Updated PointTracker

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@200 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

1 files changed, 184 insertions, 40 deletions

diff --git a/FTNoIR_Tracker_PT/camera.cpp b/FTNoIR_Tracker_PT/camera.cpp
index 1a233cef..fc11c738 100644
--- a/FTNoIR_Tracker_PT/camera.cpp
+++ b/FTNoIR_Tracker_PT/camera.cpp
@@ -1,57 +1,95 @@
+/* Copyright (c) 2012 Patrick Ruoff

+ *

+ * Permission to use, copy, modify, and/or distribute this software for any

+ * purpose with or without fee is hereby granted, provided that the above

+ * copyright notice and this permission notice appear in all copies.

+ */

+

 #include "camera.h"

+#include <QDebug>

 

 using namespace cv;

 

 // ----------------------------------------------------------------------------

-Camera::Camera()

-	: dt_valid(0), dt_mean(0), cap(NULL), active_index(-1)

-{}

-

-Camera::~Camera()

-{

-	if (cap) cvReleaseCapture(&cap);

-}

-

 void Camera::set_index(int index)

 {

-	if (index == active_index) return;

-	if (cap) cvReleaseCapture(&cap);

+	if (desired_index != index)

+	{

+		desired_index = index;

+		_set_index();

 

-	cap = cvCreateCameraCapture(index);

+		// reset fps

+		dt_valid = 0;

+		dt_mean = 0;

+		active_index = index;

+	}

+}

 

-	// extract camera info

-	if (cap)

+void Camera::set_f(float f)

+{

+	if (cam_desired.f != f)

 	{

-		cam_info.res_x = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH);

-		cam_info.res_y = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT);

+		cam_desired.f = f;

+		_set_f();

+	}

+}

+void Camera::set_fps(int fps)

+{

+	if (cam_desired.fps != fps)

+	{

+		cam_desired.fps = fps;

+		_set_fps();

 	}

+}

 

-	active_index = index;

-	dt_mean = 0; // reset fps calculation

+void Camera::set_res(int x_res, int y_res)

+{

+	if (cam_desired.res_x != x_res || cam_desired.res_y != y_res)

+	{

+		cam_desired.res_x = x_res;

+		cam_desired.res_y = y_res;

+		_set_res();

+	}

 }

 

-bool Camera::set_fps(int fps)

+bool Camera::get_frame(float dt, cv::Mat* frame)

 {

-	return cap && cvSetCaptureProperty(cap, CV_CAP_PROP_FPS, fps);

+	bool new_frame = _get_frame(frame);

+	// measure fps of valid frames

+	const float dt_smoothing_const = 0.9;

+	dt_valid += dt;

+	if (new_frame)

+	{

+		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 new_frame;

 }

 

-bool Camera::set_res(int x_res, int y_res)

+// ----------------------------------------------------------------------------

+/*

+void CVCamera::start()

 {

+	cap = cvCreateCameraCapture(desired_index);

+	// extract camera info

 	if (cap)

 	{

-		if (x_res == cam_info.res_x && y_res == cam_info.res_y) return true;

-		cvSetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH,  x_res);

-		cvSetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT, y_res);

+		active = true;

+		active_index = desired_index;

 		cam_info.res_x = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH);

 		cam_info.res_y = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT);

-		if (x_res == cam_info.res_x && y_res == cam_info.res_y) return true;

 	}

-	return false;

 }

 

-cv::Mat Camera::get_frame(float dt)

+void CVCamera::stop()

+{

+	if (cap) cvReleaseCapture(&cap);

+	active = false;

+}

+

+bool CVCamera::_get_frame(Mat* frame)

 {

-	cv::Mat frame;

     if (cap && cvGrabFrame(cap) != 0)

 	{

 		// retrieve frame

@@ -59,24 +97,130 @@ cv::Mat Camera::get_frame(float dt)
 		if(_img)

 		{

 			if(_img->origin == IPL_ORIGIN_TL)

-				frame = Mat(_img);

+				*frame = Mat(_img);

 			else

 			{

 				Mat temp(_img);

-				flip(temp, frame, 0);

-			}	

+				flip(temp, *frame, 0);

+			}

+			return true;

 		}

 	}

+	return false;

+}

 

-	// measure fps of valid frames

-	const float dt_smoothing_const = 0.9;

-	dt_valid += dt;

-	if (!frame.empty())

+void CVCamera::_set_index()

+{

+	if (active) restart();

+}

+

+void CVCamera::_set_f()

+{

+	cam_info.f = cam_desired.f;

+}

+

+void CVCamera::_set_fps()

+{

+	if (cap) cvSetCaptureProperty(cap, CV_CAP_PROP_FPS, cam_desired.fps);

+}

+

+void CVCamera::_set_res()

+{

+	if (cap)

 	{

-		dt_mean = dt_smoothing_const * dt_mean + (1.0 - dt_smoothing_const) * dt_valid;

-		cam_info.fps = 1.0 / dt_mean;

-		dt_valid = 0;

+		cvSetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH,  cam_desired.res_x);

+		cvSetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT, cam_desired.res_y);

+		cam_info.res_x = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH);

+		cam_info.res_y = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT);

+	}

+}

+*/

+

+// ----------------------------------------------------------------------------

+VICamera::VICamera() : frame_buffer(NULL)

+{

+	VI.listDevices();

+}

+

+void VICamera::start()

+{

+	if (desired_index >= 0)

+	{		

+

+

+		if (cam_desired.res_x == 0 || cam_desired.res_y == 0)

+			VI.setupDevice(desired_index);

+		else

+			VI.setupDevice(desired_index, cam_desired.res_x, cam_desired.res_y);		

+

+		active = true;

+		active_index = desired_index;

+

+		cam_info.res_x = VI.getWidth(active_index);

+		cam_info.res_y = VI.getHeight(active_index);

+		new_frame = cv::Mat(cam_info.res_y, cam_info.res_x, CV_8UC3);

+		// If matrix is not continuous we have to copy manually via frame_buffer

+		if (!new_frame.isContinuous()) {

+			unsigned int size = VI.getSize(active_index);

+			frame_buffer = new unsigned char[size];

+		}

+	}

+}

+

+void VICamera::stop()

+{

+	if (active)

+	{

+		VI.stopDevice(active_index);

 	}

+	if (frame_buffer)

+	{

+		delete[] frame_buffer;

+		frame_buffer = NULL;

+	}

+	active = false;

+}

+

+bool VICamera::_get_frame(Mat* frame)

+{

+	if (active && VI.isFrameNew(active_index))

+	{

+		if (new_frame.isContinuous())

+		{

+			VI.getPixels(active_index, new_frame.data, false, true);

+		}

+		else

+		{

+			// If matrix is not continuous we have to copy manually via frame_buffer

+			VI.getPixels(active_index, frame_buffer, false, true);

+			new_frame = cv::Mat(cam_info.res_y, cam_info.res_x, CV_8UC3, frame_buffer).clone();

+		}

+		*frame = new_frame;

+		return true;

+	}

+	return false;

+}

+

+void VICamera::_set_index()

+{

+	if (active) restart();

+}

+

+void VICamera::_set_f()

+{

+	cam_info.f = cam_desired.f;

+}

+

+void VICamera::_set_fps()

+{

+	bool was_active = active;

+	if (active) stop();

+	VI.setIdealFramerate(desired_index, cam_desired.fps);

+	if (was_active) start();

+}

+

+void VICamera::_set_res()

+{

+	if (active) restart();

+}

 

-	return frame;

-}
\ No newline at end of file