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00023 #ifdef HAVE_BUMBLEBEE2_CAM
00024 #include <cams/bumblebee2.h>
00025 #endif
00026 #include <fvutils/system/camargp.h>
00027 #include <utils/system/argparser.h>
00028 #include <fvutils/rectification/rectfile.h>
00029 #include <fvutils/rectification/rectinfo_block.h>
00030 #include <fvutils/rectification/rectinfo_lut_block.h>
00031
00032 #ifdef HAVE_TRICLOPS_SDK
00033 #include <stereo/triclops.h>
00034 #include <cerrno>
00035 #endif
00036
00037 #include <cstdlib>
00038 #include <cstdio>
00039
00040 using namespace fawkes;
00041
00042 void
00043 print_usage(ArgumentParser *argp)
00044 {
00045 printf("Usage: %s <-r|-v|-i> file.rectlut\n", argp->program_name());
00046 printf("You have to give at least one of -r/-v/-i and a file name\n"
00047 " -r retrieve rectification lut from live camera,\n"
00048 " uses first found Bumblebee2 camera\n"
00049 " -v verify rectification lut, compares the identification\n"
00050 " info stored in the file with the first currently\n"
00051 " attached camera\n"
00052 " -d deep verifiction of rectification LUT, compares the identification\n"
00053 " info stored in the file with the first currently attached camera. It\n"
00054 " also verifies each single mapping on equality.\n"
00055 " -i print info about rectification LUT file\n\n"
00056 );
00057 exit(1);
00058 }
00059
00060
00061 int
00062 retrieve(ArgumentParser *argp)
00063 {
00064 #ifdef HAVE_BUMBLEBEE2_CAM
00065 #ifdef HAVE_TRICLOPS_SDK
00066 const char *lut_file = argp->items()[0];
00067
00068 if ( access(lut_file, F_OK) == 0) {
00069 fprintf(stderr, "File with name %s exists, delete manually and retry. Aborting.\n", lut_file);
00070 return -1;
00071 }
00072 if ( access(lut_file, W_OK) != 0) {
00073
00074 if ( errno != ENOENT ) {
00075 fprintf(stderr, "Cannot write to file %s, permission problem?\n", lut_file);
00076 return -2;
00077 }
00078 }
00079
00080 CameraArgumentParser *cap = new CameraArgumentParser("bumblebee2:Bumblebee2 BB2-03S2C");
00081 Bumblebee2Camera *bb2 = new Bumblebee2Camera(cap);
00082 bb2->open();
00083
00084 TriclopsStereoProcessor *triclops = new TriclopsStereoProcessor(bb2);
00085 triclops->generate_rectification_lut(lut_file);
00086 delete triclops;
00087
00088 bb2->close();
00089
00090 delete bb2;
00091 delete cap;
00092 #else
00093 printf("Retrieving the rectification LUT from a camera is not supported,\n"
00094 "because the Triclops SDK was not available at compile time.\n");
00095 #endif
00096 #else
00097 printf("Retrieving the rectification LUT from a camera is not supported,\n"
00098 "because the Bumblebee2 support was not available at compile time.\n");
00099 #endif
00100
00101 return 0;
00102 }
00103
00104
00105 int
00106 verify(ArgumentParser *argp)
00107 {
00108 int rv = 0;
00109
00110 #ifdef HAVE_BUMBLEBEE2_CAM
00111 CameraArgumentParser *cap = new CameraArgumentParser("bumblebee2:Bumblebee2 BB2-03S2C");
00112 Bumblebee2Camera *bb2 = new Bumblebee2Camera(cap);
00113 bb2->open();
00114
00115 for (unsigned int i = 0; i < argp->num_items(); ++i) {
00116
00117 const char *lut_file = argp->items()[i];
00118
00119 if ( access(lut_file, F_OK) != 0) {
00120 fprintf(stderr, "File with name %s does not exist. Ignoring.\n", lut_file);
00121 continue;
00122 }
00123 if ( access(lut_file, R_OK) != 0) {
00124 fprintf(stderr, "Cannot read file %s, permission problem? Ingoring.\n", lut_file);
00125 continue;
00126 }
00127
00128 RectificationInfoFile *rif = new RectificationInfoFile();
00129 try {
00130 rif->read(lut_file);
00131
00132 if ( bb2->verify_guid( rif->guid() ) ) {
00133 printf("Success. The rectification info file has been created for the "
00134 "connected camera\n");
00135 } else {
00136 printf("Failure. The rectification info file has *not* been created "
00137 "for the connected camera\n");
00138 rv = 5;
00139 }
00140 } catch (Exception &e) {
00141 fprintf(stderr, "Failed to read lut file %s\n", lut_file);
00142 e.print_trace();
00143 }
00144
00145 delete rif;
00146
00147 }
00148
00149 bb2->close();
00150
00151 delete bb2;
00152 delete cap;
00153
00154 #else
00155 printf("Verifying the rectification LUT from a camera is not supported,\n"
00156 "because the Bumblebee2 support was not available at compile time.\n");
00157 #endif
00158
00159 return rv;
00160 }
00161
00162
00163 int
00164 deep_verify(ArgumentParser *argp)
00165 {
00166 #ifdef HAVE_BUMBLEBEE2_CAM
00167 #ifdef HAVE_TRICLOPS_SDK
00168 int rv = 0;
00169
00170 CameraArgumentParser *cap = new CameraArgumentParser("bumblebee2:Bumblebee2 BB2-03S2C");
00171 Bumblebee2Camera *bb2 = new Bumblebee2Camera(cap);
00172 bb2->open();
00173
00174 TriclopsStereoProcessor *triclops = new TriclopsStereoProcessor(bb2);
00175
00176 for (unsigned int i = 0; i < argp->num_items(); ++i) {
00177
00178 const char *lut_file = argp->items()[i];
00179
00180 if ( access(lut_file, F_OK) != 0) {
00181 fprintf(stderr, "File with name %s does not exist. Ignoring.\n", lut_file);
00182 continue;
00183 }
00184 if ( access(lut_file, R_OK) != 0) {
00185 fprintf(stderr, "Cannot read file %s, permission problem? Ingoring.\n", lut_file);
00186 continue;
00187 }
00188
00189 if ( triclops->verify_rectification_lut(lut_file) ) {
00190 printf("Success. LUT file %s contains matching configuration data.\n", lut_file);
00191 } else {
00192 printf("Failure. LUT file %s does not contain matching configuration data.\n", lut_file);
00193 }
00194
00195 }
00196
00197 delete triclops;
00198 bb2->close();
00199
00200 delete bb2;
00201 delete cap;
00202
00203 return rv;
00204 #else
00205 printf("Deep verification of the rectification LUT from a camera is not supported,\n"
00206 "because the Triclops SDK was not available at compile time.\n");
00207 return 0;
00208 #endif
00209 #else
00210 printf("Deep verification of the rectification LUT from a camera is not supported,\n"
00211 "because the Bumblebee2 support was not available at compile time.\n");
00212 return 0;
00213 #endif
00214 }
00215
00216
00217 void
00218 print_info(ArgumentParser *argp)
00219 {
00220 for (unsigned int i = 0; i < argp->num_items(); ++i) {
00221
00222 const char *lut_file = argp->items()[i];
00223
00224 if ( access(lut_file, F_OK) != 0) {
00225 fprintf(stderr, "File with name %s does not exist. Ignoring.\n", lut_file);
00226 continue;
00227 }
00228 if ( access(lut_file, R_OK) != 0) {
00229 fprintf(stderr, "Cannot read file %s, permission problem? Ingoring.\n", lut_file);
00230 continue;
00231 }
00232
00233 RectificationInfoFile *rif = new RectificationInfoFile();
00234 try {
00235 rif->read(lut_file);
00236 RectificationInfoFile::RectInfoBlockVector *blocks = rif->rectinfo_blocks();
00237
00238 printf("File: %s\n"
00239 "Version: %u\n"
00240 "Endianess: %s\n"
00241 "Num Blocks: %zu/%zu (header/read)\n"
00242 #if __WORDSIZE == 64
00243 "GUID: 0x%016lX\n"
00244 #else
00245 "GUID: 0x%016llX\n"
00246 #endif
00247 "Camera Model: %s\n",
00248 lut_file, rif->version(),
00249 rif->is_little_endian() ? "little endian" : "big endian",
00250 rif->num_blocks(), blocks->size(),
00251 rif->guid(), rif->model());
00252
00253 unsigned int u = 1;
00254 RectificationInfoFile::RectInfoBlockVector::const_iterator b;
00255 for (b = blocks->begin(); b != blocks->end(); ++b) {
00256 RectificationInfoBlock *rib = *b;
00257
00258 printf("\nRectInfo Block No. %u\n"
00259 "Type: %s\n"
00260 "Camera: %s\n"
00261 "Size: %zu\n",
00262 u++,
00263 rectinfo_type_strings[rib->type()],
00264 rectinfo_camera_strings[rib->camera()],
00265 rib->block_size());
00266
00267 switch (rib->type()) {
00268 case FIREVISION_RECTINFO_TYPE_LUT_16x16:
00269 {
00270 RectificationLutInfoBlock *rlib = dynamic_cast<RectificationLutInfoBlock *>(rib);
00271 if ( rlib == NULL ) {
00272 printf("** Failure to access LUT_16x16\n");
00273 } else {
00274 printf("LUT width: %hu\n"
00275 "LUT height: %hu\n",
00276 rlib->pixel_width(), rlib->pixel_height());
00277 }
00278 }
00279 break;
00280 default:
00281 printf("** No additional information available for this info type\n");
00282 break;
00283 }
00284 }
00285
00286 delete blocks;
00287 } catch (Exception &e) {
00288 fprintf(stderr, "Failed to read lut file %s\n", lut_file);
00289 e.print_trace();
00290 }
00291
00292 delete rif;
00293
00294 }
00295 }
00296
00297
00298 int
00299 main(int argc, char **argv)
00300 {
00301
00302 ArgumentParser argp(argc, argv, "rvid");
00303
00304 if (argp.num_items() == 0) {
00305 print_usage(&argp);
00306 }
00307
00308 if ( argp.has_arg("r") ) {
00309 return retrieve(&argp);
00310 } else if ( argp.has_arg("v") ) {
00311 return verify(&argp);
00312 } else if ( argp.has_arg("d") ) {
00313 return deep_verify(&argp);
00314 } else if ( argp.has_arg("i") ) {
00315 print_info(&argp);
00316 } else {
00317 print_usage(&argp);
00318 }
00319
00320 return 0;
00321 }
