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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 "compat/sleep.hpp"
#include "compat/camera-names.hpp"
#include <string>
#include <QDebug>
void Camera::set_device(const QString& name)
{
const int index = camera_name_to_index(name);
desired_name = name;
if (desired_index != index)
{
desired_index = index;
_set_device_index();
// reset fps
dt_valid = 0;
dt_mean = 0;
active_index = index;
}
}
QString Camera::get_desired_name() const
{
return desired_name;
}
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_info(CamInfo& ret)
{
if (cam_info.res_x == 0 || cam_info.res_y == 0)
{
return false;
}
ret = cam_info;
return true;
}
bool Camera::get_frame(double dt, cv::Mat* frame)
{
bool new_frame = _get_frame(frame);
// measure fps of valid frames
static constexpr double dt_smoothing_const = 0.95;
dt_valid += dt;
if (new_frame)
{
dt_mean = dt_smoothing_const * dt_mean + (1 - dt_smoothing_const) * dt_valid;
cam_info.fps = int(std::round(dt_mean > 1e-3 ? 1 / dt_mean : 0));
dt_valid = 0;
}
else
qDebug() << "pt camera: can't get frame";
return new_frame;
}
void CVCamera::start()
{
stop();
cap = new cv::VideoCapture(desired_index);
_set_res();
_set_fps();
// extract camera info
if (cap->isOpened())
{
active_index = desired_index;
cam_info.res_x = 0;
cam_info.res_y = 0;
} else {
stop();
}
}
void CVCamera::stop()
{
if (cap)
{
const bool opened = cap->isOpened();
if (opened)
{
qDebug() << "pt: freeing camera";
cap->release();
}
delete cap;
cap = nullptr;
// give opencv time to exit camera threads, etc.
if (opened)
portable::sleep(500);
qDebug() << "pt camera: stopped";
}
}
bool CVCamera::_get_frame(cv::Mat* frame)
{
if (cap && cap->isOpened())
{
for (int i = 0; i < 100 && !cap->read(*frame); i++)
;;
if (frame->empty())
return false;
cam_info.res_x = frame->cols;
cam_info.res_y = frame->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 (desired_index != active_index)
stop();
}
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