CStereoGrabber_Bumblebee_libdc1394.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "hwdrivers-precomp.h"  // Only for precomp. headers, include all libmrpt-core headers.

#include <mrpt/hwdrivers/CStereoGrabber_Bumblebee_libdc1394.h>
#include <map>

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(nullptr), 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 = nullptr;
    }
}

/*-------------------------------------------------------------
                    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
}