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/* 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.
*/
#ifndef CAMERA_H
#define CAMERA_H
#include <opencv2/opencv.hpp>
#ifndef OPENTRACK_API
# include <boost/shared_ptr.hpp>
#else
# include "FTNoIR_Tracker_PT/boost-compat.h"
# include <opencv2/highgui.hpp>
# include <opencv2/highgui/highgui_c.h>
#endif
#include <string>
// ----------------------------------------------------------------------------
void get_camera_device_names(std::vector<std::string>& device_names);
// ----------------------------------------------------------------------------
struct CamInfo
{
CamInfo() : res_x(0), res_y(0), fps(0), f(1) {}
int res_x;
int res_y;
int fps;
float f; // (focal length) / (sensor width)
};
// ----------------------------------------------------------------------------
// Base class for cameras, calculates the frame rate
class Camera
{
public:
Camera() : dt_valid(0), dt_mean(0), desired_index(0), active_index(-1), active(false) {}
virtual ~Camera() {}
// start/stop capturing
virtual void start() = 0;
virtual void stop() = 0;
void restart() { stop(); start(); }
// calls corresponding template methods and reinitializes frame rate calculation
void set_device_index(int index);
void set_f(float f);
void set_fps(int fps);
void set_res(int x_res, int y_res);
// gets a frame from the camera, dt: time since last call in seconds
bool get_frame(float dt, cv::Mat* frame);
// WARNING: returned references are valid as long as object
const CamInfo& get_info() const { return cam_info; }
const CamInfo& get_desired() const { return cam_desired; }
protected:
// get a frame from the camera
virtual bool _get_frame(cv::Mat* frame) = 0;
// update the camera using cam_desired, write res and f to cam_info if successful
virtual void _set_device_index() = 0;
virtual void _set_f() = 0;
virtual void _set_fps() = 0;
virtual void _set_res() = 0;
bool active;
int desired_index;
int active_index;
CamInfo cam_info;
CamInfo cam_desired;
float dt_valid;
float dt_mean;
};
// ----------------------------------------------------------------------------
// camera based on OpenCV's videoCapture
#ifdef OPENTRACK_API
class CVCamera : public Camera
{
public:
CVCamera() : cap(NULL) {}
~CVCamera() { stop(); }
virtual void start();
virtual void stop();
protected:
virtual bool _get_frame(cv::Mat* frame);
virtual void _set_index();
virtual void _set_f();
virtual void _set_fps();
virtual void _set_res();
virtual void _set_device_index();
cv::VideoCapture* cap;
};
#else
// ----------------------------------------------------------------------------
// Camera based on the videoInput library
class VICamera : public Camera
{
public:
VICamera();
~VICamera() { stop(); }
virtual void start();
virtual void stop();
protected:
virtual bool _get_frame(cv::Mat* frame);
virtual void _set_device_index();
virtual void _set_f();
virtual void _set_fps();
virtual void _set_res();
videoInput VI;
cv::Mat new_frame;
unsigned char* frame_buffer;
};
#endif
enum RotationType
{
CLOCKWISE = -1,
ZERO = 0,
COUNTER_CLOCKWISE = 1
};
// ----------------------------------------------------------------------------
class FrameRotation
{
public:
RotationType rotation;
cv::Mat rotate_frame(cv::Mat frame);
};
#endif //CAMERA_H
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