vcs.maemo.org Git - opencv/blob - otherlibs/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 typedef struct CvCaptureCAM_TYZX
  54 {
  55     CvCaptureVTable* vtable;
  56         int index;
  57     IplImage* image;
  58 }
  59 CvCaptureCAM_TYZX;
  60
  61 static int        icvOpenCAM_TYZX          (CvCaptureCAM_TYZX * capture, int wIndex );
  62 static int        icvSetPropertyCAM_TYZX   (CvCaptureCAM_TYZX* capture, int property_id, double value );
  63 static void       icvCloseCAM_TYZX         (CvCaptureCAM_TYZX* capture );
  64 static int        icvGrabFrameCAM_TYZX     (CvCaptureCAM_TYZX* capture );
  65 static IplImage * icvRetrieveFrameCAM_TYZX (CvCaptureCAM_TYZX* capture );
  66 static double     icvGetPropertyCAM_TYZX   (CvCaptureCAM_TYZX* capture, int property_id );
  67 static int        icvSetPropertyCAM_TYZX   (CvCaptureCAM_TYZX* capture, int property_id, double value );
  68
  69 static CvCaptureVTable captureCAM_TYZX_vtable =
  70 {
  71         6,
  72         (CvCaptureCloseFunc)icvCloseCAM_TYZX,
  73         (CvCaptureGrabFrameFunc)icvGrabFrameCAM_TYZX,
  74         (CvCaptureRetrieveFrameFunc)icvRetrieveFrameCAM_TYZX,
  75         (CvCaptureGetPropertyFunc)icvGetPropertyCAM_TYZX,
  76         (CvCaptureSetPropertyFunc)icvSetPropertyCAM_TYZX,
  77         (CvCaptureGetDescriptionFunc)0
  78 };
  79
  80
  81
  82 DeepSeaIF * g_tyzx_camera   = 0;
  83 int         g_tyzx_refcount = 0;
  84
  85 static int icvOpenCAM_TYZX(CvCaptureCAM_TYZX * capture, int index )
  86 {
  87         if(!g_tyzx_camera){
  88                 g_tyzx_camera = new DeepSeaIF;
  89                 if(!g_tyzx_camera) return 0;
  90
  91                 if(!g_tyzx_camera->initializeSettings(NULL)){
  92                         delete g_tyzx_camera;
  93                         return 0;
  94                 }
  95
  96                 // set initial sensor mode
  97                 // TODO is g_tyzx_camera redundant?
  98                 g_tyzx_camera->setSensorMode(g_tyzx_camera->getSensorMode());
  99
 100                 // mm's
 101                 g_tyzx_camera->setZUnits((int) 1000);
 102
 103             g_tyzx_camera->enableLeftColor(true);
 104                 g_tyzx_camera->setColorMode(DeepSeaIF::BGRcolor);
 105                 g_tyzx_camera->setDoIntensityCrop(true);
 106                 g_tyzx_camera->enable8bitImages(true);
 107                 if(!g_tyzx_camera->startCapture()){
 108                         return 0;
 109                 }
 110                 g_tyzx_refcount++;
 111         }
 112         capture->index=index;
 113         return 1;
 114 }
 115
 116 static void icvCloseCAM_TYZX( CvCaptureCAM_TYZX* capture )
 117 {
 118         if( capture && capture->image )
 119         {
 120                 cvReleaseImage( &capture->image );
 121                 capture->image = 0;
 122                 g_tyzx_refcount--;
 123                 if(g_tyzx_refcount==0){
 124                         delete g_tyzx_camera;
 125                 }
 126         }
 127 }
 128
 129 static int icvGrabFrameCAM_TYZX (CvCaptureCAM_TYZX * )
 130 {
 131         return g_tyzx_camera && g_tyzx_camera->grab();
 132 }
 133
 134 static void icvAllocateImageCAM_TYZX (CvCaptureCAM_TYZX * capture)
 135 {
 136         int depth, nch;
 137         CvSize size;
 138
 139         // assume we want to resize
 140         if(capture->image)
 141         {
 142                 cvReleaseImage(&(capture->image));
 143         }
 144
 145         // figure out size depending on index provided
 146         switch(capture->index){
 147                 case CV_TYZX_RIGHT:
 148                         size = cvSize(g_tyzx_camera->intensityWidth(), g_tyzx_camera->intensityHeight());
 149                         depth = 8;
 150                         nch = 1;
 151                         break;
 152                 case CV_TYZX_Z:
 153                         size = cvSize(g_tyzx_camera->zWidth(), g_tyzx_camera->zHeight());
 154                         depth = IPL_DEPTH_16S;
 155                         nch = 1;
 156                         break;
 157                 case CV_TYZX_LEFT:
 158                 default:
 159                         size = cvSize(g_tyzx_camera->intensityWidth(), g_tyzx_camera->intensityHeight());
 160                         depth = 8;
 161                         nch = 1;
 162                         break;
 163         }
 164         capture->image = cvCreateImage(size, depth, nch);
 165 }
 166
 167 /// Copy 'grabbed' image into capture buffer and return it.
 168 static IplImage * icvRetrieveFrameCAM_TYZX (CvCaptureCAM_TYZX * capture)
 169 {
 170         if(!capture || !g_tyzx_camera) return 0;
 171
 172         if(!capture->image){
 173                 icvAllocateImageCAM_TYZX(capture);
 174                 if(!capture->image) return 0;
 175         }
 176
 177         // copy camera image into buffer.
 178         // tempting to reference TYZX memory directly to avoid copying.
 179         switch (capture->index)
 180         {
 181                 case CV_TYZX_RIGHT:
 182                         memcpy(capture->image->imageData, g_tyzx_camera->getRImage(), capture->image->imageSize);
 183                         break;
 184                 case CV_TYZX_Z:
 185                         memcpy(capture->image->imageData, g_tyzx_camera->getZImage(), capture->image->imageSize);
 186                         break;
 187                 case CV_TYZX_LEFT:
 188                 default:
 189                         memcpy(capture->image->imageData, g_tyzx_camera->getLImage(), capture->image->imageSize);
 190                         break;
 191         }
 192
 193         return capture->image;
 194 }
 195
 196 static double icvGetPropertyCAM_TYZX (CvCaptureCAM_TYZX * capture, int property_id)
 197 {
 198         CvSize size;
 199         switch(capture->index)
 200         {
 201                 case CV_TYZX_LEFT:
 202                         size = cvSize(g_tyzx_camera->intensityWidth(), g_tyzx_camera->intensityHeight());
 203                         break;
 204                 case CV_TYZX_RIGHT:
 205                         size = cvSize(g_tyzx_camera->intensityWidth(), g_tyzx_camera->intensityHeight());
 206                         break;
 207                 case CV_TYZX_Z:
 208                         size = cvSize(g_tyzx_camera->zWidth(), g_tyzx_camera->zHeight());
 209                         break;
 210                 default:
 211                         size = cvSize(0,0);
 212         }
 213
 214         switch( property_id )
 215         {
 216                 case CV_CAP_PROP_FRAME_WIDTH:
 217                         return size.width;
 218                 case CV_CAP_PROP_FRAME_HEIGHT:
 219                         return size.height;
 220         }
 221
 222         return 0;
 223 }
 224
 225 static int icvSetPropertyCAM_TYZX (CvCaptureCAM_TYZX *, int, double )
 226 {
 227         int retval = -1;
 228         return retval;
 229 }
 230
 231 CvCapture * cvCaptureFromCAM_TYZX (int index)
 232 {
 233         CvCaptureCAM_TYZX * capture = (CvCaptureCAM_TYZX*) cvAlloc( sizeof(*capture));
 234         memset( capture, 0, sizeof(*capture));
 235         capture->vtable = &captureCAM_TYZX_vtable;
 236
 237         if (icvOpenCAM_TYZX( capture, index ))
 238                 return (CvCapture*)capture;
 239
 240         cvReleaseCapture( (CvCapture**)&capture );
 241         return 0;
 242 }