1 files changed, 62 insertions, 0 deletions
diff --git a/FTNoIR_Tracker_PT/camera.cpp b/FTNoIR_Tracker_PT/camera.cpp
new file mode 100644
index 00000000..a0bae694
--- /dev/null
+++ b/FTNoIR_Tracker_PT/camera.cpp
@@ -0,0 +1,62 @@
+#include "camera.h"
+
+using namespace cv;
+
+// ----------------------------------------------------------------------------
+Camera::Camera()
+	: dt_valid(0), dt_mean(0), cap(NULL)
+{}
+
+Camera::~Camera()
+{
+	if (cap) cvReleaseCapture(&cap);
+}
+
+void Camera::set_index(int index)
+{
+	if (cap) cvReleaseCapture(&cap);
+
+	cap = cvCreateCameraCapture(index);
+
+	// extract camera info
+	if (cap)
+	{
+		cam_info.res_x = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH);
+		cam_info.res_y = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT);
+	}
+
+	// reset fps calculation
+	dt_mean = 0;
+}
+
+cv::Mat Camera::get_frame(float dt)
+{
+	cv::Mat frame;
+    if (cap && cvGrabFrame(cap) != 0)
+	{
+		// retrieve frame
+		IplImage* _img = cvRetrieveFrame(cap, 0);
+		if(_img)
+		{
+			if(_img->origin == IPL_ORIGIN_TL)
+				frame = Mat(_img);
+			else
+			{
+				Mat temp(_img);
+				flip(temp, frame, 0);
+			}	
+		}
+	}
+
+	// measure fps of valid frames
+	const float dt_smoothing_const = 0.9;
+	dt_valid += dt;
+	if (!frame.empty())
+	{
+		dt_mean = dt_smoothing_const * dt_mean + (1.0 - dt_smoothing_const) * dt_valid;
+		cam_info.fps = 1.0 / dt_mean;
+		dt_valid = 0;
+	}
+
+	return frame;
+}
+\ No newline at end of file