/*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" #ifdef HAVE_DC1394_2 #include #include #include #include #include #include static dc1394error_t adaptBufferStereoLocal(dc1394video_frame_t *in, dc1394video_frame_t *out) { uint32_t bpp; // buffer position is not changed. Size is boubled in Y out->size[0] = in->size[0]; out->size[1] = in->size[1] * 2; out->position[0] = in->position[0]; out->position[1] = in->position[1]; // color coding is set to mono8 or raw8. switch (in->color_coding) { case DC1394_COLOR_CODING_RAW16: out->color_coding = DC1394_COLOR_CODING_RAW8; break; case DC1394_COLOR_CODING_MONO16: case DC1394_COLOR_CODING_YUV422: out->color_coding = DC1394_COLOR_CODING_MONO8; break; default: return DC1394_INVALID_COLOR_CODING; } // keep the color filter value in all cases. if the format is not raw it will not be further used anyway out->color_filter = in->color_filter; // the output YUV byte order must be already set if the buffer is YUV422 at the output // if the output is not YUV we don't care about this field. // Hence nothing to do. // we always convert to 8bits (at this point) we can safely set this value to 8. out->data_depth = 8; // don't know what to do with stride... >>>> TODO: STRIDE SHOULD BE TAKEN INTO ACCOUNT... <<<< // out->stride=?? // the video mode should not change. Color coding and other stuff can be accessed in specific fields of this struct out->video_mode = in->video_mode; // padding is kept: out->padding_bytes = in->padding_bytes; // image bytes changes: >>>> TODO: STRIDE SHOULD BE TAKEN INTO ACCOUNT... <<<< dc1394_get_color_coding_bit_size(out->color_coding, &bpp); out->image_bytes = (out->size[0] * out->size[1] * bpp) / 8; // total is image_bytes + padding_bytes out->total_bytes = out->image_bytes + out->padding_bytes; // bytes-per-packet and packets_per_frame are internal data that can be kept as is. out->packet_size = in->packet_size; out->packets_per_frame = in->packets_per_frame; // timestamp, frame_behind, id and camera are copied too: out->timestamp = in->timestamp; out->frames_behind = in->frames_behind; out->camera = in->camera; out->id = in->id; // verify memory allocation: if (out->total_bytes > out->allocated_image_bytes) { free(out->image); out->image = (uint8_t*)malloc(out->total_bytes * sizeof(uint8_t)); out->allocated_image_bytes = out->total_bytes; } // Copy padding bytes: memcpy(&(out->image[out->image_bytes]), &(in->image[in->image_bytes]), out->padding_bytes); out->little_endian = DC1394_FALSE; // not used before 1.32 is out. out->data_in_padding = DC1394_FALSE; // not used before 1.32 is out. return DC1394_SUCCESS; } static dc1394error_t dc1394_deinterlace_stereo_frames_fixed(dc1394video_frame_t *in, dc1394video_frame_t *out, dc1394stereo_method_t method) { if((in->color_coding == DC1394_COLOR_CODING_RAW16) || (in->color_coding == DC1394_COLOR_CODING_MONO16) || (in->color_coding == DC1394_COLOR_CODING_YUV422)) { switch (method) { case DC1394_STEREO_METHOD_INTERLACED: adaptBufferStereoLocal(in, out); //FIXED by AB: // dc1394_deinterlace_stereo(in->image, out->image, in->size[0], in->size[1]); dc1394_deinterlace_stereo(in->image, out->image, out->size[0], out->size[1]); break; case DC1394_STEREO_METHOD_FIELD: adaptBufferStereoLocal(in, out); memcpy(out->image, in->image, out->image_bytes); break; } return DC1394_INVALID_STEREO_METHOD; } else return DC1394_FUNCTION_NOT_SUPPORTED; } static uint32_t getControlRegister(dc1394camera_t *camera, uint64_t offset) { uint32_t value = 0; dc1394error_t err = dc1394_get_control_register(camera, offset, &value); assert(err == DC1394_SUCCESS); return err == DC1394_SUCCESS ? value : 0xffffffff; } struct CvDC1394 { CvDC1394(); ~CvDC1394(); dc1394_t* dc; fd_set camFds; }; CvDC1394::CvDC1394() { dc = dc1394_new(); FD_ZERO(&camFds); } CvDC1394::~CvDC1394() { if (dc) dc1394_free(dc); dc = 0; } static CvDC1394 dc1394; class CvCaptureCAM_DC1394_v2_CPP : public CvCapture { public: static int dc1394properties[CV_CAP_PROP_MAX_DC1394]; CvCaptureCAM_DC1394_v2_CPP(); virtual ~CvCaptureCAM_DC1394_v2_CPP() { close(); } virtual bool open(int index); virtual void close(); virtual double getProperty(int); virtual bool setProperty(int, double); virtual bool grabFrame(); virtual IplImage* retrieveFrame(int); virtual int getCaptureDomain() { return CV_CAP_DC1394; } // Return the type of the capture object: CV_CAP_VFW, etc... protected: virtual bool startCapture(); virtual bool getVidereCalibrationInfo( char* buf, int bufSize ); virtual bool initVidereRectifyMaps( const char* info, IplImage* ml[2], IplImage* mr[2] ); uint64_t guid; dc1394camera_t* dcCam; int isoSpeed; int videoMode; int frameWidth, frameHeight; double fps; int nDMABufs; bool started; int userMode; enum { VIDERE = 0x5505 }; int cameraId; bool colorStereo; dc1394bayer_method_t bayer; dc1394color_filter_t bayerFilter; enum { NIMG = 2 }; IplImage *img[NIMG]; dc1394video_frame_t* frameC; int nimages; bool rectify; bool init_rectify; IplImage *maps[NIMG][2]; dc1394featureset_t feature_set; }; //mapping CV_CAP_PROP_ to DC1394_FEATUREs int CvCaptureCAM_DC1394_v2_CPP::dc1394properties[CV_CAP_PROP_MAX_DC1394] = { -1, //no corresponding feature for CV_CAP_PROP_POS_MSEC -1,-1,-1,-1, DC1394_FEATURE_FRAME_RATE, //CV_CAP_PROP_FPS - fps can be set for format 7 only! -1,-1,-1,-1, DC1394_FEATURE_BRIGHTNESS, //CV_CAP_PROP_BRIGHTNESS 10 -1, DC1394_FEATURE_SATURATION, //CV_CAP_PROP_SATURATION DC1394_FEATURE_HUE, DC1394_FEATURE_GAIN, DC1394_FEATURE_SHUTTER, //CV_CAP_PROP_EXPOSURE -1, //CV_CAP_PROP_CONVERT_RGB DC1394_FEATURE_WHITE_BALANCE, //corresponds to CV_CAP_PROP_WHITE_BALANCE_BLUE_U and CV_CAP_PROP_WHITE_BALANCE_RED_V, see set function to check these props are set -1,-1, DC1394_FEATURE_SHARPNESS, //20 DC1394_FEATURE_EXPOSURE, //CV_CAP_PROP_AUTO_EXPOSURE - this is auto exposure according to the IIDC standard DC1394_FEATURE_GAMMA, //CV_CAP_PROP_GAMMA DC1394_FEATURE_TEMPERATURE, //CV_CAP_PROP_TEMPERATURE DC1394_FEATURE_TRIGGER, //CV_CAP_PROP_TRIGGER DC1394_FEATURE_TRIGGER_DELAY, //CV_CAP_PROP_TRIGGER_DELAY DC1394_FEATURE_WHITE_BALANCE, //CV_CAP_PROP_WHITE_BALANCE_RED_V DC1394_FEATURE_ZOOM, //CV_CAP_PROP_ZOOM DC1394_FEATURE_FOCUS, //CV_CAP_PROP_FOCUS -1 //CV_CAP_PROP_GUID }; CvCaptureCAM_DC1394_v2_CPP::CvCaptureCAM_DC1394_v2_CPP() { guid = 0; dcCam = 0; isoSpeed = 400; fps = 15; nDMABufs = 8; started = false; cameraId = 0; colorStereo = false; bayer = DC1394_BAYER_METHOD_BILINEAR; bayerFilter = DC1394_COLOR_FILTER_GRBG; frameWidth = 640; frameHeight = 480; for (int i = 0; i < NIMG; i++) img[i] = maps[i][0] = maps[i][1] = 0; frameC = 0; nimages = 1; rectify = false; userMode = -1; } bool CvCaptureCAM_DC1394_v2_CPP::startCapture() { int i; int code = 0; if (!dcCam) return false; if (isoSpeed > 0) { code = dc1394_video_set_iso_speed(dcCam, isoSpeed <= 100 ? DC1394_ISO_SPEED_100 : isoSpeed <= 200 ? DC1394_ISO_SPEED_200 : isoSpeed <= 400 ? DC1394_ISO_SPEED_400 : isoSpeed <= 800 ? DC1394_ISO_SPEED_800 : isoSpeed == 1600 ? DC1394_ISO_SPEED_1600 : DC1394_ISO_SPEED_3200); } // should a specific mode be used if (userMode >= 0) { dc1394video_mode_t wantedMode; dc1394video_modes_t videoModes; dc1394_video_get_supported_modes(dcCam, &videoModes); //set mode from number, for example the second supported mode, i.e userMode = 1 if (userMode < (int)videoModes.num) { wantedMode = videoModes.modes[userMode]; } //set modes directly from DC134 constants (from dc1394video_mode_t) else if ((userMode >= DC1394_VIDEO_MODE_MIN) && (userMode <= DC1394_VIDEO_MODE_MAX )) { //search for wanted mode, to check if camera supports it int j = 0; while ((j< (int)videoModes.num) && videoModes.modes[j]!=userMode) { j++; } if ((int)videoModes.modes[j]==userMode) { wantedMode = videoModes.modes[j]; } else { userMode = -1; // wanted mode not supported, search for best mode } } else { userMode = -1; // wanted mode not supported, search for best mode } //if userMode is available: set it and update size if (userMode != -1) { code = dc1394_video_set_mode(dcCam, wantedMode); uint32_t width, height; dc1394_get_image_size_from_video_mode(dcCam, wantedMode, &width, &height); frameWidth = (int)width; frameHeight = (int)height; } } if (userMode == -1 && (frameWidth > 0 || frameHeight > 0)) { dc1394video_mode_t bestMode = (dc1394video_mode_t) - 1; dc1394video_modes_t videoModes; dc1394_video_get_supported_modes(dcCam, &videoModes); for (i = 0; i < (int)videoModes.num; i++) { dc1394video_mode_t mode = videoModes.modes[i]; if (mode >= DC1394_VIDEO_MODE_FORMAT7_MIN && mode <= DC1394_VIDEO_MODE_FORMAT7_MAX) continue; int pref = -1; dc1394color_coding_t colorCoding; dc1394_get_color_coding_from_video_mode(dcCam, mode, &colorCoding); uint32_t width, height; dc1394_get_image_size_from_video_mode(dcCam, mode, &width, &height); if ((int)width == frameWidth || (int)height == frameHeight) { if (colorCoding == DC1394_COLOR_CODING_RGB8 || colorCoding == DC1394_COLOR_CODING_RAW8) { bestMode = mode; break; } if (colorCoding == DC1394_COLOR_CODING_YUV411 || colorCoding == DC1394_COLOR_CODING_YUV422 || (colorCoding == DC1394_COLOR_CODING_YUV444 && pref < 1)) { bestMode = mode; pref = 1; break; } if (colorCoding == DC1394_COLOR_CODING_MONO8) { bestMode = mode; pref = 0; } } } if ((int)bestMode >= 0) code = dc1394_video_set_mode(dcCam, bestMode); } if (fps > 0) { dc1394video_mode_t mode; dc1394framerates_t framerates; double minDiff = DBL_MAX; dc1394framerate_t bestFps = (dc1394framerate_t) - 1; dc1394_video_get_mode(dcCam, &mode); dc1394_video_get_supported_framerates(dcCam, mode, &framerates); for (i = 0; i < (int)framerates.num; i++) { dc1394framerate_t ifps = framerates.framerates[i]; double fps1 = (1 << (ifps - DC1394_FRAMERATE_1_875)) * 1.875; double diff = fabs(fps1 - fps); if (diff < minDiff) { minDiff = diff; bestFps = ifps; } } if ((int)bestFps >= 0) code = dc1394_video_set_framerate(dcCam, bestFps); } if (cameraId == VIDERE) { bayerFilter = DC1394_COLOR_FILTER_GBRG; nimages = 2; uint32_t value = 0; dc1394_get_control_register(dcCam, 0x50c, &value); colorStereo = (value & 0x80000000) != 0; } code = dc1394_capture_setup(dcCam, nDMABufs, DC1394_CAPTURE_FLAGS_DEFAULT); if (code >= 0) { FD_SET(dc1394_capture_get_fileno(dcCam), &dc1394.camFds); dc1394_video_set_transmission(dcCam, DC1394_ON); if (cameraId == VIDERE) { enum { PROC_MODE_OFF, PROC_MODE_NONE, PROC_MODE_TEST, PROC_MODE_RECTIFIED, PROC_MODE_DISPARITY, PROC_MODE_DISPARITY_RAW }; int procMode = PROC_MODE_RECTIFIED; usleep(100000); uint32_t qval1 = 0x08000000 | (0x90 << 16) | ((procMode & 0x7) << 16); uint32_t qval2 = 0x08000000 | (0x9C << 16); dc1394_set_control_register(dcCam, 0xFF000, qval1); dc1394_set_control_register(dcCam, 0xFF000, qval2); } started = true; } return code >= 0; } bool CvCaptureCAM_DC1394_v2_CPP::open(int index) { bool result = false; dc1394camera_list_t* cameraList = 0; dc1394error_t err; close(); if (!dc1394.dc) goto _exit_; err = dc1394_camera_enumerate(dc1394.dc, &cameraList); if (err < 0 || !cameraList || (unsigned)index >= (unsigned)cameraList->num) goto _exit_; guid = cameraList->ids[index].guid; dcCam = dc1394_camera_new(dc1394.dc, guid); if (!dcCam) goto _exit_; cameraId = dcCam->vendor_id; //get all features if (dc1394_feature_get_all(dcCam,&feature_set) == DC1394_SUCCESS) result = true; else result = false; _exit_: if (cameraList) dc1394_camera_free_list(cameraList); return result; } void CvCaptureCAM_DC1394_v2_CPP::close() { if (dcCam) { // check for fileno valid before using int fileno=dc1394_capture_get_fileno(dcCam); if (fileno>=0 && FD_ISSET(fileno, &dc1394.camFds)) FD_CLR(fileno, &dc1394.camFds); dc1394_video_set_transmission(dcCam, DC1394_OFF); dc1394_capture_stop(dcCam); dc1394_camera_free(dcCam); dcCam = 0; started = false; } for (int i = 0; i < NIMG; i++) { cvReleaseImage(&img[i]); cvReleaseImage(&maps[i][0]); cvReleaseImage(&maps[i][1]); } if (frameC) { if (frameC->image) free(frameC->image); free(frameC); frameC = 0; } } bool CvCaptureCAM_DC1394_v2_CPP::grabFrame() { dc1394capture_policy_t policy = DC1394_CAPTURE_POLICY_WAIT; bool code = false, isColor; dc1394video_frame_t *dcFrame = 0, *fs = 0; int i, nch; if (!dcCam || (!started && !startCapture())) return false; dc1394_capture_dequeue(dcCam, policy, &dcFrame); if (!dcFrame) return false; if (/*dcFrame->frames_behind > 1 ||*/ dc1394_capture_is_frame_corrupt(dcCam, dcFrame) == DC1394_TRUE) { goto _exit_; } isColor = dcFrame->color_coding != DC1394_COLOR_CODING_MONO8 && dcFrame->color_coding != DC1394_COLOR_CODING_MONO16 && dcFrame->color_coding != DC1394_COLOR_CODING_MONO16S; if (nimages == 2) { fs = (dc1394video_frame_t*)calloc(1, sizeof(*fs)); //dc1394_deinterlace_stereo_frames(dcFrame, fs, DC1394_STEREO_METHOD_INTERLACED); dc1394_deinterlace_stereo_frames_fixed(dcFrame, fs, DC1394_STEREO_METHOD_INTERLACED); dc1394_capture_enqueue(dcCam, dcFrame); // release the captured frame as soon as possible dcFrame = 0; if (!fs->image) goto _exit_; isColor = colorStereo; } nch = isColor ? 3 : 1; for (i = 0; i < nimages; i++) { IplImage fhdr; dc1394video_frame_t f = fs ? *fs : *dcFrame, *fc = &f; f.size[1] /= nimages; f.image += f.size[0] * f.size[1] * i; // TODO: make it more universal if (isColor) { if (!frameC) frameC = (dc1394video_frame_t*)calloc(1, sizeof(*frameC)); frameC->color_coding = nch == 3 ? DC1394_COLOR_CODING_RGB8 : DC1394_COLOR_CODING_MONO8; if (nimages == 1) { dc1394_convert_frames(&f, frameC); dc1394_capture_enqueue(dcCam, dcFrame); dcFrame = 0; } else { f.color_filter = bayerFilter; dc1394_debayer_frames(&f, frameC, bayer); } fc = frameC; } if (!img[i]) img[i] = cvCreateImage(cvSize(fc->size[0], fc->size[1]), 8, nch); cvInitImageHeader(&fhdr, cvSize(fc->size[0], fc->size[1]), 8, nch); cvSetData(&fhdr, fc->image, fc->size[0]*nch); // Swap R&B channels: if (nch==3) cvConvertImage(&fhdr,&fhdr,CV_CVTIMG_SWAP_RB); if( rectify && cameraId == VIDERE && nimages == 2 ) { if( !maps[0][0] || maps[0][0]->width != img[i]->width || maps[0][0]->height != img[i]->height ) { CvSize size = cvGetSize(img[i]); cvReleaseImage(&maps[0][0]); cvReleaseImage(&maps[0][1]); cvReleaseImage(&maps[1][0]); cvReleaseImage(&maps[1][1]); maps[0][0] = cvCreateImage(size, IPL_DEPTH_16S, 2); maps[0][1] = cvCreateImage(size, IPL_DEPTH_16S, 1); maps[1][0] = cvCreateImage(size, IPL_DEPTH_16S, 2); maps[1][1] = cvCreateImage(size, IPL_DEPTH_16S, 1); char buf[4*4096]; if( getVidereCalibrationInfo( buf, (int)sizeof(buf) ) && initVidereRectifyMaps( buf, maps[0], maps[1] )) ; else rectify = false; } cvRemap(&fhdr, img[i], maps[i][0], maps[i][1]); } else cvCopy(&fhdr, img[i]); } code = true; _exit_: if (dcFrame) dc1394_capture_enqueue(dcCam, dcFrame); if (fs) { if (fs->image) free(fs->image); free(fs); } return code; } IplImage* CvCaptureCAM_DC1394_v2_CPP::retrieveFrame(int idx) { return 0 <= idx && idx < nimages ? img[idx] : 0; } double CvCaptureCAM_DC1394_v2_CPP::getProperty(int propId) { switch (propId) { case CV_CAP_PROP_FRAME_WIDTH: return frameWidth ? frameWidth : frameHeight*4 / 3; case CV_CAP_PROP_FRAME_HEIGHT: return frameHeight ? frameHeight : frameWidth*3 / 4; case CV_CAP_PROP_FPS: return fps; case CV_CAP_PROP_RECTIFICATION: return rectify ? 1 : 0; case CV_CAP_PROP_WHITE_BALANCE_BLUE_U: if (dc1394_feature_whitebalance_get_value(dcCam, &feature_set.feature[DC1394_FEATURE_WHITE_BALANCE-DC1394_FEATURE_MIN].BU_value, &feature_set.feature[DC1394_FEATURE_WHITE_BALANCE-DC1394_FEATURE_MIN].RV_value) == DC1394_SUCCESS) return feature_set.feature[DC1394_FEATURE_WHITE_BALANCE-DC1394_FEATURE_MIN].BU_value; break; case CV_CAP_PROP_WHITE_BALANCE_RED_V: if (dc1394_feature_whitebalance_get_value(dcCam, &feature_set.feature[DC1394_FEATURE_WHITE_BALANCE-DC1394_FEATURE_MIN].BU_value, &feature_set.feature[DC1394_FEATURE_WHITE_BALANCE-DC1394_FEATURE_MIN].RV_value) == DC1394_SUCCESS) return feature_set.feature[DC1394_FEATURE_WHITE_BALANCE-DC1394_FEATURE_MIN].RV_value; break; case CV_CAP_PROP_GUID: //the least 32 bits are enough to identify the camera return (double) (guid & 0x00000000FFFFFFFF); break; case CV_CAP_PROP_MODE: return (double) userMode; break; case CV_CAP_PROP_ISO_SPEED: return (double) isoSpeed; default: if (propId FLT_EPSILON; break; case CV_CAP_PROP_MODE: if(started) return false; userMode = cvRound(value); break; case CV_CAP_PROP_ISO_SPEED: if(started) return false; isoSpeed = cvRound(value); break; //The code below is based on coriander, callbacks.c:795, refer to case RANGE_MENU_MAN : default: if (propIdon_off_capable) && (dc1394_feature_set_power(dcCam, act_feature->id, DC1394_OFF) == DC1394_SUCCESS)) { act_feature->is_on=DC1394_OFF; return true; } return false; } //try to turn the feature ON, feature can be ON and at the same time it can be not capable to change state to OFF if ( (act_feature->is_on == DC1394_OFF) && (act_feature->on_off_capable == DC1394_TRUE)) { if (dc1394_feature_set_power(dcCam, act_feature->id, DC1394_ON) == DC1394_SUCCESS) feature_set.feature[dc1394properties[propId]-DC1394_FEATURE_MIN].is_on=DC1394_ON; } //turn off absolute mode - the actual value will be stored in the value field, //otherwise it would be stored into CSR (control and status register) absolute value if (act_feature->absolute_capable && dc1394_feature_set_absolute_control(dcCam, act_feature->id, DC1394_OFF) !=DC1394_SUCCESS) return false; else act_feature->abs_control=DC1394_OFF; //set AUTO if (cvRound(value) == CV_CAP_PROP_DC1394_MODE_AUTO) { if (dc1394_feature_set_mode(dcCam, act_feature->id, DC1394_FEATURE_MODE_AUTO)!=DC1394_SUCCESS) return false; act_feature->current_mode=DC1394_FEATURE_MODE_AUTO; return true; } //set ONE PUSH if (cvRound(value) == CV_CAP_PROP_DC1394_MODE_ONE_PUSH_AUTO) { //have to set to manual first, otherwise one push will be ignored (AVT manual 4.3.0 p. 115) if (dc1394_feature_set_mode(dcCam, act_feature->id, DC1394_FEATURE_MODE_ONE_PUSH_AUTO)!=DC1394_SUCCESS) return false; //will change to act_feature->current_mode=DC1394_FEATURE_MODE_ONE_PUSH_AUTO; return true; } //set the feature to MANUAL mode, if (dc1394_feature_set_mode(dcCam, act_feature->id, DC1394_FEATURE_MODE_MANUAL)!=DC1394_SUCCESS) return false; else act_feature->current_mode=DC1394_FEATURE_MODE_MANUAL; // if property is one of the white balance features treat it in different way if (propId == CV_CAP_PROP_WHITE_BALANCE_BLUE_U) { if (dc1394_feature_whitebalance_set_value(dcCam,cvRound(value), act_feature->RV_value)!=DC1394_SUCCESS) return false; else { act_feature->BU_value = cvRound(value); return true; } } if (propId == CV_CAP_PROP_WHITE_BALANCE_RED_V) { if (dc1394_feature_whitebalance_set_value(dcCam, act_feature->BU_value, cvRound(value))!=DC1394_SUCCESS) return false; else { act_feature->RV_value = cvRound(value); return true; } } //first: check boundaries if (value < act_feature->min) { value = act_feature->min; } else if (value > act_feature->max) { value = act_feature->max; } if (dc1394_feature_set_value(dcCam, act_feature->id, cvRound(value)) == DC1394_SUCCESS) { act_feature->value = value; return true; } } return false; } return true; } bool CvCaptureCAM_DC1394_v2_CPP::getVidereCalibrationInfo( char* buf, int bufSize ) { int pos; for( pos = 0; pos < bufSize - 4; pos += 4 ) { uint32_t quad = getControlRegister(dcCam, 0xF0800 + pos); if( quad == 0 || quad == 0xffffffff ) break; buf[pos] = (uchar)(quad >> 24); buf[pos+1] = (uchar)(quad >> 16); buf[pos+2] = (uchar)(quad >> 8); buf[pos+3] = (uchar)(quad); } if( pos == 0 ) return false; buf[pos] = '\0'; return true; } bool CvCaptureCAM_DC1394_v2_CPP::initVidereRectifyMaps( const char* info, IplImage* ml[2], IplImage* mr[2] ) { float identity_data[] = {1, 0, 0, 0, 1, 0, 0, 0, 1}; CvMat l_rect = cvMat(3, 3, CV_32F, identity_data), r_rect = l_rect; float l_intrinsic_data[] = {1, 0, 0, 0, 1, 0, 0, 0, 1}; float r_intrinsic_data[] = {1, 0, 0, 0, 1, 0, 0, 0, 1}; CvMat l_intrinsic = cvMat(3, 3, CV_32F, l_intrinsic_data); CvMat r_intrinsic = cvMat(3, 3, CV_32F, r_intrinsic_data); float l_distortion_data[] = {0,0,0,0,0}, r_distortion_data[] = {0,0,0,0,0}; CvMat l_distortion = cvMat(1, 5, CV_32F, l_distortion_data); CvMat r_distortion = cvMat(1, 5, CV_32F, r_distortion_data); IplImage* mx = cvCreateImage(cvGetSize(ml[0]), IPL_DEPTH_32F, 1); IplImage* my = cvCreateImage(cvGetSize(ml[0]), IPL_DEPTH_32F, 1); int k, j; for( k = 0; k < 2; k++ ) { const char* section_name = k == 0 ? "[left_camera]" : "[right_camera]"; static const char* param_names[] = { "f ", "fy", "Cx", "Cy" "kappa1", "kappa2", "tau1", "tau2", "kappa3", 0 }; const char* section_start = strstr( info, section_name ); CvMat* intrinsic = k == 0 ? &l_intrinsic : &r_intrinsic; CvMat* distortion = k == 0 ? &l_distortion : &r_distortion; CvMat* rectification = k == 0 ? &l_rect : &r_rect; IplImage** dst = k == 0 ? ml : mr; if( !section_start ) break; section_start += strlen(section_name); for( j = 0; param_names[j] != 0; j++ ) { const char* param_value_start = strstr(section_start, param_names[j]); float val=0; if(!param_value_start) break; sscanf(param_value_start + strlen(param_names[j]), "%f", &val); if( j < 4 ) intrinsic->data.fl[j == 0 ? 0 : j == 1 ? 4 : j == 2 ? 2 : 5] = val; else distortion->data.fl[j - 4] = val; } if( param_names[j] != 0 ) break; // some sanity check for the principal point if( fabs(mx->width*0.5 - intrinsic->data.fl[2]) > mx->width*0.1 || fabs(my->height*0.5 - intrinsic->data.fl[5]) > my->height*0.1 ) { cvScale( &intrinsic, &intrinsic, 0.5 ); // try the corrected intrinsic matrix for 2x lower resolution if( fabs(mx->width*0.5 - intrinsic->data.fl[2]) > mx->width*0.05 || fabs(my->height*0.5 - intrinsic->data.fl[5]) > my->height*0.05 ) cvScale( &intrinsic, &intrinsic, 2 ); // revert it back if the new variant is not much better intrinsic->data.fl[8] = 1; } cvInitUndistortRectifyMap( intrinsic, distortion, rectification, intrinsic, mx, my ); cvConvertMaps( mx, my, dst[0], dst[1] ); } cvReleaseImage( &mx ); cvReleaseImage( &my ); return k >= 2; } CvCapture* cvCreateCameraCapture_DC1394_2(int index) { CvCaptureCAM_DC1394_v2_CPP* capture = new CvCaptureCAM_DC1394_v2_CPP; if (capture->open(index)) return capture; delete capture; return 0; } #endif