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