void
camera_control_delete(CameraControl* cc)
{
#if defined(CAMERA_CONTROL_USE_CL_DRIVER)
if (cc->frame3ch != 0x0)
cvReleaseImage(&cc->frame3ch);
if (cc->frame4ch != 0x0)
cvReleaseImage(&cc->frame4ch);
CLEyeDestroyCamera(cc->camera);
#else
// linux, others and windows opencv only
cvReleaseCapture(&cc->capture);
#endif
if (cc->frame3chUndistort) {
cvReleaseImage(&cc->frame3chUndistort);
}
if (cc->mapx) {
cvReleaseImage(&cc->mapx);
}
if (cc->mapy) {
cvReleaseImage(&cc->mapy);
}
free(cc);
}
void ofxPS3::cameraDeinitializationLogic()
{
CLEyeCameraStop(ps3EyeCamera);
Sleep(50);
CLEyeDestroyCamera(ps3EyeCamera);
ps3EyeCamera = NULL;
}
void close()
{
if (isOpened())
{
CLEyeCameraStop(m_eye);
CLEyeDestroyCamera(m_eye);
}
cvReleaseImage(&m_frame);
cvReleaseImage(&m_frame4ch);
m_index = -1;
}
void PS3::StopCamera() {
//! Stop camera capture
CLEyeCameraStop( _cam );
//! Destroy camera object
CLEyeDestroyCamera( _cam );
////! Release OpenCV resources
//cvReleaseImage( &pCapImage );
_cam = NULL;
}
//--------------------------------------------------------------
void ofxCLEye::close(){
if(initialized){
if(usingThread){
stopThread();
}
CLEyeCameraStop(cam);
CLEyeDestroyCamera(cam);
cam = NULL;
delete[] viPixels;
pixels.clear();
if(usingTexture){
texture.clear();
}
initialized = false;
}
}
EyeCameraCapture::~EyeCameraCapture() {
// Stop camera capture
CLEyeCameraStop(_cam);
// Destroy camera object
CLEyeDestroyCamera(_cam);
}
void CLEyeCameraCapture::Run()
{
// Create camera instance
_cam = CLEyeCreateCamera(_cameraGUID, _mode, _resolution, _fps);
if(_cam == NULL) return;
// Get camera frame dimensions
CLEyeCameraGetFrameDimensions(_cam, w, h);
// Depending on color mode chosen, create the appropriate OpenCV image
if(_mode == CLEYE_COLOR_PROCESSED || _mode == CLEYE_COLOR_RAW)
pCapImage = cvCreateImage(cvSize(w, h), IPL_DEPTH_8U, 4);
else
pCapImage = cvCreateImage(cvSize(w, h), IPL_DEPTH_8U, 1);
// Set some camera parameters
//CLEyeSetCameraParameter(_cam, CLEYE_GAIN, 20);
//CLEyeSetCameraParameter(_cam, CLEYE_EXPOSURE, 511);
CLEyeSetCameraParameter(_cam, CLEYE_AUTO_GAIN, true);
CLEyeSetCameraParameter(_cam, CLEYE_AUTO_EXPOSURE, true);
CLEyeSetCameraParameter( _cam, CLEYE_HFLIP, true);
// Start capturing
CLEyeCameraStart(_cam);
cvGetImageRawData(pCapImage, &pCapBuffer);
pCapture = pCapImage;
long frames = 0;
long count = GetTickCount();
long prevCount = 0;
double fps = 0;
// image capturing loop
Mat src_gray, subImage, subImage_gray;
vector<Vec3f> circles;
Point center;
Point n_center;
int radius = 0;
int counter = 0;
char* fpsText = new char[5];
char* pos_text = new char[10];
while(_running)
{
CLEyeCameraGetFrame(_cam, pCapBuffer);
//check fps every 100 frames
frames++;
if((frames % 100) == 0){
prevCount = count;
count = GetTickCount();
fps = 100000.0/(count - prevCount);
//std::cout << "fps: " << fps << endl;
sprintf(fpsText, "fps: %f", fps);
}
if(frames > 100)
putText(pCapture, fpsText, Point(5, 20), CV_FONT_HERSHEY_PLAIN, 1, Scalar(0, 255, 0));
else
putText(pCapture, "calculating fps...", Point(5, 20), CV_FONT_HERSHEY_PLAIN, 1, Scalar(0, 255, 0));
//find circle in whole area of frame first
if(!_isTracking){
CircleDetector(pCapture, src_gray, circles, center, radius);
if(circles.size() != 0)
_isTracking = true;
n_center = center;
}
//dynamically move subimage area by tracking the object
else
{
int subImage_size = 30;
Point temp = FixSubImageSize(n_center, 320, 240, subImage_size);
Rect t_rect(temp.x - subImage_size, temp.y - subImage_size, subImage_size*2, subImage_size*2);
subImage = pCapture(t_rect);
CircleDetector(subImage, subImage_gray, circles, center, radius);
imshow(trackingWindowName, subImage);
if(circles.size() == 0)
{
counter++;
if(counter == 3)
{
_isTracking = false;
counter = 0;
cout << "Lost tracking! Search whole frame." << endl;
}
}
else
{
counter = 0;
n_center.x = temp.x - subImage_size + center.x;
n_center.y = temp.y - subImage_size + center.y;
cout << "fps: " << fps << " x:" << n_center.x << ", y:" << n_center.y << endl;
}
}
sprintf(pos_text, "x=%d,y=%d", n_center.x, n_center.y);
if(circles.size() != 0){
putText(pCapture, pos_text, Point(n_center.x + radius, n_center.y - radius), CV_FONT_HERSHEY_PLAIN, 1, Scalar(0, 255, 0));
}
imshow(_windowName, pCapture);
}
// Stop camera capture
CLEyeCameraStop(_cam);
// Destroy camera object
CLEyeDestroyCamera(_cam);
// Destroy the allocated OpenCV image
cvReleaseImage(&pCapImage);
_cam = NULL;
}
void Run()
{
int w, h;
IplImage *pCapImage;
PBYTE pCapBuffer = NULL;
// Create camera instance
_cam = CLEyeCreateCamera(_cameraGUID, _mode, _resolution, _fps);
if(_cam == NULL) return;
// Get camera frame dimensions
CLEyeCameraGetFrameDimensions(_cam, w, h);
// Depending on color mode chosen, create the appropriate OpenCV image
if(_mode == CLEYE_COLOR_PROCESSED || _mode == CLEYE_COLOR_RAW)
pCapImage = cvCreateImage(cvSize(w, h), IPL_DEPTH_8U, 4);
else
pCapImage = cvCreateImage(cvSize(w, h), IPL_DEPTH_8U, 1);
// Set some camera parameters
//CLEyeSetCameraParameter(_cam, CLEYE_GAIN, 30);
//CLEyeSetCameraParameter(_cam, CLEYE_EXPOSURE, 500);
//CLEyeSetCameraParameter(_cam, CLEYE_AUTO_EXPOSURE, false);
//CLEyeSetCameraParameter(_cam, CLEYE_AUTO_GAIN, false);
//CLEyeSetCameraParameter(_cam, CLEYE_AUTO_WHITEBALANCE, false);
//CLEyeSetCameraParameter(_cam, CLEYE_WHITEBALANCE_RED, 100);
//CLEyeSetCameraParameter(_cam, CLEYE_WHITEBALANCE_BLUE, 200);
//CLEyeSetCameraParameter(_cam, CLEYE_WHITEBALANCE_GREEN, 200);
// Start capturing
CLEyeCameraStart(_cam);
CvMemStorage* storage = cvCreateMemStorage(0);
IplImage* hsv_frame = cvCreateImage(cvSize(pCapImage->width, pCapImage->height), IPL_DEPTH_8U, 3);
IplImage* thresholded = cvCreateImage(cvSize(pCapImage->width, pCapImage->height), IPL_DEPTH_8U, 1);
IplImage* temp = cvCreateImage(cvSize(pCapImage->width >> 1, pCapImage->height >> 1), IPL_DEPTH_8U, 3);
// Create a window in which the captured images will be presented
cvNamedWindow( "Camera" , CV_WINDOW_AUTOSIZE );
cvNamedWindow( "HSV", CV_WINDOW_AUTOSIZE );
cvNamedWindow( "EdgeDetection", CV_WINDOW_AUTOSIZE );
//int hl = 100, hu = 115, sl = 95, su = 135, vl = 115, vu = 200;
int hl = 5, hu = 75, sl = 40, su = 245, vl = 105, vu = 175;
// image capturing loop
while(_running)
{
// Detect a red ball
CvScalar hsv_min = cvScalar(hl, sl, vl, 0);
CvScalar hsv_max = cvScalar(hu, su, vu, 0);
cvGetImageRawData(pCapImage, &pCapBuffer);
CLEyeCameraGetFrame(_cam, pCapBuffer);
cvConvertImage(pCapImage, hsv_frame);
// Get one frame
if( !pCapImage )
{
fprintf( stderr, "ERROR: frame is null...\n" );
getchar();
break;
}
// Covert color space to HSV as it is much easier to filter colors in the HSV color-space.
cvCvtColor(pCapImage, hsv_frame, CV_RGB2HSV);
// Filter out colors which are out of range.
cvInRangeS(hsv_frame, hsv_min, hsv_max, thresholded);
// Memory for hough circles
CvMemStorage* storage = cvCreateMemStorage(0);
// hough detector works better with some smoothing of the image
cvSmooth( thresholded, thresholded, CV_GAUSSIAN, 9, 9 );
CvSeq* circles = cvHoughCircles(thresholded, storage, CV_HOUGH_GRADIENT, 2,
thresholded->height/4, 100, 50, 10, 400);
for (int i = 0; i < circles->total; i++)
{
float* p = (float*)cvGetSeqElem( circles, i );
//printf("Ball! x=%f y=%f r=%f\n\r",p[0],p[1],p[2] );
cvCircle( pCapImage, cvPoint(cvRound(p[0]),cvRound(p[1])),
3, CV_RGB(0,255,0), -1, 8, 0 );
cvCircle( pCapImage, cvPoint(cvRound(p[0]),cvRound(p[1])),
cvRound(p[2]), CV_RGB(255,0,0), 3, 8, 0 );
}
cvShowImage( "Camera", pCapImage ); // Original stream with detected ball overlay
cvShowImage( "HSV", hsv_frame); // Original stream in the HSV color space
cvShowImage( "EdgeDetection", thresholded ); // The stream after color filtering
cvReleaseMemStorage(&storage);
// Do not release the frame!
//If ESC key pressed, Key=0x10001B under OpenCV 0.9.7(linux version),
//remove higher bits using AND operator
int key = cvWaitKey(10);
switch(key){
case 'q' : hu += 5; break;
case 'Q' : hu -= 5; break;
case 'a' : hl -= 5; break;
case 'A' : hl += 5; break;
case 'w' : su += 5; break;
case 'W' : su -= 5; break;
case 's' : sl -= 5; break;
case 'S' : sl += 5; break;
case 'e' : vu += 5; break;
case 'E' : vu -= 5; break;
case 'd' : vl -= 5; break;
case 'D' : vl += 5; break;
}
if (key != -1){
printf("H: %i, S: %i, V: %i\nH: %i, S: %i, V: %i\n\n", hu, su, vu, hl, sl, vl);
}
}
cvReleaseImage(&temp);
cvReleaseImage(&pCapImage);
// Stop camera capture
CLEyeCameraStop(_cam);
// Destroy camera object
CLEyeDestroyCamera(_cam);
// Destroy the allocated OpenCV image
cvReleaseImage(&pCapImage);
_cam = NULL;
}
