diff options
Diffstat (limited to 'tracker-pt/camera.cpp')
| -rw-r--r-- | tracker-pt/camera.cpp | 49 |
1 files changed, 38 insertions, 11 deletions
diff --git a/tracker-pt/camera.cpp b/tracker-pt/camera.cpp index 60eb4bb8..220bcc8e 100644 --- a/tracker-pt/camera.cpp +++ b/tracker-pt/camera.cpp @@ -6,8 +6,8 @@ */ #include "camera.h" -#include <string> -#include <QDebug> + +namespace impl { QString Camera::get_desired_name() const { @@ -19,7 +19,24 @@ QString Camera::get_active_name() const return active_name; } -DEFUN_WARN_UNUSED bool Camera::get_info(CamInfo& ret) +void CamInfo::get_focal_length(f& fx) const +{ + using std::tan; + using std::atan; + using std::sqrt; + + const double diag_len = sqrt(double(res_x*res_x + res_y*res_y)); + const double aspect_x = res_x / diag_len; + //const double aspect_y = res_y / diag_len; + const double diag_fov = fov * M_PI/180; + const double fov_x = 2*atan(tan(diag_fov*.5) * aspect_x); + //const double fov_y = 2*atan(tan(diag_fov*.5) * aspect_y); + fx = .5 / tan(fov_x * .5); + //fy = .5 / tan(fov_y * .5); + //static bool once = false; if (!once) { once = true; qDebug() << "f" << ret << "fov" << (fov * 180/M_PI); } +} + +DEFUN_WARN_UNUSED bool Camera::get_info(CamInfo& ret) const { if (cam_info.res_x == 0 || cam_info.res_y == 0) return false; @@ -27,20 +44,29 @@ DEFUN_WARN_UNUSED bool Camera::get_info(CamInfo& ret) return true; } -bool Camera::get_frame(double dt, cv::Mat* frame) +DEFUN_WARN_UNUSED bool Camera::get_frame(double dt, cv::Mat& frame, CamInfo& info) { bool new_frame = _get_frame(frame); + // measure fps of valid frames static constexpr double RC = .1; // seconds const double alpha = dt/(dt + RC); dt_valid += dt; + if (new_frame) { if (dt_mean < 2e-3) dt_mean = dt; else dt_mean = (1-alpha) * dt_mean + alpha * dt_valid; + cam_info.fps = dt_mean > 2e-3 ? int(1 / dt_mean + .65) : 0; + cam_info.res_x = frame.cols; + cam_info.res_y = frame.rows; + cam_info.fov = s.fov; + + info = cam_info; + dt_valid = 0; } else @@ -58,6 +84,8 @@ DEFUN_WARN_UNUSED bool Camera::start(int idx, int fps, int res_x, int res_y) cam_desired.res_x != res_x || cam_desired.res_y != res_y) { + qDebug() << "pt: opening camera"; + cam_desired.idx = idx; cam_desired.fps = fps; cam_desired.res_x = res_x; @@ -71,9 +99,8 @@ DEFUN_WARN_UNUSED bool Camera::start(int idx, int fps, int res_x, int res_y) if (cap->isOpened()) { + cam_info = CamInfo(); cam_info.idx = cam_desired.idx; - cam_info.res_x = 0; - cam_info.res_y = 0; active_name = desired_name; return true; @@ -93,18 +120,16 @@ void Camera::stop() cam_desired = CamInfo(); } -bool Camera::_get_frame(cv::Mat* frame) +DEFUN_WARN_UNUSED bool Camera::_get_frame(cv::Mat& frame) { if (cap && cap->isOpened()) { - for (int i = 0; i < 100 && !cap->read(*frame); i++) + for (int i = 0; i < 100 && !cap->read(frame); i++) ;; - if (frame->empty()) + if (frame.empty()) return false; - cam_info.res_x = frame->cols; - cam_info.res_y = frame->rows; return true; } return false; @@ -119,3 +144,5 @@ void Camera::camera_deleter::operator()(cv::VideoCapture* cap) std::default_delete<cv::VideoCapture>()(cap); } } + +} // ns impl |