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opencv/modules/highgui/src/cap_cmu.cpp

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/*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 "precomp.hpp"
#ifdef WIN32
/****************** Capturing video from camera via CMU lib *******************/
#ifdef HAVE_CMU1394
// This firewire capability added by Philip Gruebele (pgruebele@cox.net).
// For this to work you need to install the CMU firewire DCAM drivers,
// located at http://www-2.cs.cmu.edu/~iwan/1394/.
#include "1394camera.h"
class CvCaptureCAM_CMU : public CvCapture
{
public:
CvCaptureCAM_CMU()
{
index = -1;
image = 0;
}
virtual ~CvCaptureCAM_CMU()
{
close();
}
virtual bool open(int cameraId);
virtual void close();
virtual double getProperty(int);
virtual bool setProperty(int, double);
virtual bool grabFrame();
virtual IplImage* retrieveFrame(int);
protected:
C1394Camera* camera();
CvSize getSize();
int getDepth();
int getNChannels();
bool setVideoSize(int, int);
bool setMode(int mode);
bool setFrameRate(int rate);
bool setFormat(int format);
int fps; // 0-5
int mode; // 0-7
int format; // 0-2, 7 ?
int index;
IplImage* image;
};
// CMU 1394 camera stuff.
// This firewire capability added by Philip Gruebele (pgruebele@cox.net)
// and modified by Roman Stanchak (rstanchak@yahoo.com).
// For this to work you need to install the CMU firewire DCAM drivers,
// located at http://www-2.cs.cmu.edu/~iwan/1394/.
#define CMU_MAX_CAMERAS 20
int CMU_numCameras = 0;
int CMU_numActiveCameras = 0;
bool CMU_useCameraFlags[CMU_MAX_CAMERAS];
C1394Camera *CMU_theCamera = 0;
// stupid defines for mode, format, FPS
#define CV_CAP_IEEE1394_FPS_1_875 0
#define CV_CAP_IEEE1394_FPS_3_75 1
#define CV_CAP_IEEE1394_FPS_7_5 2
#define CV_CAP_IEEE1394_FPS_15 3
#define CV_CAP_IEEE1394_FPS_30 4
#define CV_CAP_IEEE1394_FPS_60 5
// index by size, color
#define CV_CAP_IEEE1394_COLOR_MONO 0
#define CV_CAP_IEEE1394_COLOR_MONO16 1
#define CV_CAP_IEEE1394_COLOR_YUV444 2
#define CV_CAP_IEEE1394_COLOR_YUV422 3
#define CV_CAP_IEEE1394_COLOR_YUV411 4
#define CV_CAP_IEEE1394_COLOR_RGB 5
#define CV_CAP_IEEE1394_SIZE_160X120 0
#define CV_CAP_IEEE1394_SIZE_320X240 1
#define CV_CAP_IEEE1394_SIZE_640X480 2
#define CV_CAP_IEEE1394_SIZE_800X600 3
#define CV_CAP_IEEE1394_SIZE_1024X768 4
#define CV_CAP_IEEE1394_SIZE_1280X960 5
#define CV_CAP_IEEE1394_SIZE_1600X1200 6
// given color, size, output format
// 1 16 444 422 411 RGB
static char CV_CAP_IEEE1394_FORMAT[7][6] =
{
{-1, -1, 0, -1, -1, -1}, // 160x120
{-1, -1, -1, 0, -1, -1}, // 320x240
{ 0, 0, -1, 0, 0, 0}, // 640x480
{ 1, 1, -1, 1, -1, 1}, // 800x600
{ 1, 1, -1, 1, -1, 1}, // 1024x768
{ 2, 2, -1, 2, -1, 2}, // 1280x960
{ 2, 2, -1, 2, -1, 2} // 1600x1200
};
// given color, size, output corresponding mode
static char CV_CAP_IEEE1394_MODE[7][6] =
{
{-1, -1, 0, -1, -1, -1}, // 160x120
{-1, -1, -1, 1, -1, -1}, // 320x240
{ 5, 6, -1, 3, 2, 4}, // 640x480
{ 2, 6, -1, 0, -1, 1}, // 800x600
{ 5, 7, -1, 3, -1, 4}, // 1024x768
{ 2, 6, -1, 0, -1, 1}, // 1280x960
{ 5, 7, -1, 3, -1, 4} // 1600x1200
};
// given format, mode, return COLOR
static char CV_CAP_IEEE1394_COLOR[2][8] =
{
{
CV_CAP_IEEE1394_COLOR_YUV444,
CV_CAP_IEEE1394_COLOR_YUV422,
CV_CAP_IEEE1394_COLOR_YUV411,
CV_CAP_IEEE1394_COLOR_YUV422,
CV_CAP_IEEE1394_COLOR_RGB,
CV_CAP_IEEE1394_COLOR_MONO,
CV_CAP_IEEE1394_COLOR_MONO16
},
{
CV_CAP_IEEE1394_COLOR_YUV422,
CV_CAP_IEEE1394_COLOR_RGB,
CV_CAP_IEEE1394_COLOR_MONO,
CV_CAP_IEEE1394_COLOR_YUV422,
CV_CAP_IEEE1394_COLOR_RGB,
CV_CAP_IEEE1394_COLOR_MONO,
CV_CAP_IEEE1394_COLOR_MONO16,
CV_CAP_IEEE1394_COLOR_MONO16
}
};
// convert frame rate to suitable enum
/*static int icvFrameRateToIndex_CMU(double framerate){
if(framerate > 30) return CV_CAP_IEEE1394_FPS_60;
else if(framerate > 15) return CV_CAP_IEEE1394_FPS_30;
else if(framerate > 7.5) return CV_CAP_IEEE1394_FPS_15;
else if(framerate > 3.75) return CV_CAP_IEEE1394_FPS_7_5;
else if(framerate > 1.875) return CV_CAP_IEEE1394_FPS_3_75;
return CV_CAP_IEEE1394_FPS_1_875;
}*/
#if _MSC_VER >= 1200
#pragma comment(lib,"1394camera.lib")
#endif
C1394Camera* CvCaptureCAM_CMU::camera()
{
return CMU_theCamera && index >= 0 ? &CMU_theCamera[index] : 0;
}
// return the size of the image
CvSize CvCaptureCAM_CMU::getSize()
{
C1394Camera* cmucam = camera();
unsigned long width = 0, height = 0;
cmucam->GetVideoFrameDimensions( &width, &height );
return cvSize((int)width, (int)height);
}
// return the opencv depth flag corresponding to the camera format
int CvCaptureCAM_CMU::getDepth()
{
C1394Camera* cmucam = camera();
int format = cmucam->GetVideoFormat();
int mode = cmucam->GetVideoMode();
// TODO
if( format==7 ) {
assert(0);
return 1;
}
// irrelvant to depth
if( format > 1 )
format = 1;
if( CV_CAP_IEEE1394_COLOR[format][mode]==CV_CAP_IEEE1394_COLOR_MONO16 )
return IPL_DEPTH_16S;
return IPL_DEPTH_8U;
}
// return the number of channels for camera
int CvCaptureCAM_CMU::getNChannels()
{
C1394Camera* cmucam = camera();
int format = cmucam->GetVideoFormat();
int mode = cmucam->GetVideoMode();
if( format==7 ){
assert(0);
return 1;
}
// irrelvant to nchannels
if( format > 1 )
format = 1;
switch(CV_CAP_IEEE1394_COLOR[format][mode]){
case CV_CAP_IEEE1394_COLOR_RGB:
return 3;
case CV_CAP_IEEE1394_COLOR_MONO:
case CV_CAP_IEEE1394_COLOR_MONO16:
return 1;
case CV_CAP_IEEE1394_COLOR_YUV422:
case CV_CAP_IEEE1394_COLOR_YUV444:
case CV_CAP_IEEE1394_COLOR_YUV411:
return 3;
default:
;
}
return -1;
}
bool CvCaptureCAM_CMU::open( int _index )
{
close();
// if first time, then allocate all available cameras
if( CMU_numCameras == 0 )
{
CMU_numActiveCameras = 0;
CMU_theCamera = new C1394Camera[CMU_MAX_CAMERAS];
////////////////////////////////////////////////////////////////////////////////////////////////////////
// create all cameras
try
{
// create camera0
if( CMU_theCamera[0].CheckLink() != CAM_SUCCESS )
throw 1;
// we have one pin per camera
CMU_numCameras = CMU_theCamera[0].GetNumberCameras();
// allocate remaining cameras
for(int i = 1; i < CMU_numCameras && i<CMU_MAX_CAMERAS; i++ )
{
CMU_useCameraFlags[i] = false;
if (CMU_theCamera[i].CheckLink() != CAM_SUCCESS)
throw 1;
}
}
catch (...)
{
// free any allocated cameras
// ...
CMU_numCameras = 0;
return false;
}
}
try
{
CvSize size;
// pick first unused camera
if(_index==-1){
for(int i = 0; i < CMU_numCameras; i++ )
{
if( !CMU_useCameraFlags[i] ){
_index = i;
break;
}
}
}
// no empty camera found
if (_index==-1)
throw 1;
if (CMU_theCamera[_index].SelectCamera(_index) != CAM_SUCCESS)
throw 2;
if (CMU_theCamera[_index].InitCamera() != CAM_SUCCESS)
throw 3;
// set initial format -- try to pick best frame rate first, then color, then size
bool found_format = false;
for (int rate=5; rate>=0 && !found_format; rate--)
{
for (int color=CV_CAP_IEEE1394_COLOR_RGB; color>=0 && !found_format; color--)
{
for (int size=CV_CAP_IEEE1394_SIZE_1600X1200; size>=0 && !found_format; size--)
{
int format = CV_CAP_IEEE1394_FORMAT[size][color];
int mode = CV_CAP_IEEE1394_MODE[size][color];
if (format!=-1 && mode!=-1 &&
CMU_theCamera[_index].HasVideoFrameRate(format,mode,rate))
{
CMU_theCamera[_index].SetVideoFormat(format);
CMU_theCamera[_index].SetVideoMode(mode);
CMU_theCamera[_index].SetVideoFrameRate(rate);
found_format = (CMU_theCamera[_index].StartImageAcquisition() == CAM_SUCCESS);
}
}
}
}
// try format 7
if(!found_format){
CMU_theCamera[_index].SetVideoFormat(7);
CMU_theCamera[_index].SetVideoMode(0);
if(CMU_theCamera[_index].StartImageAcquisition() != CAM_SUCCESS){
// no format found
throw 9;
}
}
index = _index;
size = getSize();
// allocate image frame
image = cvCreateImage( size, 8, 3 );
cvZero(image);
// successfully activated camera
CMU_numActiveCameras++;
CMU_useCameraFlags[_index] = true;
}
catch ( int )
{
return false;
}
return true;
}
void CvCaptureCAM_CMU::close()
{
C1394Camera* cmucam = camera();
if( cmucam )
{
cvReleaseImage( &image );
cmucam->StopImageAcquisition();
CMU_useCameraFlags[index] = false;
index = -1;
if( --CMU_numActiveCameras == 0 )
{
delete[] CMU_theCamera;
CMU_theCamera = 0;
CMU_numCameras = 0;
}
}
}
bool CvCaptureCAM_CMU::grabFrame()
{
C1394Camera* cmucam = camera();
return cmucam ? cmucam->AcquireImage() == CAM_SUCCESS : false;
}
/*static void swapRedBlue(IplImage * im)
{
uchar * ptr = (uchar *) im->imageData;
uchar t;
for(int i=0; i<im->height; i++){
ptr = (uchar *) im->imageData+im->widthStep*i;
for(int j=0; j<im->width; j++){
t = ptr[0];
ptr[0] = ptr[2];
ptr[2] = t;
ptr+=3;
}
}
}*/
IplImage* CvCaptureCAM_CMU::retrieveFrame(int)
{
C1394Camera* cmucam = camera();
if( !cmucam )
return 0;
cmucam->getRGB((uchar*)image->imageData, image->imageSize);
cvConvertImage( image, image, CV_CVTIMG_SWAP_RB );
return image;
}
double CvCaptureCAM_CMU::getProperty( int property_id )
{
C1394Camera* cmucam = camera();
if( !cmucam )
return 0;
switch( property_id )
{
case CV_CAP_PROP_FRAME_WIDTH:
return image->width;
case CV_CAP_PROP_FRAME_HEIGHT:
return image->height;
case CV_CAP_PROP_FPS:
return cmucam->GetVideoFrameRate();
case CV_CAP_PROP_MODE:
return cmucam->GetVideoMode();
case CV_CAP_PROP_FORMAT:
return cmucam->GetVideoFormat();
}
return 0;
}
bool CvCaptureCAM_CMU::setVideoSize(int, int)
{
return false;
}
bool CvCaptureCAM_CMU::setMode(int mode)
{
int format;
C1394Camera* cmucam = camera();
if( !cmucam )
return false;
format = cmucam->GetVideoFormat();
if( mode < 0 || mode > 7 || !cmucam->HasVideoMode(format, mode))
return false;
cmucam->StopImageAcquisition();
cmucam->SetVideoMode(mode);
cmucam->StartImageAcquisition();
return true;
}
bool CvCaptureCAM_CMU::setFrameRate(int rate)
{
int format, mode;
C1394Camera* cmucam = camera();
if( !cmucam )
return false;
mode = cmucam->GetVideoMode();
format = cmucam->GetVideoFormat();
if( rate < 0 || rate > 5 || !cmucam->HasVideoFrameRate(format, mode, rate) )
return false;
cmucam->StopImageAcquisition();
cmucam->SetVideoFrameRate(rate);
cmucam->StartImageAcquisition();
return true;
}
bool CvCaptureCAM_CMU::setFormat(int format)
{
C1394Camera* cmucam = camera();
if( !cmucam )
return false;
if( format < 0 || format > 2 || !cmucam->HasVideoFormat(format) )
return false;
cmucam->StopImageAcquisition();
cmucam->SetVideoFormat(format);
cmucam->StartImageAcquisition();
return true;
}
bool CvCaptureCAM_CMU::setProperty( int property_id, double value )
{
bool retval = false;
int ival = cvRound(value);
C1394Camera* cmucam = camera();
if( !cmucam )
return false;
switch (property_id) {
case CV_CAP_PROP_FRAME_WIDTH:
case CV_CAP_PROP_FRAME_HEIGHT:
{
int width, height;
if (property_id == CV_CAP_PROP_FRAME_WIDTH)
{
width = ival;
height = width*3/4;
}
else {
height = ival;
width = height*4/3;
}
retval = setVideoSize(width, height);
}
break;
case CV_CAP_PROP_FPS:
retval = setFrameRate(ival);
break;
case CV_CAP_PROP_MODE:
retval = setMode(ival);
break;
case CV_CAP_PROP_FORMAT:
retval = setFormat(ival);
break;
}
// resize image if its not the right size anymore
CvSize size = getSize();
if( !image || image->width != size.width || image->height != size.height )
{
cvReleaseImage( &image );
image = cvCreateImage( size, 8, 3 );
}
return retval;
}
CvCapture * cvCreateCameraCapture_CMU (int index)
{
CvCaptureCAM_CMU* capture = new CvCaptureCAM_CMU;
if( capture->open(index) )
return capture;
delete capture;
return 0;
}
#endif // CMU
#endif // WIN32