1 files changed, 151 insertions, 0 deletions
diff --git a/tracker-easy/module/camera.cpp b/tracker-easy/module/camera.cpp
new file mode 100644
index 00000000..25f1f8d5
--- /dev/null
+++ b/tracker-easy/module/camera.cpp
@@ -0,0 +1,151 @@
+/* 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 "frame.hpp"
+
+#include "compat/math-imports.hpp"
+
+#include <opencv2/core.hpp>
+
+namespace pt_module {
+
+Camera::Camera(const QString& module_name) : s { module_name }
+{
+}
+
+QString Camera::get_desired_name() const
+{
+    return cam_desired.name;
+}
+
+QString Camera::get_active_name() const
+{
+    return cam_info.name;
+}
+
+void Camera::show_camera_settings()
+{
+    if (cap)
+        (void)cap->show_dialog();
+}
+
+Camera::result Camera::get_info() const
+{
+    if (cam_info.res_x == 0 || cam_info.res_y == 0)
+        return { false, pt_camera_info() };
+    else
+        return { true, cam_info };
+}
+
+Camera::result Camera::get_frame(pt_frame& frame_)
+{
+    cv::Mat& frame = frame_.as<Frame>()->mat;
+
+    const bool new_frame = get_frame_(frame);
+
+    if (new_frame)
+    {
+        const f dt = (f)t.elapsed_seconds();
+        t.start();
+
+        // measure fps of valid frames
+        constexpr f RC = f{1}/10; // seconds
+        const f alpha = dt/(dt + RC);
+
+        if (dt_mean < dt_eps)
+            dt_mean = dt;
+        else
+            dt_mean = (1-alpha) * dt_mean + alpha * dt;
+
+        cam_info.fps = dt_mean > dt_eps ? 1 / dt_mean : 0;
+        cam_info.res_x = frame.cols;
+        cam_info.res_y = frame.rows;
+        cam_info.fov = fov;
+
+        return { true, cam_info };
+    }
+    else
+        return { false, {} };
+}
+
+bool Camera::start(const QString& name, int fps, int res_x, int res_y)
+{
+    if (fps >= 0 && res_x >= 0 && res_y >= 0)
+    {
+        if (cam_desired.name != name ||
+            (int)cam_desired.fps != fps ||
+            cam_desired.res_x != res_x ||
+            cam_desired.res_y != res_y ||
+            !cap || !cap->is_open())
+        {
+            stop();
+
+            cam_desired.name = name;
+            cam_desired.fps = fps;
+            cam_desired.res_x = res_x;
+            cam_desired.res_y = res_y;
+            cam_desired.fov = fov;
+
+            cap = video::make_camera(name);
+
+            if (!cap)
+                goto fail;
+
+            info.fps = fps;
+            info.width = res_x;
+            info.height = res_y;
+
+            if (!cap->start(info))
+                goto fail;
+
+            cam_info = pt_camera_info();
+            cam_info.name = name;
+            dt_mean = 0;
+
+            cv::Mat tmp;
+
+            if (!get_frame_(tmp))
+                goto fail;
+
+            t.start();
+        }
+    }
+
+    return true;
+
+fail:
+    stop();
+    return false;
+}
+
+void Camera::stop()
+{
+    cap = nullptr;
+    cam_info = {};
+    cam_desired = {};
+}
+
+bool Camera::get_frame_(cv::Mat& img)
+{
+    if (cap && cap->is_open())
+    {
+        auto [ frame, ret ] = cap->get_frame();
+        if (ret)
+        {
+            int stride = frame.stride;
+            if (stride == 0)
+                stride = cv::Mat::AUTO_STEP;
+            img = cv::Mat(frame.height, frame.width, CV_8UC(frame.channels), (void*)frame.data, stride);
+            return true;
+        }
+    }
+
+    return false;
+}
+
+} // ns pt_module