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Merge pull request #12781 from alalek:videoio_drop_rectification_dc1394
This commit is contained in:
Alexander Alekhin
commit
35c53204cb
@ -161,15 +161,6 @@ static dc1394error_t dc1394_deinterlace_stereo_frames_fixed(dc1394video_frame_t
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return DC1394_FUNCTION_NOT_SUPPORTED;
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}
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static uint32_t getControlRegister(dc1394camera_t *camera, uint64_t offset)
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{
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uint32_t value = 0;
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dc1394error_t err = dc1394_get_control_register(camera, offset, &value);
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assert(err == DC1394_SUCCESS);
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return err == DC1394_SUCCESS ? value : 0xffffffff;
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}
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struct CvDC1394
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{
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CvDC1394();
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@ -216,8 +207,6 @@ public:
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protected:
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virtual bool startCapture();
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virtual bool getVidereCalibrationInfo( char* buf, int bufSize );
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virtual bool initVidereRectifyMaps( const char* info, IplImage* ml[2], IplImage* mr[2] );
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uint64_t guid;
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dc1394camera_t* dcCam;
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@ -241,9 +230,6 @@ protected:
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dc1394video_frame_t* frameC;
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int nimages;
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bool rectify;
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bool init_rectify;
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IplImage *maps[NIMG][2];
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dc1394featureset_t feature_set;
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};
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//mapping CV_CAP_PROP_ to DC1394_FEATUREs
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@ -289,10 +275,9 @@ CvCaptureCAM_DC1394_v2_CPP::CvCaptureCAM_DC1394_v2_CPP()
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frameHeight = 480;
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for (int i = 0; i < NIMG; i++)
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img[i] = maps[i][0] = maps[i][1] = 0;
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img[i] = 0;
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frameC = 0;
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nimages = 1;
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rectify = false;
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userMode = -1;
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}
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@ -453,16 +438,6 @@ bool CvCaptureCAM_DC1394_v2_CPP::startCapture()
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{
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FD_SET(dc1394_capture_get_fileno(dcCam), &dc1394.camFds);
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dc1394_video_set_transmission(dcCam, DC1394_ON);
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if (cameraId == VIDERE)
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{
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enum { PROC_MODE_OFF, PROC_MODE_NONE, PROC_MODE_TEST, PROC_MODE_RECTIFIED, PROC_MODE_DISPARITY, PROC_MODE_DISPARITY_RAW };
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int procMode = PROC_MODE_RECTIFIED;
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usleep(100000);
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uint32_t qval1 = 0x08000000 | (0x90 << 16) | ((procMode & 0x7) << 16);
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uint32_t qval2 = 0x08000000 | (0x9C << 16);
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dc1394_set_control_register(dcCam, 0xFF000, qval1);
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dc1394_set_control_register(dcCam, 0xFF000, qval2);
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}
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started = true;
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}
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@ -522,8 +497,6 @@ void CvCaptureCAM_DC1394_v2_CPP::close()
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for (int i = 0; i < NIMG; i++)
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{
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cvReleaseImage(&img[i]);
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cvReleaseImage(&maps[i][0]);
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cvReleaseImage(&maps[i][1]);
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}
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if (frameC)
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{
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@ -607,30 +580,7 @@ bool CvCaptureCAM_DC1394_v2_CPP::grabFrame()
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if (nch==3)
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cvConvertImage(&fhdr,&fhdr,CV_CVTIMG_SWAP_RB);
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if( rectify && cameraId == VIDERE && nimages == 2 )
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{
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if( !maps[0][0] || maps[0][0]->width != img[i]->width || maps[0][0]->height != img[i]->height )
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{
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CvSize size = cvGetSize(img[i]);
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cvReleaseImage(&maps[0][0]);
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cvReleaseImage(&maps[0][1]);
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cvReleaseImage(&maps[1][0]);
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cvReleaseImage(&maps[1][1]);
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maps[0][0] = cvCreateImage(size, IPL_DEPTH_16S, 2);
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maps[0][1] = cvCreateImage(size, IPL_DEPTH_16S, 1);
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maps[1][0] = cvCreateImage(size, IPL_DEPTH_16S, 2);
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maps[1][1] = cvCreateImage(size, IPL_DEPTH_16S, 1);
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char buf[4*4096];
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if( getVidereCalibrationInfo( buf, (int)sizeof(buf) ) &&
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initVidereRectifyMaps( buf, maps[0], maps[1] ))
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;
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else
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rectify = false;
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}
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cvRemap(&fhdr, img[i], maps[i][0], maps[i][1]);
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}
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else
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cvCopy(&fhdr, img[i]);
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cvCopy(&fhdr, img[i]);
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}
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code = true;
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@ -667,7 +617,8 @@ double CvCaptureCAM_DC1394_v2_CPP::getProperty(int propId) const
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case CV_CAP_PROP_FPS:
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return fps;
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case CV_CAP_PROP_RECTIFICATION:
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return rectify ? 1 : 0;
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CV_LOG_WARNING(NULL, "cap_dc1394: rectification support has been removed from videoio module");
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return 0;
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case CV_CAP_PROP_WHITE_BALANCE_BLUE_U:
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if (dc1394_feature_whitebalance_get_value(dcCam,
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&fs.feature[DC1394_FEATURE_WHITE_BALANCE-DC1394_FEATURE_MIN].BU_value,
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@ -724,10 +675,8 @@ bool CvCaptureCAM_DC1394_v2_CPP::setProperty(int propId, double value)
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fps = value;
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break;
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case CV_CAP_PROP_RECTIFICATION:
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if( cameraId != VIDERE )
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return false;
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rectify = fabs(value) > FLT_EPSILON;
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break;
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CV_LOG_WARNING(NULL, "cap_dc1394: rectification support has been removed from videoio module");
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return false;
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case CV_CAP_PROP_MODE:
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if(started)
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return false;
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@ -841,94 +790,6 @@ bool CvCaptureCAM_DC1394_v2_CPP::setProperty(int propId, double value)
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}
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bool CvCaptureCAM_DC1394_v2_CPP::getVidereCalibrationInfo( char* buf, int bufSize )
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{
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int pos;
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for( pos = 0; pos < bufSize - 4; pos += 4 )
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{
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uint32_t quad = getControlRegister(dcCam, 0xF0800 + pos);
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if( quad == 0 || quad == 0xffffffff )
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break;
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buf[pos] = (uchar)(quad >> 24);
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buf[pos+1] = (uchar)(quad >> 16);
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buf[pos+2] = (uchar)(quad >> 8);
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buf[pos+3] = (uchar)(quad);
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}
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if( pos == 0 )
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return false;
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buf[pos] = '\0';
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return true;
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}
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bool CvCaptureCAM_DC1394_v2_CPP::initVidereRectifyMaps( const char* info,
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IplImage* ml[2], IplImage* mr[2] )
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{
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float identity_data[] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
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CvMat l_rect = cvMat(3, 3, CV_32F, identity_data), r_rect = l_rect;
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float l_intrinsic_data[] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
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float r_intrinsic_data[] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
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CvMat l_intrinsic = cvMat(3, 3, CV_32F, l_intrinsic_data);
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CvMat r_intrinsic = cvMat(3, 3, CV_32F, r_intrinsic_data);
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float l_distortion_data[] = {0,0,0,0,0}, r_distortion_data[] = {0,0,0,0,0};
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CvMat l_distortion = cvMat(1, 5, CV_32F, l_distortion_data);
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CvMat r_distortion = cvMat(1, 5, CV_32F, r_distortion_data);
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IplImage* mx = cvCreateImage(cvGetSize(ml[0]), IPL_DEPTH_32F, 1);
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IplImage* my = cvCreateImage(cvGetSize(ml[0]), IPL_DEPTH_32F, 1);
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int k, j;
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for( k = 0; k < 2; k++ )
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{
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const char* section_name = k == 0 ? "[left_camera]" : "[right_camera]";
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static const char* param_names[] = { "f ", "fy", "Cx", "Cy" "kappa1", "kappa2", "tau1", "tau2", "kappa3", 0 };
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const char* section_start = strstr( info, section_name );
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CvMat* intrinsic = k == 0 ? &l_intrinsic : &r_intrinsic;
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CvMat* distortion = k == 0 ? &l_distortion : &r_distortion;
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CvMat* rectification = k == 0 ? &l_rect : &r_rect;
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IplImage** dst = k == 0 ? ml : mr;
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if( !section_start )
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break;
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section_start += strlen(section_name);
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for( j = 0; param_names[j] != 0; j++ )
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{
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const char* param_value_start = strstr(section_start, param_names[j]);
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float val=0;
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if(!param_value_start)
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break;
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sscanf(param_value_start + strlen(param_names[j]), "%f", &val);
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if( j < 4 )
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intrinsic->data.fl[j == 0 ? 0 : j == 1 ? 4 : j == 2 ? 2 : 5] = val;
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else
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distortion->data.fl[j - 4] = val;
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}
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if( param_names[j] != 0 )
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break;
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// some sanity check for the principal point
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if( fabs(mx->width*0.5 - intrinsic->data.fl[2]) > mx->width*0.1 ||
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fabs(my->height*0.5 - intrinsic->data.fl[5]) > my->height*0.1 )
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{
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cvScale( &intrinsic, &intrinsic, 0.5 ); // try the corrected intrinsic matrix for 2x lower resolution
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if( fabs(mx->width*0.5 - intrinsic->data.fl[2]) > mx->width*0.05 ||
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fabs(my->height*0.5 - intrinsic->data.fl[5]) > my->height*0.05 )
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cvScale( &intrinsic, &intrinsic, 2 ); // revert it back if the new variant is not much better
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intrinsic->data.fl[8] = 1;
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}
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cvInitUndistortRectifyMap( intrinsic, distortion,
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rectification, intrinsic, mx, my );
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cvConvertMaps( mx, my, dst[0], dst[1] );
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}
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cvReleaseImage( &mx );
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cvReleaseImage( &my );
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return k >= 2;
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}
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CvCapture* cvCreateCameraCapture_DC1394_2(int index)
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{
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CvCaptureCAM_DC1394_v2_CPP* capture = new CvCaptureCAM_DC1394_v2_CPP;
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