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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 "frame.hpp"
#include "compat/sleep.hpp"
#include "compat/camera-names.hpp"
#include "compat/math-imports.hpp"
#include <opencv2/imgproc.hpp>
#include "cv/video-property-page.hpp"
#include <cstdlib>
namespace pt_module {
Camera::Camera(const QString& module_name) : s { module_name }
{
}
QString Camera::get_desired_name() const
{
return desired_name;
}
QString Camera::get_active_name() const
{
return active_name;
}
void Camera::show_camera_settings()
{
const int idx = camera_name_to_index(s.camera_name);
if (cap && cap->isOpened())
video_property_page::show_from_capture(*cap, idx);
else
video_property_page::show(idx);
}
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 double dt = t.elapsed_seconds();
t.start();
// measure fps of valid frames
constexpr double RC = .1; // seconds
const double 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(int idx, int fps, int res_x, int res_y)
{
if (idx >= 0 && fps >= 0 && res_x >= 0 && res_y >= 0)
{
if (cam_desired.idx != idx ||
cam_desired.fps != fps ||
cam_desired.res_x != res_x ||
cam_desired.res_y != res_y ||
!cap || !cap->isOpened() || !cap->grab())
{
stop();
desired_name = get_camera_names().value(idx);
cam_desired.idx = idx;
cam_desired.fps = fps;
cam_desired.res_x = res_x;
cam_desired.res_y = res_y;
cam_desired.fov = fov;
cap = camera_ptr(new cv::VideoCapture(idx));
if (cam_desired.res_x > 0 && cam_desired.res_y > 0)
{
cap->set(cv::CAP_PROP_FRAME_WIDTH, res_x);
cap->set(cv::CAP_PROP_FRAME_HEIGHT, res_y);
}
if (fps > 0)
cap->set(cv::CAP_PROP_FPS, fps);
if (cap->isOpened())
{
cam_info = pt_camera_info();
cam_info.idx = idx;
dt_mean = 0;
active_name = desired_name;
cv::Mat tmp;
if (get_frame_(tmp))
{
t.start();
return true;
}
}
cap = nullptr;
return false;
}
return true;
}
stop();
return false;
}
void Camera::stop()
{
cap = nullptr;
desired_name = QString{};
active_name = QString{};
cam_info = {};
cam_desired = {};
}
bool Camera::get_frame_(cv::Mat& frame)
{
if (cap && cap->isOpened())
{
for (unsigned i = 0; i < 10; i++)
{
if (cap->read(frame))
return true;
portable::sleep(50);
}
}
return false;
}
void Camera::camera_deleter::operator()(cv::VideoCapture* cap)
{
if (cap)
{
if (cap->isOpened())
cap->release();
delete cap;
}
}
} // ns pt_module
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