CStereoGrabber_Bumblebee_libdc1394.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
 
#include "hwdrivers-precomp.h"  // Only for precomp. headers, include all libmrpt-core headers.
 
#include <mrpt/hwdrivers/CStereoGrabber_Bumblebee_libdc1394.h>
 
using namespace std;
using namespace mrpt;
using namespace mrpt::obs;
using namespace mrpt::hwdrivers;
 
CStereoGrabber_Bumblebee_libdc1394::CStereoGrabber_Bumblebee_libdc1394(uint64_t cameraGUID, uint16_t cameraUnit, double   frameRate) :
        m_firewire_capture(NULL),
        m_bInitialized(false)
{
        MRPT_TRY_START
 
        TCaptureOptions_dc1394  opt1394;
        opt1394.mode7                           = 3; // stereo cameras are captured with MODE7-3
        opt1394.deinterlace_stereo      = true; // It is stereo.
 
        std::map<double,grabber_dc1394_framerate_t> Rs;
        Rs[1.875] = FRAMERATE_1_875;
        Rs[3.75] = FRAMERATE_3_75;
        Rs[7.5] = FRAMERATE_7_5;
        Rs[15] = FRAMERATE_15;
        Rs[30] = FRAMERATE_30;
        Rs[60] = FRAMERATE_60;
        Rs[120] = FRAMERATE_120;
        Rs[240] = FRAMERATE_240;
 
        if (Rs.find(frameRate)!=Rs.end())
                        opt1394.framerate = Rs[frameRate];
        else cerr << "[CStereoGrabber_Bumblebee_libdc1394] Ignoring unknown framerate: " << frameRate << "\n";
 
        m_firewire_capture = new CImageGrabber_dc1394(cameraGUID,cameraUnit,opt1394);
 
        if (!m_firewire_capture->isOpen())
                cerr << "[CStereoGrabber_Bumblebee] The camera couldn't be open" << endl;
 
        MRPT_TRY_END
}
 
/*-------------------------------------------------------------
                                        Destructor
 -------------------------------------------------------------*/
CStereoGrabber_Bumblebee_libdc1394::~CStereoGrabber_Bumblebee_libdc1394()
{
        if (m_firewire_capture)
        {
                delete m_firewire_capture;
                m_firewire_capture = NULL;
        }
}
 
/*-------------------------------------------------------------
                                        get the image
 -------------------------------------------------------------*/
bool  CStereoGrabber_Bumblebee_libdc1394::getStereoObservation( mrpt::obs::CObservationStereoImages &out_observation )
{
        if (!m_firewire_capture->isOpen())
        {
                cerr << "[CStereoGrabber_Bumblebee] The camera couldn't be open" << endl;
                return false;
        }
 
        if (!m_firewire_capture->getObservation(out_observation))
                return false;
 
        return true; // All ok
}