diff options
Diffstat (limited to 'tracker-pt/camera.cpp')
| -rw-r--r-- | tracker-pt/camera.cpp | 161 |
1 files changed, 0 insertions, 161 deletions
diff --git a/tracker-pt/camera.cpp b/tracker-pt/camera.cpp deleted file mode 100644 index 6a724fc7..00000000 --- a/tracker-pt/camera.cpp +++ /dev/null @@ -1,161 +0,0 @@ -/* 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 "compat/sleep.hpp" - -constexpr double Camera::dt_eps; - -QString Camera::get_desired_name() const -{ - return desired_name; -} - -QString Camera::get_active_name() const -{ - return active_name; -} - -void CamInfo::get_focal_length(double& 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 Camera::result Camera::get_info() const -{ - if (cam_info.res_x == 0 || cam_info.res_y == 0) - return result(false, CamInfo()); - return result(true, cam_info); -} - -DEFUN_WARN_UNUSED Camera::result Camera::get_frame(cv::Mat& frame) -{ - bool new_frame = _get_frame(frame); - - if (new_frame) - { - const double dt = t.elapsed_seconds(); - t.start(); - - // measure fps of valid frames - static constexpr double RC = .1; // seconds - const double 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; - } - else - qDebug() << "pt camera: can't get frame"; - - return result(new_frame, cam_info); -} - -DEFUN_WARN_UNUSED Camera::open_status Camera::start(int idx, int fps, int res_x, int res_y) -{ - 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; - cam_desired.fov = fov; - - cap = camera_ptr(new cv::VideoCapture(cam_desired.idx)); - - if (cam_desired.res_x) - cap->set(cv::CAP_PROP_FRAME_WIDTH, cam_desired.res_x); - if (cam_desired.res_y) - cap->set(cv::CAP_PROP_FRAME_HEIGHT, cam_desired.res_y); - if (cam_desired.fps) - cap->set(cv::CAP_PROP_FPS, cam_desired.fps); - - if (cap->isOpened()) - { - qDebug() << "pt: opening camera"; - - cam_info = CamInfo(); - active_name = QString(); - cam_info.idx = -1; - dt_mean = 0; - active_name = desired_name; - t.start(); - - return open_ok_change; - } - else - { - stop(); - return open_error; - } - } - } - else - { - stop(); - return open_error; - } - - return open_ok_no_change; -} - -void Camera::stop() -{ - cap = nullptr; - desired_name = QString(); - active_name = QString(); - cam_info = CamInfo(); - cam_desired = CamInfo(); -} - -DEFUN_WARN_UNUSED bool Camera::_get_frame(cv::Mat& frame) -{ - if (cap && cap->isOpened()) - { - for (int i = 0; i < 5; i++) - { - if (cap->read(frame)) - return true; - portable::sleep(14); - } - } - return false; -} - -void Camera::camera_deleter::operator()(cv::VideoCapture* cap) -{ - if (cap) - { - if (cap->isOpened()) - cap->release(); - delete cap; - } -} |