mirror of
https://github.com/opencv/opencv.git
synced 2024-11-25 11:40:44 +08:00
Drop unsupported yzx and mil camera backends
This commit is contained in:
Andrey Kamaev
parent
e10ee89ec4
commit
476efd7d37
@ -1,219 +0,0 @@
|
|||||||
/*M///////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
//
|
|
||||||
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
|
||||||
//
|
|
||||||
// By downloading, copying, installing or using the software you agree to this license.
|
|
||||||
// If you do not agree to this license, do not download, install,
|
|
||||||
// copy or use the software.
|
|
||||||
//
|
|
||||||
//
|
|
||||||
// Intel License Agreement
|
|
||||||
// For Open Source Computer Vision Library
|
|
||||||
//
|
|
||||||
// Copyright (C) 2000, Intel Corporation, all rights reserved.
|
|
||||||
// Third party copyrights are property of their respective owners.
|
|
||||||
//
|
|
||||||
// Redistribution and use in source and binary forms, with or without modification,
|
|
||||||
// are permitted provided that the following conditions are met:
|
|
||||||
//
|
|
||||||
// * Redistribution's of source code must retain the above copyright notice,
|
|
||||||
// this list of conditions and the following disclaimer.
|
|
||||||
//
|
|
||||||
// * Redistribution's in binary form must reproduce the above copyright notice,
|
|
||||||
// this list of conditions and the following disclaimer in the documentation
|
|
||||||
// and/or other materials provided with the distribution.
|
|
||||||
//
|
|
||||||
// * The name of Intel Corporation may not be used to endorse or promote products
|
|
||||||
// derived from this software without specific prior written permission.
|
|
||||||
//
|
|
||||||
// This software is provided by the copyright holders and contributors "as is" and
|
|
||||||
// any express or implied warranties, including, but not limited to, the implied
|
|
||||||
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
|
||||||
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
|
||||||
// indirect, incidental, special, exemplary, or consequential damages
|
|
||||||
// (including, but not limited to, procurement of substitute goods or services;
|
|
||||||
// loss of use, data, or profits; or business interruption) however caused
|
|
||||||
// and on any theory of liability, whether in contract, strict liability,
|
|
||||||
// or tort (including negligence or otherwise) arising in any way out of
|
|
||||||
// the use of this software, even if advised of the possibility of such damage.
|
|
||||||
//
|
|
||||||
//M*/
|
|
||||||
|
|
||||||
#include "precomp.hpp"
|
|
||||||
#include "mil.h"
|
|
||||||
|
|
||||||
#if _MSC_VER >= 1200
|
|
||||||
#pragma warning( disable: 4711 )
|
|
||||||
#pragma comment(lib,"mil.lib")
|
|
||||||
#pragma comment(lib,"milmet2.lib")
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#if defined _M_X64
|
|
||||||
#pragma optimize("",off)
|
|
||||||
#endif
|
|
||||||
|
|
||||||
/********************* Capturing video from camera via MIL *********************/
|
|
||||||
|
|
||||||
struct
|
|
||||||
{
|
|
||||||
MIL_ID MilApplication;
|
|
||||||
int MilUser;
|
|
||||||
} g_Mil = {0,0}; //global structure for handling MIL application
|
|
||||||
|
|
||||||
class CvCaptureCAM_MIL : public CvCapture
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
CvCaptureCAM_MIL() { init(); }
|
|
||||||
virtual ~CvCaptureCAM_MIL() { close(); }
|
|
||||||
|
|
||||||
virtual bool open( int index );
|
|
||||||
virtual void close();
|
|
||||||
|
|
||||||
virtual double getProperty(int);
|
|
||||||
virtual bool setProperty(int, double) { return false; }
|
|
||||||
virtual bool grabFrame();
|
|
||||||
virtual IplImage* retrieveFrame(int);
|
|
||||||
virtual int getCaptureDomain() { return CV_CAP_MIL; } // Return the type of the capture object: CV_CAP_VFW, etc...
|
|
||||||
|
|
||||||
protected:
|
|
||||||
void init();
|
|
||||||
|
|
||||||
MIL_ID
|
|
||||||
MilSystem, /* System identifier. */
|
|
||||||
MilDisplay, /* Display identifier. */
|
|
||||||
MilDigitizer, /* Digitizer identifier. */
|
|
||||||
MilImage; /* Image buffer identifier. */
|
|
||||||
IplImage* rgb_frame;
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
void CvCaptureCAM_MIL::init()
|
|
||||||
{
|
|
||||||
MilSystem = MilDisplay = MilDigitizer = MilImage = M_NULL;
|
|
||||||
rgb_frame = 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Initialize camera input
|
|
||||||
bool CvCaptureCAM_MIL::open( int wIndex )
|
|
||||||
{
|
|
||||||
close();
|
|
||||||
|
|
||||||
if( g_Mil.MilApplication == M_NULL )
|
|
||||||
{
|
|
||||||
assert(g_Mil.MilUser == 0);
|
|
||||||
MappAlloc(M_DEFAULT, &(g_Mil.MilApplication) );
|
|
||||||
g_Mil.MilUser = 1;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
assert(g_Mil.MilUser>0);
|
|
||||||
g_Mil.MilUser++;
|
|
||||||
}
|
|
||||||
|
|
||||||
int dev_table[16] = { M_DEV0, M_DEV1, M_DEV2, M_DEV3,
|
|
||||||
M_DEV4, M_DEV5, M_DEV6, M_DEV7,
|
|
||||||
M_DEV8, M_DEV9, M_DEV10, M_DEV11,
|
|
||||||
M_DEV12, M_DEV13, M_DEV14, M_DEV15 };
|
|
||||||
|
|
||||||
//set default window size
|
|
||||||
int w = 320;
|
|
||||||
int h = 240;
|
|
||||||
|
|
||||||
for( ; wIndex < 16; wIndex++ )
|
|
||||||
{
|
|
||||||
MsysAlloc( M_SYSTEM_SETUP, //we use default system,
|
|
||||||
//if this does not work
|
|
||||||
//try to define exact board
|
|
||||||
//e.g.M_SYSTEM_METEOR,M_SYSTEM_METEOR_II...
|
|
||||||
dev_table[wIndex],
|
|
||||||
M_DEFAULT,
|
|
||||||
&MilSystem );
|
|
||||||
|
|
||||||
if( MilSystem != M_NULL )
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
if( MilSystem != M_NULL )
|
|
||||||
{
|
|
||||||
MdigAlloc(MilSystem,M_DEFAULT,
|
|
||||||
M_CAMERA_SETUP, //default. May be M_NTSC or other
|
|
||||||
M_DEFAULT,&MilDigitizer);
|
|
||||||
|
|
||||||
rgb_frame = cvCreateImage(cvSize(w,h), IPL_DEPTH_8U, 3 );
|
|
||||||
MdigControl(MilDigitizer, M_GRAB_SCALE, 1.0 / 2);
|
|
||||||
|
|
||||||
/*below line enables getting image vertical orientation
|
|
||||||
consistent with VFW but it introduces some image corruption
|
|
||||||
on MeteorII, so we left the image as is*/
|
|
||||||
//MdigControl(MilDigitizer, M_GRAB_DIRECTION_Y, M_REVERSE );
|
|
||||||
|
|
||||||
MilImage = MbufAllocColor(MilSystem, 3, w, h,
|
|
||||||
8+M_UNSIGNED, M_IMAGE + M_GRAB, M_NULL);
|
|
||||||
}
|
|
||||||
|
|
||||||
return MilSystem != M_NULL;
|
|
||||||
}
|
|
||||||
|
|
||||||
void CvCaptureCAM_MIL::close( CvCaptureCAM_MIL* capture )
|
|
||||||
{
|
|
||||||
if( MilSystem != M_NULL )
|
|
||||||
{
|
|
||||||
MdigFree( MilDigitizer );
|
|
||||||
MbufFree( MilImage );
|
|
||||||
MsysFree( MilSystem );
|
|
||||||
cvReleaseImage(&rgb_frame );
|
|
||||||
|
|
||||||
g_Mil.MilUser--;
|
|
||||||
if(!g_Mil.MilUser)
|
|
||||||
MappFree(g_Mil.MilApplication);
|
|
||||||
|
|
||||||
MilSystem = M_NULL;
|
|
||||||
MilDigitizer = M_NULL;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
bool CvCaptureCAM_MIL::grabFrame()
|
|
||||||
{
|
|
||||||
if( MilSystem )
|
|
||||||
{
|
|
||||||
MdigGrab(MilDigitizer, MilImage);
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
IplImage* CvCaptureCAM_MIL::retrieveFrame(int)
|
|
||||||
{
|
|
||||||
MbufGetColor(MilImage, M_BGR24+M_PACKED, M_ALL_BAND, (void*)(rgb_frame->imageData));
|
|
||||||
return rgb_frame;
|
|
||||||
}
|
|
||||||
|
|
||||||
double CvCaptureCAM_MIL::getProperty( int property_id )
|
|
||||||
{
|
|
||||||
switch( property_id )
|
|
||||||
{
|
|
||||||
case CV_CAP_PROP_FRAME_WIDTH:
|
|
||||||
return rgb_frame ? rgb_frame->width : 0;
|
|
||||||
case CV_CAP_PROP_FRAME_HEIGHT:
|
|
||||||
return rgb_frame ? rgb_frame->height : 0;
|
|
||||||
}
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
bool CvCaptureCAM_MIL::setProperty( int, double )
|
|
||||||
{
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
CvCapture* cvCreateCameraCapture_MIL( int index )
|
|
||||||
{
|
|
||||||
CvCaptureCAM_MIL* capture = new CvCaptureCAM_MIL;
|
|
||||||
|
|
||||||
if( capture->open( index ))
|
|
||||||
return capture;
|
|
||||||
|
|
||||||
delete capture;
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
@ -1,230 +0,0 @@
|
|||||||
/*M///////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
//
|
|
||||||
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
|
||||||
//
|
|
||||||
// By downloading, copying, installing or using the software you agree to this license.
|
|
||||||
// If you do not agree to this license, do not download, install,
|
|
||||||
// copy or use the software.
|
|
||||||
//
|
|
||||||
//
|
|
||||||
// Intel License Agreement
|
|
||||||
// For Open Source Computer Vision Library
|
|
||||||
//
|
|
||||||
// Copyright (C) 2000, Intel Corporation, all rights reserved.
|
|
||||||
// Third party copyrights are property of their respective owners.
|
|
||||||
//
|
|
||||||
// Redistribution and use in source and binary forms, with or without modification,
|
|
||||||
// are permitted provided that the following conditions are met:
|
|
||||||
//
|
|
||||||
// * Redistribution's of source code must retain the above copyright notice,
|
|
||||||
// this list of conditions and the following disclaimer.
|
|
||||||
//
|
|
||||||
// * Redistribution's in binary form must reproduce the above copyright notice,
|
|
||||||
// this list of conditions and the following disclaimer in the documentation
|
|
||||||
// and/or other materials provided with the distribution.
|
|
||||||
//
|
|
||||||
// * The name of Intel Corporation may not be used to endorse or promote products
|
|
||||||
// derived from this software without specific prior written permission.
|
|
||||||
//
|
|
||||||
// This software is provided by the copyright holders and contributors "as is" and
|
|
||||||
// any express or implied warranties, including, but not limited to, the implied
|
|
||||||
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
|
||||||
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
|
||||||
// indirect, incidental, special, exemplary, or consequential damages
|
|
||||||
// (including, but not limited to, procurement of substitute goods or services;
|
|
||||||
// loss of use, data, or profits; or business interruption) however caused
|
|
||||||
// and on any theory of liability, whether in contract, strict liability,
|
|
||||||
// or tort (including negligence or otherwise) arising in any way out of
|
|
||||||
// the use of this software, even if advised of the possibility of such damage.
|
|
||||||
//
|
|
||||||
//M*/
|
|
||||||
|
|
||||||
#include "precomp.hpp"
|
|
||||||
#include <DeepSeaIF.h>
|
|
||||||
|
|
||||||
#if _MSC_VER >= 1200
|
|
||||||
#pragma comment(lib,"DeepSeaIF.lib")
|
|
||||||
#endif
|
|
||||||
|
|
||||||
|
|
||||||
/****************** Capturing video from TYZX stereo camera *******************/
|
|
||||||
/** Initially developed by Roman Stanchak rstanchak@yahoo.com */
|
|
||||||
|
|
||||||
class CvCaptureCAM_TYZX : public CvCapture
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
CvCaptureCAM_TYZX() { index = -1; image = 0; }
|
|
||||||
virtual ~CvCaptureCAM_TYZX() { close(); }
|
|
||||||
|
|
||||||
virtual bool open( int _index );
|
|
||||||
virtual void close();
|
|
||||||
bool isOpened() { return index >= 0; }
|
|
||||||
|
|
||||||
virtual double getProperty(int);
|
|
||||||
virtual bool setProperty(int, double) { return false; }
|
|
||||||
virtual bool grabFrame();
|
|
||||||
virtual IplImage* retrieveFrame(int);
|
|
||||||
virtual int getCaptureDomain() { return CV_CAP_TYZX; } // Return the type of the capture object: CV_CAP_VFW, etc...
|
|
||||||
|
|
||||||
protected:
|
|
||||||
virtual bool allocateImage();
|
|
||||||
|
|
||||||
int index;
|
|
||||||
IplImage* image;
|
|
||||||
}
|
|
||||||
CvCaptureCAM_TYZX;
|
|
||||||
|
|
||||||
DeepSeaIF * g_tyzx_camera = 0;
|
|
||||||
int g_tyzx_refcount = 0;
|
|
||||||
|
|
||||||
bool CvCaptureCAM_TYZX::open( int _index )
|
|
||||||
{
|
|
||||||
close();
|
|
||||||
|
|
||||||
if(!g_tyzx_camera){
|
|
||||||
g_tyzx_camera = new DeepSeaIF;
|
|
||||||
if(!g_tyzx_camera) return false;
|
|
||||||
|
|
||||||
if(!g_tyzx_camera->initializeSettings(NULL)){
|
|
||||||
delete g_tyzx_camera;
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
|
|
||||||
// set initial sensor mode
|
|
||||||
// TODO is g_tyzx_camera redundant?
|
|
||||||
g_tyzx_camera->setSensorMode(g_tyzx_camera->getSensorMode());
|
|
||||||
|
|
||||||
// mm's
|
|
||||||
g_tyzx_camera->setZUnits((int) 1000);
|
|
||||||
|
|
||||||
g_tyzx_camera->enableLeftColor(true);
|
|
||||||
g_tyzx_camera->setColorMode(DeepSeaIF::BGRcolor);
|
|
||||||
g_tyzx_camera->setDoIntensityCrop(true);
|
|
||||||
g_tyzx_camera->enable8bitImages(true);
|
|
||||||
if(!g_tyzx_camera->startCapture()){
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
g_tyzx_refcount++;
|
|
||||||
}
|
|
||||||
index = _index;
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
|
|
||||||
void CvCaptureCAM_TYZX::close()
|
|
||||||
{
|
|
||||||
if( isOpened() )
|
|
||||||
{
|
|
||||||
cvReleaseImage( &image );
|
|
||||||
g_tyzx_refcount--;
|
|
||||||
if(g_tyzx_refcount==0){
|
|
||||||
delete g_tyzx_camera;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
bool CvCaptureCAM_TYZX::grabFrame()
|
|
||||||
{
|
|
||||||
return isOpened() && g_tyzx_camera && g_tyzx_camera->grab();
|
|
||||||
}
|
|
||||||
|
|
||||||
bool CvCaptureCAM_TYZX::allocateImage()
|
|
||||||
{
|
|
||||||
int depth, nch;
|
|
||||||
CvSize size;
|
|
||||||
|
|
||||||
// assume we want to resize
|
|
||||||
cvReleaseImage(&image);
|
|
||||||
|
|
||||||
// figure out size depending on index provided
|
|
||||||
switch(index){
|
|
||||||
case CV_TYZX_RIGHT:
|
|
||||||
size = cvSize(g_tyzx_camera->intensityWidth(), g_tyzx_camera->intensityHeight());
|
|
||||||
depth = 8;
|
|
||||||
nch = 1;
|
|
||||||
break;
|
|
||||||
case CV_TYZX_Z:
|
|
||||||
size = cvSize(g_tyzx_camera->zWidth(), g_tyzx_camera->zHeight());
|
|
||||||
depth = IPL_DEPTH_16S;
|
|
||||||
nch = 1;
|
|
||||||
break;
|
|
||||||
case CV_TYZX_LEFT:
|
|
||||||
default:
|
|
||||||
size = cvSize(g_tyzx_camera->intensityWidth(), g_tyzx_camera->intensityHeight());
|
|
||||||
depth = 8;
|
|
||||||
nch = 1;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
image = cvCreateImage(size, depth, nch);
|
|
||||||
return image != 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
/// Copy 'grabbed' image into capture buffer and return it.
|
|
||||||
IplImage * CvCaptureCAM_TYZX::retrieveFrame(int)
|
|
||||||
{
|
|
||||||
if(!isOpened() || !g_tyzx_camera) return 0;
|
|
||||||
|
|
||||||
if(!image && !alocateImage())
|
|
||||||
return 0;
|
|
||||||
|
|
||||||
// copy camera image into buffer.
|
|
||||||
// tempting to reference TYZX memory directly to avoid copying.
|
|
||||||
switch (index)
|
|
||||||
{
|
|
||||||
case CV_TYZX_RIGHT:
|
|
||||||
memcpy(image->imageData, g_tyzx_camera->getRImage(), image->imageSize);
|
|
||||||
break;
|
|
||||||
case CV_TYZX_Z:
|
|
||||||
memcpy(image->imageData, g_tyzx_camera->getZImage(), image->imageSize);
|
|
||||||
break;
|
|
||||||
case CV_TYZX_LEFT:
|
|
||||||
default:
|
|
||||||
memcpy(image->imageData, g_tyzx_camera->getLImage(), image->imageSize);
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
|
|
||||||
return image;
|
|
||||||
}
|
|
||||||
|
|
||||||
double CvCaptureCAM_TYZX::getProperty(int property_id)
|
|
||||||
{
|
|
||||||
CvSize size;
|
|
||||||
switch(capture->index)
|
|
||||||
{
|
|
||||||
case CV_TYZX_LEFT:
|
|
||||||
size = cvSize(g_tyzx_camera->intensityWidth(), g_tyzx_camera->intensityHeight());
|
|
||||||
break;
|
|
||||||
case CV_TYZX_RIGHT:
|
|
||||||
size = cvSize(g_tyzx_camera->intensityWidth(), g_tyzx_camera->intensityHeight());
|
|
||||||
break;
|
|
||||||
case CV_TYZX_Z:
|
|
||||||
size = cvSize(g_tyzx_camera->zWidth(), g_tyzx_camera->zHeight());
|
|
||||||
break;
|
|
||||||
default:
|
|
||||||
size = cvSize(0,0);
|
|
||||||
}
|
|
||||||
|
|
||||||
switch( property_id )
|
|
||||||
{
|
|
||||||
case CV_CAP_PROP_FRAME_WIDTH:
|
|
||||||
return size.width;
|
|
||||||
case CV_CAP_PROP_FRAME_HEIGHT:
|
|
||||||
return size.height;
|
|
||||||
}
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
bool CvCaptureCAM_TYZX::setProperty( int, double )
|
|
||||||
{
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
|
|
||||||
CvCapture * cvCreateCameraCapture_TYZX (int index)
|
|
||||||
{
|
|
||||||
CvCaptureCAM_TYZX * capture = new CvCaptureCAM_TYZX;
|
|
||||||
if( capture->open(index) )
|
|
||||||
return capture;
|
|
||||||
|
|
||||||
delete capture;
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
Loading…
Reference in New Issue
Block a user