/* * grabFramesPMD implementation * * Copyright (C) Stanislav Serebryakov * * Released under the GPL version 3. * */ #include #include #include #include #include "pmdsdk2.h" #include "cvpmd.h" /* TODO: * flags: * subpixel * camera id * flip x and y * pmd mode? */ void usage(char *progName) { printf("%s \n", progName); printf("i.e.: %s 6 4 0\n", progName); printf("press space to detect chessboard and (again) to proceed.\n"); } int main(int argc, char **argv) { if(argc < 4) { usage(argv[0]); exit(1); } PMD *pmd = initPMD("../o3d.L32.pcp", "192.168.0.69"); IplImage *img = cvCreateImage(pmdGetSize(pmd), 8, 1); pmdUpdate(pmd->hnd); pmdQueryImage(pmd, img); IplImage *imgColor = cvCreateImage(cvGetSize(img), 8, 3); int patx = atoi(argv[1]); int paty = atoi(argv[2]); CvSize patternSize = cvSize(patx, paty); int cornersTotal = patternSize.width * patternSize.height; CvPoint2D32f *corners = (CvPoint2D32f*) malloc(cornersTotal * sizeof(CvPoint2D32f)); cvNamedWindow("Camera", 0); int imageCnt = 0; bool grabFrame = false; char *filename = (char*) malloc(11 * sizeof(char)); while(1) { pmdUpdate(pmd->hnd); pmdQueryImage(pmd, img); cvFlip(img, 0, 1); // flips image around the x-axes if(grabFrame) { /* ----- Chessboard detection ----- -------------------------------- */ int cornersCount; // should be the same for wcam and pmd and equal totalCorners int found = cvFindChessboardCorners(img, patternSize, corners, &cornersCount, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS); cvFindCornerSubPix(img, corners, cornersCount, cvSize(4,4), cvSize(-1,-1), cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1)); if(found && (cornersCount == cornersTotal)) { cvCvtColor(img, imgColor, CV_GRAY2BGR); cvDrawChessboardCorners(imgColor, patternSize, corners, cornersCount, found); cvShowImage("Camera", imgColor); printf("grab?\n"); int k = cvWaitKey(0); if(k == (int)' ') { imageCnt++; sprintf(filename, "image%02i.jpg", imageCnt); //TODO:try png printf("saved %s.\n", filename); cvSaveImage(filename, img); grabFrame = false; continue; } } } cvShowImage("Camera", img); if((int)' ' == cvWaitKey(5)) grabFrame = true; } return 0; }