Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * bumblebee2.h - Point Grey Bumblebee 2 camera 00004 * 00005 * Generated: Sat Apr 14 20:49:20 2007 (watching Ghostbusters) 00006 * Copyright 2005-2007 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. A runtime exception applies to 00014 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00022 */ 00023 00024 #ifndef __FIREVISION_CAMS_BUMBLEBEE2_H_ 00025 #define __FIREVISION_CAMS_BUMBLEBEE2_H_ 00026 00027 #include <cams/firewire.h> 00028 #include <fvutils/color/bayer.h> 00029 00030 namespace firevision { 00031 #if 0 /* just to make Emacs auto-indent happy */ 00032 } 00033 #endif 00034 00035 class Bumblebee2CameraData; 00036 00037 class Bumblebee2Camera : public FirewireCamera 00038 { 00039 public: 00040 00041 static const unsigned int ORIGINAL; 00042 static const unsigned int DEINTERLACED; 00043 static const unsigned int RGB_IMAGE; 00044 00045 Bumblebee2Camera(const CameraArgumentParser *cap); 00046 virtual ~Bumblebee2Camera(); 00047 00048 virtual void open(); 00049 virtual void close(); 00050 virtual void capture(); 00051 00052 virtual unsigned char* buffer(); 00053 00054 virtual void set_image_number(unsigned int image_num); 00055 00056 bool is_bumblebee2(); 00057 void write_triclops_config_from_camera_to_file(const char *filename); 00058 00059 void deinterlace_stereo(); 00060 void decode_bayer(); 00061 00062 virtual void print_info(); 00063 virtual uint32_t serial_no() const; 00064 virtual bool verify_guid(uint64_t ver_guid) const; 00065 00066 static void deinterlace_stereo(unsigned char *raw16, unsigned char *deinterlaced, 00067 unsigned int width, unsigned int height); 00068 static void decode_bayer(unsigned char *deinterlaced, unsigned char *rgb, 00069 unsigned int width, unsigned int height, 00070 bayer_pattern_t bayer_pattern); 00071 00072 private: 00073 void get_triclops_context_from_camera(); 00074 void get_bayer_tile(); 00075 void deinterlace_green( unsigned char* src, unsigned char* dest, 00076 unsigned int width, unsigned int height); 00077 00078 00079 /** Bayer pattern */ 00080 dc1394color_filter_t __bayer_pattern; 00081 00082 unsigned int __image_num; 00083 unsigned char *__buffer; 00084 unsigned char *__buffer_deinterlaced; 00085 unsigned char *__buffer_rgb; 00086 }; 00087 00088 } // end namespace firevision 00089 00090 #endif