diff options
Diffstat (limited to 'tracker-pt/module/camera.cpp')
| -rw-r--r-- | tracker-pt/module/camera.cpp | 171 |
1 files changed, 171 insertions, 0 deletions
diff --git a/tracker-pt/module/camera.cpp b/tracker-pt/module/camera.cpp new file mode 100644 index 00000000..ba4583da --- /dev/null +++ b/tracker-pt/module/camera.cpp @@ -0,0 +1,171 @@ +/* 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/sleep.hpp" +#include "compat/camera-names.hpp" +#include "compat/math-imports.hpp" + +#include <opencv2/imgproc.hpp> + +#include "cv/video-property-page.hpp" + +using namespace pt_module; + +Camera::Camera(const QString& module_name) : s { module_name } +{ +} + +QString Camera::get_desired_name() const +{ + return desired_name; +} + +QString Camera::get_active_name() const +{ + return active_name; +} + +void Camera::show_camera_settings() +{ + const int idx = camera_name_to_index(s.camera_name); + + if (bool(*this)) + video_property_page::show_from_capture(*cap, idx); + else + { + video_property_page::show(idx); + } +} + +Camera::result Camera::get_info() const +{ + if (cam_info.res_x == 0 || cam_info.res_y == 0) + return result(false, pt_camera_info()); + return result(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 double dt = t.elapsed_seconds(); + t.start(); + + // measure fps of valid frames + 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; + + return result(true, cam_info); + } + else + return result(false, pt_camera_info()); +} + +pt_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 (cam_desired.idx != idx || + cam_desired.fps != fps || + cam_desired.res_x != res_x || + cam_desired.res_y != res_y || + !cap || !cap->isOpened() || !cap->grab()) + { + stop(); + + desired_name = get_camera_names().value(idx); + 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() && cap->grab()) + { + cam_info = pt_camera_info(); + active_name = QString(); + cam_info.idx = idx; + dt_mean = 0; + active_name = desired_name; + + t.start(); + + return cam_open_ok_change; + } + else + { + stop(); + return cam_open_error; + } + } + + return cam_open_ok_no_change; + } + + stop(); + return cam_open_error; +} + +void Camera::stop() +{ + cap = nullptr; + desired_name = QString(); + active_name = QString(); + cam_info = pt_camera_info(); + cam_desired = pt_camera_info(); +} + +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(1); + } + } + return false; +} + +void Camera::camera_deleter::operator()(cv::VideoCapture* cap) +{ + if (cap) + { + if (cap->isOpened()) + cap->release(); + delete cap; + } +} + |