capprocstereo.cpp
来自「1394 接口视觉工具箱 （英文工具箱」· C++ 代码 · 共 1,871 行 · 第 1/4 页
CPP
1,871 行
}
/* end of 'adjust settings' */
mexPrintf("done.\n");
/* display current settings (for all connected cameras) */
if(verboseFlag) {
dumpCameraStats(cam);
}
} /* myConfigCamera ========================================================== */
/* mySetupCamera ============================================================= */
static void mySetupCamera(myCameraModes mode) {
int numCameras = 0;
/* check for 1st camera... needs to be done for the Camera object to be initialized properly!? fw-01-08 */
if(Camera[0].CheckLink() != CAM_SUCCESS) {
mexErrMsgTxt("Error while checking for connected cameras.\n");
} else {
numCameras++;
}
/* check for 2nd camera... needs to be done for the Camera object to be initialized properly!? fw-01-08 */
if(Camera[1].CheckLink() != CAM_SUCCESS) {
mexErrMsgTxt("Error while checking for connected cameras.\n");
} else {
numCameras++;
}
/* this is a stereo driver -- abort if there are not at least 2 cameras... */
if(numCameras < 2) {
mexErrMsgTxt("Couldn't find at least two cameras on the bus.\n");
} else {
/* ensure that there are at least 2 cameras on the bus */
mexPrintf("Detected %d cameras...\n", numCameras);
}
/* only initialize the camera if no CAMERA_STOP request has been issued */
if(myCameraModes(mode) != CAMERA_STOP) {
/* stop all cameras - if necessary */
if(initCamera) {
//mexPrintf("Stopping all cameras\n");
for(int cam=0; cam<numCameras; cam++) {
/* select current camera */
Camera[cam].SelectCamera(cam);
/* stop selected camera */
Camera[cam].StopImageCapture();
} /* for */
//mexPrintf("All cameras stopped\n");
/* all cameras stopped */
initCamera = 0;
/* indicate mode change */
currentMode = mode;
} /* if */
/* (re-)initialize all cameras */
for(int cam=0; cam<numCameras; cam++) {
////mexPrintf("Scanning for connected cameras...\n");
if(Camera[cam].CheckLink() != CAM_SUCCESS)
mexErrMsgTxt("Error while checking for connected cameras.\n");
/* select current camera */
Camera[cam].SelectCamera(cam);
if(Camera[cam].InitCamera() != CAM_SUCCESS)
mexErrMsgTxt("Error during initialization of the camera.\n");
////mexPrintf("Camera successfully initialized\n");
/* set image buffer, define pixel format */
// 0: {160 ,120 ,COLOR_CODE_YUV444},
// 1: {320 ,240 ,COLOR_CODE_YUV422},
// 2: {640 ,480 ,COLOR_CODE_YUV411},
// 3: {640 ,480 ,COLOR_CODE_YUV422},
// 4: {640 ,480 ,COLOR_CODE_RGB8},
// 5: {640 ,480 ,COLOR_CODE_Y8},
// 6: {640 ,480 ,COLOR_CODE_Y16}
/* only set up camera, if the requested mode is supported by the connected camera */
if(Camera[cam].HasVideoMode(0L, mode)) {
/* camera supports the requested mode */
switch(mode) {
case CAMERA_YUV444_160x120:
/* 160x120 YUV444, 30 fps */
//mexPrintf("Mode %d -> Selecting YUV444 sink (30 fps)\n", mode);
Camera[cam].SetVideoFormat(0);
Camera[cam].SetVideoMode(0); /* 0: YUV(4:4:4) */
Camera[cam].SetVideoFrameRate(4); /* 4: 30 fps */
break;
case CAMERA_YUV422_320x240:
/* 320x240 YUV422, 30 fps */
//mexPrintf("Mode %d -> Selecting YUV422 sink (30 fps)\n", mode);
Camera[cam].SetVideoFormat(0);
Camera[cam].SetVideoMode(1); /* 1: YUV(4:2:2) */
Camera[cam].SetVideoFrameRate(4); /* 4: 30 fps */
break;
case CAMERA_YUV411_640x480:
default:
/* 640x480 YUV411, 30 fps */
mexPrintf("Mode: %d -> Selecting YUV411 sink (30 fps)\n", mode);
Camera[cam].SetVideoFormat(0);
Camera[cam].SetVideoMode(2); /* 2: YUV(4:1:1) */
Camera[cam].SetVideoFrameRate(4); /* 4: 30 fps */
break;
case CAMERA_YUV422_640x480:
/* 640x480 YUV422, 15 fps */
//mexPrintf("Mode %d -> Selecting YUV422 sink (15 fps)\n", mode);
Camera[cam].SetVideoFormat(0);
Camera[cam].SetVideoMode(3); /* 3: YUV(4:2:2) */
Camera[cam].SetVideoFrameRate(3); /* 3: 15 fps */
break;
case CAMERA_RGB8_640x480:
/* 640x480 RGB, 15 fps */
mexPrintf("Mode: %d -> Selecting RGB sink (15 fps)\n", mode);
Camera[cam].SetVideoFormat(0);
Camera[cam].SetVideoMode(4); /* 4: RGB8 */
Camera[cam].SetVideoFrameRate(3); /* 3: 15 fps */
break;
case CAMERA_Y8_640x480:
/* 640x480 B&W, 8 bit per pixel, 30 fps */
mexPrintf("Mode: %d -> Selecting B&W sink (30 fps)\n", mode);
Camera[cam].SetVideoFormat(0);
Camera[cam].SetVideoMode(5); /* 5: Mono, 8-bit */
Camera[cam].SetVideoFrameRate(4); /* 4: 30 fps */
break;
case CAMERA_Y16_640x480:
/* 640x480 B&W 16 bit per pixel, 15 fps */
mexPrintf("Mode: %d -> Selecting B&W sink (15 fps)\n", mode);
Camera[cam].SetVideoFormat(0);
Camera[cam].SetVideoMode(6); /* 6: Mono, 16-bit */
Camera[cam].SetVideoFrameRate(3); /* 3: 15 fps */
break;
} /* switch */
// set dimension of the output variable
Camera[cam].GetVideoFrameDimensions(&frameWidth, &frameHeight);
/* fix dimensions */
dims[0] = (unsigned int)frameHeight;
dims[1] = (unsigned int)frameWidth;
dims[2] = 3;
/* total number of bytes kept in the buffer */
nElements = dims[0] * dims[1] * dims[2];
if(Camera[cam].StartImageCapture() != CAM_SUCCESS)
mexErrMsgTxt("Error at attempted start of image capture.\n");
/* load camera settings or use default values (can be found using '1394CameraDemo.exe') */
myConfigCamera(cam);
/* fetch one image to waste some time (camera settles) ... */
for(int ii=0; ii<2; ii++) {
if(Camera[cam].CaptureImage() != CAM_SUCCESS)
mexErrMsgTxt("Error during image capture.\n");
}
// /* doesn't work... */
// Sleep( 250 );
/* camera initialized -> set 'initFlag' */
initCamera = 1;
/* indicate mode change */
currentMode = mode;
} else {
/* camera does not support the requested mode */
mexErrMsgTxt("Requested mode is not supported by connected camera.\n");
}
} /* for all cameras */
} else {
/* CAMERA_STOP request has been issued */
//mexPrintf("Stopping camera...\n");
/* stop capture - if currently ongoing */
if(initCamera) {
mexPrintf("Stopping all cameras\n");
for(int cam=0; cam<numCameras; cam++) {
/* select current camera */
Camera[cam].SelectCamera(cam);
/* stop selected camera */
Camera[cam].StopImageCapture();
} /* for */
}
//mexPrintf("All cameras stopped\n");
/* indicate that we can free the grabber (in mexFunction) */
initCamera = 0;
/* indicate mode change */
currentMode = mode;
}
} /* mySetupCamera ============================================================ */
/* mySetupVision ============================================================= */
static void mySetupVision(myCameraModes mode, unsigned int Wx, unsigned int Wy) {
/* only (re-)initialize the vision if no CAMERA_STOP request has been issued */
if(mode != CAMERA_STOP) {
/* dynamically allocate memory for conversion buffers (CMVISION) */
yuvBuf = new yuv[Wx*Wy];
//mexPrintf("yuvBuf = %08x\n", yuvBuf);
yuyvBuf = new image_pixel[Wx/2*Wy];
//mexPrintf("yuyvBuf = %08x\n", yuyvBuf);
img = new rgb[Wx*Wy];
//mexPrintf("img = %08x\n", img);
// initialize class 'vision' (CMVision)
if(!vision.initialize(Wx, Wy))
mexErrMsgTxt("Vision init failed.\n");
vision.loadOptions(colourFilename);
vision.enable(CMV_DENSITY_MERGE);
} else {
/* CAMERA_STOP request has been issued */
// destroy class 'vision'
vision.close();
/* destroy dynamically allocated buffer for 'yuv' data */
if(yuvBuf != NULL) {
delete yuvBuf;
yuvBuf = NULL;
//mexPrintf("yuv buffer destroyed.\n");
}
/* destroy dynamically allocated buffer for 'yuyv' data */
if(yuyvBuf != NULL) {
delete yuyvBuf;
yuyvBuf = NULL;
//mexPrintf("yuyv buffer destroyed.\n");
}
/* destroy dynamically allocated buffer for 'img' data (output) */
if(img != NULL) {
delete img;
img = NULL;
//mexPrintf("img buffer destroyed.\n");
}
}
} /* mySetupVision ============================================================ */
/* mexFunction ============================================================= */
void mexFunction(int nlhs,mxArray *plhs[],int nrhs,const mxArray *prhs[]) {
mxArray *pArray[2]; /* output data */
mxArray *pArray2[2]; /* output data (optional, RGB image) */
unsigned char *MATbuf; /* pointer to MATLAB memory */
myCameraModes mode;
// ######### CMVision ##########
unsigned int retIMG;
int i, j;
int numCOL, maxCOL; // number of detected colours
int numREG;
int COLIDs[CMV_MAX_COLORS]; // list of colour IDs to be scanned for
int COLdetected[CMV_MAX_COLORS]; // list of detected colour IDs
// return detected coordinates in a structure
mxArray *fout;
double *pfout;
int fi; // field index
/************************************************************************/
/* Check arguments and read input (number of pixels) */
/************************************************************************/
/* should be possible to stop the camera using 'capProcStereo(-1);' */
if(nlhs==0 && nrhs ==1) {
mode = myCameraModes((int)(mxGetScalar(prhs[0])));
if(mode == CAMERA_STOP) {
/* stop acquisition - if currently ongoing */
if(initCamera) {
/* stop camera */
mySetupCamera(CAMERA_STOP);
/* stop vision */
mySetupVision(CAMERA_STOP, 0, 0);
}
return;
}
}
if(!((nlhs==2 || nlhs==4) && (nrhs==1 || nrhs==2 || nrhs==3 || nrhs==4 || nrhs==6 || nrhs==8))) {
mexErrMsgTxt("Usage: [Region_StructureArray1, Region_StructureArray2, [RGB_Data1 ,RGB_Data2]] = capProcStereo(mode [, 'colour_filename'][, colour_list][, verbose][, sizeX, sizeY][, originX, originY])\n " \
"mode: -1 STOP\n" \
" 0 YUV444 (160x120, 30 fps)\n" \
" 1 YUV422 (320x240, 30 fps)\n" \
" 2 YUV411 (640x480, 30 fps)\n" \
" 3 YUV422 (640x480, 15 fps)\n" \
" 4 RGB8 (640x480, 15 fps)\n" \
" 5 Y8 (640x480, 30 fps)\n" \
" 6 Y16 (640x480, 15 fps)\n" \
" verbose: 0 silent\n" \
" 1 verbose\n" \
" default colour file: testcolors.txt\n" );
}
else {
// defaults
strcpy(colourFilename, defColourFilename);
retIMG = 0;
maxCOL = defCOL; // default: just one colour
COLIDs[0] = 0; // default colour '0'
verboseFlag = 0;
requestedWidth = 0;
requestedHeight = 0;
requestedOrigX = 0;
requestedOrigY = 0;
// extra LHS arguments? -> flag the returning of RGB image data
if(nlhs == 4) {
retIMG = 1;
}
/* get 'mode' parameter (always required) */
mode = myCameraModes((int)(mxGetScalar(prhs[0])));
//mexPrintf("mode = %d\n", mode);
//mexPrintf("initCamera = %d\n", initCamera);
/* optional RHS: colour file name */
if(nrhs >= 2) {
mxGetString(prhs[1], colourFilename, colourFilenameLength);
//mexPrintf("colour file: %s\n", colourFilename);
}
/* optional RHS: list of colours to be scanned for */
if(nrhs >= 3) {
/* get list of colours */
if(!mxIsEmpty(prhs[2])) {
if(!mxIsNumeric(prhs[2]) && !mxIsComplex(prhs[2]))
mexErrMsgTxt("The specified colour list has to be a vector with up to 16 colour IDs\n");
maxCOL = (unsigned int)mxGetNumberOfElements(prhs[2]);
if(maxCOL > CMV_MAX_COLORS) {
mexWarnMsgTxt("Too many colours specified. Reducing to maximum permitted (32)\n");
maxCOL = CMV_MAX_COLORS;
}
// read colour vector
pfout = mxGetPr(prhs[2]);
for(fi=0; fi<maxCOL; fi++) {
COLIDs[fi] = (unsigned int)(*(pfout+fi))-1;
if((COLIDs[fi] < 0) || (COLIDs[fi] >= CMV_MAX_COLORS))
mexErrMsgTxt("Colour(s) outside the valid range (1 ... 32).\n");
}
}
}
/* optional RHS: verbosity flag */
if(nrhs >= 4) {
verboseFlag = (unsigned int)(mxGetScalar(prhs[3]));
}
/* optional: size */
if(nrhs >= 6) {
requestedWidth = (unsigned int)(mxGetScalar(prhs[4]));
requestedHeight = (unsigned int)(mxGetScalar(prhs[5]));
⌨️ 快捷键说明
复制代码Ctrl + C
搜索代码Ctrl + F
全屏模式F11
增大字号Ctrl + =
减小字号Ctrl + -
显示快捷键?