IplImage* CvCaptureCAM_CMU::retrieveFrame()
{
C1394Camera* cmucam = camera();
if( !cmucam )
return 0;
cmucam->getRGB((uchar*)image->imageData, image->imageSize);
cvConvertImage( image, image, CV_CVTIMG_SWAP_RB );
return image;
}
DWORD Sync1394Camera::CamThread ()
{
int fcount= 0;
//init ARtaglocalizer***********************************************
IplImage *undist_src = cvCreateImageHeader(cvSize(config.width,config.height),8,3);
IplImage *gray = cvCreateImage(cvSize(config.width,config.height),8,1);
//******************************************************************
printf("Cam %d Thread Started\n\n", camId);
while (allCamInit == false)
{
Sleep(100);
}
while(isRunning)
{
C1394Camera* camptr = &camera;
fcount++;
unsigned long dlength=0;
int dFrames=0;
if (CAM_SUCCESS != camptr->AcquireImageEx(TRUE,&dFrames))
{
if (fcount %100==0)
printf("COULD NOT AQUIRE AN IMAGE FROM THE CAMERA %d.\n", camId);
}
if (dFrames>0 && fcount>1) printf ("DROPPED %d FRAMES! %d\n",dFrames, camId);
EnterCriticalSection(&camgrab_cs);
if (USE_SYSTIME) curtimestamp = (float)(clock() - start_tick)/(float)CLOCKS_PER_SEC;
if (config.isColor)
{
camptr->getRGB(buf,config.height * config.width * 3); dlength=1;
}
else
{
camptr = &camera;
buf = camptr->GetRawData (&dlength);
}
if (0 == dlength)
{
LeaveCriticalSection(&camgrab_cs);
continue;
}
if ((fcount %100==0) && (!config.AGC))
{
printf(".");
}
undist_src->imageData = (char*) buf;
undist_src->imageDataOrigin = undist_src->imageData;
cvCvtColor( undist_src, gray, CV_BGR2GRAY );
if(!allStop)
{
artagLoc->getARtagPose(gray, undist_src, camId);
}
LeaveCriticalSection(&camgrab_cs);
SetEvent (cameraEvent);
}
cvReleaseImage(&gray);
printf("\nCam %d Thread Ended\n", camId);
return 0;
}
