libdc1394示例捕获立体图像
我打算制作一个程序来捕捉Point Grey Bumblebee2火线1394相机的立体图像。 Here是从libdc1394获取彩色图像的简单示例。
#include <stdio.h>
#include <stdint.h>
#include <dc1394/dc1394.h>
#include <stdlib.h>
#include <inttypes.h>
#define IMAGE_FILE_NAME "ImageRGB.ppm"
/*-----------------------------------------------------------------------
* Prints the type of format to standard out
*-----------------------------------------------------------------------*/
void print_format( uint32_t format )
{
#define print_case(A) case A: printf(#A ""); break;
switch( format ) {
print_case(DC1394_VIDEO_MODE_160x120_YUV444);
print_case(DC1394_VIDEO_MODE_320x240_YUV422);
print_case(DC1394_VIDEO_MODE_640x480_YUV411);
print_case(DC1394_VIDEO_MODE_640x480_YUV422);
print_case(DC1394_VIDEO_MODE_640x480_RGB8);
print_case(DC1394_VIDEO_MODE_640x480_MONO8);
print_case(DC1394_VIDEO_MODE_640x480_MONO16);
print_case(DC1394_VIDEO_MODE_800x600_YUV422);
print_case(DC1394_VIDEO_MODE_800x600_RGB8);
print_case(DC1394_VIDEO_MODE_800x600_MONO8);
print_case(DC1394_VIDEO_MODE_1024x768_YUV422);
print_case(DC1394_VIDEO_MODE_1024x768_RGB8);
print_case(DC1394_VIDEO_MODE_1024x768_MONO8);
print_case(DC1394_VIDEO_MODE_800x600_MONO16);
print_case(DC1394_VIDEO_MODE_1024x768_MONO16);
print_case(DC1394_VIDEO_MODE_1280x960_YUV422);
print_case(DC1394_VIDEO_MODE_1280x960_RGB8);
print_case(DC1394_VIDEO_MODE_1280x960_MONO8);
print_case(DC1394_VIDEO_MODE_1600x1200_YUV422);
print_case(DC1394_VIDEO_MODE_1600x1200_RGB8);
print_case(DC1394_VIDEO_MODE_1600x1200_MONO8);
print_case(DC1394_VIDEO_MODE_1280x960_MONO16);
print_case(DC1394_VIDEO_MODE_1600x1200_MONO16);
default:
dc1394_log_error("Unknown format\n");
exit(1);
}
}
/*-----------------------------------------------------------------------
* Returns the number of pixels in the image based upon the format
*-----------------------------------------------------------------------*/
uint32_t get_num_pixels(dc1394camera_t *camera, uint32_t format ) {
uint32_t w,h;
dc1394_get_image_size_from_video_mode(camera, format,&w,&h);
return w*h;
}
/*-----------------------------------------------------------------------
* Prints the type of color encoding
*-----------------------------------------------------------------------*/
void print_color_coding( uint32_t color_id )
{
switch( color_id ) {
case DC1394_COLOR_CODING_MONO8:
printf("MONO8");
break;
case DC1394_COLOR_CODING_YUV411:
printf("YUV411");
break;
case DC1394_COLOR_CODING_YUV422:
printf("YUV422");
break;
case DC1394_COLOR_CODING_YUV444:
printf("YUV444");
break;
case DC1394_COLOR_CODING_RGB8:
printf("RGB8");
break;
case DC1394_COLOR_CODING_MONO16:
printf("MONO16");
break;
case DC1394_COLOR_CODING_RGB16:
printf("RGB16");
break;
case DC1394_COLOR_CODING_MONO16S:
printf("MONO16S");
break;
case DC1394_COLOR_CODING_RGB16S:
printf("RGB16S");
break;
case DC1394_COLOR_CODING_RAW8:
printf("RAW8");
break;
case DC1394_COLOR_CODING_RAW16:
printf("RAW16");
break;
default:
dc1394_log_error("Unknown color coding = %d\n",color_id);
exit(1);
}
}
/*-----------------------------------------------------------------------
* Prints various information about the mode the camera is in
*-----------------------------------------------------------------------*/
void print_mode_info( dc1394camera_t *camera , uint32_t mode )
{
int j;
printf("Mode: ");
print_format(mode);
printf("\n");
dc1394framerates_t framerates;
dc1394error_t err;
err=dc1394_video_get_supported_framerates(camera,mode,&framerates);
DC1394_ERR(err,"Could not get frame rates");
printf("Frame Rates:\n");
for( j = 0; j < framerates.num; j++ ) {
uint32_t rate = framerates.framerates[j];
float f_rate;
dc1394_framerate_as_float(rate,&f_rate);
printf(" [%d] rate = %f\n",j,f_rate );
}
}
/*-----------------------------------------------------------------------
* Releases the cameras and exits
*-----------------------------------------------------------------------*/
void cleanup_and_exit(dc1394camera_t *camera)
{
dc1394_video_set_transmission(camera, DC1394_OFF);
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
exit(1);
}
int main(int argc, char *argv[])
{
FILE* imagefile;
dc1394camera_t *camera;
unsigned int width, height;
dc1394video_frame_t *frame=NULL;
dc1394_t * d;
dc1394camera_list_t * list;
dc1394error_t err;
d = dc1394_new ();
err=dc1394_camera_enumerate (d, &list);
DC1394_ERR_RTN(err,"Failed to enumerate cameras");
if (list->num == 0) {
dc1394_log_error("No cameras found");
return 1;
}
camera = dc1394_camera_new (d, list->ids[0].guid);
if (!camera) {
dc1394_log_error("Failed to initialize camera with guid %llx", list->ids[0].guid);
return 1;
}
dc1394_camera_free_list (list);
printf("Using camera with GUID %"PRIx64"\n", camera->guid);
dc1394video_modes_t modes;
/*-----------------------------------------------------------------------
* list Capture Modes
*-----------------------------------------------------------------------*/
err=dc1394_video_get_supported_modes(camera, &modes);
DC1394_ERR_RTN(err,"Could not get list of modes");
uint32_t selected_mode = modes.modes[modes.num-1];
/*-----------------------------------------------------------------------
* setup capture
*-----------------------------------------------------------------------*/
err=dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set iso speed");
err=dc1394_video_set_mode(camera, selected_mode);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set video mode\n");
err=dc1394_video_set_framerate(camera, DC1394_FRAMERATE_7_5);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set framerate\n");
err=dc1394_capture_setup(camera,4, DC1394_CAPTURE_FLAGS_DEFAULT);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not setup camera-\nmake sure that the video mode and framerate are\nsupported by your camera\n");
/*-----------------------------------------------------------------------
* have the camera start sending us data
*-----------------------------------------------------------------------*/
err=dc1394_video_set_transmission(camera, DC1394_ON);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not start camera iso transmission\n");
/*-----------------------------------------------------------------------
* capture one frame
*-----------------------------------------------------------------------*/
err=dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not capture a frame\n");
/*-----------------------------------------------------------------------
* stop data transmission
*-----------------------------------------------------------------------*/
err=dc1394_video_set_transmission(camera,DC1394_OFF);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not stop the camera?\n");
/*-----------------------------------------------------------------------
* convert the image from what ever format it is to its RGB8
*-----------------------------------------------------------------------*/
dc1394_get_image_size_from_video_mode(camera, selected_mode, &width, &height);
uint64_t numPixels = height*width;
dc1394video_frame_t *new_frame=calloc(1,sizeof(dc1394video_frame_t));
new_frame->color_coding=DC1394_COLOR_CODING_RGB8;
dc1394_convert_frames(frame, new_frame);
/*-----------------------------------------------------------------------
* save image as 'Image.pgm'
*-----------------------------------------------------------------------*/
imagefile=fopen(IMAGE_FILE_NAME, "wb");
if( imagefile == NULL) {
perror( "Can't create '" IMAGE_FILE_NAME "'");
cleanup_and_exit(camera);
}
fprintf(imagefile,"P6\n%u %u\n255\n", width, height);
fwrite((const char *)new_frame->image, 1,numPixels*3, imagefile);
fclose(imagefile);
printf("wrote: " IMAGE_FILE_NAME "\n");
/*-----------------------------------------------------------------------
* close camera
*-----------------------------------------------------------------------*/
free(new_frame->image);
free(new_frame);
dc1394_video_set_transmission(camera, DC1394_OFF);
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
dc1394_free (d);
return 0;
}
有人可以帮我转换此代码以获取立体图像。我还查看了coriander源代码，并且已经花了两天时间使用该源代码使其适用于立体图像。我将非常感激。
2 个答案:
答案 0 :(得分：3)
好吧，好吧，我的第一步是将所有东西从main（）移到另一个函数中，并从main（）调用它，一行传递摄像机地址，输出文件名等。该函数应该可以工作没有全局或静力学，只有当地人。让它正常工作。
接下来，修改函数，使其仅将一个结构指针作为其单个参数。在main（）中，动态分配一个＆＃39; params＆＃39; struct包含相机地址等，并调用相机＆＃39;功能及其地址。让它正常工作。
然后，而不是调用相机＆＃39;直接从main函数，将其断开，将指针传递给＆＃39; params＆＃39;作为pthread_create的void *参数。让它正常工作。
最后 - 启动两个相机＆＃39;来自main的线程，具有不同的地址和输出文件。
您可能希望/稍后需要做更多事情，例如。将帧从两个摄像机排队到main（）与一些生产者 - 消费者队列，并将帧与具有一些时间戳的立体对匹配，但这与你和你的要求之间有关：）
请注意，这个答案只是一个最好的猜测＆＃39;寻求使用已有的代码的设计和开发策略:)
答案 1 :(得分：2)
最后它有效。使用libdc1394点灰色bumblebee2相机
#include <stdio.h>
#include <stdint.h>
#include <dc1394/dc1394.h>
#include <stdlib.h>
#include <inttypes.h>
#include <endian.h>
#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
#ifndef _WIN32
#include <unistd.h>
#endif
/*-----------------------------------------------------------------------
* Releases the cameras and exits
*-----------------------------------------------------------------------*/
void cleanup_and_exit(dc1394camera_t *camera)
{
dc1394_video_set_transmission(camera, DC1394_OFF);
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
exit(1);
}
int main(int argc, char *argv[])
{
FILE* imagefile;
dc1394camera_t *camera;
unsigned int width, height;
dc1394video_frame_t *frame=NULL;
dc1394video_frame_t stereo;
//dc1394featureset_t features;
dc1394_t * d;
dc1394camera_list_t * list;
dc1394error_t err;
//
// Create an OpenCV window
//
cv::namedWindow( "Stereo image", CV_WINDOW_AUTOSIZE );
d = dc1394_new ();
if (!d)
return 1;
err=dc1394_camera_enumerate (d, &list);
DC1394_ERR_RTN(err,"Failed to enumerate cameras");
if (list->num == 0) {
dc1394_log_error("No cameras found");
return 1;
}
camera = dc1394_camera_new (d, list->ids[0].guid);
if (!camera) {
dc1394_log_error("Failed to initialize camera with guid %llx", list->ids[0].guid);
return 1;
}
dc1394_camera_free_list (list);
printf("Using camera with GUID %i \n", camera->guid);
/*-----------------------------------------------------------------------
* setup capture
*-----------------------------------------------------------------------*/
err=dc1394_video_set_operation_mode(camera, DC1394_OPERATION_MODE_LEGACY );
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set 1394A mode");
err=dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400 );
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set iso speed");
err=dc1394_video_set_mode(camera, DC1394_VIDEO_MODE_FORMAT7_3 );
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not set video mode\n");
err=dc1394_format7_set_roi(camera, DC1394_VIDEO_MODE_FORMAT7_3, DC1394_COLOR_CODING_RAW16, DC1394_USE_MAX_AVAIL, 0, 0, 1024, 768 );
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not ROI\n");
err=dc1394_capture_setup(camera,4, DC1394_CAPTURE_FLAGS_DEFAULT );
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not setup camera-\nmake sure that the video mode and framerate are\nsupported by your camera\n");
/*-----------------------------------------------------------------------
* GIJS edit: show F7 info
*-----------------------------------------------------------------------*/
uint32_t unit_bytes;
uint32_t max_bytes;
err=dc1394_format7_get_packet_parameters(camera, DC1394_VIDEO_MODE_FORMAT7_3, &unit_bytes, &max_bytes );
printf("\n[DEBUG] F7 Info\n");
printf("[DEBUG] unit_byte: %d (error %d)\n", unit_bytes, err );
printf("[DEBUG] max_bytes: %d (error %d)\n", max_bytes, err );
uint32_t packet_size;
err=dc1394_format7_get_packet_size(camera, DC1394_VIDEO_MODE_FORMAT7_3, &packet_size );
printf("[DEBUG] packet_size: %d (error %d)\n", packet_size, err );
uint32_t packets_per_frame;
err=dc1394_format7_get_packets_per_frame(camera, DC1394_VIDEO_MODE_FORMAT7_3, &packets_per_frame );
printf("[DEBUG] packets_per_frame: %d (error %d)\n", packets_per_frame, err );
uint32_t pixels_per_frame;
err=dc1394_format7_get_pixel_number(camera, DC1394_VIDEO_MODE_FORMAT7_3, &pixels_per_frame );
printf("[DEBUG] pixels_per_frame: %d (error %d)\n", pixels_per_frame, err );
uint32_t recommended_packet_size;
err=dc1394_format7_get_recommended_packet_size(camera, DC1394_VIDEO_MODE_FORMAT7_3, &recommended_packet_size );
printf("[DEBUG] recommended_packet_size: %d (error %d)\n", recommended_packet_size, err );
uint64_t total_bytes;
err=dc1394_format7_get_total_bytes(camera, DC1394_VIDEO_MODE_FORMAT7_3, &total_bytes );
printf("[DEBUG] total_size: %d (error %d)\n", total_bytes, err );
/*-----------------------------------------------------------------------
* have the camera start sending us data
*-----------------------------------------------------------------------*/
err=dc1394_video_set_transmission(camera, DC1394_ON);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not start camera iso transmission\n");
//
// Test loop
//
cv::Mat StereoImage = cv::Mat( 1536, 1024, CV_8UC1 );
cv::Mat dispImage = cv::Mat( 1536, 1024, CV_8UC3 );
short int* source;
short int* dest;
for( int n = 0; n < 1000; n++ )
{
/*-----------------------------------------------------------------------
* capture one frame
*-----------------------------------------------------------------------*/
err=dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not capture a frame\n");
/*-----------------------------------------------------------------------
* check if frame is corrupt
*-----------------------------------------------------------------------*/
if( dc1394_capture_is_frame_corrupt( camera, frame) )
printf("\n[DEBUG] frame is corrupt!\n");
/*-----------------------------------------------------------------------
* copy the buffer data, but only copy the pointer to the image
* we don't allocate the image buffer of tempframe (pointer copy from the DMA ring buffer)
* so the alloc should be zero
*-----------------------------------------------------------------------*/
memcpy( &stereo, frame, sizeof(dc1394video_frame_t) );
stereo.allocated_image_bytes=0;
/*-----------------------------------------------------------------------
* check if frame is corrupt
*-----------------------------------------------------------------------*/
stereo.image=NULL;
dc1394_deinterlace_stereo_frames( frame, &stereo, DC1394_STEREO_METHOD_INTERLACED );
/*-----------------------------------------------------------------------
* copy to opencv
*-----------------------------------------------------------------------*/
dest = (short int*)&StereoImage.data[0];
source = (short int*)&stereo.image[0];
memcpy( dest, source, 1536*1024 );
/*-----------------------------------------------------------------------
* show frame info
*-----------------------------------------------------------------------*/
printf("\n[DEBUG] Frame Info\n");
printf("[DEBUG] image_bytes: %d\n", stereo.image_bytes);
printf("[DEBUG] size[0]: %d\n", stereo.size[0]);
printf("[DEBUG] size[1]: %d\n", stereo.size[1]);
printf("[DEBUG] allocated_image_bytes: %d\n", stereo.allocated_image_bytes );
printf("[DEBUG] total_bytes: %d\n", stereo.total_bytes );
printf("[DEBUG] color_coding: %d\n", stereo.color_coding);
printf("[DEBUG] color_filter: %d\n", stereo.color_filter);
printf("[DEBUG] packet_size: %d\n", stereo.packet_size);
printf("[DEBUG] packets_per_frame: %d\n", stereo.packets_per_frame);
printf("[DEBUG] padding_bytes: %d\n", stereo.padding_bytes);
printf("[DEBUG] timestamp: %d\n", stereo.timestamp);
printf("[DEBUG] stride: %d\n", stereo.stride);
printf("[DEBUG] data_depth: %d\n", stereo.data_depth);
printf("[DEBUG] id: %d\n", stereo.id);
printf("[DEBUG] frames_behind: %d\n", stereo.frames_behind);
printf("[DEBUG] image: %u\n", stereo.image);
/*-----------------------------------------------------------------------
* convert to color image
*-----------------------------------------------------------------------*/
cvtColor( StereoImage, dispImage, CV_BayerGR2RGB );
/*-----------------------------------------------------------------------
* Show OpenCV image
*-----------------------------------------------------------------------*/
imshow("Stereo image", dispImage );
cv::waitKey(10);
/*-----------------------------------------------------------------------
* Give back frame to queue
*-----------------------------------------------------------------------*/
dc1394_capture_enqueue(camera,frame);
/*-----------------------------------------------------------------------
* Free the memory
*-----------------------------------------------------------------------*/
free(stereo.image);
}
/*-----------------------------------------------------------------------
* stop data transmission
*-----------------------------------------------------------------------*/
err=dc1394_video_set_transmission(camera,DC1394_OFF);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(camera),"Could not stop the camera?\n");
/*-----------------------------------------------------------------------
* close camera
*-----------------------------------------------------------------------*/
dc1394_video_set_transmission(camera, DC1394_OFF);
dc1394_capture_stop(camera);
dc1394_camera_free(camera);
dc1394_free (d);
return 0;
}
这是输出
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