ExampleGrabTrippleFromXB3.cpp

Example for using the videosource dcam to grab from a pointgrey bumblebee

Author

MIP

/*
This file is part of the BIAS library (Basic ImageAlgorithmS).

Copyright (C) 2003-2009    (see file CONTACT for details)
  Multimediale Systeme der Informationsverarbeitung
  Institut fuer Informatik
  Christian-Albrechts-Universitaet Kiel


BIAS is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation; either version 2.1 of the License, or
(at your option) any later version.

BIAS is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License
along with BIAS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/


/** @example ExampleGrabTrippleFromXB3.cpp
    @relates VideoSource_DCAM_XB3
    @ingroup g_examples
    @ingroup g_videosource
    @brief  Example for using the videosource dcam to grab from a pointgrey bumblebee
    @author MIP
*/

#ifdef WIN32
#include "Base/Common/W32Compat.hh"
#endif

#include <Image/Camera.hh>
#include <Base/Image/ImageConvert.hh>
#include <Base/Image/ImageIO.hh>
#include <VideoSource/VideoSource_DCAM_XB3.hh>
//#include <unistd.h>
//#include <getopt.h>

using namespace BIAS;
using namespace std;

#include <Base/Debug/TimeMeasure.hh>

#define WIDTH 1280
#define HEIGHT 960
#define ULX 0
#define ULY 0
#define PACKAGESIZE 3840

#define NO_OF_FRAMES 20

int main(int argc, char *argv[])
{
  int res = -1;

  VideoSource_DCAM_XB3 *cam;
  // Camera<unsigned char> grabimg;
  // prepare camera
  cam = new VideoSource_DCAM_XB3;

  cam[0].SetDebugLevel(D_DCAM |D_DCAM_F7);
  //  cam[1].SetDebugLevel(D_DCAM |D_DCAM_F7);

  //cam->UsePort(0);
  cam->SetSize(WIDTH, HEIGHT, 3);
  cam->SetLeftTop(ULX, ULY);
  cam->SetFormat7(3, PACKAGESIZE, DC1394_COLOR_CODING_RGB8);
  cam->SetColorModel(ImageBase::CM_PGR_XB3_F7M3_GBRG);
  //  cam[1].UsePort(1);

  res = cam->OpenDevice() ;
  if (res <0) {
    cerr<<" Can not open camera on bus "<<res<<endl;
    exit(1);
  }
  cam->PreGrab();
  //   cam[i].SetDebugLevel(0);
  //cam->InitImage(grabimg);


  cout << "Grabbing..." << endl;
  Camera<unsigned char>* AllImg =  new Camera<unsigned char>;
  Camera<unsigned char>* Img1 = new Camera<unsigned char>;
  Camera<unsigned char>* Img2 = new Camera<unsigned char>;
  Camera<unsigned char>* Img3 = new Camera<unsigned char>;

  cam->InitImage(*AllImg);
  Img1->Init(WIDTH, HEIGHT, 1, BIAS::ImageBase::ST_unsignedchar);
  Img2->Init(WIDTH, HEIGHT, 1, BIAS::ImageBase::ST_unsignedchar);
  Img3->Init(WIDTH, HEIGHT, 1, BIAS::ImageBase::ST_unsignedchar);
  Img1->SetColorModel(BIAS::ImageBase::CM_Bayer_GBRG);
  Img2->SetColorModel(BIAS::ImageBase::CM_Bayer_GBRG);
  Img3->SetColorModel(BIAS::ImageBase::CM_Bayer_GBRG);

  for (unsigned int frame=0; frame < NO_OF_FRAMES; frame++) {

    //timeval t1,t2;
    //gettimeofday(&t1, NULL);
    cam->GrabSingle(*AllImg,*Img1,*Img2,*Img3);
    //gettimeofday(&t2, NULL);
    //long duration = ((t2.tv_sec-t1.tv_sec)*1000000) + (t2.tv_usec-t1.tv_usec);
    //long sec=t1.tv_sec + duration/1000000;
    //long usec=t1.tv_usec + duration%1000000;
    /*
    unsigned char* grabedPixels = grabimg.GetImageData();
    Camera<unsigned char> triclopsImage[3];
    unsigned char* sinkPixels;

    for(unsigned int j=0; j<3; j++) {
      triclopsImage[j].Init(WIDTH, HEIGHT, 1);
      triclopsImage[j].SetColorModel(ImageBase::CM_Bayer_GBRG);
      sinkPixels = triclopsImage[j].GetImageData();

      for(unsigned int h=0; h<HEIGHT; h++) {
        for(unsigned int w=0; w<WIDTH; w++) {
          sinkPixels[h*WIDTH + w] = grabedPixels[h*WIDTH*3 + w*3 + j];
        }
      }
      triclopsImage[j].SetTime(sec, usec);
      triclopsImage[j].UpdateMetaData();
    }


    //  ImageIO::Save("cam0",grabimg);

    //the names for the images are chosen correctly if the camera is mounted
    //so the screw thread is facing downwords (towards earth's center of gravity)

    */

    stringstream filename_left,filename_center,filename_right;
    filename_left << "xb3_left_" << frame << ".mip";
    filename_center << "xb3_center_" << frame << ".mip";
    filename_right << "xb3_right_" << frame << ".mip";
    if(!Img1->IsEmpty()) {
      //ImageIO::Save(filename_left.str(),*Img1);
      ImageIO::Save(filename_left.str(),*Img1);
    }
    if(!Img2->IsEmpty()) {
      //ImageIO::Save(filename_center.str(),*Img2);
      ImageIO::Save(filename_center.str(),*Img2);
    }
    if(!Img3->IsEmpty()) {
      //ImageIO::Save(filename_right.str(),*Img3);
      ImageIO::Save(filename_right.str(),*Img3);
    }
    /*
    ImageIO::Save(filename_right.str(),triclopsImage[0]);
    ImageIO::Save(filename_center.str(),triclopsImage[1]);
    ImageIO::Save(filename_left.str(),triclopsImage[2]);
    */
  // ImageIO::Save("cam1",grabimg[1]);

  }

  cout <<"Write finished, closing cameras"<<endl;

  cam->SetDebugLevel(D_DCAM );
  cam->PostGrab();
  cam->CloseDevice();


  return 0;
}