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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.
*/
#include "camera.h"
#include <string>
#include <QDebug>
#include "opentrack/sleep.hpp"
void Camera::set_device_index(int index)
{
if (desired_index != index)
{
desired_index = index;
_set_device_index();
// reset fps
dt_valid = 0;
dt_mean = 0;
active_index = index;
}
}
void Camera::set_fps(int fps)
{
if (cam_desired.fps != fps)
{
cam_desired.fps = fps;
_set_fps();
}
}
void Camera::set_res(int x_res, int y_res)
{
if (cam_desired.res_x != x_res || cam_desired.res_y != y_res)
{
cam_desired.res_x = x_res;
cam_desired.res_y = y_res;
_set_res();
}
}
CamInfo Camera::get_info()
{
if (cam_info.res_x == 0 || cam_info.res_y == 0)
{
cv::Mat tmp;
_get_frame(&tmp);
}
return cam_info;
}
bool Camera::get_frame(float dt, cv::Mat* frame)
{
bool new_frame = _get_frame(frame);
// measure fps of valid frames
const float dt_smoothing_const = 0.9;
dt_valid += dt;
if (new_frame)
{
dt_mean = dt_smoothing_const * dt_mean + (1.0 - dt_smoothing_const) * dt_valid;
cam_info.fps = dt_mean > 1e-3 ? 1.0 / dt_mean : 0;
dt_valid = 0;
}
return new_frame;
}
void CVCamera::start()
{
if (cap)
delete cap;
cap = new cv::VideoCapture(desired_index);
_set_res();
_set_fps();
// extract camera info
if (cap->isOpened())
{
active = true;
active_index = desired_index;
cam_info.res_x = 0;
cam_info.res_y = 0;
} else {
delete cap;
cap = nullptr;
}
}
void CVCamera::stop()
{
if (cap)
{
cap->release();
delete cap;
cap = nullptr;
// give opencv time to exit camera threads, etc.
portable::sleep(500);
}
active = false;
}
bool CVCamera::_get_frame(cv::Mat* frame)
{
if (cap && cap->isOpened())
{
cv::Mat img;
for (int i = 0; i < 100 && !cap->read(img); i++)
;;
if (img.empty())
return false;
*frame = img;
cam_info.res_x = img.cols;
cam_info.res_y = img.rows;
return true;
}
return false;
}
void CVCamera::_set_fps()
{
if (cap) cap->set(CV_CAP_PROP_FPS, cam_desired.fps);
}
void CVCamera::_set_res()
{
if (cap)
{
cap->set(CV_CAP_PROP_FRAME_WIDTH, cam_desired.res_x);
cap->set(CV_CAP_PROP_FRAME_HEIGHT, cam_desired.res_y);
}
}
void CVCamera::_set_device_index()
{
if (cap)
{
cap->release();
delete cap;
}
cap = new cv::VideoCapture(desired_index);
}
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