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authorStanislaw Halik <sthalik@misaki.pl>2015-10-30 07:37:41 +0100
committerStanislaw Halik <sthalik@misaki.pl>2015-10-30 08:39:32 +0100
commitaa066bdd4622d4f6824fee864f6be6806813f04d (patch)
tree3df328b8b364cba2373a85827191b259bd78d546 /tracker-pt/camera.h
parentd6a54431d178632a2bf466c9904f74abd143afe6 (diff)
move to subdirectory-based build system
Closes #224
Diffstat (limited to 'tracker-pt/camera.h')
-rw-r--r--tracker-pt/camera.h95
1 files changed, 95 insertions, 0 deletions
diff --git a/tracker-pt/camera.h b/tracker-pt/camera.h
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+/* 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.
+ */
+
+#pragma once
+
+#include <opencv2/core/core.hpp>
+#include <memory>
+#include <opencv2/highgui.hpp>
+#include <string>
+
+struct CamInfo
+{
+ CamInfo() : res_x(0), res_y(0), fps(0) {}
+
+ int res_x;
+ int res_y;
+ int fps;
+};
+
+// ----------------------------------------------------------------------------
+// Base class for cameras, calculates the frame rate
+class Camera
+{
+public:
+ Camera() : dt_valid(0), dt_mean(0), desired_index(0), active_index(-1) {}
+ virtual ~Camera() = 0;
+
+ // 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_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
+ bool get_info(CamInfo &ret);
+ 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_fps() = 0;
+ virtual void _set_res() = 0;
+private:
+ float dt_valid;
+ float dt_mean;
+protected:
+ int desired_index;
+ int active_index;
+ CamInfo cam_info;
+ CamInfo cam_desired;
+};
+inline Camera::~Camera() {}
+
+// ----------------------------------------------------------------------------
+// camera based on OpenCV's videoCapture
+class CVCamera : public Camera
+{
+public:
+ CVCamera() : cap(NULL) {}
+ ~CVCamera() { stop(); }
+
+ void start() override;
+ void stop() override;
+
+ operator cv::VideoCapture*() { return cap; }
+
+protected:
+ bool _get_frame(cv::Mat* frame) override;
+ void _set_fps() override;
+ void _set_res() override;
+ void _set_device_index() override;
+private:
+ cv::VideoCapture* cap;
+};
+
+enum RotationType
+{
+ CLOCKWISE = 0,
+ ZERO = 1,
+ COUNTER_CLOCKWISE = 2
+};