Video processing toolkit from the working group of Multimedia Information Processing of CAU Kiel.
Installation
1. BIAS download and configuration
- Go to your shared directory (e.g. ~/shared or ~/workspace or whatever)
- Download source from cvs by calling these three commands: cvs -d :pserver:anonymous@www.mip.informatik.uni-kiel.de:65010/home/cvs/bias login cvs -d :pserver:anonymous@www.mip.informatik.uni-kiel.de:65010/home/cvs/bias get BIAS cvs -d :pserver:anonymous@www.mip.informatik.uni-kiel.de:65010/home/cvs/bias get CMakeModules
- change to BIAS directory (make sure, cmake ? is installed!), don't forget the '.' ! cd BIAS ccmake .
- (first time you call ccmake, simply press 'c' to check if it is properly installed and to advance to BIAS config page)
- Configure the installation (e.g. switch off USE options likle IMAGEMAGIXLIB, if they are not installed)
See example Configuration below. Note that USE_DC1394 is mandatory for our camera. For building a simple GUI, activate USE_GTK2 and additionally USE_PTHREADS and USE_XML2. The install prefix should be /usr/local in order to have a common install path to be able to use make files across different computers.
Example Configuration
Page 1 of 1 BIAS_DEBUG ON BUILD_EXAMPLES ON BUILD_IMAGE_DOUBLE OFF BUILD_IMAGE_SHORT OFF BUILD_IMAGE_UINT OFF BUILD_IMAGE_USHORT OFF BUILD_SHARED_LIBS ON BUILD_TESTING ON BUILD_TESTS ON BUILD_TESTS_GRAPHICAL ON CMAKE_BACKWARDS_COMPATIBILITY 2.4 CMAKE_BUILD_TYPE Debug CMAKE_INSTALL_PREFIX /usr/local EXECUTABLE_OUTPUT_PATH /home/haf/shared/BIAS/bin FIND_BIAS_FILE /home/haf/shared/BIAS/../CMakeModules/FindBIAS.cmake GTK_cairo_INCLUDE_PATH /usr/include GTK_gobject_LIBRARY /opt/gnome/lib/libgobject-2.0.so LIBRARY_OUTPUT_PATH /home/haf/shared/BIAS/lib TARGET_DOC ON TARGET_PACKAGE ON USE_DAIMLERCHRYSLER OFF USE_DC1394 ON USE_DEVIL OFF USE_DV OFF USE_FFTW3 OFF USE_GLEW OFF USE_GLUT OFF USE_GSL OFF USE_GTK OFF USE_GTK2 ON USE_IMAGEMAGICKLIB OFF USE_IMLIB OFF USE_LIBJPEG OFF USE_OPENCV OFF USE_OPENEXR OFF USE_OPENGL OFF USE_PTHREADS ON USE_TIFF OFF USE_UEYE OFF USE_V4L OFF USE_WXWIDGETS OFF USE_XML2 ON wxWidgets_CONFIG_EXECUTABLE wxWidgets_CONFIG_EXECUTABLE-NOTFOUND ------------------------------------------------------------------------------- BIAS_DEBUG: define BIAS_DEBUG? Press [enter] to edit option CMake Version 2.4 - patch 3 Press [c] to configure Press [g] to generate and exit Press [h] for help Press [q] to quit without generating Press [t] to toggle advanced mode (Currently Off)
- Press 'c', ccmake will check if your computer fulfills all dependencies
- If error messages come up, either
- install the missing package for your linux distribution (e.g. GTK2) (see some example dependencies below)
- deactivate the corresponding USE-option in the ccmake menu
- If the "configure" step successfully finished without error, the option 'g' - "generate" becomes available
- Press 'g' to generate Makefiles
- Start the make process make
- If error messages come up during make, this is supposingly a bug, because ccmake forgot to check some dependencies. So please
- Guess what package is missing on your system (from the error message) and install it
- AND write a bug report to the BIAS people
- try to rerun make
- Install programs (binaries), include files (c++ headers) and libraries into your linux distribution (as root!) make install
Some basic dependencies
Most Linux distributions provide the corresponding packages under some different names. Suse 9.2 had some missing, so some details for those are explained at the links below.
- cmake ?
- f2c ? (fortran-to-c)
- libuuid (belongs to SUSE package E2fsprogs)
- g2c (Fortran 77 compiler, Suse package g77)
- lapack/blas (can be installed from SUSE yast)
- make (GNU-make prefered, other untested)
- a compiler (gcc/g++ 4.1 prefered)
DEBIAN 3.1 Testing: All dependent packages are provided with debian, install the following packages:
- cmake
- f2c
- g2c
- lapack3-devel
- gcc
- e2fslibs-dev
- uuid-dev
- libxml2-dev
- libgtk2-dev
Run BIAS
Activating some features in ccmake together with the "BuildExamples" option will build some example binaries. E.g. USE_WXWIDGETS will build the ShowCamWX program to display the camera image.
Example Program
The following simple example will connect to the camera, grab images, draw something at the images and display the images in a GTK window.
/**
* Simple test program for use of BIAS, set up for the rtsys baton interpreter unit.
*
* @author Hauke Fuhrmann (haf)
*
**/
#include "Image/Camera.hh"
#include "VideoSource/VideoSource_DCAM.hh"
#include "Base/Image/ImageDraw.hh"
#include "Gui/GuiGTK.hh"
// all BIAS related stuff is in BIAS namespace, so use it here
using namespace BIAS;
int main()
{
VideoSource_DCAM myCam;
Camera<unsigned char> cameraImage; //image coming from camera (original)
Camera<unsigned char> myImage; //copy of image to be manipulated
// send settings to request a specific picture format
// from camera
myCam.SetSize(640,480);
myCam.SetColorModel(ImageBase::CM_RGB);
myCam.OpenDevice();
myCam.InitImage(cameraImage);
myCam.PreGrab();
// Create some simple Gui Window (using GTK)
GuiGTK gui = GuiGTK("baton", true);
for (;;) // main loop for image processing
{
// get image from camera
myCam.GrabSingle(cameraImage);
//copy image (don't manipulate the original camera image!)
myImage = *cameraImage.Clone();
// get image data
unsigned char *data = myImage.GetImageData();
/* analyze data here */
// manipulate image to display some debug information
// eg, where some features where detected in the image
// draw an arrow
unsigned start[] = {200,200};
unsigned end[] = {250,250};
unsigned length = 10;
unsigned width = 5;
unsigned char color[] = {255,55,55}; // some red
ImageDraw<unsigned char>::Arrow(myImage, start, end, length, width, color);
//draw a circle
ImageDraw<unsigned char>::CircleCenter(myImage, 300, 300, 65);
//display image in gui window
gui.ShowImage(myImage,255.0,255.0);
}
myCam.PostGrab();
myCam.CloseDevice();
return 0;
}// main function
Notice this example uses the GuiGTK Class which is an example of the BIAS Package. This GUI is very simple and especially does not give any feedback to the application (e.g. whenever the "Exit" cross was klicked). So the application needs to be terminated manually from the shell. For own applications you should build a simple GUI by yourself. Find explanations for that (and tutorials including a small hello-world GUI) at http://www.gtk.org/. Note that GTK does not really use object orientation. It is ok for small applications, but Qt or WXWidgets might be a better choice for larger applications.
Possible Errors
(dc1394_control.c) Couldn't get raw1394 handle! dc1394 - couldn't get handle: No such device or address
- Most propably, the camera cannot be accessed. Install IEEE1394 support at your distribution! Load the driver modules (e.g. with modprobe)
- raw1394
- video1394
- BIAS expects the camera to be device /dev/video1394-0
- In some linux distributions the device is called /dev/video1394 or even /dev/video1394/0
- So add a link to the actual device, e.g. ln -s /dev/video1394/0 /dev/video1394-0
Building the Example
Call the g++ compiler with all the needed options:
g++ -o ExampleSimple.o ExampleSimple.cpp \
-g -I/usr/local/include/BIAS -L/usr/local/lib/shared \
-Xlinker -rpath -Xlinker /usr/local/lib/shared \
-lBIASCommon -lBIASDebug -lBIASFeatureDetector \
-lBIASFilter -lBIASGeometry -lBIASGeometryBase -lBIASGui \
-lBIASImage -lBIASImageBase -lBIASMatcher2D -lBIASMathAlgo \
-lBIASMathBase -lBIASNetworkComm -lBIASStateEstimator -lBIASUtils \
-lBIASVideoSource \
`pkg-config --libs --cflags gtk+-2.0`
Explanations
- -o is the output filename followed by the input cpp-Program to be compiled
- -g enables to debug the program with the gdb debugger
- -I is an additional path for include files (above is the standard path to the BIAS installation)
- -L is an additional path for library files (above is the standard path to the BIAS installation)
- -Xlinker: the whole line sets the library path during runtime for the linker (note: the -L option is only set for compile time, so the -rpath option must be passed to the linker to add the library path for runtime)
- -l<lib> links the corresponding library to the file. Above are all BIAS libraries added. The library path, where the corresponding libBiasCommon.so, etc. is located must be visible to g++ by adding the path as shown above.
- To use the GTK gui toolikt, the compiler needs a whole bunch of additional parameters. In order to avoid hardcoding them, you can use the program pkg-config to find the parameters for your system. The pkg-config call can be embedded into your g++ call just as shown above (use the correct ` character!)
Makefile
For larger projects, a makefile is mandatory, that stores all these options for you and can compile multiple source files successively and automatically link them together to one binary. So you really should write a Makefile for your BIAS application using the parameters as shown above. See http://www.gnu.org/software/make/ for instructions.
Specific Camera Settings
The Camera is a Unibrain Fire-i Digital Firewire Camera. It sends uncompressed images over the bus (in contrast to DV, which compresses the images in the camera before sending). Supported Color Modes and frame rates are
Frame rates (fps) 30 15 7.5 3.75 Video Modes 640x480 RGB-24 (24 bits) — X X X 640x480 YUV 4:2:2 (16 bits) — X X X 640x480 YUV 4:1:1 (12 bits) X X X X 640x480 Y-Mono8 (8 bits) X X X X 320x240 YUV 4:2:2 (16bits) X X X X 160x120 YUV 4:4:4 (24 bits) X X X —
BIAS Color Models
Note that BIAS supports more color models than the camera. If you capture the images in on specific color model (e.g. YUV411), BIAS can convert them to any of these following color models: BIAS Color Models
Use the ImageConvert Functions to convert between color models!
Install BIAS on mini-ITX computer Baton
- Install BIAS at the big read-write harddrive system as explained above
- The small read-only system is mounted at /mnt/system2
- After installation (make install) to the default big system, call ccmake again and change the install prefix to the small system: cd <BIAS directory> ccmake . CMAKE_INSTALL_PREFIX /mnt/system2/usr/local
- configure ("c") and generate Makefiles ("g") and install make install
- To get the changes to the flash-disk, too,
- either copy the whole system2 image to the flash disk as explained here [[Baton - Chang
- or change the prefix to /mnt/flash/usr/local and install again
