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Point Grey Bumblebee2 firewire 1394 カメラからステレオ画像をキャプチャするプログラムを作成するつもりです。libdc1394 からカラー画像を取得する簡単な例を次に示します。

#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;
}

誰かがこのコードを変換してステレオ画像を取得するのを手伝ってくれますか? コリアンダーのソース コードも調べたところ、そのソース コードを使用して立体画像で機能するようにするのにすでに 2 日間を費やしました。私はそれを高く評価します。

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2 に答える 2

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OK、まあ、私の最初の動きは、すべてのものを main() から別の関数に移動し、カメラアドレス、出力ファイル名などを渡す 1 行で main() から呼び出すことです。関数はグローバルなしで動作するはずですまたは静的、ローカルのみ。それを正しく機能させます。

次に、単一のパラメーターとして 1 つの構造体ポインターのみを受け取るように関数を変更します。main() で、「params」構造体を動的に割り当ててカメラ アドレスなどを格納し、そのアドレスを使用して「camera」関数を呼び出します。それを正しく機能させます。

次に、「camera」関数を main から直接呼び出す代わりにスレッド化し、「params」へのポインターを void* パラメーターとして pthread_create に渡します。それを正しく機能させます。

最後に、異なるアドレスと出力ファイルを使用して、メインから 2 つの「カメラ」スレッドを開始します。

後でもっとやりたい/必要があるかもしれません。両方のカメラからのフレームを main() にいくつかのプロデューサー/コンシューマー キューでキューに入れ、フレームをいくつかのタイムスタンプでステレオ ペアに一致させますが、それはあなたとあなたの要件の間です:)

この回答は、機能する既に持っているコードを使用しようとする「最良の推測」の設計および開発戦略であることに注意してください:)

于 2015-06-06T12:35:19.150 に答える
2

最後にそれは動作します。libdc1394 を搭載した Point Grey bumblebee2 カメラ

#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;
}

ここに出力があります

ここに画像の説明を入力

于 2015-06-08T12:08:25.720 に答える