CStereoGrabber_Bumblebee.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2011  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT 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 General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef CStereoGrabber_Bumblebee_H
#define CStereoGrabber_Bumblebee_H

#include <mrpt/slam/CObservationStereoImages.h>
#include <mrpt/hwdrivers/link_pragmas.h>

#ifndef MRPT_OS_WINDOWS
        #include <mrpt/hwdrivers/CImageGrabber_dc1394.h>
#endif

#include <mrpt/config.h>

namespace mrpt
{
        namespace hwdrivers
        {
                /** Options used when creating a bumblebee camera capture object
                  * \ingroup mrpt_hwdrivers_grp
                  */
                struct HWDRIVERS_IMPEXP TCaptureOptions_bumblebee
                {
                        TCaptureOptions_bumblebee();

                        int     frame_width, frame_height;      //!< Capture resolution (Default: 640x480)
                        bool color;                                             //!< Indicates if the Bumblebee camera must capture color images (Default: false -> grayscale)
                        bool getRectified;                              //!< Indicates if the Bumblebee camera must capture rectified images (Default: true -> rectified)
                        double framerate;                               //!< Bumblebee camera frame rate (Default: 15 fps)
                };

                /** A class for grabing stereo images from a "Bumblebee" or "Bumblebee2" camera
                  * NOTE:
                  *             - Windows:
                  *                     - This class is only available when compiling MRPT with "MRPT_HAS_BUMBLEBEE".
                  *                     - You will need the "include" and "lib" directories of the vendor's proprietary software to be included in VC++ includes path.
                  *             - Linux:
                  *                     - This class is only available when compiling MRPT with "MRPT_HAS_LIBDC1394_2".
                  *                     - Capture will be made in color, full resolution and "raw" (not rectified) only.
                  *
                  * Once connected to a camera, you can call "getStereoObservation" to retrieve the stereo images.
                  *
                  * \sa You'll probably want to use instead the most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP  CStereoGrabber_Bumblebee : public mrpt::utils::CUncopiable
                {
                protected:
#ifdef MRPT_OS_WINDOWS
                        void                    *m_triclops;                                    //!< The Triclops context (TriclopsContext)
                        void                    *m_flycapture;                                  //!< The Flycapture context (FlyCaptureContext).
                        vector_byte             m_imgBuff;                                              //!< A buffer to store an image
#else
                        mrpt::hwdrivers::CImageGrabber_dc1394   *m_firewire_capture;  //!< The actual capture object used in Linux / Mac.
#endif

                        bool                    m_bInitialized;                                 //!< If this has been correctly initiated
                        unsigned int    m_resolutionX, m_resolutionY;   //!< The desired resolution

                        float                   m_baseline;                                             //!< Camera baseline
                        float                   m_focalLength;                                  //!< Camera focal length
                        float                   m_centerCol, m_centerRow;               //!< Camera center coordinates


                private:

#ifdef MRPT_OS_WINDOWS
                        void scaleImage( void*  image, unsigned char    ucMinOut,  unsigned char        ucMaxOut );
                        void convertTriclopsImageTo8BitsIplImage( void *src, void* dst );

                        /** Splits a TriclopsImage (grayscale) into two separate IplImages (from the left and right cameras) (for internal use only)
                          * triclopsImage [input]. The Triclops image to split
                          * dstL [output]. The Left CImage.
                          * dstR [output]. The Right CImage.
                        */
                        static void convertTriclopsImagesToIplImages( 
                                void* triclopsImage, 
                                void* dstL, 
                                void* dstR );

#endif
                        /** Splits a Flycapture image into two separate IplImages (from the left and right cameras) (for internal use only)
                          * triclopsImage [input]. The FlyCapture image to split
                          * dstL [output]. The Left CImage.
                          * dstR [output]. The Right CImage.
                        */
                        static void convertFlyCaptureImagesToIplImages( void* flycapImage, void* dstL, void* dstR );

                public:

                        TCaptureOptions_bumblebee       m_options;                      //!< Bumblebee camera frame rate (Default: 15 fps)

                        /** Constructor: */
                        CStereoGrabber_Bumblebee( int cameraIndex = 0, const TCaptureOptions_bumblebee &options = TCaptureOptions_bumblebee() );

                        /** Destructor */
                        virtual ~CStereoGrabber_Bumblebee(void);

                        /** Grab stereo images, and return the pair of rectified images.
                         * \param out_observation The object to be filled with sensed data.
                         *
                         *  NOTICE: (1) That the member "CObservationStereoImages::refCameraPose" must be
                         *                set on the return of this method, since we don't know here the robot physical structure.
                         *          (2) The images are already rectified.
                         *
                         * \return false on any error, true if all go fine.
                        */
                        bool  getStereoObservation( mrpt::slam::CObservationStereoImages &out_observation );


                };      // End of class

        } // End of NS
} // End of NS


#endif