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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/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;
info.num_channels = 1;
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
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