vcs.maemo.org Git - opencv/blob - src/highgui/cvcap_tyzx.cpp

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  41
  42 #include "_highgui.h"
  43 #include <DeepSeaIF.h>
  44
  45 #if _MSC_VER >= 1200
  46         #pragma comment(lib,"DeepSeaIF.lib")
  47 #endif
  48
  49
  50 /****************** Capturing video from TYZX stereo camera  *******************/
  51 /** Initially developed by Roman Stanchak rstanchak@yahoo.com                  */
  52
  53 class CvCaptureCAM_TYZX : public CvCapture
  54 {
  55 public:
  56     CvCaptureCAM_TYZX() { index = -1; image = 0; }
  57     virtual ~CvCaptureCAM_TYZX() { close(); }
  58
  59     virtual bool open( int _index );
  60     virtual void close();
  61     bool isOpened() { return index >= 0; }
  62
  63     virtual double getProperty(int);
  64     virtual bool setProperty(int, double) { return false; }
  65     virtual bool grabFrame();
  66     virtual IplImage* retrieveFrame(int);
  67         virtual int getCaptureDomain() { return CV_CAP_TYZX; } // Return the type of the capture object: CV_CAP_VFW, etc...
  68
  69 protected:
  70     virtual bool allocateImage();
  71
  72         int index;
  73     IplImage* image;
  74 }
  75 CvCaptureCAM_TYZX;
  76
  77 DeepSeaIF * g_tyzx_camera   = 0;
  78 int         g_tyzx_refcount = 0;
  79
  80 bool CvCaptureCAM_TYZX::open( int _index )
  81 {
  82         close();
  83
  84     if(!g_tyzx_camera){
  85                 g_tyzx_camera = new DeepSeaIF;
  86                 if(!g_tyzx_camera) return false;
  87
  88                 if(!g_tyzx_camera->initializeSettings(NULL)){
  89                         delete g_tyzx_camera;
  90                         return false;
  91                 }
  92
  93                 // set initial sensor mode
  94                 // TODO is g_tyzx_camera redundant?
  95                 g_tyzx_camera->setSensorMode(g_tyzx_camera->getSensorMode());
  96
  97                 // mm's
  98                 g_tyzx_camera->setZUnits((int) 1000);
  99
 100             g_tyzx_camera->enableLeftColor(true);
 101                 g_tyzx_camera->setColorMode(DeepSeaIF::BGRcolor);
 102                 g_tyzx_camera->setDoIntensityCrop(true);
 103                 g_tyzx_camera->enable8bitImages(true);
 104                 if(!g_tyzx_camera->startCapture()){
 105                         return false;
 106                 }
 107                 g_tyzx_refcount++;
 108         }
 109         index = _index;
 110         return true;
 111 }
 112
 113 void CvCaptureCAM_TYZX::close()
 114 {
 115         if( isOpened() )
 116         {
 117                 cvReleaseImage( &image );
 118                 g_tyzx_refcount--;
 119                 if(g_tyzx_refcount==0){
 120                         delete g_tyzx_camera;
 121                 }
 122         }
 123 }
 124
 125 bool CvCaptureCAM_TYZX::grabFrame()
 126 {
 127         return isOpened() && g_tyzx_camera && g_tyzx_camera->grab();
 128 }
 129
 130 bool CvCaptureCAM_TYZX::allocateImage()
 131 {
 132         int depth, nch;
 133         CvSize size;
 134
 135         // assume we want to resize
 136     cvReleaseImage(&image);
 137
 138         // figure out size depending on index provided
 139         switch(index){
 140                 case CV_TYZX_RIGHT:
 141                         size = cvSize(g_tyzx_camera->intensityWidth(), g_tyzx_camera->intensityHeight());
 142                         depth = 8;
 143                         nch = 1;
 144                         break;
 145                 case CV_TYZX_Z:
 146                         size = cvSize(g_tyzx_camera->zWidth(), g_tyzx_camera->zHeight());
 147                         depth = IPL_DEPTH_16S;
 148                         nch = 1;
 149                         break;
 150                 case CV_TYZX_LEFT:
 151                 default:
 152                         size = cvSize(g_tyzx_camera->intensityWidth(), g_tyzx_camera->intensityHeight());
 153                         depth = 8;
 154                         nch = 1;
 155                         break;
 156         }
 157         image = cvCreateImage(size, depth, nch);
 158     return image != 0;
 159 }
 160
 161 /// Copy 'grabbed' image into capture buffer and return it.
 162 IplImage * CvCaptureCAM_TYZX::retrieveFrame(int)
 163 {
 164         if(!isOpened() || !g_tyzx_camera) return 0;
 165
 166         if(!image && !alocateImage())
 167         return 0;
 168
 169         // copy camera image into buffer.
 170         // tempting to reference TYZX memory directly to avoid copying.
 171         switch (index)
 172         {
 173                 case CV_TYZX_RIGHT:
 174                         memcpy(image->imageData, g_tyzx_camera->getRImage(), image->imageSize);
 175                         break;
 176                 case CV_TYZX_Z:
 177                         memcpy(image->imageData, g_tyzx_camera->getZImage(), image->imageSize);
 178                         break;
 179                 case CV_TYZX_LEFT:
 180                 default:
 181                         memcpy(image->imageData, g_tyzx_camera->getLImage(), image->imageSize);
 182                         break;
 183         }
 184
 185         return image;
 186 }
 187
 188 double CvCaptureCAM_TYZX::getProperty(int property_id)
 189 {
 190         CvSize size;
 191         switch(capture->index)
 192         {
 193                 case CV_TYZX_LEFT:
 194                         size = cvSize(g_tyzx_camera->intensityWidth(), g_tyzx_camera->intensityHeight());
 195                         break;
 196                 case CV_TYZX_RIGHT:
 197                         size = cvSize(g_tyzx_camera->intensityWidth(), g_tyzx_camera->intensityHeight());
 198                         break;
 199                 case CV_TYZX_Z:
 200                         size = cvSize(g_tyzx_camera->zWidth(), g_tyzx_camera->zHeight());
 201                         break;
 202                 default:
 203                         size = cvSize(0,0);
 204         }
 205
 206         switch( property_id )
 207         {
 208                 case CV_CAP_PROP_FRAME_WIDTH:
 209                         return size.width;
 210                 case CV_CAP_PROP_FRAME_HEIGHT:
 211                         return size.height;
 212         }
 213
 214         return 0;
 215 }
 216
 217 bool CvCaptureCAM_TYZX::setProperty( int, double )
 218 {
 219         return false;
 220 }
 221
 222 CvCapture * cvCreateCameraCapture_TYZX (int index)
 223 {
 224         CvCaptureCAM_TYZX * capture = new CvCaptureCAM_TYZX;
 225     if( capture->open(index) )
 226         return capture;
 227
 228     delete capture;
 229     return 0;
 230 }