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231 lines
6.2 KiB
C++
231 lines
6.2 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// Intel License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000, Intel Corporation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of Intel Corporation may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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#include <DeepSeaIF.h>
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#if _MSC_VER >= 1200
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#pragma comment(lib,"DeepSeaIF.lib")
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#endif
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/****************** Capturing video from TYZX stereo camera *******************/
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/** Initially developed by Roman Stanchak rstanchak@yahoo.com */
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class CvCaptureCAM_TYZX : public CvCapture
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{
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public:
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CvCaptureCAM_TYZX() { index = -1; image = 0; }
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virtual ~CvCaptureCAM_TYZX() { close(); }
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virtual bool open( int _index );
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virtual void close();
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bool isOpened() { return index >= 0; }
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virtual double getProperty(int);
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virtual bool setProperty(int, double) { return false; }
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virtual bool grabFrame();
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virtual IplImage* retrieveFrame(int);
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virtual int getCaptureDomain() { return CV_CAP_TYZX; } // Return the type of the capture object: CV_CAP_VFW, etc...
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protected:
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virtual bool allocateImage();
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int index;
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IplImage* image;
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}
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CvCaptureCAM_TYZX;
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DeepSeaIF * g_tyzx_camera = 0;
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int g_tyzx_refcount = 0;
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bool CvCaptureCAM_TYZX::open( int _index )
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{
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close();
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if(!g_tyzx_camera){
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g_tyzx_camera = new DeepSeaIF;
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if(!g_tyzx_camera) return false;
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if(!g_tyzx_camera->initializeSettings(NULL)){
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delete g_tyzx_camera;
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return false;
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}
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// set initial sensor mode
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// TODO is g_tyzx_camera redundant?
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g_tyzx_camera->setSensorMode(g_tyzx_camera->getSensorMode());
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// mm's
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g_tyzx_camera->setZUnits((int) 1000);
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g_tyzx_camera->enableLeftColor(true);
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g_tyzx_camera->setColorMode(DeepSeaIF::BGRcolor);
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g_tyzx_camera->setDoIntensityCrop(true);
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g_tyzx_camera->enable8bitImages(true);
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if(!g_tyzx_camera->startCapture()){
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return false;
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}
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g_tyzx_refcount++;
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}
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index = _index;
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return true;
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}
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void CvCaptureCAM_TYZX::close()
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{
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if( isOpened() )
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{
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cvReleaseImage( &image );
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g_tyzx_refcount--;
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if(g_tyzx_refcount==0){
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delete g_tyzx_camera;
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}
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}
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}
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bool CvCaptureCAM_TYZX::grabFrame()
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{
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return isOpened() && g_tyzx_camera && g_tyzx_camera->grab();
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}
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bool CvCaptureCAM_TYZX::allocateImage()
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{
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int depth, nch;
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CvSize size;
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// assume we want to resize
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cvReleaseImage(&image);
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// figure out size depending on index provided
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switch(index){
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case CV_TYZX_RIGHT:
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size = cvSize(g_tyzx_camera->intensityWidth(), g_tyzx_camera->intensityHeight());
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depth = 8;
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nch = 1;
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break;
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case CV_TYZX_Z:
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size = cvSize(g_tyzx_camera->zWidth(), g_tyzx_camera->zHeight());
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depth = IPL_DEPTH_16S;
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nch = 1;
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break;
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case CV_TYZX_LEFT:
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default:
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size = cvSize(g_tyzx_camera->intensityWidth(), g_tyzx_camera->intensityHeight());
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depth = 8;
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nch = 1;
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break;
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}
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image = cvCreateImage(size, depth, nch);
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return image != 0;
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}
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/// Copy 'grabbed' image into capture buffer and return it.
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IplImage * CvCaptureCAM_TYZX::retrieveFrame(int)
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{
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if(!isOpened() || !g_tyzx_camera) return 0;
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if(!image && !alocateImage())
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return 0;
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// copy camera image into buffer.
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// tempting to reference TYZX memory directly to avoid copying.
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switch (index)
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{
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case CV_TYZX_RIGHT:
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memcpy(image->imageData, g_tyzx_camera->getRImage(), image->imageSize);
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break;
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case CV_TYZX_Z:
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memcpy(image->imageData, g_tyzx_camera->getZImage(), image->imageSize);
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break;
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case CV_TYZX_LEFT:
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default:
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memcpy(image->imageData, g_tyzx_camera->getLImage(), image->imageSize);
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break;
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}
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return image;
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}
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double CvCaptureCAM_TYZX::getProperty(int property_id)
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{
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CvSize size;
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switch(capture->index)
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{
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case CV_TYZX_LEFT:
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size = cvSize(g_tyzx_camera->intensityWidth(), g_tyzx_camera->intensityHeight());
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break;
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case CV_TYZX_RIGHT:
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size = cvSize(g_tyzx_camera->intensityWidth(), g_tyzx_camera->intensityHeight());
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break;
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case CV_TYZX_Z:
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size = cvSize(g_tyzx_camera->zWidth(), g_tyzx_camera->zHeight());
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break;
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default:
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size = cvSize(0,0);
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}
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switch( property_id )
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{
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case CV_CAP_PROP_FRAME_WIDTH:
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return size.width;
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case CV_CAP_PROP_FRAME_HEIGHT:
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return size.height;
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}
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return 0;
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}
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bool CvCaptureCAM_TYZX::setProperty( int, double )
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{
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return false;
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}
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CvCapture * cvCreateCameraCapture_TYZX (int index)
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{
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CvCaptureCAM_TYZX * capture = new CvCaptureCAM_TYZX;
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if( capture->open(index) )
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return capture;
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delete capture;
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return 0;
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}
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