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-rw-r--r--tracker-pt/camera.cpp106
-rw-r--r--tracker-pt/camera.h33
-rw-r--r--tracker-pt/ftnoir_tracker_pt.cpp18
3 files changed, 58 insertions, 99 deletions
diff --git a/tracker-pt/camera.cpp b/tracker-pt/camera.cpp
index 435348b1..60eb4bb8 100644
--- a/tracker-pt/camera.cpp
+++ b/tracker-pt/camera.cpp
@@ -6,32 +6,9 @@
*/
#include "camera.h"
-#include "compat/camera-names.hpp"
#include <string>
#include <QDebug>
-Camera::~Camera()
-{
- stop();
-}
-
-void Camera::set_device(const QString& name)
-{
- const int index = camera_name_to_index(name);
-
- desired_name = name;
-
- if (index != cam_desired.idx || desired_name != active_name)
- {
- stop();
- cam_desired.idx = index;
-
- // reset fps
- dt_valid = 0;
- dt_mean = 0;
- }
-}
-
QString Camera::get_desired_name() const
{
return desired_name;
@@ -42,30 +19,6 @@ QString Camera::get_active_name() const
return active_name;
}
-void Camera::set_fps(int fps)
-{
- if (cam_desired.fps != fps)
- {
- cam_desired.fps = fps;
- if (cap)
- cap->set(cv::CAP_PROP_FPS, cam_desired.fps);
- }
-}
-
-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;
- if (cap)
- {
- cap->set(cv::CAP_PROP_FRAME_WIDTH, cam_desired.res_x);
- cap->set(cv::CAP_PROP_FRAME_HEIGHT, cam_desired.res_y);
- }
- }
-}
-
DEFUN_WARN_UNUSED bool Camera::get_info(CamInfo& ret)
{
if (cam_info.res_x == 0 || cam_info.res_y == 0)
@@ -78,7 +31,7 @@ bool Camera::get_frame(double dt, cv::Mat* frame)
{
bool new_frame = _get_frame(frame);
// measure fps of valid frames
- static constexpr double RC = 1; // seconds
+ static constexpr double RC = .1; // seconds
const double alpha = dt/(dt + RC);
dt_valid += dt;
if (new_frame)
@@ -86,8 +39,8 @@ bool Camera::get_frame(double dt, cv::Mat* frame)
if (dt_mean < 2e-3)
dt_mean = dt;
else
- dt_mean = alpha * dt_mean + (1 - alpha) * dt_valid;
- cam_info.fps = int(std::round(dt_mean > 2e-3 ? 1 / dt_mean : 0));
+ dt_mean = (1-alpha) * dt_mean + alpha * dt_valid;
+ cam_info.fps = dt_mean > 2e-3 ? int(1 / dt_mean + .65) : 0;
dt_valid = 0;
}
else
@@ -95,22 +48,40 @@ bool Camera::get_frame(double dt, cv::Mat* frame)
return new_frame;
}
-void Camera::start()
+DEFUN_WARN_UNUSED bool Camera::start(int idx, int fps, int res_x, int res_y)
{
- cap = camera_ptr(new cv::VideoCapture(cam_desired.idx));
+ if (idx >= 0 && fps >= 0 && res_x > 0 && res_y > 0)
+ {
+ if (!cap || cap->isOpened() ||
+ cam_desired.idx != idx ||
+ cam_desired.fps != fps ||
+ cam_desired.res_x != res_x ||
+ cam_desired.res_y != res_y)
+ {
+ cam_desired.idx = idx;
+ cam_desired.fps = fps;
+ cam_desired.res_x = res_x;
+ cam_desired.res_y = res_y;
- set_res(cam_desired.res_x, cam_desired.res_y);
- set_fps(cam_desired.fps);
+ cap = camera_ptr(new cv::VideoCapture(cam_desired.idx));
- if (cap->isOpened())
- {
- cam_info.idx = cam_desired.idx;
- cam_info.res_x = 0;
- cam_info.res_y = 0;
- active_name = desired_name;
+ cap->set(cv::CAP_PROP_FRAME_WIDTH, cam_desired.res_x);
+ cap->set(cv::CAP_PROP_FRAME_HEIGHT, cam_desired.res_y);
+ cap->set(cv::CAP_PROP_FPS, cam_desired.fps);
+
+ if (cap->isOpened())
+ {
+ cam_info.idx = cam_desired.idx;
+ cam_info.res_x = 0;
+ cam_info.res_y = 0;
+ active_name = desired_name;
+
+ return true;
+ }
+ }
}
- else
- stop();
+
+ return stop(), false;
}
void Camera::stop()
@@ -119,6 +90,7 @@ void Camera::stop()
desired_name = QString();
active_name = QString();
cam_info = CamInfo();
+ cam_desired = CamInfo();
}
bool Camera::_get_frame(cv::Mat* frame)
@@ -137,3 +109,13 @@ bool Camera::_get_frame(cv::Mat* frame)
}
return false;
}
+
+void Camera::camera_deleter::operator()(cv::VideoCapture* cap)
+{
+ if (cap)
+ {
+ if (cap->isOpened())
+ cap->release();
+ std::default_delete<cv::VideoCapture>()(cap);
+ }
+}
diff --git a/tracker-pt/camera.h b/tracker-pt/camera.h
index 75c5faa4..3f5a8f43 100644
--- a/tracker-pt/camera.h
+++ b/tracker-pt/camera.h
@@ -7,6 +7,9 @@
#pragma once
+#undef NDEBUG
+#include <cassert>
+
#include "compat/util.hpp"
#include <opencv2/core/core.hpp>
@@ -17,7 +20,7 @@
struct CamInfo
{
- CamInfo() : res_x(0), res_y(0), fps(0), idx(-1) {}
+ CamInfo() : res_x(0), res_y(0), fps(-1), idx(-1) {}
int res_x;
int res_y;
@@ -29,16 +32,9 @@ class Camera final
{
public:
Camera() : dt_valid(0), dt_mean(0) {}
- ~Camera();
- void start();
+ DEFUN_WARN_UNUSED bool start(int idx, int fps, int res_x, int res_y);
void stop();
- void restart() { stop(); start(); }
-
- // calls corresponding template methods and reinitializes frame rate calculation
- void set_device(const QString& name);
- void set_fps(int fps);
- void set_res(int x_res, int y_res);
DEFUN_WARN_UNUSED bool get_frame(double dt, cv::Mat* frame);
DEFUN_WARN_UNUSED bool get_info(CamInfo &ret);
@@ -47,9 +43,9 @@ public:
QString get_desired_name() const;
QString get_active_name() const;
- cv::VideoCapture& operator*() { return *cap; }
- const cv::VideoCapture& operator*() const { return *cap; }
- cv::VideoCapture* operator->() { return cap.get(); }
+ cv::VideoCapture& operator*() { assert(cap); return *cap; }
+ const cv::VideoCapture& operator*() const { assert(cap); return *cap; }
+ cv::VideoCapture* operator->() { assert(cap); return cap.get(); }
const cv::VideoCapture* operator->() const { return cap.get(); }
operator bool() const { return cap && cap->isOpened(); }
@@ -65,19 +61,10 @@ private:
struct camera_deleter final
{
- void operator()(cv::VideoCapture* cap)
- {
- if (cap)
- {
- if (cap->isOpened())
- cap->release();
- static const std::default_delete<cv::VideoCapture> deleter;
- deleter(cap);
- }
- }
+ void operator()(cv::VideoCapture* cap);
};
using camera_ptr = std::unique_ptr<cv::VideoCapture, camera_deleter>;
- std::unique_ptr<cv::VideoCapture, camera_deleter> cap;
+ camera_ptr cap;
};
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index 0e43b812..40293f56 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -181,22 +181,12 @@ void Tracker_PT::apply_settings()
QMutexLocker l(&camera_mtx);
- CamInfo info = camera.get_desired();
- const QString name = camera.get_desired_name();
+ CamInfo info;
- if (s.cam_fps != info.fps ||
- s.cam_res_x != info.res_x ||
- s.cam_res_y != info.res_y ||
- s.camera_name != name)
- {
- qDebug() << "pt: starting camera";
- camera.stop();
- camera.set_device(s.camera_name);
- camera.set_res(s.cam_res_x, s.cam_res_y);
- camera.set_fps(s.cam_fps);
+ if (!camera.get_info(info) || frame.rows != info.res_y || frame.cols != info.res_x)
frame = cv::Mat();
- camera.start();
- }
+
+ camera.start(camera_name_to_index(s.camera_name), s.cam_fps, s.cam_res_x, s.cam_res_y);
qDebug() << "pt: done applying settings";
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-22 23:30:40 +0000