1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
|
/* 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 "frame.hpp"
#include "compat/math-imports.hpp"
#include <opencv2/core.hpp>
namespace pt_module {
Camera::Camera(const QString& module_name) : s { module_name }
{
}
QString Camera::get_desired_name() const
{
return cam_desired.name;
}
QString Camera::get_active_name() const
{
return cam_info.name;
}
void Camera::show_camera_settings()
{
if (cap)
(void)cap->show_dialog();
}
Camera::result Camera::get_info() const
{
if (cam_info.res_x == 0 || cam_info.res_y == 0)
return { false, pt_camera_info() };
else
return { true, cam_info };
}
Camera::result Camera::get_frame(pt_frame& frame_)
{
cv::Mat& frame = frame_.as<Frame>()->mat;
const bool new_frame = get_frame_(frame);
if (new_frame)
{
const f dt = (f)t.elapsed_seconds();
t.start();
// measure fps of valid frames
constexpr f RC = f{1}/10; // seconds
const f alpha = dt/(dt + RC);
if (dt_mean < dt_eps)
dt_mean = dt;
else
dt_mean = (1-alpha) * dt_mean + alpha * dt;
cam_info.fps = dt_mean > dt_eps ? 1 / dt_mean : 0;
cam_info.res_x = frame.cols;
cam_info.res_y = frame.rows;
cam_info.fov = fov;
return { true, cam_info };
}
else
return { false, {} };
}
bool Camera::start(const pt_settings& s)
{
int fps = s.cam_fps, res_x = s.cam_res_x, res_y = s.cam_res_y;
QString name = s.camera_name;
bool use_mjpeg = s.use_mjpeg;
if (fps >= 0 && res_x >= 0 && res_y >= 0)
{
if (cam_desired.name != name ||
(int)cam_desired.fps != fps ||
cam_desired.res_x != res_x ||
cam_desired.res_y != res_y ||
cam_desired.use_mjpeg != use_mjpeg ||
!cap || !cap->is_open())
{
stop();
cam_desired.name = name;
cam_desired.fps = (f)fps;
cam_desired.res_x = res_x;
cam_desired.res_y = res_y;
cam_desired.fov = fov;
cam_desired.use_mjpeg = use_mjpeg;
cap = video::make_camera(name);
if (!cap)
goto fail;
camera::info info {};
info.fps = fps;
info.width = res_x;
info.height = res_y;
info.use_mjpeg = use_mjpeg;
switch (*s.blob_color)
{
case pt_color_natural:
case pt_color_average:
info.num_channels = 1; break;
default:
info.num_channels = 3; break;
}
if (!cap->start(info))
goto fail;
cam_info = pt_camera_info();
cam_info.name = name;
cam_info.use_mjpeg = use_mjpeg;
cam_info.fov = (f)s.fov;
dt_mean = 0;
cv::Mat tmp;
if (!get_frame_(tmp))
goto fail;
t.start();
}
}
return true;
fail:
stop();
return false;
}
void Camera::stop()
{
cap = nullptr;
cam_info = {};
cam_desired = {};
}
bool Camera::get_frame_(cv::Mat& img)
{
if (cap && cap->is_open())
{
auto [ frame, ret ] = cap->get_frame();
if (ret)
{
int stride = frame.stride;
if (stride == 0)
stride = cv::Mat::AUTO_STEP;
img = cv::Mat(frame.height, frame.width, CV_8UC(frame.channels), (void*)frame.data, stride);
return true;
}
}
return false;
}
} // ns pt_module
|
