+++ /dev/null
-/*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 "_highgui.h"
-#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();
-
-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()
-{
- 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;
-}
projects / opencv / blobdiff