stereoCam::stereoCam() {
// Find cameras on the 1394 buses
d = dc1394_new ();
// Enumerate cameras connected to the PC
err = dc1394_camera_enumerate (d, &list);
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Unable to look for cameras\n\n"
"Please check \n"
" - if the kernel modules `ieee1394',`raw1394' and `ohci1394' "
"are loaded \n"
" - if you have read/write access to /dev/raw1394\n\n");
nThisCam=-1;
//return 1;
}
if (list->num == 0)
{
fprintf( stderr, "No cameras found!\n");
nThisCam=-1;
//return 1;
}
printf( "There were %d camera(s) found attached to your PC\n", list->num );
// Identify cameras. Use the first stereo camera that is found
for ( nThisCam = 0; nThisCam < list->num; nThisCam++ )
{
camera = dc1394_camera_new(d, list->ids[nThisCam].guid);
if(!camera)
{
printf("Failed to initialize camera with guid %llx",
list->ids[nThisCam].guid);
continue;
}
printf( "Camera %d model = '%s'\n", nThisCam, camera->model );
if ( isStereoCamera(camera))
{
printf( "Using this camera\n" );
break;
}
dc1394_camera_free(camera);
}
if ( nThisCam == list->num )
{
printf( "No stereo cameras were detected\n" );
nThisCam=-1;
//return 0;
}
// Free memory used by the camera list
dc1394_camera_free_list (list);
// query information about this stereo camera
err = queryStereoCamera( camera, &stereoCamera );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Cannot query all information from camera\n" );
cleanup_and_exit( camera );
}
if ( stereoCamera.nBytesPerPixel != 2 )
{
// can't handle XB3 3 bytes per pixel
fprintf( stderr,
"Example not updated to work with XB3 in 3 camera mode yet!\n" );
cleanup_and_exit( stereoCamera.camera );
}
// set the capture mode
printf( "Setting stereo video capture mode\n" );
err = setStereoVideoCapture( &stereoCamera );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Could not set up video capture mode\n" );
cleanup_and_exit( stereoCamera.camera );
}
// have the camera start sending us data
printf( "Start transmission\n" );
err = startTransmission( &stereoCamera );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Unable to start camera iso transmission\n" );
cleanup_and_exit( stereoCamera.camera );
}
// give the auto-gain algorithms a chance to catch up
// printf( "Giving auto-gain algorithm a chance to stabilize\n" );
// sleep( 5 );
// Allocate all the buffers.
// Unfortunately color processing is a bit inefficient
// because of the number of
// data copies. Color data needs to be
// - de-interleaved into separate bayer tile images
// - color processed into RGB images
// - de-interleaved to extract the green channel
// for stereo (or other mono conversion)
// size of buffer for all images at mono8
nBufferSize = stereoCamera.nRows *
stereoCamera.nCols *
stereoCamera.nBytesPerPixel;
// allocate a buffer to hold the de-interleaved images
pucDeInterlacedBuffer = new unsigned char[ nBufferSize ];
pucRGBBuffer = new unsigned char[ 3 * nBufferSize ];
pucGreenBuffer = new unsigned char[ nBufferSize ];
// do stereo processing
printf( "Getting TriclopsContext from camera (slowly)... \n" );
e = getTriclopsContextFromCamera( &stereoCamera, &triclops );
TRIERR(e);
printf( "...got it\n" );
// make sure we are in subpixel mode
e = triclopsSetSubpixelInterpolation( triclops, 1 );
TRIERR(e);
e = triclopsSetDisparityMapping(triclops,0,60);
TRIERR(e);
e = triclopsSetDisparityMappingOn(triclops,1);
TRIERR(e);
e = triclopsSetUniquenessValidationMapping(triclops,0);
TRIERR(e);
e = triclopsSetTextureValidationMapping(triclops,0);
TRIERR(e);
isInRoutine=false;
}
int main( int argc, char *argv[] )
{
dc1394camera_t* camera;
dc1394error_t err;
dc1394_t * d;
dc1394camera_list_t * list;
unsigned int nThisCam;
// Find cameras on the 1394 buses
d = dc1394_new ();
// Enumerate cameras connected to the PC
err = dc1394_camera_enumerate (d, &list);
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Unable to look for cameras\n\n"
"Please check \n"
" - if the kernel modules `ieee1394',`raw1394' and `ohci1394' "
"are loaded \n"
" - if you have read/write access to /dev/raw1394\n\n");
return 1;
}
if (list->num == 0)
{
fprintf( stderr, "No cameras found!\n");
return 1;
}
printf( "There were %d camera(s) found attached to your PC\n", list->num );
// Identify cameras. Use the first stereo camera that is found
for ( nThisCam = 0; nThisCam < list->num; nThisCam++ )
{
camera = dc1394_camera_new(d, list->ids[nThisCam].guid);
if(!camera)
{
printf("Failed to initialize camera with guid %llx", list->ids[nThisCam].guid);
continue;
}
printf( "Camera %d model = '%s'\n", nThisCam, camera->model );
if ( isStereoCamera(camera))
{
printf( "Using this camera\n" );
break;
}
dc1394_camera_free(camera);
}
if ( nThisCam == list->num )
{
printf( "No stereo cameras were detected\n" );
return 0;
}
// Free memory used by the camera list
dc1394_camera_free_list (list);
PGRStereoCamera_t stereoCamera;
// query information about this stereo camera
err = queryStereoCamera( camera, &stereoCamera );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Cannot query all information from camera\n" );
cleanup_and_exit( camera );
}
// set the capture mode
printf( "Setting stereo video capture mode\n" );
err = setStereoVideoCapture( &stereoCamera );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Could not set up video capture mode\n" );
cleanup_and_exit( stereoCamera.camera );
}
// have the camera start sending us data
printf( "Start transmission\n" );
err = startTransmission( &stereoCamera );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Unable to start camera iso transmission\n" );
cleanup_and_exit( stereoCamera.camera );
}
// give the auto-gain algorithms a chance to catch up
printf( "Wait for the auto-gain algorithm to stabilize\n" );
sleep( 5 );
// Allocate all the buffers.
// Unfortunately color processing is a bit inefficient because of the number of
// data copies. Color data needs to be
// - de-interleaved into separate bayer tile images
// - color processed into RGB images
// - de-interleaved to extract the green channel for stereo (or other mono conversion)
// size of capture buffer
unsigned int nBufferSize = stereoCamera.nRows *
stereoCamera.nCols *
stereoCamera.nBytesPerPixel;
// allocate a buffer to hold the de-interleaved images
unsigned char* pucDeInterlacedBuffer = new unsigned char[ nBufferSize ];
if ( stereoCamera.bColor )
{
unsigned char* pucRGBBuffer = new unsigned char[ 3 * nBufferSize ];
unsigned char* pucGreenBuffer = new unsigned char[ nBufferSize ];
unsigned char* pucRightRGB = NULL;
unsigned char* pucLeftRGB = NULL;
unsigned char* pucCenterRGB = NULL;
TriclopsInput input;
// get the images from the capture buffer and do all required processing
// note: produces a TriclopsInput that can be used for stereo processing
extractImagesColor( &stereoCamera,
DC1394_BAYER_METHOD_NEAREST,
pucDeInterlacedBuffer,
pucRGBBuffer,
pucGreenBuffer,
&pucRightRGB,
&pucLeftRGB,
&pucCenterRGB,
&input );
// write the color images to file
if ( !writePpm( "right.ppm", pucRightRGB, stereoCamera.nCols, stereoCamera.nRows ) )
printf( "wrote right.ppm\n" );
if ( !writePpm( "left.ppm", pucLeftRGB, stereoCamera.nCols, stereoCamera.nRows ) )
printf( "wrote left.ppm\n" );
if ( pucCenterRGB != pucLeftRGB )
if ( !writePpm( "center.ppm", pucCenterRGB, stereoCamera.nCols, stereoCamera.nRows ) )
printf( "wrote center.ppm\n" );
delete[] pucRGBBuffer;
delete[] pucGreenBuffer;
}
else
{
unsigned char* pucRightMono = NULL;
unsigned char* pucLeftMono = NULL;
unsigned char* pucCenterMono = NULL;
TriclopsInput input;
// get the images from the capture buffer and do all required processing
// note: produces a TriclopsInput that can be used for stereo processing
extractImagesMono( &stereoCamera,
pucDeInterlacedBuffer,
&pucRightMono,
&pucLeftMono,
&pucCenterMono,
&input );
// write the greyscale images to file
if ( !writePgm( "right.pgm", pucRightMono, stereoCamera.nCols, stereoCamera.nRows ) )
printf( "wrote right.pgm\n" );
if ( !writePgm( "left.pgm", pucLeftMono, stereoCamera.nCols, stereoCamera.nRows ) )
printf( "wrote left.pgm\n" );
if ( pucCenterMono != pucLeftMono )
if ( !writePgm( "center.pgm", pucCenterMono, stereoCamera.nCols, stereoCamera.nRows ) )
printf( "wrote center.pgm\n" );
}
printf( "Stop transmission\n" );
// Stop data transmission
if ( dc1394_video_set_transmission( stereoCamera.camera, DC1394_OFF ) != DC1394_SUCCESS )
{
fprintf( stderr, "Couldn't stop the camera?\n" );
}
delete[] pucDeInterlacedBuffer;
// close camera
cleanup_and_exit( camera );
return 0;
}