void setup() {
m_tagDetector = new AprilTags::TagDetector(m_tagCodes);
Camera.set( CV_CAP_PROP_FORMAT, CV_8UC1);
Camera.set( CV_CAP_PROP_FRAME_WIDTH, m_width);
Camera.set( CV_CAP_PROP_FRAME_HEIGHT, m_height);
// prepare window for drawing the camera images
if (m_draw) {
cv::namedWindow(windowName, 1);
}
}
void processCommandLine ( int argc,char **argv,raspicam::RaspiCam_Cv &Camera ) {
Camera.set ( CV_CAP_PROP_FRAME_WIDTH, getParamVal ( "-w",argc,argv,320 ) );
Camera.set ( CV_CAP_PROP_FRAME_HEIGHT, getParamVal ( "-h",argc,argv,180 ) );
Camera.set ( CV_CAP_PROP_BRIGHTNESS,getParamVal ( "-br",argc,argv,50 ) );
Camera.set ( CV_CAP_PROP_CONTRAST ,getParamVal ( "-co",argc,argv,50 ) );
Camera.set ( CV_CAP_PROP_SATURATION, getParamVal ( "-sa",argc,argv,50 ) );
Camera.set ( CV_CAP_PROP_GAIN, getParamVal ( "-g",argc,argv ,50 ) );
if ( findParam ( "-gr",argc,argv ) !=-1 )
Camera.set ( CV_CAP_PROP_FORMAT, CV_8UC1 );
if ( findParam ( "-test_speed",argc,argv ) !=-1 )
doTestSpeedOnly=true;
if ( findParam ( "-ss",argc,argv ) !=-1 )
Camera.set ( CV_CAP_PROP_EXPOSURE, getParamVal ( "-ss",argc,argv ) );
// Camera.setSharpness ( getParamVal ( "-sh",argc,argv,0 ) );
// if ( findParam ( "-vs",argc,argv ) !=-1 )
// Camera.setVideoStabilization ( true );
// Camera.setExposureCompensation ( getParamVal ( "-ev",argc,argv ,0 ) );
}