--- /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(int);
+ virtual int getCaptureDomain() { return CV_CAP_TYZX; } // Return the type of the capture object: CV_CAP_VFW, etc...
+
+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(int)
+{
+ 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