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129 lines
4.2 KiB
Plaintext
129 lines
4.2 KiB
Plaintext
/*
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* grabVideoAnd3D implementation
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*
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* Copyright (C) Stanislav Serebryakov
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*
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* Released under the GPL version 3.
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*
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#if (defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) || defined(__WINDOWS__) || (defined(__APPLE__) & defined(__MACH__)))
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#include <cv.h>
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#include <highgui.h>
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#elif (CV_MAJOR_VERSION == 2) && (CV_MINOR_VERSION < 2)
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#include <opencv/cv.h>
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#else
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#include <opencv2/opencv.hpp>
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#endif
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#include "pmdsdk2.h"
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#include "cvpmd.h"
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int main(int argc, char **argv)
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{
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int totalFrames = 0;
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int ui = 1;
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printf("%i\n", argc);
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if(argc > 1) {
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totalFrames = atoi(argv[1]);
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ui = 0;
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}
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if(argc > 2) ui = 1;
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//FIXME: here is lots of old code, should be removed
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PMD *pmd = initPMD("../o3d.L32.pcp", "192.168.0.69");
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CvCapture *capture = cvCaptureFromCAM(1); //FIXME: should be passed via argc
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CvSize pmdSz = pmdGetSize(pmd);
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printf("pmd sz: %i x %i\n", pmdSz.width, pmdSz.height);
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IplImage *imgCamColor = cvQueryFrame(capture);
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IplImage *imgPMD = cvCreateImage(pmdGetSize(pmd), 8, 1);
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IplImage *imgPMDA = cvCreateImage(cvGetSize(imgPMD), 8, 1);
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IplImage *imgCam = cvCreateImage(cvGetSize(imgCamColor), 8, 1);
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CvPoint3D32f **pmdPts = (CvPoint3D32f**) cvAlloc(pmdSz.height * sizeof(CvPoint3D32f*));
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for(int i = 0; i < pmdSz.height; i++) pmdPts[i] = (CvPoint3D32f*) cvAlloc(pmdSz.width * sizeof(CvPoint3D32f));
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CvMat *intrinsicCam = (CvMat*)cvLoad("../intrinsic-cam-6x4.xml");
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CvMat *distortionCam = (CvMat*)cvLoad("../distortion-cam-6x4.xml");
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CvMat *intrinsicPMD = (CvMat*)cvLoad("../intrinsic-pmd-6x4.xml");
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CvMat *distortionPMD = (CvMat*)cvLoad("../distortion-pmd-6x4.xml");
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if(!intrinsicCam || !distortionCam|| !intrinsicPMD || !distortionPMD) {
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fprintf(stderr, "ERROR: can't load intrinsic and/or distortion xml files!\n");
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return 1;
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}
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// FILE *vPMDA = fopen("./s001.arv", "wb"); // ala dot Amplitudes Raw Video NOTE: i'm not sure it is amplitude :P
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// FILE *vPMDAf = fopen("./s001.farv", "wb"); // same but Floating
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FILE *vPMDI = fopen("./s001.irv", "wb"); // same but Intensities
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FILE *vPMDIf = fopen("./s001.firv", "wb");
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FILE *headers = fopen("./s001.head", "wb");
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CvVideoWriter *vCam = cvCreateVideoWriter( "./s001.avi"
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, CV_FOURCC('D', 'I', 'V', 'X')
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, 25, cvGetSize(imgCam), 1);
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FILE *pmdPtsFile = fopen("./s001.3dp", "w");
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if(ui) {
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cvNamedWindow("Cam", 0);
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cvNamedWindow("PMD", 1);
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}
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printf("DEBUG: init done, going to grab %i frames.\n", totalFrames);
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int frames = 0;
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while(1) {
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frames++;
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if(0 == frames % 100) printf("%i frames grabbed...\n", frames);
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// Image retriving
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pmdUpdate(pmd->hnd);
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imgCamColor = cvQueryFrame(capture);
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pmdQueryImageAsync(pmd, imgPMD);
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fwrite(pmdDataPtr(pmd), sizeof(float), pmdSz.width*pmdSz.height, vPMDIf);
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//pmdQueryAmplitudesAsync(pmd, imgPMDA);
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//fwrite(pmdDataPtr(pmd), sizeof(float), pmdSz.width*pmdSz.height, vPMDAf);
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pmdRetriveDistancesAsync(pmd);
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pmdProjectArrayToCartesian(pmd, intrinsicPMD, pmdPts);
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ImageHeaderInformation *header = retriveHeader();
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if(ui) {
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cvShowImage("Cam", imgCamColor);
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cvShowImage("PMD", imgPMD);
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}
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//FIXME: order col/str
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for(int i = 0; i < pmdSz.height; i++)
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fwrite(pmdPts[i], sizeof(CvPoint3D32f), pmdSz.width, pmdPtsFile);
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fwrite(imgPMD->imageData, sizeof(char), pmdSz.width*pmdSz.height, vPMDI);
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//fwrite(imgPMDA->imageData, sizeof(char), pmdSz.width*pmdSz.height, vPMDA);
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fwrite(header, sizeof(ImageHeaderInformation), 1, headers);
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cvWriteFrame(vCam, imgCamColor);
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if(totalFrames && (frames >= totalFrames)) break;
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if(ui) if(27 == cvWaitKey(5)) break;
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}
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// fclose(vPMDA);
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// fclose(vPMDAf);
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fclose(vPMDI);
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fclose(vPMDIf);
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fclose(pmdPtsFile);
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fclose(headers);
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printf("grabbed %i frames.\n", frames);
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printf("See s001* files (you want to rename them).\n");
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}
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