diff options
Diffstat (limited to 'FTNoIR_Tracker_PT/camera.cpp')
| -rw-r--r-- | FTNoIR_Tracker_PT/camera.cpp | 224 |
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 |