Chiebot-Mirror
/
opencv
mirror of https://github.com/opencv/opencv.git
8
0
Fork 0
Code Issues Projects Releases Wiki Activity

videoio: drop rectification code for VIDERE cameras

Browse Source
pull/12781/head
Alexander Alekhin 6 years ago
parent 1522722fab
commit 8bb3d363a4
1 changed files with 6 additions and 145 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 151
      modules/videoio/src/cap_dc1394_v2.cpp

151
modules/videoio/src/cap_dc1394_v2.cpp
Unescape View File

@ -161,15 +161,6 @@ static dc1394error_t dc1394_deinterlace_stereo_frames_fixed(dc1394video_frame_t
return DC1394_FUNCTION_NOT_SUPPORTED;
}
static uint32_t getControlRegister(dc1394camera_t *camera, uint64_t offset)
{
uint32_t value = 0;
dc1394error_t err = dc1394_get_control_register(camera, offset, &value);
assert(err == DC1394_SUCCESS);
return err == DC1394_SUCCESS ? value : 0xffffffff;
}
struct CvDC1394
{
CvDC1394();
@ -216,8 +207,6 @@ public:
protected:
virtual bool startCapture();
virtual bool getVidereCalibrationInfo( char* buf, int bufSize );
virtual bool initVidereRectifyMaps( const char* info, IplImage* ml[2], IplImage* mr[2] );
uint64_t guid;
dc1394camera_t* dcCam;
@ -241,9 +230,6 @@ protected:
dc1394video_frame_t* frameC;
int nimages;
bool rectify;
bool init_rectify;
IplImage *maps[NIMG][2];
dc1394featureset_t feature_set;
};
//mapping CV_CAP_PROP_ to DC1394_FEATUREs
@ -289,10 +275,9 @@ CvCaptureCAM_DC1394_v2_CPP::CvCaptureCAM_DC1394_v2_CPP()
frameHeight = 480;
for (int i = 0; i < NIMG; i++)
img[i] = maps[i][0] = maps[i][1] = 0;
img[i] = 0;
frameC = 0;
nimages = 1;
rectify = false;
userMode = -1;
}
@ -453,16 +438,6 @@ bool CvCaptureCAM_DC1394_v2_CPP::startCapture()
{
FD_SET(dc1394_capture_get_fileno(dcCam), &dc1394.camFds);
dc1394_video_set_transmission(dcCam, DC1394_ON);
if (cameraId == VIDERE)
{
enum { PROC_MODE_OFF, PROC_MODE_NONE, PROC_MODE_TEST, PROC_MODE_RECTIFIED, PROC_MODE_DISPARITY, PROC_MODE_DISPARITY_RAW };
int procMode = PROC_MODE_RECTIFIED;
usleep(100000);
uint32_t qval1 = 0x08000000 | (0x90 << 16) | ((procMode & 0x7) << 16);
uint32_t qval2 = 0x08000000 | (0x9C << 16);
dc1394_set_control_register(dcCam, 0xFF000, qval1);
dc1394_set_control_register(dcCam, 0xFF000, qval2);
}
started = true;
}
@ -522,8 +497,6 @@ void CvCaptureCAM_DC1394_v2_CPP::close()
for (int i = 0; i < NIMG; i++)
{
cvReleaseImage(&img[i]);
cvReleaseImage(&maps[i][0]);
cvReleaseImage(&maps[i][1]);
}
if (frameC)
{
@ -607,30 +580,7 @@ bool CvCaptureCAM_DC1394_v2_CPP::grabFrame()
if (nch==3)
cvConvertImage(&fhdr,&fhdr,CV_CVTIMG_SWAP_RB);
if( rectify && cameraId == VIDERE && nimages == 2 )
{
if( !maps[0][0] || maps[0][0]->width != img[i]->width || maps[0][0]->height != img[i]->height )
{
CvSize size = cvGetSize(img[i]);
cvReleaseImage(&maps[0][0]);
cvReleaseImage(&maps[0][1]);
cvReleaseImage(&maps[1][0]);
cvReleaseImage(&maps[1][1]);
maps[0][0] = cvCreateImage(size, IPL_DEPTH_16S, 2);
maps[0][1] = cvCreateImage(size, IPL_DEPTH_16S, 1);
maps[1][0] = cvCreateImage(size, IPL_DEPTH_16S, 2);
maps[1][1] = cvCreateImage(size, IPL_DEPTH_16S, 1);
char buf[4*4096];
if( getVidereCalibrationInfo( buf, (int)sizeof(buf) ) &&
initVidereRectifyMaps( buf, maps[0], maps[1] ))
;
else
rectify = false;
}
cvRemap(&fhdr, img[i], maps[i][0], maps[i][1]);
}
else
cvCopy(&fhdr, img[i]);
cvCopy(&fhdr, img[i]);
}
code = true;
@ -667,7 +617,8 @@ double CvCaptureCAM_DC1394_v2_CPP::getProperty(int propId) const
case CV_CAP_PROP_FPS:
return fps;
case CV_CAP_PROP_RECTIFICATION:
return rectify ? 1 : 0;
CV_LOG_WARNING(NULL, "cap_dc1394: rectification support has been removed from videoio module");
return 0;
case CV_CAP_PROP_WHITE_BALANCE_BLUE_U:
if (dc1394_feature_whitebalance_get_value(dcCam,
&fs.feature[DC1394_FEATURE_WHITE_BALANCE-DC1394_FEATURE_MIN].BU_value,
@ -724,10 +675,8 @@ bool CvCaptureCAM_DC1394_v2_CPP::setProperty(int propId, double value)
fps = value;
break;
case CV_CAP_PROP_RECTIFICATION:
if( cameraId != VIDERE )
return false;
rectify = fabs(value) > FLT_EPSILON;
break;
CV_LOG_WARNING(NULL, "cap_dc1394: rectification support has been removed from videoio module");
return false;
case CV_CAP_PROP_MODE:
if(started)
return false;
@ -841,94 +790,6 @@ bool CvCaptureCAM_DC1394_v2_CPP::setProperty(int propId, double value)
}
bool CvCaptureCAM_DC1394_v2_CPP::getVidereCalibrationInfo( char* buf, int bufSize )
{
int pos;
for( pos = 0; pos < bufSize - 4; pos += 4 )
{
uint32_t quad = getControlRegister(dcCam, 0xF0800 + pos);
if( quad == 0 || quad == 0xffffffff )
break;
buf[pos] = (uchar)(quad >> 24);
buf[pos+1] = (uchar)(quad >> 16);
buf[pos+2] = (uchar)(quad >> 8);
buf[pos+3] = (uchar)(quad);
}
if( pos == 0 )
return false;
buf[pos] = '\0';
return true;
}
bool CvCaptureCAM_DC1394_v2_CPP::initVidereRectifyMaps( const char* info,
IplImage* ml[2], IplImage* mr[2] )
{
float identity_data[] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
CvMat l_rect = cvMat(3, 3, CV_32F, identity_data), r_rect = l_rect;
float l_intrinsic_data[] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
float r_intrinsic_data[] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
CvMat l_intrinsic = cvMat(3, 3, CV_32F, l_intrinsic_data);
CvMat r_intrinsic = cvMat(3, 3, CV_32F, r_intrinsic_data);
float l_distortion_data[] = {0,0,0,0,0}, r_distortion_data[] = {0,0,0,0,0};
CvMat l_distortion = cvMat(1, 5, CV_32F, l_distortion_data);
CvMat r_distortion = cvMat(1, 5, CV_32F, r_distortion_data);
IplImage* mx = cvCreateImage(cvGetSize(ml[0]), IPL_DEPTH_32F, 1);
IplImage* my = cvCreateImage(cvGetSize(ml[0]), IPL_DEPTH_32F, 1);
int k, j;
for( k = 0; k < 2; k++ )
{
const char* section_name = k == 0 ? "[left_camera]" : "[right_camera]";
static const char* param_names[] = { "f ", "fy", "Cx", "Cy" "kappa1", "kappa2", "tau1", "tau2", "kappa3", 0 };
const char* section_start = strstr( info, section_name );
CvMat* intrinsic = k == 0 ? &l_intrinsic : &r_intrinsic;
CvMat* distortion = k == 0 ? &l_distortion : &r_distortion;
CvMat* rectification = k == 0 ? &l_rect : &r_rect;
IplImage** dst = k == 0 ? ml : mr;
if( !section_start )
break;
section_start += strlen(section_name);
for( j = 0; param_names[j] != 0; j++ )
{
const char* param_value_start = strstr(section_start, param_names[j]);
float val=0;
if(!param_value_start)
break;
sscanf(param_value_start + strlen(param_names[j]), "%f", &val);
if( j < 4 )
intrinsic->data.fl[j == 0 ? 0 : j == 1 ? 4 : j == 2 ? 2 : 5] = val;
else
distortion->data.fl[j - 4] = val;
}
if( param_names[j] != 0 )
break;
// some sanity check for the principal point
if( fabs(mx->width*0.5 - intrinsic->data.fl[2]) > mx->width*0.1 ||
fabs(my->height*0.5 - intrinsic->data.fl[5]) > my->height*0.1 )
{
cvScale( &intrinsic, &intrinsic, 0.5 ); // try the corrected intrinsic matrix for 2x lower resolution
if( fabs(mx->width*0.5 - intrinsic->data.fl[2]) > mx->width*0.05 ||
fabs(my->height*0.5 - intrinsic->data.fl[5]) > my->height*0.05 )
cvScale( &intrinsic, &intrinsic, 2 ); // revert it back if the new variant is not much better
intrinsic->data.fl[8] = 1;
}
cvInitUndistortRectifyMap( intrinsic, distortion,
rectification, intrinsic, mx, my );
cvConvertMaps( mx, my, dst[0], dst[1] );
}
cvReleaseImage( &mx );
cvReleaseImage( &my );
return k >= 2;
}
CvCapture* cvCreateCameraCapture_DC1394_2(int index)
{
CvCaptureCAM_DC1394_v2_CPP* capture = new CvCaptureCAM_DC1394_v2_CPP;

Write Preview
Loading…
Cancel
Save