void OpenniGetColorPoints(CvCapture* capture, std::vector<ColorPoint>* points, IplImage* maskImg)
{
IplImage* pcm = cvRetrieveFrame(capture, CV_CAP_OPENNI_POINT_CLOUD_MAP); //XYZ in meters (CV_32FC3)
IplImage* bgr = cvRetrieveFrame(capture, CV_CAP_OPENNI_BGR_IMAGE); //CV_8UC3
int ptCount = pcm->width * pcm->height;
CvPoint3D32f* position = (CvPoint3D32f*)pcm->imageData;
unsigned char* color = (unsigned char*)bgr->imageData;
//int colorIdx = 0;
ColorPoint cp;
if (maskImg)
{
unsigned char* mask = (unsigned char*)maskImg->imageData;
for (int i = 0; i < ptCount; i++, mask++, position++, color += 3)
if (*mask)
{
memcpy(&cp.position, position, sizeof(CvPoint3D32f));
memcpy(&cp.red, color, 3);
points->push_back(cp);
}
}
else
{
for (int i = 0; i < ptCount; i++, position++, color += 3)
{
memcpy(&cp.position, position, sizeof(CvPoint3D32f));
memcpy(&cp.red, color, 3);
points->push_back(cp);
}
}
}
void WebCam::captureImg()
{
std::stringstream path;
path<<"scan/capture/"<< saveCount <<".png";
cvRetrieveFrame(capture);
cvSaveImage(path.str().c_str(), cvRetrieveFrame(capture));
saveCount++;
}
int main()
{
IplImage* image = 0;
IplImage* reverse = 0;
CvCapture* video = cvCaptureFromCAM(-1);
cvNamedWindow("Original Video",0);
cvNamedWindow("Reverse Video",0);
while(1)
{
cvGrabFrame(video);
image = cvRetrieveFrame(video);
cvShowImage("Original Video",image);
reverse = cvCreateImage(cvGetSize(image),image->depth,image->nChannels);
cvNot(image,reverse);
if(cvWaitKey(10) >=0)
break;
reverse->origin=image->origin;
cvShowImage("Reverse Video",reverse);
}
cvReleaseImage(&reverse);
cvReleaseCapture(&video);
cvDestroyWindow("Reverse Video");
cvDestroyWindow("Original Video");
return 0;
}
Image * USBCamera::takeImage()
{
// Update camera, call executor's functor.
tryToUpdateCapture();
// Take image
try
{
// Delay camera for some time..
usleep(m_delay*1000);
// Get image from camera
Image * image = new Image();
cvGrabFrame(m_camera);
cvGrabFrame(m_camera);
cvGrabFrame(m_camera);
cvGrabFrame(m_camera);
cvGrabFrame(m_camera); // workaround for buffering
image->setImage(cvRetrieveFrame(m_camera));
// Check if need to rotate the image
image->rotate(m_angle);
return image;
}
catch(cv::Exception & ex)
{
throw OpenCVException(ex.msg.c_str());
}
}
/* Tool function */
void motionDetection::accFrameFromVideo(CvCapture* capture){
//cvNamedWindow( "Video", CV_WINDOW_AUTOSIZE ); // Create a window to display the video
while (mCount != mFrameNumber)
{
if (cvGrabFrame(capture))
{
mFrame = cvRetrieveFrame(capture);
// convert rgb to gray
cvCvtColor(mFrame, mpFrame[mCount], CV_BGR2GRAY);
// accumulate each frame
cvAdd(mSum, mpFrame[mCount], mSum);
//cvShowImage( "Video", mpFrame[mCount] ); // display current frame
++mCount;
if (cvWaitKey(10) >= 0) {
break;
}
}
else {
break;
}
}
//cvDestroyWindow( "Video" );
}
static u32 OCV_Run(void *par)
{
IplImage* image;
CvCapture *capture;
GF_InputSensorDevice *ifce = (GF_InputSensorDevice *)par;
GF_OpenCV *ocv = (GF_OpenCV *)ifce->udta;
capture= cvCaptureFromCAM(0);
cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH,640 );
cvSetCaptureProperty( capture, CV_CAP_PROP_FRAME_HEIGHT, 480 );
cvNamedWindow( "test", 0 );
image = NULL;
while (ocv->running) {
if (cvGrabFrame(capture)) {
CvHaarClassifierCascade* cascade;
image = cvRetrieveFrame(capture);
cascade = load_object_detector("haarcascade_frontalface_default.xml");
detect_and_draw_objects(ifce, image, cascade, 1 );
cvShowImage( "test", image );
cvWaitKey(40);
}
}
if (image) cvReleaseImage( &image);
return 0;
}
void USBCamReader::readCurFrameGray(unsigned char* grayImgData) {
assert(videoCap);
IplImage* img = cvRetrieveFrame(videoCap);
cv::Mat rawFrame(img);
cv::Mat videoFrame(_h, _w, CV_8UC1, grayImgData);
cv::cvtColor(rawFrame, videoFrame, CV_RGB2GRAY);
}
int main(){
//initialize
IplImage *frame;
CvCapture *video = cvCaptureFromFile("/Users/ihong-gyu/MyProject/OpenCVTest/video.mp4");
//create window
cvNamedWindow("Video",0);
//show video
while(1){
cvGrabFrame(video);
frame = cvRetrieveFrame(video);
//null checker
if(!frame)
break;
cvShowImage("Video", frame);
//wait key input
if(cvWaitKey(10)>=0)
break;
}
//release memory
cvReleaseCapture(&video);
return 0;
}
void Capture::update()
{
cvGrabFrame(m_capture);
IplImage *frame = cvRetrieveFrame(m_capture);
TmpBufferImage btmp(CV_8UC3);
if ( frame != NULL )
{
CvMat *mat = cvCreateMat(frame->height, frame->width, CV_8UC3);
if ( m_invert )
{
CvMat *tmp = btmp.getImage(frame->width, frame->height);
cvConvertImage(frame, tmp, CV_CVTIMG_SWAP_RB);
InvertImage(tmp, mat);
}
else
{
cvConvertImage(frame, mat, CV_CVTIMG_SWAP_RB);
}
m_wpipe.write(mat);
}
}
/* read the next camera frame to R G and B chanel arrays to be then
* used by an RVC-CAL actor compiled with Orcc */
void readCameraFrame(uchar *rArr, uchar *gArr, uchar *bArr){
/* for loop initalisation variables */
int h, w;
/* try and grab the next frame */
if(!cvGrabFrame(capture)){
printf("Could not grab a camera frame\n");
exit(0);
}
img=cvRetrieveFrame(capture,0);
int nchannels = img->nChannels;
int step = img->widthStep;
uchar *frame = ( uchar* )img->imageData;
/* loop over all pixels, writing the R G and B channel uchar values
* to its corresponding array */
const int R = 2;
const int G = 1;
const int B = 0;
int pixelCount=0;
for (h=0; h < height; h++){
for (w = 0; w < width; w++){
char* rgb = frame + step * h + w * 3;
bArr[pixelCount] = rgb[B];
gArr[pixelCount] = rgb[G];
rArr[pixelCount] = rgb[R];
pixelCount++;
}
}
}
QImage* Camera::retrieveFrame()
{
IplImage* image = cvRetrieveFrame(capture);
int width = image->width;
int height = image->height;
int pixels = width * height;
uchar* imageData = new unsigned char[4 * pixels];
for(int i = 0; i < pixels; i++)
{
imageData[i * 4 + 3] = 0xFF; // alpha channel
}
uchar* src = (uchar*)(image->imageData);
uchar* srcEnd = src + (3 * pixels);
uchar* dest = imageData;
do
{
memcpy(dest, src, 3);
dest += 4;
src += 3;
}
while(src < srcEnd);
QImage* result = new QImage(imageData, width, height, QImage::Format_RGB32);
return result;
}
void ImageGrabberStartLoop()
{
// Allocate the memory storage for calculations and frame data
CvMemStorage* storage = cvCreateMemStorage(0);
CvCapture* capture = cvCaptureFromCAM(0);
// Images to capture the frame from video or camera or from file
IplImage *frame = 0;
IplImage *frame_copy = 0;
cvNamedWindow( "result", 1 );
// If loaded succesfully, then:
if( capture )
{
bool breakLoop = false;
// Capture from the camera.
for(;;)
{
if (breakLoop)
break;
// Capture the frame and load it in IplImage
if( !cvGrabFrame( capture ))
break;
frame = cvRetrieveFrame( capture );
// If the frame does not exist, quit the loop
if( !frame )
break;
// Allocate framecopy as the same size of the frame
if( !frame_copy )
frame_copy = cvCreateImage( cvSize(frame->width,frame->height),
IPL_DEPTH_8U, frame->nChannels );
// Check the origin of image. If top left, copy the image frame to frame_copy.
if( frame->origin == IPL_ORIGIN_TL )
cvCopy( frame, frame_copy, 0 );
// Else flip and copy the image
else
cvFlip( frame, frame_copy, 0 );
cvShowImage("result",frame_copy);
// Wait for a while before proceeding to the next frame
int key = cvWaitKey(1);
switch(key)
{
case -1:
break;
default:
breakLoop = true;
}
}
}
// Destroy the window previously created with filename: "result"
cvDestroyWindow("result");
// Release the images, and capture memory
cvReleaseCapture( &capture );
cvReleaseImage( &frame_copy );
}
int main()
{
int x = 0, y = 0;
char Cr = 0, Cb = 0;
int width = 640, height = 320;
IplImage* frame = 0;
CvCapture* capture = cvCaptureFromCAM(-1);
cvNamedWindow("Result",0);
while(1)
{
cvGrabFrame(capture);
frame = cvRetrieveFrame(capture);
IplImage* YCrCb = cvCreateImage(cvGetSize(frame),8,3); // ycrcb 변환
IplImage* Skin = cvCreateImage(cvGetSize(frame),8,1); // 피부 이진화
height = frame->height;
width = frame->width;
cvCvtColor(frame,YCrCb,CV_RGB2YCrCb);
for(y=0; y<height;y++)
{
for(x=0; x<width; x++)
{
Cr = (char)YCrCb->imageData[y*YCrCb->widthStep+3*x+1];
Cb = (char)YCrCb->imageData[y*YCrCb->widthStep+3*x+2];
if( (77<Cr && Cr<127) && (133<Cb && Cb<173) )
{
Skin->imageData[y*Skin->widthStep+x] = 0;
}
else
{
Skin->imageData[y*Skin->widthStep+x] = 255;
}
}
}
cvShowImage("Result",Skin);
cvSetZero(frame);
cvSetZero(YCrCb);
cvSetZero(Skin);
if(cvWaitKey(33)==27)
break;
}
cvDestroyWindow("Result");
cvReleaseCapture(&capture);
return 0;
}
int EdgeTest::Run()
{
CvCapture* capture;
IplImage* frame;
// Initialize the capture device
capture = cvCaptureFromCAM(-1);
if(!capture)
{
ShowError("Cannot find webcam");
return -1;
}
cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH, 700);
cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT, 700);
cvSetCaptureProperty(capture, CV_CAP_PROP_CONTRAST, 0);
// Create windows to display results
cvNamedWindow("Capture", 1);
for(;;)
{
// Retrive data from webcam and copy the frame to frame_mod
if(!cvGrabFrame(capture))
break;
frame = cvRetrieveFrame(capture);
if(!frame)
break;
// Show image on capture screen
cvFlip(frame, frame, -1);
cvShowImage("Capture", frame);
// Esc key
if(cvWaitKey(10) >= 0)
break;
}
cvReleaseCapture(&capture);
cvDestroyWindow("EdgeTest");
cvDestroyWindow("Capture");
return 0;
}
void AVIReader::readCurFrameGray(unsigned char* grayImgData) {
assert(videoCap);
IplImage* img = cvRetrieveFrame(videoCap);
cv::Mat rawFrame(img);
cv::Mat videoFrame(_h, _w, CV_8UC1, grayImgData);
if(rawFrame.type() == CV_8UC1)
rawFrame.copyTo(videoFrame);
else
cv::cvtColor(rawFrame, videoFrame, CV_RGB2GRAY);
}
IplImage* CCamera::getImage()
{
if(cam_type_ != CAM_SEQ)
{
if(cam_type_ == CAM_OPENNI)
{
cv::Mat bgrImage;
if(!video_capture_.grab())
{
std::cerr << "Can not grab images." << std::endl;
return NULL;
}
video_capture_.retrieve(bgrImage, CV_CAP_OPENNI_BGR_IMAGE);
IplImage* frame = new IplImage(bgrImage);
cvCopy(frame, img_input_);
}
else
{
// grab image from camera
int res=cvGrabFrame (capture_);
IplImage* frame = cvRetrieveFrame(capture_);
assert(frame);
cvCopy(frame, img_input_);
}
// check whether its a flea cam
if(cam_type_ == CAM_FLEA)
cvFlip(img_input_); // input from flea camera is upside down
IplImage* t = cvCloneImage(img_input_);
cvRemap(t, img_input_, img_mapx_, img_mapy_); // rectify
cvReleaseImage(&t);
return img_input_;
}
else // image sequence
{
std::stringstream ss;
ss << m_strImgPath << "/" << /*"img" <<*/ std::setw(4) << std::setfill('0') << m_nImgIdx << "." << img_ext_;
if(verbose_) std::cout << "Load image: " << ss.str() << std::endl;
// Read an image from the saved image sequence
IplImage* image = cvLoadImage(ss.str().c_str(), color_ ? CV_LOAD_IMAGE_COLOR : CV_LOAD_IMAGE_GRAYSCALE);
// Read edge image if there are edge images in the same folder. (e.g. Berkeley edges, scale space edges)
// If there are no edge images, 'img_edge_' would be NULL
ss.str(std::string());
ss << m_strImgPath << "/" << /*"img" <<*/ std::setw(4) << std::setfill('0') << m_nImgIdx << "bedges." << "png";
img_edge_ = cvLoadImage(ss.str().c_str(), CV_LOAD_IMAGE_GRAYSCALE);
// Increase the image index
m_nImgIdx++;
return image;
}
}
int _tmain(int argc, _TCHAR* argv[])
{
IplImage* pImg; //Án©úIplImage«ü°w
IplImage* pImgcanny;
IplImage* pImggray;
cvNamedWindow( "Camera", 1 );
cvNamedWindow( "gray", 1 );
cvNamedWindow( "canny", 1 );
CvCapture *capture;
int c;
capture = cvCaptureFromCAM(0);
if(!capture)
return -1;
else
printf("Camera is OK! \n");
while(true){
if(cvGrabFrame(capture)){
pImg = cvRetrieveFrame(capture);
pImggray = cvCreateImage( cvGetSize(pImg),
IPL_DEPTH_8U,
1);
pImgcanny = cvCreateImage( cvGetSize(pImg),
IPL_DEPTH_8U,
1);
cvCvtColor (pImg , pImggray ,CV_BGR2GRAY);
cvCanny(pImggray, pImgcanny, 50, 150, 3);
cvShowImage( "Camera", pImg );
cvShowImage( "gray", pImggray );
cvShowImage( "canny", pImgcanny );
}
//µ¥«ÝESC«öÁä«ö¤U«hµ²§ô
if(cvWaitKey(10) == 27)
break;
} // end of while
cvWaitKey(0);
cvDestroyWindow( "Camera" );//¾P·´µøµ¡
cvReleaseCapture( &capture );
return 0;
}
void USBCamReader::readCurFrame(unsigned char* rgbdata,
unsigned char* graydata) {
assert(videoCap);
IplImage* img = cvRetrieveFrame(videoCap);
cv::Mat rawFrame(img);
cv::Mat rgbImg(_h, _w, CV_8UC3, rgbdata);
cv::cvtColor(rawFrame, rgbImg, CV_BGR2RGB);
cv::Mat videoFrame(_h, _w, CV_8UC1, graydata);
cv::cvtColor(rawFrame, videoFrame, CV_RGB2GRAY);
}
bool OpenCVCamera::captureFrame() {
bool retVal = false;
if (m_capture != NULL) {
if (cvGrabFrame(m_capture)) {
if (getBPP() == 1) {
IplImage *tmpFrame = cvRetrieveFrame(m_capture);
if (m_image == NULL) {
m_image = cvCreateImage(cvGetSize(tmpFrame), IPL_DEPTH_8U, 1);
}
cvCvtColor(tmpFrame, m_image, CV_BGR2GRAY);
}
else {
m_image = cvRetrieveFrame(m_capture);
}
retVal = true;
}
}
return retVal;
}
const IplImage* ImageGrabberGetCameraImage()
{
// Allocate the memory storage for calculations and frame data
CvMemStorage* storage = cvCreateMemStorage(0);
CvCapture* capture = cvCaptureFromCAM(0);
// Images to capture the frame from video or camera or from file
IplImage *frame = 0;
IplImage *frame_copy = 0;
// If loaded succesfully, then:
if( capture )
{
// Capture the frame and load it in IplImage
if( !cvGrabFrame( capture ))
{
// Release the images, and capture memory
cvReleaseCapture( &capture );
return 0;
}
frame = cvRetrieveFrame( capture );
// If the frame does not exist, quit
if( !frame )
{
// Release the images, and capture memory
cvReleaseCapture( &capture );
return 0;
}
// Allocate framecopy as the same size of the frame
if( !frame_copy )
frame_copy = cvCreateImage( cvSize(frame->width,frame->height),
IPL_DEPTH_8U, frame->nChannels );
// Check the origin of image. If top left, copy the image frame to frame_copy.
if( frame->origin == IPL_ORIGIN_TL )
cvCopy( frame, frame_copy, 0 );
// Else flip and copy the image
else
cvFlip( frame, frame_copy, 0 );
// Release the capture but not the image
cvReleaseCapture( &capture );
// return final image
return frame_copy;
}
// Release the images, and capture memory
cvReleaseCapture( &capture );
cvReleaseImage( &frame_copy );
return 0;
}
/*
* call-seq:
* retrieve -> IplImage or nil
*
* Gets the image grabbed with grab.
*/
VALUE
rb_retrieve(VALUE self)
{
IplImage *frame = cvRetrieveFrame(CVCAPTURE(self));
if(!frame)
return Qnil;
VALUE image = cIplImage::new_object(cvSize(frame->width, frame->height), CV_MAKETYPE(CV_8U, frame->nChannels));
if (frame->origin == IPL_ORIGIN_TL) {
cvCopy(frame, CVARR(image));
} else {
cvFlip(frame, CVARR(image));
}
return image;
}
bool OpenCvDevice::CaptureFrame()
{
bool retVal = false;
if (m_capture != nullptr) {
if (cvGrabFrame(m_capture)) {
if (GetBpp() == 1) {
IplImage *tmpFrame = cvRetrieveFrame(m_capture);
if (m_image == nullptr) {
m_image = cvCreateImage(cvGetSize(tmpFrame), IPL_DEPTH_8U, 1);
}
cvCvtColor(tmpFrame, m_image, CV_BGR2GRAY);
}
else {
m_image = cvRetrieveFrame(m_capture);
}
retVal = true;
}
}
return retVal;
}
int main(int argc, char** argv)
{
IplImage* motion = 0;
CvCapture* capture = 0;
if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))
capture = cvCaptureFromCAM( argc == 2 ? argv[1][0] - '0' : 0 );
else if( argc == 2 )
capture = cvCaptureFromFile( argv[1] );
// 如果捕获到图像
if (capture)
{
cvNamedWindow( "Motion", 1 );
for(;;)
{
IplImage* image;
if( !cvGrabFrame( capture ))
break;
image = cvRetrieveFrame( capture );
if( image )
{
if( !motion )
{
motion = cvCreateImage( cvSize(image->width,image->height), 8, 3 );
cvZero( motion );
// 将采集到的图像指针赋给运动图像
motion->origin = image->origin;
}
}
// 更新运动历史图像
update_mhi(image, motion, 30);
// 显示运动图像
cvShowImage( "Motion", motion );
if( cvWaitKey(10) >= 0 )
break;
}
cvReleaseCapture( &capture );
cvDestroyWindow( "Motion" );
}
return 0;
}
IplImage* objDetection::utilities::getImageFromCamera(config& conf)
{
if( !cvGrabFrame( conf.capture ))
{
std::cout<<"Camera Stopped working, Closing"<<std::endl;
return NULL;
}
IplImage* img= cvRetrieveFrame( conf.capture );
IplImage* res= cvCreateImage(cvSize(img->width,img->height), img->depth,3);
cvCopy(img,res);
return res;
}
bool VideoCapture::retrieve(Mat& image, int channel) {
IplImage* _img = cvRetrieveFrame(cap, channel);
if (!_img) {
image.release();
return false;
}
if (_img->origin == IPL_ORIGIN_TL) {
image = Mat(_img);
} else {
Mat temp(_img);
flip(temp, image, 0);
}
return true;
}
int main(int argc, char** argv)
{
IplImage* motion = 0;
CvCapture* capture = 0;
if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))
capture = cvCaptureFromCAM( argc == 2 ? argv[1][0] - '0' : 0 );
else if( argc == 2 )
capture = cvCaptureFromFile( argv[1] );
if( capture )
{
help();
cvNamedWindow( "Motion", 1 );
for(;;)
{
IplImage* image;
if( !cvGrabFrame( capture ))
break;
image = cvRetrieveFrame( capture );
if( image )
{
if( !motion )
{
motion = cvCreateImage( cvSize(image->width,image->height), 8, 3 );
cvZero( motion );
motion->origin = image->origin;
}
}
update_mhi( image, motion, 30 );
cvShowImage( "Motion", motion );
if( cvWaitKey(10) >= 0 )
break;
}
cvReleaseCapture( &capture );
cvDestroyWindow( "Motion" );
}
else
{
printf("\nFailed to open camera or file\n");
help();
}
return 0;
}
void Video::next(int frameDrop)
{
#ifdef DEBUG_CALLS
std::cout << "Video next called.\n";
#endif
IplImage* img;
do
{
cvGrabFrame(stream);
frameDrop--;
}while(frameDrop>=0);
img = cvRetrieveFrame(stream);
if(img) this->actualImage = img;
}
/*!
Grab an image direclty in the OpenCV format.
\return Pointer to the image (must not be freed).
\exception vpFrameGrabberException::initializationError If the
initialization of the grabber was not done previously.
*/
IplImage* vpOpenCVGrabber::acquire()
{
IplImage *im;
if (init==false)
{
close();
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
"Initialization not done") );
}
cvGrabFrame(capture);
im = cvRetrieveFrame(capture);
return im;
}
/*!
Grab a color image.
\param I : Acquired color image.
\exception vpFrameGrabberException::initializationError If the
initialization of the grabber was not done previously.
*/
void vpOpenCVGrabber::acquire(vpImage<vpRGBa> &I)
{
IplImage *im;
if (init==false)
{
close();
throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
"Initialization not done") );
}
cvGrabFrame(capture);
im = cvRetrieveFrame(capture);
vpImageConvert::convert(im, I, flip);
}
IplImage *CCamOpenCV::CaptureImage()
{
if (_capture) {
if (cvGrabFrame(_capture)) {
IplImage *cvImage = cvRetrieveFrame(_capture);
if (cvImage &&
cvImage->width != _bitmapInfo.bmiHeader.biWidth &&
cvImage->height != _bitmapInfo.bmiHeader.biHeight) {
InitBitmapInfo(cvImage->width, cvImage->height, cvImage->widthStep / cvImage->width);
}
return cvImage;
}
}
return NULL;
}
