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// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
#include "calibPipeline.hpp"
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/core/utils/logger.hpp>
#include <stdexcept>
using namespace calib;
#define CAP_DELAY 10
cv::Size CalibPipeline::getCameraResolution()
{
mCapture.set(cv::CAP_PROP_FRAME_WIDTH, 10000);
mCapture.set(cv::CAP_PROP_FRAME_HEIGHT, 10000);
int w = (int)mCapture.get(cv::CAP_PROP_FRAME_WIDTH);
int h = (int)mCapture.get(cv::CAP_PROP_FRAME_HEIGHT);
return cv::Size(w,h);
}
CalibPipeline::CalibPipeline(captureParameters params) :
mCaptureParams(params)
{
}
PipelineExitStatus CalibPipeline::start(std::vector<cv::Ptr<FrameProcessor> > processors)
{
auto open_camera = [this] () {
if(mCaptureParams.source == Camera)
{
mCapture.open(mCaptureParams.camID);
cv::Size maxRes = getCameraResolution();
cv::Size neededRes = mCaptureParams.cameraResolution;
if(maxRes.width < neededRes.width) {
double aR = (double)maxRes.width / maxRes.height;
mCapture.set(cv::CAP_PROP_FRAME_WIDTH, neededRes.width);
mCapture.set(cv::CAP_PROP_FRAME_HEIGHT, neededRes.width/aR);
}
else if(maxRes.height < neededRes.height) {
double aR = (double)maxRes.width / maxRes.height;
mCapture.set(cv::CAP_PROP_FRAME_HEIGHT, neededRes.height);
mCapture.set(cv::CAP_PROP_FRAME_WIDTH, neededRes.height*aR);
}
else {
mCapture.set(cv::CAP_PROP_FRAME_HEIGHT, neededRes.height);
mCapture.set(cv::CAP_PROP_FRAME_WIDTH, neededRes.width);
}
mCapture.set(cv::CAP_PROP_AUTOFOCUS, 0);
}
else if (mCaptureParams.source == File)
mCapture.open(mCaptureParams.videoFileName);
};
if(!mCapture.isOpened()) {
open_camera();
}
mImageSize = cv::Size((int)mCapture.get(cv::CAP_PROP_FRAME_WIDTH), (int)mCapture.get(cv::CAP_PROP_FRAME_HEIGHT));
if(!mCapture.isOpened())
throw std::runtime_error("Unable to open video source");
cv::Mat frame, processedFrame, resizedFrame;
while (true) {
if (!mCapture.grab())
{
if (!mCaptureParams.forceReopen)
{
CV_LOG_ERROR(NULL, "VideoCapture error: could not grab the frame.");
break;
}
CV_LOG_INFO(NULL, "VideoCapture error: trying to reopen...");
do
{
open_camera();
} while (!mCapture.isOpened() || !mCapture.grab());
CV_LOG_INFO(NULL, "VideoCapture error: reopened successfully.");
auto newSize = cv::Size((int)mCapture.get(cv::CAP_PROP_FRAME_WIDTH), (int)mCapture.get(cv::CAP_PROP_FRAME_HEIGHT));
CV_CheckEQ(mImageSize, newSize, "Camera image size changed after reopening.");
}
mCapture.retrieve(frame);
if(mCaptureParams.flipVertical)
cv::flip(frame, frame, -1);
frame.copyTo(processedFrame);
for (std::vector<cv::Ptr<FrameProcessor> >::iterator it = processors.begin(); it != processors.end(); ++it)
processedFrame = (*it)->processFrame(processedFrame);
if (std::fabs(mCaptureParams.zoom - 1.) > 0.001f)
{
cv::resize(processedFrame, resizedFrame, cv::Size(), mCaptureParams.zoom, mCaptureParams.zoom);
}
else
{
resizedFrame = std::move(processedFrame);
}
cv::imshow(mainWindowName, resizedFrame);
char key = (char)cv::waitKey(CAP_DELAY);
if(key == 27) // esc
return Finished;
else if (key == 114) // r
return DeleteLastFrame;
else if (key == 100) // d
return DeleteAllFrames;
else if (key == 115) // s
return SaveCurrentData;
else if (key == 117) // u
return SwitchUndistort;
else if (key == 118) // v
return SwitchVisualisation;
for (std::vector<cv::Ptr<FrameProcessor> >::iterator it = processors.begin(); it != processors.end(); ++it)
if((*it)->isProcessed())
return Calibrate;
}
return Finished;
}
cv::Size CalibPipeline::getImageSize() const
{
return mImageSize;
}
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