108 lines
2.8 KiB
C++
108 lines
2.8 KiB
C++
#include "sv_video_input.h"
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#include <cmath>
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#include <fstream>
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namespace sv {
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Camera::Camera()
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{
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}
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Camera::~Camera()
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{
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}
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void Camera::openImpl()
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{
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if (this->_type == CameraType::WEBCAM || this->_type == CameraType::V4L2CAM)
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{
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if (this->_type == CameraType::V4L2CAM)
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{
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this->_cap.open(this->_camera_id, cv::CAP_V4L2);
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}
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if (this->_type == CameraType::WEBCAM)
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{
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this->_cap.open(this->_camera_id);
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}
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if (this->_width > 0 && this->_height > 0)
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{
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this->_cap.set(cv::CAP_PROP_FRAME_WIDTH, this->_width);
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this->_cap.set(cv::CAP_PROP_FRAME_HEIGHT, this->_height);
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}
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if (this->_fps > 0)
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{
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this->_cap.set(cv::CAP_PROP_FPS, this->_fps);
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}
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if (this->_brightness > 0)
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{
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this->_cap.set(cv::CAP_PROP_BRIGHTNESS, this->_brightness);
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}
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if (this->_contrast > 0)
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{
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this->_cap.set(cv::CAP_PROP_CONTRAST, this->_contrast);
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}
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if (this->_saturation > 0)
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{
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this->_cap.set(cv::CAP_PROP_SATURATION, this->_saturation);
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}
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if (this->_hue > 0)
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{
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this->_cap.set(cv::CAP_PROP_HUE, this->_hue);
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}
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if (this->_exposure > 0)
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{
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this->_cap.set(cv::CAP_PROP_EXPOSURE, this->_exposure);
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}
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}
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else if (this->_type == CameraType::G1)
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{
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char pipe[512];
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if (this->_width <= 0 || this->_height <= 0)
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{
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this->_width = 1280;
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this->_height = 720;
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}
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if (this->_port <= 0)
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{
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this->_port = 554;
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}
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if (this->_fps <= 0)
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{
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this->_fps = 30;
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}
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#ifdef PLATFORM_X86_CUDA
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sprintf(pipe, "rtsp://%s:%d/H264?W=%d&H=%d&FPS=%d&BR=4000000", this->_ip.c_str(), this->_port, this->_width, this->_height, this->_fps);
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this->_cap.open(pipe);
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#endif
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#ifdef PLATFORM_JETSON
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sprintf(pipe, "rtspsrc location=rtsp://%s:%d/H264?W=%d&H=%d&FPS=%d&BR=4000000 latency=100 ! application/x-rtp,media=video ! rtph264depay ! parsebin ! nvv4l2decoder enable-max-performancegst=1 ! nvvidconv ! video/x-raw,format=(string)BGRx ! videoconvert ! appsink sync=false", this->_ip.c_str(), this->_port, this->_width, this->_height, this->_fps);
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this->_cap.open(pipe, cv::CAP_GSTREAMER);
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#endif
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}
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else if (this->_type == CameraType::MIPI)
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{
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char pipe[512];
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if (this->_width <= 0 || this->_height <= 0)
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{
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this->_width = 1280;
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this->_height = 720;
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}
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if (this->_fps <= 0)
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{
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this->_fps = 30;
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}
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sprintf(pipe, "nvarguscamerasrc sensor-id=%d ! video/x-raw(memory:NVMM), width=(int)%d, height=(int)%d, format=(string)NV12, framerate=(fraction)%d/1 ! nvvidconv flip-method=0 ! video/x-raw, width=(int)%d, height=(int)%d, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink", this->_camera_id, this->_width, this->_height, this->_fps, this->_width, this->_height);
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this->_cap.open(pipe, cv::CAP_GSTREAMER);
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}
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}
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}
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