diff options
| author | Stanislaw Halik <sthalik@misaki.pl> | 2013-09-15 12:39:32 +0200 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2013-09-15 12:39:32 +0200 |
| commit | bef7aff31e5ea073f0f160ca6a2f1e56b7dd881a (patch) | |
| tree | 2f6122f682427322f925736e87a0bd68b658972c /FTNoIR_Tracker_PT/camera.h | |
| parent | 3734ab61a6f0d4d8aad32a17a2eb5fc49245626e (diff) | |
Initial PT 1.1 import
Codebase broken at this stage
Diffstat (limited to 'FTNoIR_Tracker_PT/camera.h')
| -rw-r--r-- | FTNoIR_Tracker_PT/camera.h | 139 |
1 files changed, 139 insertions, 0 deletions
diff --git a/FTNoIR_Tracker_PT/camera.h b/FTNoIR_Tracker_PT/camera.h new file mode 100644 index 00000000..c0876d0a --- /dev/null +++ b/FTNoIR_Tracker_PT/camera.h @@ -0,0 +1,139 @@ +/* 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.
+ */
+
+#ifndef CAMERA_H
+#define CAMERA_H
+
+#include <opencv2/opencv.hpp>
+#include "videoInput/videoInput.h"
+#include <boost/shared_ptr.hpp>
+#include <string>
+
+// ----------------------------------------------------------------------------
+void get_camera_device_names(std::vector<std::string>& device_names);
+
+
+// ----------------------------------------------------------------------------
+struct CamInfo
+{
+ CamInfo() : res_x(0), res_y(0), fps(0), f(1) {}
+
+ int res_x;
+ int res_y;
+ int fps;
+ float f; // (focal length) / (sensor width)
+};
+
+// ----------------------------------------------------------------------------
+// Base class for cameras, calculates the frame rate
+class Camera
+{
+public:
+ Camera() : dt_valid(0), dt_mean(0), desired_index(0), active_index(-1), active(false) {}
+ virtual ~Camera() {}
+
+ // start/stop capturing
+ virtual void start() = 0;
+ virtual void stop() = 0;
+ void restart() { stop(); start(); }
+
+ // calls corresponding template methods and reinitializes frame rate calculation
+ void set_device_index(int index);
+ void set_f(float f);
+ void set_fps(int fps);
+ void set_res(int x_res, int y_res);
+
+ // gets a frame from the camera, dt: time since last call in seconds
+ bool get_frame(float dt, cv::Mat* frame);
+
+ // WARNING: returned references are valid as long as object
+ const CamInfo& get_info() const { return cam_info; }
+ const CamInfo& get_desired() const { return cam_desired; }
+
+protected:
+ // get a frame from the camera
+ virtual bool _get_frame(cv::Mat* frame) = 0;
+
+ // update the camera using cam_desired, write res and f to cam_info if successful
+ virtual void _set_device_index() = 0;
+ virtual void _set_f() = 0;
+ virtual void _set_fps() = 0;
+ virtual void _set_res() = 0;
+
+ bool active;
+ int desired_index;
+ int active_index;
+ CamInfo cam_info;
+ CamInfo cam_desired;
+ float dt_valid;
+ float dt_mean;
+};
+
+
+// ----------------------------------------------------------------------------
+// camera based on OpenCV's videoCapture
+/*
+class CVCamera : public Camera
+{
+public:
+ CVCamera() : cap(NULL) {}
+ ~CVCamera() { stop(); }
+
+ virtual void start();
+ virtual void stop();
+
+protected:
+ virtual bool _get_frame(cv::Mat* frame);
+ virtual void _set_index();
+ virtual void _set_f();
+ virtual void _set_fps();
+ virtual void _set_res();
+
+ CvCapture* cap;
+};
+*/
+
+// ----------------------------------------------------------------------------
+// Camera based on the videoInput library
+class VICamera : public Camera
+{
+public:
+ VICamera();
+ ~VICamera() { stop(); }
+
+ virtual void start();
+ virtual void stop();
+
+protected:
+ virtual bool _get_frame(cv::Mat* frame);
+ virtual void _set_device_index();
+ virtual void _set_f();
+ virtual void _set_fps();
+ virtual void _set_res();
+
+ videoInput VI;
+ cv::Mat new_frame;
+ unsigned char* frame_buffer;
+};
+
+
+// ----------------------------------------------------------------------------
+class FrameRotation
+{
+public:
+ typedef enum Rotation
+ {
+ CLOCKWISE = -1,
+ ZERO = 0,
+ COUNTER_CLOCKWISE = 1
+ };
+ Rotation rotation;
+
+ cv::Mat rotate_frame(cv::Mat frame);
+};
+
+#endif //CAMERA_H
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