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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"
namespace impl {
QString Camera::get_desired_name() const
{
return desired_name;
}
QString Camera::get_active_name() const
{
return active_name;
}
void CamInfo::get_focal_length(f& fx) const
{
using std::tan;
using std::atan;
using std::sqrt;
const double diag_len = sqrt(double(res_x*res_x + res_y*res_y));
const double aspect_x = res_x / diag_len;
//const double aspect_y = res_y / diag_len;
const double diag_fov = fov * M_PI/180;
const double fov_x = 2*atan(tan(diag_fov*.5) * aspect_x);
//const double fov_y = 2*atan(tan(diag_fov*.5) * aspect_y);
fx = .5 / tan(fov_x * .5);
//fy = .5 / tan(fov_y * .5);
//static bool once = false; if (!once) { once = true; qDebug() << "f" << ret << "fov" << (fov * 180/M_PI); }
}
DEFUN_WARN_UNUSED bool Camera::get_info(CamInfo& ret) const
{
if (cam_info.res_x == 0 || cam_info.res_y == 0)
return false;
ret = cam_info;
return true;
}
DEFUN_WARN_UNUSED bool Camera::get_frame(double dt, cv::Mat& frame, CamInfo& info)
{
bool new_frame = _get_frame(frame);
// measure fps of valid frames
static constexpr double RC = .1; // seconds
const double alpha = dt/(dt + RC);
dt_valid += dt;
if (new_frame)
{
if (dt_mean < 2e-3)
dt_mean = dt;
else
dt_mean = (1-alpha) * dt_mean + alpha * dt_valid;
cam_info.fps = dt_mean > 2e-3 ? int(1 / dt_mean + .65) : 0;
cam_info.res_x = frame.cols;
cam_info.res_y = frame.rows;
cam_info.fov = s.fov;
info = cam_info;
dt_valid = 0;
}
else
qDebug() << "pt camera: can't get frame";
return new_frame;
}
DEFUN_WARN_UNUSED bool Camera::start(int idx, int fps, int res_x, int res_y)
{
if (idx >= 0 && fps >= 0 && res_x > 0 && res_y > 0)
{
if (!cap || cap->isOpened() ||
cam_desired.idx != idx ||
cam_desired.fps != fps ||
cam_desired.res_x != res_x ||
cam_desired.res_y != res_y)
{
qDebug() << "pt: opening camera";
cam_desired.idx = idx;
cam_desired.fps = fps;
cam_desired.res_x = res_x;
cam_desired.res_y = res_y;
cap = camera_ptr(new cv::VideoCapture(cam_desired.idx));
cap->set(cv::CAP_PROP_FRAME_WIDTH, cam_desired.res_x);
cap->set(cv::CAP_PROP_FRAME_HEIGHT, cam_desired.res_y);
cap->set(cv::CAP_PROP_FPS, cam_desired.fps);
if (cap->isOpened())
{
cam_info = CamInfo();
cam_info.idx = cam_desired.idx;
active_name = desired_name;
return true;
}
}
}
return stop(), false;
}
void Camera::stop()
{
cap = nullptr;
desired_name = QString();
active_name = QString();
cam_info = CamInfo();
cam_desired = CamInfo();
}
DEFUN_WARN_UNUSED bool Camera::_get_frame(cv::Mat& frame)
{
if (cap && cap->isOpened())
{
for (int i = 0; i < 5 && !cap->read(frame); i++)
portable::sleep(100);
if (frame.empty())
return false;
return true;
}
return false;
}
void Camera::camera_deleter::operator()(cv::VideoCapture* cap)
{
if (cap)
{
if (cap->isOpened())
cap->release();
std::default_delete<cv::VideoCapture>()(cap);
}
}
} // ns impl
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