708cfa9cff
git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@45 620bd6b2-0a58-f614-fd9a-1bd335dccda9
118 lines
2.3 KiB
C++
118 lines
2.3 KiB
C++
/*
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* Camera.cpp
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*
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* Created on: 2011-10-21
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* Author: matlab
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*/
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#include "Camera.h"
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#include <stdio.h>
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#include <opencv2/imgproc/imgproc_c.h>
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#include "Settings.h"
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Camera::Camera(QObject * parent) :
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QObject(parent),
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capture_(0)
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{
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qRegisterMetaType<cv::Mat>("cv::Mat");
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connect(&cameraTimer_, SIGNAL(timeout()), this, SLOT(takeImage()));
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}
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Camera::~Camera()
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{
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this->stop();
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}
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void Camera::stop()
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{
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stopTimer();
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if(capture_)
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{
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cvReleaseCapture(&capture_);
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capture_ = 0;
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}
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}
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void Camera::takeImage()
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{
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if(capture_)
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{
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IplImage * img = 0;
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if(cvGrabFrame(capture_)) // capture a frame
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{
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img = cvRetrieveFrame(capture_); // retrieve the captured frame
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}
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else
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{
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printf("CameraVideo: Could not grab a frame, the end of the feed may be reached...\n");
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}
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//resize
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if(img &&
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Settings::getCamera_imageWidth().toInt() &&
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Settings::getCamera_imageHeight().toInt() &&
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Settings::getCamera_imageWidth().toInt() != img->width &&
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Settings::getCamera_imageHeight().toInt() != img->height)
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{
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// declare a destination IplImage object with correct size, depth and channels
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cv::Mat imgMat(cvSize(Settings::getCamera_imageWidth().toInt(), Settings::getCamera_imageHeight().toInt()),
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img->depth,
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img->nChannels );
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//use cvResize to resize source to a destination image (linear interpolation)
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IplImage resampledImg = imgMat;
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cvResize(img, &resampledImg);
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emit imageReceived(imgMat);
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}
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else
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{
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emit imageReceived(cv::Mat(img, true));
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}
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}
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}
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bool Camera::start()
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{
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if(!capture_)
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{
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capture_ = cvCaptureFromCAM(Settings::getCamera_deviceId().toInt());
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if(capture_)
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{
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cvSetCaptureProperty(capture_, CV_CAP_PROP_FRAME_WIDTH, double(Settings::getCamera_imageWidth().toInt()));
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cvSetCaptureProperty(capture_, CV_CAP_PROP_FRAME_HEIGHT, double(Settings::getCamera_imageHeight().toInt()));
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}
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}
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if(!capture_)
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{
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printf("Failed to create a capture object!\n");
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return false;
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}
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startTimer();
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return true;
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}
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void Camera::startTimer()
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{
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updateImageRate();
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cameraTimer_.start();
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}
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void Camera::stopTimer()
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{
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cameraTimer_.stop();
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}
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void Camera::updateImageRate()
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{
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if(Settings::getCamera_imageRate().toInt())
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{
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cameraTimer_.setInterval(1000/Settings::getCamera_imageRate().toInt());
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}
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else
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{
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cameraTimer_.setInterval(0);
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}
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}
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