bool retrieveFrame(int channel, cv::OutputArray outArray)
{
CLEyeCameraGetFrame(m_eye, pCapBuffer, 33);
const int from_to[] = { 0, 0, 1, 1, 2, 2 };
const CvArr** src = (const CvArr**)&m_frame4ch;
CvArr** dst = (CvArr**)&m_frame;
cvMixChannels(src, 1, dst, 1, from_to, 3);
if (m_frame->origin == IPL_ORIGIN_TL)
cv::cvarrToMat(m_frame).copyTo(outArray);
else
{
cv::Mat temp = cv::cvarrToMat(m_frame);
flip(temp, outArray, 0);
}
return true;
}
IplImage *
camera_control_query_frame(CameraControl* cc)
{
IplImage* result;
#if defined(CAMERA_CONTROL_USE_CL_DRIVER)
// assign buffer-pointer to address of buffer
cvGetRawData(cc->frame4ch, &cc->pCapBuffer, 0, 0);
CLEyeCameraGetFrame(cc->camera, cc->pCapBuffer, 2000);
// convert 4ch image to 3ch image
const int from_to[] = { 0, 0, 1, 1, 2, 2 };
const CvArr** src = (const CvArr**) &cc->frame4ch;
CvArr** dst = (CvArr**) &cc->frame3ch;
cvMixChannels(src, 1, dst, 1, from_to, 3);
result = cc->frame3ch;
#else
long start = psmove_util_get_ticks();
result = cvQueryFrame(cc->capture);
psmove_DEBUG("cvQueryFrame: %ld ms\n", psmove_util_get_ticks() - start);
#endif
#if defined(PSMOVE_USE_DEINTERLACE)
/**
* Dirty hack follows:
* - Clone image
* - Hack internal variables to make an image of all odd lines
**/
IplImage *tmp = cvCloneImage(result);
tmp->imageData += tmp->widthStep; // odd lines
tmp->widthStep *= 2;
tmp->height /= 2;
/**
* Use nearest-neighbor to be faster. In my tests, this does not
* cause a speed disadvantage, and tracking quality is still good.
*
* This will scale the half-height image "tmp" to the original frame
* size by doubling lines (so we can still do normal circle tracking).
**/
cvResize(tmp, result, CV_INTER_NN);
/**
* Need to revert changes in tmp from above, otherwise the call
* to cvReleaseImage would cause a crash.
**/
tmp->height = result->height;
tmp->widthStep = result->widthStep;
tmp->imageData -= tmp->widthStep; // odd lines
cvReleaseImage(&tmp);
#endif
// undistort image
if (cc->mapx && cc->mapy) {
cvRemap(result, cc->frame3chUndistort,
cc->mapx, cc->mapy,
CV_INTER_LINEAR | CV_WARP_FILL_OUTLIERS,
cvScalarAll(0));
result = cc->frame3chUndistort;
}
return result;
}
IplImage *
camera_control_query_frame(CameraControl* cc,
PSMove_timestamp *ts_grab, PSMove_timestamp *ts_retrieve)
{
IplImage* result;
#if defined(CAMERA_CONTROL_USE_CL_DRIVER)
// assign buffer-pointer to address of buffer
cvGetRawData(cc->frame4ch, &cc->pCapBuffer, 0, 0);
CLEyeCameraGetFrame(cc->camera, cc->pCapBuffer, 2000);
// convert 4ch image to 3ch image
const int from_to[] = { 0, 0, 1, 1, 2, 2 };
const CvArr** src = (const CvArr**) &cc->frame4ch;
CvArr** dst = (CvArr**) &cc->frame3ch;
cvMixChannels(src, 1, dst, 1, from_to, 3);
result = cc->frame3ch;
#elif defined(CAMERA_CONTROL_USE_PS3EYE_DRIVER)
int stride = 0;
unsigned char *pixels = ps3eye_grab_frame(cc->eye, &stride);
// Convert pixels from camera to BGR
unsigned char *cvpixels;
cvGetRawData(cc->framebgr, &cvpixels, 0, 0);
yuv422_to_bgr(pixels, stride, cvpixels, cc->width, cc->height);
result = cc->framebgr;
#else
cvGrabFrame(cc->capture);
if (ts_grab != NULL) {
*ts_grab = _psmove_timestamp();
}
result = cvRetrieveFrame(cc->capture, 0);
if (ts_retrieve != NULL) {
*ts_retrieve = _psmove_timestamp();
}
#endif
if (cc->deinterlace == PSMove_True) {
/**
* Dirty hack follows:
* - Clone image
* - Hack internal variables to make an image of all odd lines
**/
IplImage *tmp = cvCloneImage(result);
tmp->imageData += tmp->widthStep; // odd lines
tmp->widthStep *= 2;
tmp->height /= 2;
/**
* Use nearest-neighbor to be faster. In my tests, this does not
* cause a speed disadvantage, and tracking quality is still good.
*
* This will scale the half-height image "tmp" to the original frame
* size by doubling lines (so we can still do normal circle tracking).
**/
cvResize(tmp, result, CV_INTER_NN);
/**
* Need to revert changes in tmp from above, otherwise the call
* to cvReleaseImage would cause a crash.
**/
tmp->height = result->height;
tmp->widthStep = result->widthStep;
tmp->imageData -= tmp->widthStep; // odd lines
cvReleaseImage(&tmp);
}
// undistort image
if (cc->mapx && cc->mapy) {
cvRemap(result, cc->frame3chUndistort,
cc->mapx, cc->mapy,
CV_INTER_LINEAR | CV_WARP_FILL_OUTLIERS,
cvScalarAll(0));
result = cc->frame3chUndistort;
}
#if defined(CAMERA_CONTROL_DEBUG_CAPTURED_IMAGE)
cvShowImage("camera input", result);
cvWaitKey(1);
#endif
return result;
}
