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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 <QDebug>
using namespace cv;
// ----------------------------------------------------------------------------
void Camera::set_index(int index)
{
if (desired_index != index)
{
desired_index = index;
_set_index();
// reset fps
dt_valid = 0;
dt_mean = 0;
active_index = index;
}
}
void Camera::set_f(float f)
{
if (cam_desired.f != f)
{
cam_desired.f = f;
_set_f();
}
}
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();
}
}
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 = 1.0 / dt_mean;
dt_valid = 0;
}
return new_frame;
}
// ----------------------------------------------------------------------------
/*
void CVCamera::start()
{
cap = cvCreateCameraCapture(desired_index);
// extract camera info
if (cap)
{
active = true;
active_index = desired_index;
cam_info.res_x = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH);
cam_info.res_y = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT);
}
}
void CVCamera::stop()
{
if (cap) cvReleaseCapture(&cap);
active = false;
}
bool CVCamera::_get_frame(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);
}
return true;
}
}
return false;
}
void CVCamera::_set_index()
{
if (active) restart();
}
void CVCamera::_set_f()
{
cam_info.f = cam_desired.f;
}
void CVCamera::_set_fps()
{
if (cap) cvSetCaptureProperty(cap, CV_CAP_PROP_FPS, cam_desired.fps);
}
void CVCamera::_set_res()
{
if (cap)
{
cvSetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH, cam_desired.res_x);
cvSetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT, cam_desired.res_y);
cam_info.res_x = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH);
cam_info.res_y = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT);
}
}
*/
// ----------------------------------------------------------------------------
VICamera::VICamera() : frame_buffer(NULL)
{
VI.listDevices();
}
void VICamera::start()
{
if (desired_index >= 0)
{
if (cam_desired.res_x == 0 || cam_desired.res_y == 0)
VI.setupDevice(desired_index);
else
VI.setupDevice(desired_index, cam_desired.res_x, cam_desired.res_y);
active = true;
active_index = desired_index;
cam_info.res_x = VI.getWidth(active_index);
cam_info.res_y = VI.getHeight(active_index);
new_frame = cv::Mat(cam_info.res_y, cam_info.res_x, CV_8UC3);
// If matrix is not continuous we have to copy manually via frame_buffer
if (!new_frame.isContinuous()) {
unsigned int size = VI.getSize(active_index);
frame_buffer = new unsigned char[size];
}
}
}
void VICamera::stop()
{
if (active)
{
VI.stopDevice(active_index);
}
if (frame_buffer)
{
delete[] frame_buffer;
frame_buffer = NULL;
}
active = false;
}
bool VICamera::_get_frame(Mat* frame)
{
if (active && VI.isFrameNew(active_index))
{
if (new_frame.isContinuous())
{
VI.getPixels(active_index, new_frame.data, false, true);
}
else
{
// If matrix is not continuous we have to copy manually via frame_buffer
VI.getPixels(active_index, frame_buffer, false, true);
new_frame = cv::Mat(cam_info.res_y, cam_info.res_x, CV_8UC3, frame_buffer).clone();
}
*frame = new_frame;
return true;
}
return false;
}
void VICamera::_set_index()
{
if (active) restart();
}
void VICamera::_set_f()
{
cam_info.f = cam_desired.f;
}
void VICamera::_set_fps()
{
bool was_active = active;
if (active) stop();
VI.setIdealFramerate(desired_index, cam_desired.fps);
if (was_active) start();
}
void VICamera::_set_res()
{
if (active) restart();
}
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