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#ifndef _XB3_CPP_
#define _XB3_CPP_

#include "xb3.h"

void clean_dc1394(void)
{
        printf("asdsad=%p\n", t_dc1394.camera);
        printf("asdsad=%p\n", t_dc1394.camera);
        printf("asdsad=%p\n", t_dc1394.camera);
        printf("asdsad=%p\n", t_dc1394.camera);
        printf("asdsad=%p\n", t_dc1394.camera);
        printf("asdsad=%p\n", t_dc1394.camera);
        
        dc1394_capture_stop(t_dc1394.camera);
        
        ROS_WARN("stopping camera capture\n");
        
        dc1394_video_set_transmission(t_dc1394.camera, DC1394_OFF );
        
        dc1394_camera_free( t_dc1394.camera );
}


void signal_handler(int sig)
{
        printf("%d %d %d\n",sig,SIGSEGV,SIGINT);
        
        if(sig==SIGSEGV)
        {       
        
                signal(SIGSEGV, SIG_DFL); 
        
                ROS_WARN("System segfaulted"); 
        
                clean_dc1394();
                ros::shutdown();
        
                exit(0);
        }
        else if(sig==SIGINT)
        {
                ROS_WARN("Ctrl-c pressed"); 
        
                clean_dc1394();
                ros::shutdown();
        
                exit(0);
        }
}


int init_camera(dc1394_t * d, PGRStereoCamera_t* stereoCamera, dc1394camera_t** camera, unsigned int nThisCam)  

{
dc1394camera_list_t * list;
dc1394error_t   err;

        // 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;
        }

        //  get the camera nodes and describe them as we find them
        if (list->num == 0)
        {
                fprintf( stderr, "No cameras found!\n"); clean_dc1394();
        }

        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;
        }

        
        // query information about this stereo camera
        err = queryStereoCamera( *camera, stereoCamera );
        if ( err != DC1394_SUCCESS )
        {
                fprintf( stderr, "Cannot query all information from camera\n" );
                clean_dc1394();
        }

        if ( stereoCamera->model != BUMBLEBEEXB3 )
        {
                fprintf( stderr, "Stereo camera found was not a BB XB3\n" );
                clean_dc1394();
        }

        // override the default nBytesPerPixel to be 3, because we really do
        // want to run at 3 camera mode
        stereoCamera->nBytesPerPixel = 3;
        stereoCamera->nRows = 960; //this should be untouched. This is the actual sensor resolution
        stereoCamera->nCols = 1280;//this should be untouched. This is the actual sensor resolution

        // 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" );
                clean_dc1394();
        }

        // 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" );
                clean_dc1394();
        }
return 1;}


int copy_img_buffer_to_cvMat(unsigned char* Buffer, cv::Mat left, cv::Mat center, cv::Mat right)
{
                //Get pointers to the three image buffers
                unsigned char* ptr_left_buffers = Buffer; 
                unsigned char* ptr_center_buffer = Buffer + 3 * 1280*960; 
                unsigned char* ptr_right_buffers = Buffer + 6 * 1280*960; 

                //Get pointers to the three cv::Mat
                unsigned char* ptr_left_cvMat = left.ptr<unsigned char>(0);
                unsigned char* ptr_center_cvMat = center.ptr<unsigned char>(0);
                unsigned char* ptr_right_cvMat = right.ptr<unsigned char>(0);


                int count=0;
                for(int c=0; c<1280;c++)
                        for (int l=0; l<960; l++)
                        {
                                //from RGB to BGR       
                                ptr_left_cvMat[count] = ptr_left_buffers[count+2];
                                ptr_left_cvMat[count+1] = ptr_left_buffers[count+1];
                                ptr_left_cvMat[count+2] = ptr_left_buffers[count];

                                ptr_center_cvMat[count] = ptr_center_buffer[count+2];
                                ptr_center_cvMat[count+1] = ptr_center_buffer[count+1];
                                ptr_center_cvMat[count+2] = ptr_center_buffer[count];

                                ptr_right_cvMat[count] = ptr_right_buffers[count+2];
                                ptr_right_cvMat[count+1] = ptr_right_buffers[count+1];
                                ptr_right_cvMat[count+2] = ptr_right_buffers[count];

                                count+=3;       
                        }
return 1;}

void set_fixed_fields_image_msg(sensor_msgs::Image* msg, int height, int width, char* encoding, int is_bigendian, char* frame_id)
{
        msg->height   = height; //set the height.
        msg->width    = width; //set the width
        msg->encoding = sensor_msgs::image_encodings::RGB8; //Set the encoding
        msg->is_bigendian = 0;
        msg->step = width*3;
        msg->data.resize(width*height*3);
        msg->header.frame_id = frame_id;
        //ROS_INFO("Resized image msg to %d",width*height*3);
}

void set_fixed_camera_info(sensor_msgs::CameraInfo *info, int height, int width, char* frame_id)
{
        info->height = height;
        info->width = width;
        info->header.frame_id = frame_id;               
        info->roi.do_rectify = true;
}

void copy_pixels_to_image_msg_data(unsigned char *in, sensor_msgs::Image *image, int size)
{
        //printf("image->width=%d height=%d\n",image->width, image->height);
        //int t=0;
        for(int i=0; i<size; i+=3)
        //for (int l=0; l<960; l++)
                //for(int c=0; c<1280; c++)
        {
                //printf("t=%d i=%d\n",t,i);
        //char a  = in[i+2];    
                //int t = c + l*1280;   
                image->data[i] = in[i+2];       
                image->data[i+1] = in[i+1];     
                image->data[i+2] = in[i];       
                //t+=3;
        }
}

void reconfig(xb3::xb3Config &config, uint32_t level)
{
        ROS_INFO("dynamic reconfigure1n"); 
}

using namespace std;

int main(int argc, char **argv)
{
        t_flags.debug=false;
        t_buffers.pucLeftRGB=NULL;
        t_buffers.pucCenterRGB=NULL;
        t_buffers.pucRightRGB=NULL;

        ros::init(argc, argv, "xb3", ros::init_options::NoSigintHandler | ros::init_options::AnonymousName);
        ros::NodeHandle nh;     
        
        signal(SIGINT, signal_handler);
        signal(SIGSEGV, &signal_handler);

        
        int width;
        if (nh.hasParam("width"))
        {
                nh.getParam("width", width);
        }
        else
        {
                ROS_ERROR("Set properly an image width value. (param= 'width') ");
                return -1;
        }
        
        int height;
        if (nh.hasParam("height"))
        {
                nh.getParam("height", height);
        }
        else
        {
                ROS_ERROR("Set properly an image height value. (param= 'height') ");
                return -1;
        }
        
        set_fixed_camera_info(&t_msgs.short_left_info, height,width, (char*)(ros::names::remap("/xb3_optical_frame")).c_str());
        set_fixed_camera_info(&t_msgs.short_right_info, height,width, (char*)(ros::names::remap("/xb3_optical_frame")).c_str());
        set_fixed_camera_info(&t_msgs.wide_left_info, height,width, (char*)(ros::names::remap("/xb3_optical_frame")).c_str());
        set_fixed_camera_info(&t_msgs.wide_right_info, height,width, (char*)(ros::names::remap("/xb3_optical_frame")).c_str());

        set_fixed_fields_image_msg(&t_msgs.short_left, height,width, (char*)"RGB8", 0,  (char*)(ros::names::remap( "/xb3_optical_frame")).c_str());
        set_fixed_fields_image_msg(&t_msgs.short_right, height,width, (char*)"RGB8", 0,  (char*)(ros::names::remap( "/xb3_optical_frame")).c_str());
        set_fixed_fields_image_msg(&t_msgs.wide_left, height,width, (char*)"RGB8", 0,  (char*)(ros::names::remap( "/xb3_optical_frame")).c_str());
        set_fixed_fields_image_msg(&t_msgs.wide_right, height,width, (char*)"RGB8", 0,  (char*)(ros::names::remap("/xb3_optical_frame")).c_str());

        image_transport::ImageTransport it(nh);
        t_msgs.short_left_pub = it.advertiseCamera("short/left/image_raw", 1);
        t_msgs.short_right_pub = it.advertiseCamera("short/right/image_raw", 1);
        t_msgs.wide_left_pub = it.advertiseCamera("wide/left/image_raw", 1);
        t_msgs.wide_right_pub = it.advertiseCamera("wide/right/image_raw", 1);

   
        t_msgs.short_left_info_manager = new camera_info_manager::CameraInfoManager(ros::NodeHandle(nh, "short/left"),"short/left","package://xb3/calibrations/short_left.yaml");
        t_msgs.short_right_info_manager = new camera_info_manager::CameraInfoManager(ros::NodeHandle(nh, "short/right"),"short/right", "package://xb3/calibrations/short_right.yaml");
        t_msgs.wide_left_info_manager = new camera_info_manager::CameraInfoManager(ros::NodeHandle(nh, "wide/left"),"wide/left","package://xb3/calibrations/wide_left.yaml");
        t_msgs.wide_right_info_manager = new camera_info_manager::CameraInfoManager(ros::NodeHandle(nh, "wide/right"),"wide/right","package://xb3/calibrations/wide_right.yaml");


//while(nh.ok())
//{
        //ros::spinOnce();
//}

        init_camera(t_dc1394.d, &t_dc1394.stereoCamera,&t_dc1394.camera, t_dc1394.nThisCam );
        PFLN
        ROS_INFO("Connected to XB3 camera");

        t_buffers.nBufferSize = t_dc1394.stereoCamera.nRows * t_dc1394.stereoCamera.nCols * t_dc1394.stereoCamera.nBytesPerPixel;
        t_buffers.pucDeInterlacedBuffer = new unsigned char[ t_buffers.nBufferSize ];
        t_buffers.pucRGBBuffer          = NULL;
        t_buffers.pucGreenBuffer        = NULL;

        t_imgs.left.create(cvSize(1280,960),CV_8UC3);
        t_imgs.center.create(cvSize(1280,960),CV_8UC3);
        t_imgs.right.create(cvSize(1280,960),CV_8UC3);

        t_imgs.left_640_480.create(cvSize(width,height),CV_8UC3);
        t_imgs.center_640_480.create(cvSize(width,height),CV_8UC3);
        t_imgs.right_640_480.create(cvSize(width,height),CV_8UC3);

        //allocation color processing buffers
        if ( t_dc1394.stereoCamera.bColor )
        {
                t_buffers.pucRGBBuffer          = new unsigned char[ 3 * t_buffers.nBufferSize ];
                t_buffers.pucGreenBuffer                = new unsigned char[ t_buffers.nBufferSize ];
        }
        else
        {
                ROS_ERROR("This driver works only with color stereo cameras");
                signal_handler(SIGINT);
        }

        if (t_flags.debug)
        {
                cvNamedWindow("left",CV_WINDOW_AUTOSIZE);
                cvNamedWindow("center",CV_WINDOW_AUTOSIZE);
                cvNamedWindow("right",CV_WINDOW_AUTOSIZE);
        }


                

        dynamic_reconfigure::Server<xb3::xb3Config> srv;
        dynamic_reconfigure::Server<xb3::xb3Config>::CallbackType f;
        f = boost::bind(&reconfig,  _1, _2);
        srv.setCallback(f);

        static tf::TransformBroadcaster br;
        tf::Transform transform;
        transform.setOrigin( tf::Vector3(0,-1, 0.0) );
        transform.setRotation( tf::Quaternion(0, 0, 0) );


while(1)
{
        // get the images from the capture buffer and do all required processing
        extractImagesColorXB3( &t_dc1394.stereoCamera, DC1394_BAYER_METHOD_NEAREST, t_buffers.pucDeInterlacedBuffer, t_buffers.pucRGBBuffer, t_buffers.pucGreenBuffer, &t_buffers.pucRightRGB,   &t_buffers.pucLeftRGB, &t_buffers.pucCenterRGB);

        //Get current time
        ros::Time stamp=ros::Time::now();

        copy_img_buffer_to_cvMat(t_buffers.pucRGBBuffer, t_imgs.left, t_imgs.center, t_imgs.right);

        
        if (width==640 && height==480)
        {
        cv::pyrDown(t_imgs.left, t_imgs.left_640_480);
        cv::pyrDown(t_imgs.right, t_imgs.right_640_480);
        cv::pyrDown(t_imgs.center, t_imgs.center_640_480);
        }
        else if (width==1280 && height==960)
        {
                t_imgs.left_640_480=t_imgs.left;
                t_imgs.right_640_480=t_imgs.right;
                t_imgs.center_640_480=t_imgs.center;
        }

        //http://www.ros.org/wiki/stereo_image_proc
        
        //short_left is actually xb3 left camera
        copy_pixels_to_image_msg_data(t_imgs.left_640_480.ptr<unsigned char>(0), &t_msgs.short_left, height*width*3);

        //short_right is actually xb3 center camera
        copy_pixels_to_image_msg_data(t_imgs.center_640_480.ptr<unsigned char>(0), &t_msgs.short_right, height*width*3);
                
        //wide_left is actually xb3 left camera
        copy_pixels_to_image_msg_data(t_imgs.left_640_480.ptr<unsigned char>(0), &t_msgs.wide_left, height*width*3);

        //wide_right is actually xb3 right camera
        copy_pixels_to_image_msg_data(t_imgs.right_640_480.ptr<unsigned char>(0), &t_msgs.wide_right, height*width*3);


        t_msgs.short_left_info = t_msgs.short_left_info_manager->getCameraInfo();
        t_msgs.short_right_info = t_msgs.short_right_info_manager->getCameraInfo();

        t_msgs.wide_left_info = t_msgs.wide_left_info_manager->getCameraInfo();
        t_msgs.wide_right_info = t_msgs.wide_right_info_manager->getCameraInfo();
        
        t_msgs.short_left_info.header.frame_id =  ros::names::remap("/xb3_optical_frame");
        t_msgs.short_right_info.header.frame_id = ros::names::remap("/xb3_optical_frame");
        t_msgs.wide_left_info.header.frame_id = ros::names::remap("/xb3_optical_frame");
        t_msgs.wide_right_info.header.frame_id = ros::names::remap("/xb3_optical_frame");

        t_msgs.short_left_pub.publish(t_msgs.short_left, t_msgs.short_left_info, stamp);
        t_msgs.short_right_pub.publish(t_msgs.short_right, t_msgs.short_right_info, stamp);
        t_msgs.wide_left_pub.publish(t_msgs.wide_left, t_msgs.wide_left_info, stamp);
        t_msgs.wide_right_pub.publish(t_msgs.wide_right, t_msgs.wide_right_info, stamp);

        if (t_flags.debug) //copy to cvimage and display in highgui
        {
                cv::imshow("left",t_imgs.left_640_480);
                cv::imshow("center",t_imgs.center_640_480);
                cv::imshow("right",t_imgs.right_640_480);
        }

        //br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "/world", "/xb3_optical_frame"));

        ros::spinOnce(); //spin ros
        
        if (t_flags.debug)
        {
                char k=cvWaitKey(40);
                if(k=='q') break;
        }
}

        clean_dc1394();

 return 0;
}

#endif

---

xb3
Author(s): Miguel Oliveira, Tiago Talhada
autogenerated on Wed Jul 23 04:35:09 2014