bool CvCaptureCAM_DC1394_v2_CPP::grabFrame()
{
dc1394capture_policy_t policy = DC1394_CAPTURE_POLICY_WAIT;
bool code = false, isColor;
dc1394video_frame_t *dcFrame = 0, *fs = 0;
int i, nch;
if (!dcCam || (!started && !startCapture()))
return false;
dc1394_capture_dequeue(dcCam, policy, &dcFrame);
if (!dcFrame)
return false;
if (/*dcFrame->frames_behind > 1 ||*/ dc1394_capture_is_frame_corrupt(dcCam, dcFrame) == DC1394_TRUE)
{
goto _exit_;
}
isColor = dcFrame->color_coding != DC1394_COLOR_CODING_MONO8 &&
dcFrame->color_coding != DC1394_COLOR_CODING_MONO16 &&
dcFrame->color_coding != DC1394_COLOR_CODING_MONO16S;
if (nimages == 2)
{
fs = (dc1394video_frame_t*)calloc(1, sizeof(*fs));
//dc1394_deinterlace_stereo_frames(dcFrame, fs, DC1394_STEREO_METHOD_INTERLACED);
dc1394_deinterlace_stereo_frames_fixed(dcFrame, fs, DC1394_STEREO_METHOD_INTERLACED);
dc1394_capture_enqueue(dcCam, dcFrame); // release the captured frame as soon as possible
dcFrame = 0;
if (!fs->image)
goto _exit_;
isColor = colorStereo;
}
nch = isColor ? 3 : 1;
for (i = 0; i < nimages; i++)
{
IplImage fhdr;
dc1394video_frame_t f = fs ? *fs : *dcFrame, *fc = &f;
f.size[1] /= nimages;
f.image += f.size[0] * f.size[1] * i; // TODO: make it more universal
if (isColor)
{
if (!frameC)
frameC = (dc1394video_frame_t*)calloc(1, sizeof(*frameC));
frameC->color_coding = nch == 3 ? DC1394_COLOR_CODING_RGB8 : DC1394_COLOR_CODING_MONO8;
if (nimages == 1)
{
dc1394_convert_frames(&f, frameC);
dc1394_capture_enqueue(dcCam, dcFrame);
dcFrame = 0;
}
else
{
f.color_filter = bayerFilter;
dc1394_debayer_frames(&f, frameC, bayer);
}
fc = frameC;
}
if (!img[i])
img[i] = cvCreateImage(cvSize(fc->size[0], fc->size[1]), 8, nch);
cvInitImageHeader(&fhdr, cvSize(fc->size[0], fc->size[1]), 8, nch);
cvSetData(&fhdr, fc->image, fc->size[0]*nch);
// Swap R&B channels:
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]);
}
code = true;
_exit_:
if (dcFrame)
dc1394_capture_enqueue(dcCam, dcFrame);
if (fs)
{
if (fs->image)
free(fs->image);
free(fs);
}
return code;
}
IplImage *dc1394_frame_get_iplimage(dc1394video_frame_t *frame)
{
g_return_val_if_fail(frame != NULL, NULL);
g_return_val_if_fail(frame->padding_bytes == 0, NULL);
IplImage *img;
unsigned char *imdata;
dc1394video_mode_t video_mode = frame->video_mode;
CvSize size = cvSize(frame->size[0], frame->size[1]);
if (video_mode == DC1394_VIDEO_MODE_640x480_MONO8) {
g_return_val_if_fail(
(size.width * size.height * 1 * sizeof(unsigned char)) == frame->image_bytes,
NULL);
IplImage *tmp = cvCreateImageHeader(size, IPL_DEPTH_8U, 1);
cvSetData(tmp, frame->image, size.width);
img = cvCreateImage(size, IPL_DEPTH_8U, tmp->nChannels);
cvCopy(tmp, img, 0);
cvReleaseImageHeader(&tmp);
} else if (video_mode == DC1394_VIDEO_MODE_640x480_MONO16) {
g_return_val_if_fail(
(size.width * size.height * 2 * sizeof(unsigned char)) == frame->image_bytes,
NULL);
IplImage *tmp = cvCreateImageHeader(size, IPL_DEPTH_16U, 1);
cvSetData(tmp, frame->image, size.width*2);
img = cvCreateImage(size, IPL_DEPTH_16U, tmp->nChannels);
cvCopy(tmp, img, 0);
cvReleaseImageHeader(&tmp);
} else if ((video_mode == DC1394_VIDEO_MODE_FORMAT7_0) ||
(video_mode == DC1394_VIDEO_MODE_FORMAT7_1)) {
dc1394error_t err;
dc1394video_frame_t dest;
IplImage *tmp;
img = cvCreateImageHeader(size, IPL_DEPTH_8U, 3);
/* debayer frame into RGB8 */
imdata = (unsigned char *)malloc(frame->size[0]*frame->size[1]*3*sizeof(unsigned char));
dest.image = imdata;
dest.color_coding = DC1394_COLOR_CODING_RGB8;
err=dc1394_debayer_frames(frame, &dest, DC1394_BAYER_METHOD_NEAREST);
if (err != DC1394_SUCCESS)
dc1394_log_error("Could not convert/debayer frames");
/* convert from RGB to BGR */
tmp = cvCreateImageHeader(cvSize(frame->size[0], frame->size[1]), IPL_DEPTH_8U, 3);
cvSetData(tmp, imdata, frame->size[0]*3);
cvCvtColor(tmp, img, CV_RGB2BGR);
free(imdata);
cvReleaseImageHeader(&tmp);
} else {
g_assert_not_reached();
}
return img;
}
