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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.
*/
#pragma once
#include "compat/ndebug-guard.hpp"
#undef NDEBUG
#include <cassert>
#include "compat/util.hpp"
#include "compat/timer.hpp"
#include <opencv2/core/core.hpp>
#include <opencv2/videoio.hpp>
#include <memory>
#include <tuple>
#include <QString>
struct CamInfo final
{
CamInfo() : fov(0), fps(0), res_x(0), res_y(0), idx(-1) {}
void get_focal_length(double& fx) const;
double fov;
double fps;
int res_x;
int res_y;
int idx;
};
struct Camera final
{
enum open_status : unsigned { open_error, open_ok_no_change, open_ok_change };
using result = std::tuple<bool, CamInfo>;
Camera() : dt_mean(0), fov(0) {}
DEFUN_WARN_UNUSED open_status start(int idx, int fps, int res_x, int res_y);
void stop();
DEFUN_WARN_UNUSED result get_frame(cv::Mat& frame);
DEFUN_WARN_UNUSED result get_info() const;
CamInfo get_desired() const { return cam_desired; }
QString get_desired_name() const;
QString get_active_name() const;
cv::VideoCapture& operator*() { assert(cap); return *cap; }
const cv::VideoCapture& operator*() const { assert(cap); return *cap; }
cv::VideoCapture* operator->() { assert(cap); return cap.get(); }
const cv::VideoCapture* operator->() const { return cap.get(); }
operator bool() const { return cap && cap->isOpened(); }
void set_fov(double value) { fov = value; }
private:
DEFUN_WARN_UNUSED bool _get_frame(cv::Mat& frame);
double dt_mean;
double fov;
Timer t;
CamInfo cam_info;
CamInfo cam_desired;
QString desired_name, active_name;
struct camera_deleter final
{
void operator()(cv::VideoCapture* cap);
};
using camera_ptr = std::unique_ptr<cv::VideoCapture, camera_deleter>;
camera_ptr cap;
static constexpr double dt_eps = 1./384;
};
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