diff options
Diffstat (limited to 'FTNoIR_Tracker_PT/camera.h')
| -rw-r--r-- | FTNoIR_Tracker_PT/camera.h | 85 |
1 files changed, 76 insertions, 9 deletions
diff --git a/FTNoIR_Tracker_PT/camera.h b/FTNoIR_Tracker_PT/camera.h index f26a7a8f..cd1f0842 100644 --- a/FTNoIR_Tracker_PT/camera.h +++ b/FTNoIR_Tracker_PT/camera.h @@ -9,10 +9,13 @@ #define CAMERA_H
#include <opencv2/opencv.hpp>
+#include "videoInput/videoInput.h"
// ----------------------------------------------------------------------------
struct CamInfo
{
+ CamInfo() : res_x(0), res_y(0), fps(0), f(1) {}
+
int res_x;
int res_y;
int fps;
@@ -20,30 +23,94 @@ struct CamInfo };
// ----------------------------------------------------------------------------
+// base class for cameras
class Camera
{
public:
-
- Camera();
- ~Camera();
+ 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(); }
void set_index(int index);
- void set_f(float f) { cam_info.f = f; }
- bool set_fps(int fps);
- bool set_res(int x_res, int y_res);
+ 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
- cv::Mat get_frame(float dt);
+ bool get_frame(float dt, cv::Mat* frame);
- // WARNING: returned reference is valid as long as object
+ // 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
+ virtual void _set_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;
- CvCapture* cap;
CamInfo cam_info;
+ CamInfo cam_desired;
float dt_valid;
float dt_mean;
};
+
+// ----------------------------------------------------------------------------
+// OpenCV camera
+/*
+class CVCamera : public Camera
+{
+public:
+ CVCamera() : cap(NULL) {}
+ ~CVCamera() { stop(); }
+
+ void start();
+ void stop();
+
+protected:
+ bool _get_frame(cv::Mat* frame);
+ void _set_index();
+ void _set_f();
+ void _set_fps();
+ void _set_res();
+
+ CvCapture* cap;
+};
+*/
+
+// ----------------------------------------------------------------------------
+// videoInput camera
+class VICamera : public Camera
+{
+public:
+ VICamera();
+ ~VICamera() { stop(); }
+
+ void start();
+ void stop();
+
+protected:
+ bool _get_frame(cv::Mat* frame);
+ void _set_index();
+ void _set_f();
+ void _set_fps();
+ void _set_res();
+
+ videoInput VI;
+ cv::Mat new_frame;
+ unsigned char* frame_buffer;
+};
+
#endif //CAMERA_H
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