void Libdc1394SequenceGrabber::setupBayer()
{
msg(osg::INFO) << "setupBayer" << std::endl;
if( _sourceFormat == DC1394_COLOR_CODING_RAW8 ||
_sourceFormat == DC1394_COLOR_CODING_MONO8 ||
_sourceFormat == DC1394_COLOR_CODING_MONO16 ||
_sourceFormat == DC1394_COLOR_CODING_RAW16 )
{
getBayerTile( _camera, &_bayerPattern );
}
}
//=============================================================================
// setStereoVideoCapture()
//
// Given that the camera handle is a stereo camera, query the camera for
// stereo specific information about this camera and populate the
// PGRStereoCamera_t handle structure
//
// note: currently always allocated maximum framerate
dc1394error_t
setStereoVideoCapture( PGRStereoCamera_t* stereoCamera )
{
dc1394error_t err;
dc1394color_coding_t coding;
switch( stereoCamera->model )
{
case BUMBLEBEE:
dc1394video_mode_t videoMode;
dc1394framerate_t fps;
// note: both B&W and Bayer Bumblebees transmit in mono mode
if ( stereoCamera->nCols == 640 )
{
// lo res
printf("capture mode: DC1394_VIDEO_MODE_640x480_MONO16 ");
printf("capture mode: %d\n", DC1394_VIDEO_MODE_640x480_MONO16);
videoMode = DC1394_VIDEO_MODE_640x480_MONO16;
fps = DC1394_FRAMERATE_30;
}
else
{
printf("capture mode: DC1394_VIDEO_MODE_1024x768_MONO16 ");
printf("capture mode: %d\n", DC1394_VIDEO_MODE_1024x768_MONO16);
// assume hi res
videoMode = DC1394_VIDEO_MODE_1024x768_MONO16;
fps = DC1394_FRAMERATE_15;
}
// make the calls to set up the capture mode
dc1394_video_set_iso_speed( stereoCamera->camera, DC1394_ISO_SPEED_400 );
dc1394_video_set_mode( stereoCamera->camera, videoMode );
dc1394_video_set_framerate( stereoCamera->camera, fps );
err = dc1394_capture_setup( stereoCamera->camera, 8, DC1394_CAPTURE_FLAGS_DEFAULT );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Can't setup Bumblebee capture\n" );
return err;
}
break;
case BUMBLEBEE2:
// Bumblebee2 transmits stereo images in Format 7
// load the factory defaults - this is auto-everything
err = dc1394_memory_load( stereoCamera->camera, 0 );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Can't load default memory channel\n" );
return err;
}
// set 16-bit transmission to be PGR-default little endian mode
err = setEndian( stereoCamera->camera, false );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Can't set Bumblebee2 into little-endian mode\n" );
return err;
}
// color cameras transmit in "RAW16", mono cameras in "MONO16"
coding = DC1394_COLOR_CODING_MONO16;
if ( stereoCamera->bColor )
coding = DC1394_COLOR_CODING_RAW16;
dc1394_video_set_iso_speed( stereoCamera->camera, DC1394_ISO_SPEED_400 );
dc1394_video_set_mode( stereoCamera->camera, DC1394_VIDEO_MODE_FORMAT7_3 );
err = dc1394_format7_set_roi( stereoCamera->camera,
DC1394_VIDEO_MODE_FORMAT7_3,
coding,
// bytes per packet - sets frame rate
DC1394_USE_MAX_AVAIL,
0,
0,
stereoCamera->nCols,
stereoCamera->nRows );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Can't setup Bumblebee2 capture\n" );
return err;
}
err = dc1394_capture_setup( stereoCamera->camera, 8, DC1394_CAPTURE_FLAGS_DEFAULT );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Can't setup Bumblebee capture\n" );
return err;
}
break;
case BUMBLEBEEXB3:
// Bumblebee3 transmits stereo images in Format 7
// load the factory defaults - this is auto-everything
err = dc1394_memory_load( stereoCamera->camera, 0 );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Can't load default memory channel\n" );
return err;
}
if ( stereoCamera->nBytesPerPixel == 2 )
{
// run in 2 camera mode
// NOTE: this code will always only set up the wide-baseline pair
// To change to the inner baseline pair you need to set the PAN
// register to 1.
// PAN = 0 is the wide baseline pair which is set by default.
// To change to all 3 images being transmitted you need to change
// modes to "coding = DC1394_COLOR_CODING_RGB8;"
//
// set 16-bit transmission to be PGR-default little endian mode
err = setEndian( stereoCamera->camera, false );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Can't set Bumblebee2 into little-endian mode\n" );
return err;
}
// color cameras transmit in "RAW16", mono cameras in "MONO16"
coding = DC1394_COLOR_CODING_MONO16;
if ( stereoCamera->bColor )
coding = DC1394_COLOR_CODING_RAW16;
}
else
{
// 3 camera mode transmits in RGB8
coding = DC1394_COLOR_CODING_RGB8;
}
// assume the XB is plugged into a 1394B network
// XB3 can work with a 1394A bus but code changes will be required
dc1394_video_set_operation_mode( stereoCamera->camera, DC1394_OPERATION_MODE_1394B );
dc1394_video_set_iso_speed( stereoCamera->camera, DC1394_ISO_SPEED_800 );
dc1394_video_set_mode( stereoCamera->camera, DC1394_VIDEO_MODE_FORMAT7_3 );
err = dc1394_format7_set_roi( stereoCamera->camera,
DC1394_VIDEO_MODE_FORMAT7_3,
coding,
// bytes per packet - sets frame rate
DC1394_USE_MAX_AVAIL,
0,
0,
stereoCamera->nCols,
stereoCamera->nRows );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Can't setup Bumblebee XB3 capture\n" );
return err;
}
err = dc1394_capture_setup( stereoCamera->camera, 4, DC1394_CAPTURE_FLAGS_DEFAULT );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Can't setup Bumblebee capture\n" );
return err;
}
break;
default:
fprintf( stderr,
"setStereoVideoCapture() - \n"
"\tThis camera is not a supported stereo camera!\n" );
return DC1394_FAILURE;
}
// get the bayer tile info so we will know how to color process
// this mode
err = getBayerTile( stereoCamera->camera,
&stereoCamera->bayerTile );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Could not query the Bayer Tile Register!\n" );
return err;
}
return DC1394_SUCCESS;
}
//=============================================================================
// querySteroeCamera()
//
// Given that the camera handle is a stereo camera, query the camera for
// stereo specific information about this camera and populate the
// PGRStereoCamera_t handle structure
//
dc1394error_t
queryStereoCamera( dc1394camera_t* camera,
PGRStereoCamera_t* stereoCamera )
{
// set the camera handle
stereoCamera->camera = camera;
// find out what base model camera we have
stereoCamera->model = getCameraModel( camera );
if ( stereoCamera->model == UNKNOWN_CAMERA )
return DC1394_FAILURE;
dc1394error_t err;
if ( stereoCamera->model != BUMBLEBEE )
{
err = getSensorInfo( camera,
&stereoCamera->bColor,
&stereoCamera->nRows,
&stereoCamera->nCols );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Could not query the Sensor Info Register!\n" );
return err;
}
}
else // model == BUMBLEBEE
{
// This is a Bumblebee "1". This camera does not support the
// sensor board info register so we need to determine if it is color
// and the resolution the hard way
//
// It will be nice when we don't need to support BB1 anymore as it is
// not completely DC-compliant
dc1394video_modes_t video_modes;
err = dc1394_video_get_supported_modes( camera, &video_modes );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Can't get video modes\n" );
return err;
}
// find the highest res mode that is greyscale (MONO16)
printf( "Searching for the highest resolution MONO16 mode available...\n" );
dc1394video_mode_t video_mode;
dc1394color_coding_t coding;
for ( int i = video_modes.num-1; i >= 0; i-- )
{
// don't consider FORMAT 7 modes (i.e. "scalable")
if ( !dc1394_is_video_mode_scalable( video_modes.modes[i] ) )
{
dc1394_get_color_coding_from_video_mode( camera, video_modes.modes[i], &coding );
if ( coding == DC1394_COLOR_CODING_MONO16 )
{
video_mode = video_modes.modes[i];
break;
}
}
}
if ( video_mode == DC1394_VIDEO_MODE_640x480_MONO16 )
{
stereoCamera->nRows = 480;
stereoCamera->nCols = 640;
}
else if ( video_mode == DC1394_VIDEO_MODE_1024x768_MONO16 )
{
stereoCamera->nRows = 768;
stereoCamera->nCols = 1024;
}
else
{
fprintf( stderr, "Cannot find valid MONO16 video mode!\n" );
return DC1394_FAILURE;
}
dc1394color_filter_t bayerPattern;
err = getBayerTile( stereoCamera->camera, &bayerPattern );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Failed to read the Bayer Tile Pattern register\n" );
return err;
}
// at this point all we need to know is "is it color or mono?"
if ( bayerPattern == 0 )
stereoCamera->bColor = false;
else
stereoCamera->bColor = true;
}
// a hack to figure out how many bytes per pixel are needed.
// if the camera is a BB3, then it is 3, otherwise 2
if ( stereoCamera->nRows == 960 )
{
//stereoCamera->nBytesPerPixel = 3;
// note: for performance reasons we have changed the default behavior
// of the XB3 for these examples to only use the 2 wide-baseline pair.
// This makes for faster image transmission.
// If you change the code to transmit all 3 images, this value will
// have to revert to 3.
stereoCamera->nBytesPerPixel = 2;
}
else
{
stereoCamera->nBytesPerPixel = 2;
}
return DC1394_SUCCESS;
}
