CStereoGrabber_Bumblebee_libdc1394.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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>
#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
}