.cpp b/src/pgr_stereo_camera.cpp
deleted file mode 100755
index ff3ff571128ad6c518c062c589f0dd819c9e1d54..0000000000000000000000000000000000000000
--- a/src/pgr_stereo_camera.cpp
+++ /dev/null
@@ -1,437 +0,0 @@
-#include "pgr_stereo_camera.h"
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <string.h>
-#include <fcntl.h>
-#include <math.h>
-
-CPGRStereoCamera::CPGRStereoCamera(dc1394_t *firewire,uint64_t camera_id):CFirewireCamera(firewire,camera_id)
-{
- this->bayer_pattern=(dc1394color_filter_t)-1;
- this->stereo_depth=(depths_t)-1;
- this->stereo_coding=(codings_t)-1;
- this->stereo_framerate=0.0;
- this->left_camera_enabled=true;
- this->right_camera_enabled=true;
- if(strncmp(this->camera_handle->model,"Bumblebee2",strlen("Bumblebee2"))!=0)
- {
- throw CFirewireCameraException(_HERE_,"The camera is not a bumblebee2");
- }
- this->set_ISO_speed(400);
- this->select_cameras(LEFT_CAM|RIGHT_CAM);
-}
-
-// overloaded functions from the base class
-void CPGRStereoCamera::set_config(unsigned int *left_off,unsigned int *top_off,unsigned int *width,unsigned int *height, float *framerate, depths_t depth, codings_t coding)
-{
- uint64_t total_bytes;
- dc1394color_coding_t dc1394_coding;
- dc1394error_t error;
- unsigned int bpp;
-
- if(this->left_camera_enabled && this->right_camera_enabled)
- {
- // set the operation mode
- error=dc1394_video_set_mode(this->camera_handle,DC1394_VIDEO_MODE_FORMAT7_3);
- if(error!=DC1394_SUCCESS)
- {
- /* handle exceptions */
- throw CFirewireInternalException(_HERE_,error);
- }
- this->mode=DC1394_VIDEO_MODE_FORMAT7_3;
- // configure the camera
- if(coding==MONO)
- dc1394_coding=DC1394_COLOR_CODING_MONO16;
- else
- dc1394_coding=DC1394_COLOR_CODING_RAW16;
- error=dc1394_format7_set_roi(this->camera_handle,
- this->mode,
- dc1394_coding,
- DC1394_USE_MAX_AVAIL,
- 0,
- 0,
- *width,
- *height);
- if(error!=DC1394_SUCCESS)
- {
- // handle exceptions
- throw CFirewireInternalException(_HERE_,error);
- }
- this->left_offset=*left_off;
- this->top_offset=*top_off;
- this->width=*width;
- this->height=*height;
- this->coding=coding;
- this->depth=depth;
- // compute the actual framerate
- error = dc1394_format7_get_total_bytes(this->camera_handle,this->mode,&total_bytes);
- if ( error != DC1394_SUCCESS )
- {
- DEBUG_INFO("failed.\n");
- /* handle the error */
- throw CFirewireInternalException(_HERE_,error);
- }
- error = dc1394_format7_get_packet_size(this->camera_handle,this->mode,&bpp);
- if ( error != DC1394_SUCCESS )
- {
- DEBUG_INFO("failed.\n");
- /* handle the error */
- throw CFirewireInternalException(_HERE_,error);
- }
- this->framerate=this->iso_rate*bpp*2/total_bytes;
- this->set_num_DMA_buffers(4);
- }
- else
- CFirewireCamera::set_config(left_off,top_off,width,height,framerate, depth, coding);
-}
-
-void CPGRStereoCamera::get_sensor_info(bool *color,unsigned int *rows, unsigned int *cols)
-{
- unsigned char sensor_info;
- unsigned int value;
- dc1394error_t error;
-
- // This register is an advanced PGR register called SENSOR_BOARD_INFO
- error=dc1394_get_control_register(this->camera_handle,SENSOR_BOARD_INFO_REGISTER,&value);
- if(error!=DC1394_SUCCESS)
- {
- /* handle exceptions */
- throw CFirewireInternalException(_HERE_,error);
- }
- sensor_info=value&0x0F;
-
- switch( sensor_info )
- {
- default:
- // unknown sensor!
- throw CFirewireCameraException(_HERE_,"Illegal sensor board info detected");
- break;
- case 0xA: // color 640x480
- *color=true;
- *rows=480;
- *cols=640;
- break;
- case 0xB: // mono 640x480
- *color=false;
- *rows=480;
- *cols=640;
- break;
- case 0xC: // color 1024x768
- *color=true;
- *rows=768;
- *cols=1024;
- break;
- case 0xD: // mono 1024x768
- *color=false;
- *rows=768;
- *cols=1024;
- break;
- case 0xE: // color 1280x960
- *color=true;
- *rows=960;
- *cols=1280;
- break;
- case 0xF: // mono 1280x960
- *color=false;
- *rows=960;
- *cols=1280;
- break;
- }
-}
-
-// public functions
-void CPGRStereoCamera::get_bayer_pattern(dc1394color_filter_t *pattern)
-{
- unsigned int value;
- dc1394error_t error;
-
- // query register 0x1040
- // This register is an advanced PGR register called BAYER_TILE_MAPPING
- // For more information check the PGR IEEE-1394 Digital Camera Register Reference
- error=dc1394_get_control_register(this->camera_handle,BAYER_TILE_MAPPING_REGISTER,&value);
- if(error!=DC1394_SUCCESS)
- {
- /* handle exceptions */
- throw CFirewireInternalException(_HERE_,error);
- }
- // Ascii R = 52 G = 47 B = 42 Y = 59
- switch( value )
- {
- default:
- case 0x59595959: // YYYY
- // no bayer
- *pattern = (dc1394color_filter_t) 0;
- break;
- case 0x52474742: // RGGB
- *pattern = DC1394_COLOR_FILTER_RGGB;
- break;
- case 0x47425247: // GBRG
- *pattern = DC1394_COLOR_FILTER_GBRG;
- break;
- case 0x47524247: // GRBG
- *pattern = DC1394_COLOR_FILTER_GRBG;
- break;
- case 0x42474752: // BGGR
- *pattern = DC1394_COLOR_FILTER_BGGR;
- break;
- }
-}
-
-void CPGRStereoCamera::select_cameras(unsigned char cameras)
-{
- unsigned int left_off=0,top_off=0,rows,cols;
- dc1394error_t error;
- unsigned int value;
- float framerate;
- bool color;
-
- if(cameras&LEFT_CAM && cameras&RIGHT_CAM)// set the stereo system
- {
- this->left_camera_enabled=true;
- this->right_camera_enabled=true;
- // get the camera information
- this->get_sensor_info(&color,&rows,&cols);
- // configure the camera by default
- if(color)
- {
- this->stereo_depth=DEPTH24;
- this->stereo_coding=RGB;
- }
- else
- {
- this->stereo_depth=DEPTH8;
- this->stereo_coding=MONO;
- }
- if(color)
- this->set_config(&left_off,&top_off,&cols,&rows,&framerate,DEPTH16,RAW);
- else
- this->set_config(&left_off,&top_off,&cols,&rows,&framerate,DEPTH16,MONO);
- this->get_bayer_pattern(&this->bayer_pattern);
- }
- else
- {
- this->set_config(&this->left_offset,&this->top_offset,&this->width,&this->height,&this->stereo_framerate,this->stereo_depth,this->stereo_coding);
- if(cameras&LEFT_CAM)
- {
- this->left_camera_enabled=true;
- this->right_camera_enabled=false;
- value=2;
- error=dc1394_set_control_register(this->camera_handle,PAN_REGISTER,value);
- if(error!=DC1394_SUCCESS)
- {
- /* handle exceptions */
- throw CFirewireInternalException(_HERE_,error);
- }
- }
- else
- {
- this->left_camera_enabled=false;
- this->right_camera_enabled=true;
- value=0;
- error=dc1394_set_control_register(this->camera_handle,PAN_REGISTER,value);
- if(error!=DC1394_SUCCESS)
- {
- /* handle exceptions */
- throw CFirewireInternalException(_HERE_,error);
- }
- }
- }
-}
-
-std::string CPGRStereoCamera::get_model(void)
-{
- return this->camera_handle->model;
-}
-
-void CPGRStereoCamera::get_stereo_image(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)
- {
- RGB_image=new unsigned char[this->width*this->height*depth*3];
- // 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);
-
- *left = new char[this->width*this->height*depth*this->stereo_depth/8];
- *right = new char[this->width*this->height*depth*this->stereo_depth/8];
- memcpy(*left,RGB_image,this->width*this->height*this->stereo_depth/8);
- memcpy(*right,RGB_image+this->height*this->width*this->stereo_depth/8,this->width*this->height*this->stereo_depth/8);
- delete[] RGB_image;
- }
- else
- {
- *left = new char[this->width*this->height*depth*this->stereo_depth/8];
- *right = new char[this->width*this->height*depth*this->stereo_depth/8];
- memcpy(*left,de_interleaved,this->width*this->height*this->stereo_depth/8);
- memcpy(*right,de_interleaved+this->height*this->width*this->stereo_depth/8,this->width*this->height*this->stereo_depth/8);
- }
- if(this->frame_buffer!=NULL)
- delete[] this->frame_buffer;
- this->frame_buffer = new char[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");
- 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)
- {
- RGB_image=new unsigned char[this->width*this->height*depth*3];
- // 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);
-
- *left = new char[this->width*this->height*depth*this->stereo_depth/8];
- *right = new char[this->width*this->height*depth*this->stereo_depth/8];
- memcpy(*left,RGB_image,this->width*this->height*this->stereo_depth/8);
- memcpy(*right,RGB_image+this->width*this->height*this->stereo_depth/8,this->width*this->height*this->stereo_depth/8);
- delete[] RGB_image;
- }
- else
- {
- *left = new char[this->width*this->height*depth*this->stereo_depth/8];
- *right = new char[this->width*this->height*depth*this->stereo_depth/8];
- memcpy(*left,de_interleaved,this->width*this->height*this->stereo_depth/8);
- memcpy(*right,de_interleaved+this->height*this->width*this->stereo_depth/8,this->width*this->height*this->stereo_depth/8);
- }
- this->image_access.exit();
- delete[] de_interleaved;
- }
-}
-
-void CPGRStereoCamera::save_stereo_image(std::string &filename,char *left, char *right)
-{
- std::string header,name;
- std::stringstream text;
- int file_left,file_right,depth=0;
- unsigned int i=0;
-
- if(filename.size()==0)
- {
- DEBUG_INFO("Invalid filename for the image\n");
- /* handle the error */
- throw CFirewireCameraException(_HERE_,"Invalid filename for the image.");
- }
- name="left_" + filename;
- file_left = open(name.c_str(),O_RDWR | O_CREAT,S_IRWXU | S_IRWXG | S_IRWXO);
- name="right_" + filename;
- file_right = open(name.c_str(),O_RDWR | O_CREAT,S_IRWXU | S_IRWXG | S_IRWXO);
- if ( this->stereo_coding == RGB || this->stereo_coding == YUV )
- {
- header="P6\n";
- text << this->width;
- header+=text.str();
- text.str("");
- text << this->height;
- header+=" ";
- header+=text.str();
- header+='\n';
- if ( this->depth == DEPTH48 )
- header+="65535\n";
- else
- header+="255\n";
- }
- else
- {
- header="P5\n";
- text << this->width;
- header+=text.str();
- text.str("");
- text << this->height;
- header+=" ";
- header+=text.str();
- header+='\n';
- if ( this->depth == DEPTH48 )
- header+="65535\n";
- else
- header+="255\n";
- }
- 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++ )
- {
- write(file_left,&left[i*this->width*depth],this->width*depth);
- write(file_right,&right[i*this->width*depth],this->width*depth);
- }
- close(file_left);
- close(file_right);
-}
-
-CPGRStereoCamera::~CPGRStereoCamera()
-{
- this->bayer_pattern=(dc1394color_filter_t)-1;
- this->stereo_depth=(depths_t)-1;
- this->stereo_coding=(codings_t)-1;
- this->stereo_framerate=0.0;
- this->left_camera_enabled=false;
- this->right_camera_enabled=false;
-}
diff --git a/src/pgr_stereo_camera.h b/src/pgr_stereo_camera.h
deleted file mode 100755
index 413ad615d095b7c2509c08f3e94286f476a7acac..0000000000000000000000000000000000000000
--- a/src/pgr_stereo_camera.h
+++ /dev/null
@@ -1,108 +0,0 @@
-#ifndef _PGR_STEREO_CAMERA_H
-#define _PGR_STEREO_CAMERA_H
-
-#include "firewirecamera.h"
-
-#define LEFT_CAM 0x01
-#define RIGHT_CAM 0x02
-
-// Point grey specific registers
-#define BAYER_TILE_MAPPING_REGISTER (0x1040)
-#define SENSOR_BOARD_INFO_REGISTER (0x1f28)
-#define IMAGE_DATA_FORMAT_REGISTER (0x1048)
-#define PAN_REGISTER (0x0884)
-
-/**
- * \brief
- *
- */
-class CPGRStereoCamera : public CFirewireCamera
-{
- protected:
- // stereo attributes
- /**
- * \brief
- *
- */
- dc1394color_filter_t bayer_pattern;
- /**
- * \brief
- *
- */
- depths_t stereo_depth;
- /**
- * \brief
- *
- */
- codings_t stereo_coding;
- /**
- * \brief
- *
- */
- float stereo_framerate;
- /**
- * \brief
- *
- */
- bool left_camera_enabled;
- /**
- * \brief
- *
- */
- bool right_camera_enabled;
- // stereo functions
- /**
- * \brief
- *
- */
- void get_sensor_info(bool *color,unsigned int *rows, unsigned int *cols);
- /**
- * \brief
- *
- */
- void select_cameras(unsigned char cameras);
- public:
- /**
- * \brief
- *
- */
- CPGRStereoCamera(dc1394_t *firewire,uint64_t camera_id);
- // configuration functions
- /**
- * \brief
- *
- */
- 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);
- /**
- * \brief
- *
- */
- void get_bayer_pattern(dc1394color_filter_t *pattern);
- /**
- * \brief
- *
- */
- std::string get_model(void);
- // stereo camera operation functions
- /**
- * \brief
- *
- */
- void get_stereo_image(char **left,char **right);
- /**
- * \brief
- *
- */
- void save_stereo_image(std::string &filename,char *left, char *right);
- /**
- * \brief
- *
- */
- ~CPGRStereoCamera();
- /**
- * \brief
- *
- */
-};
-
-#endif
diff --git a/src/ptg_camera.cpp b/src/ptg_camera.cpp
new file mode 100755
index 0000000000000000000000000000000000000000..bc15e119e8f47b8bb96695d23beedf88e0d00b05
--- /dev/null
+++ b/src/ptg_camera.cpp
@@ -0,0 +1,128 @@
+#include "ptg_camera.h"
+
+CPTGCamera::CPTGCamera(dc1394_t *firewire,uint64_t camera_id):CFirewireCamera(firewire,camera_id)
+{
+ this->bayer_pattern=(dc1394color_filter_t)-1;
+ this->selected_sensor=0;
+}
+
+void CPTGCamera::get_sensor_info(bool *color,unsigned int *rows, unsigned int *cols)
+{
+ unsigned char sensor_info;
+ unsigned int value;
+ dc1394error_t error;
+
+ // This register is an advanced PGR register called SENSOR_BOARD_INFO
+ error=dc1394_get_control_register(this->camera_handle,SENSOR_BOARD_INFO_REGISTER,&value);
+ if(error!=DC1394_SUCCESS)
+ {
+ /* handle exceptions */
+ throw CFirewireInternalException(_HERE_,error);
+ }
+ sensor_info=value&0x0F;
+
+ switch( sensor_info )
+ {
+ default:
+ // unknown sensor!
+ throw CFirewireCameraException(_HERE_,"Illegal sensor board info detected");
+ break;
+ case 0xA: // color 640x480
+ *color=true;
+ *rows=480;
+ *cols=640;
+ break;
+ case 0xB: // mono 640x480
+ *color=false;
+ *rows=480;
+ *cols=640;
+ break;
+ case 0xC: // color 1024x768
+ *color=true;
+ *rows=768;
+ *cols=1024;
+ break;
+ case 0xD: // mono 1024x768
+ *color=false;
+ *rows=768;
+ *cols=1024;
+ break;
+ case 0xE: // color 1280x960
+ *color=true;
+ *rows=960;
+ *cols=1280;
+ break;
+ case 0xF: // mono 1280x960
+ *color=false;
+ *rows=960;
+ *cols=1280;
+ break;
+ }
+}
+
+void CPTGCamera::select_sensor(unsigned int sensor_id)
+{
+ dc1394error_t error;
+
+ error=dc1394_set_control_register(this->camera_handle,PAN_REGISTER,sensor_id);
+ if(error!=DC1394_SUCCESS)
+ {
+ /* handle exceptions */
+ throw CFirewireInternalException(_HERE_,error);
+ }
+ this->selected_sensor=sensor_id;
+}
+
+unsigned int CPTGCamera::get_selected_sensor(void)
+{
+ return this->selected_sensor;
+}
+
+void CPTGCamera::get_bayer_pattern(dc1394color_filter_t *pattern)
+{
+ unsigned int value;
+ dc1394error_t error;
+
+ // query register 0x1040
+ // This register is an advanced PGR register called BAYER_TILE_MAPPING
+ // For more information check the PGR IEEE-1394 Digital Camera Register Reference
+ error=dc1394_get_control_register(this->camera_handle,BAYER_TILE_MAPPING_REGISTER,&value);
+ if(error!=DC1394_SUCCESS)
+ {
+ /* handle exceptions */
+ throw CFirewireInternalException(_HERE_,error);
+ }
+ // Ascii R = 52 G = 47 B = 42 Y = 59
+ switch( value )
+ {
+ default:
+ case 0x59595959: // YYYY
+ // no bayer
+ *pattern = (dc1394color_filter_t) 0;
+ break;
+ case 0x52474742: // RGGB
+ *pattern = DC1394_COLOR_FILTER_RGGB;
+ break;
+ case 0x47425247: // GBRG
+ *pattern = DC1394_COLOR_FILTER_GBRG;
+ break;
+ case 0x47524247: // GRBG
+ *pattern = DC1394_COLOR_FILTER_GRBG;
+ break;
+ case 0x42474752: // BGGR
+ *pattern = DC1394_COLOR_FILTER_BGGR;
+ break;
+ }
+}
+
+std::string CPTGCamera::get_model(void)
+{
+ return this->camera_handle->model;
+}
+
+CPTGCamera::~CPTGCamera()
+{
+ this->bayer_pattern=(dc1394color_filter_t)-1;
+ this->selected_sensor=0;
+}
+
diff --git a/src/ptg_camera.h b/src/ptg_camera.h
new file mode 100755
index 0000000000000000000000000000000000000000..3e7ddfc402a3f68164824aa037050be88cff57a6
--- /dev/null
+++ b/src/ptg_camera.h
@@ -0,0 +1,63 @@
+#ifndef _PTG_CAMERA_H
+#define _PTG_CAMERA_H
+
+#include "firewirecamera.h"
+
+// Point grey specific registers
+#define BAYER_TILE_MAPPING_REGISTER (0x1040)
+#define SENSOR_BOARD_INFO_REGISTER (0x1f28)
+#define IMAGE_DATA_FORMAT_REGISTER (0x1048)
+#define PAN_REGISTER (0x0884)
+
+class CPTGCamera : public CFirewireCamera
+{
+ protected:
+ /**
+ * \brief
+ *
+ */
+ dc1394color_filter_t bayer_pattern;
+ /**
+ * \brief
+ *
+ */
+ unsigned int selected_sensor;
+ /**
+ * \brief
+ *
+ */
+ void get_sensor_info(bool *color,unsigned int *rows, unsigned int *cols);
+ public:
+ /**
+ * \brief
+ *
+ */
+ CPTGCamera(dc1394_t *firewire,uint64_t camera_id);
+ /**
+ * \brief
+ *
+ */
+ void select_sensor(unsigned int sensor_id);
+ /**
+ * \brief
+ *
+ */
+ unsigned int get_selected_sensor(void);
+ /**
+ * \brief
+ *
+ */
+ void get_bayer_pattern(dc1394color_filter_t *pattern);
+ /**
+ * \brief
+ *
+ */
+ std::string get_model(void);
+ /**
+ * \brief
+ *
+ */
+ ~CPTGCamera();
+};
+
+#endif