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#include "camera.h"
using namespace cv;
// ----------------------------------------------------------------------------
Camera::Camera()
: dt_valid(0), dt_mean(0), cap(NULL), active_index(-1)
{}
Camera::~Camera()
{
if (cap) cvReleaseCapture(&cap);
}
void Camera::set_index(int index)
{
if (index == active_index) return;
if (cap) cvReleaseCapture(&cap);
cap = cvCreateCameraCapture(index);
// extract camera info
if (cap)
{
cam_info.res_x = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH);
cam_info.res_y = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT);
}
active_index = index;
dt_mean = 0; // reset fps calculation
}
bool Camera::set_fps(int fps)
{
return cap && cvSetCaptureProperty(cap, CV_CAP_PROP_FPS, fps);
}
bool Camera::set_res(int x_res, int y_res)
{
if (cap)
{
if (x_res == cam_info.res_x && y_res == cam_info.res_y) return true;
cvSetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH, x_res);
cvSetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT, y_res);
cam_info.res_x = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH);
cam_info.res_y = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT);
if (x_res == cam_info.res_x && y_res == cam_info.res_y) return true;
}
return false;
}
cv::Mat Camera::get_frame(float dt)
{
cv::Mat frame;
if (cap && cvGrabFrame(cap) != 0)
{
// retrieve frame
IplImage* _img = cvRetrieveFrame(cap, 0);
if(_img)
{
if(_img->origin == IPL_ORIGIN_TL)
frame = Mat(_img);
else
{
Mat temp(_img);
flip(temp, frame, 0);
}
}
}
// measure fps of valid frames
const float dt_smoothing_const = 0.9;
dt_valid += dt;
if (!frame.empty())
{
dt_mean = dt_smoothing_const * dt_mean + (1.0 - dt_smoothing_const) * dt_valid;
cam_info.fps = 1.0 / dt_mean;
dt_valid = 0;
}
return frame;
}
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