void VideoEngine::run()
{
float fps = _videoFormat.framesPerSecond();
if (fps == 0){
fps = 60;
}
int milliSeconds = 1000/fps;
int frameNumber = 0;
while(!stopped)
{
cv::Mat cvFrame;
if (false == videoCapture.grab()){
qDebug() << "grab() failed";
break;
}
if (false == videoCapture.retrieve(cvFrame, cameraChannel)){
qDebug() << "retreive failed";
break;
}
// retrieve Mat::type()
frameNumber++;
if (frameNumber == 1){
_videoFormat.setType(cvFrame.type());
if (processor != 0){
processor->startProcessing(_videoFormat);
}
}
// queue the image to the gui
emit sendInputImage(cvMatToQImage(cvFrame));
// Process Video Frame
if (processor != 0){
cvFrame = processor->process(cvFrame);
}
emit sendProcessedImage(cvMatToQImage(cvFrame));
// check if stopped
QMutexLocker locker(&mutex);
if (stopped) {
break;
}
if (usingCamera == false){
msleep(milliSeconds);
}
}
videoCapture.release();
}
void SelectCameraWindow::onTestEyeCamClicked()
{
#ifndef _WIN32
ui.lEyeCam->setText("Loading...");
VideoCapture videoCapture(ui.cbEyeCamIndex->currentIndex());
videoCapture.set(CV_CAP_PROP_FRAME_WIDTH, 320);
videoCapture.set(CV_CAP_PROP_FRAME_HEIGHT, 240);
Mat frame;
/* If camera could not be opened */
if(!videoCapture.isOpened())
{
ui.lEyeCam->setText("Cannot open camera");
qDebug() << "Capture not opened";
return;
}
for( ; ; )
{
videoCapture.read(frame);
ui.lEyeCam->setPixmap(QPixmap::fromImage(cvMatToQImage(frame)));
waitKey();
}
#else
// If thread is running
if(eyeCamFrameReaderThread->isRunning())
{
qDebug() << "Eye Camera Thread is already running";
// If we are already sreaming this cam, go out of there!
if(eyeCamFrameReaderThread->getCameraIndex() == ui.cbEyeCamIndex->currentIndex())
{
qDebug() << "Same camera selected!";
return;
}
// If a cam selected to be tested while streaming from another cam
else
{
qDebug() << "Starting stream with diferent camera";
eyeCamFrameReaderThread->terminate();
eyeCamFrameReaderThread->setCameraIndex(ui.cbEyeCamIndex->currentIndex());
eyeCamFrameReaderThread->start();
}
}
// If thread is not started yet
else
{
qDebug() << "Eye Camera Thread starting first time";
eyeCamFrameReaderThread->setCameraIndex(ui.cbEyeCamIndex->currentIndex());
eyeCamFrameReaderThread->start();
}
#endif
return;
}
void MainWindow::update()
{
if(videoCapture.isOpened()) {
//Grab image
videoCapture.read(image);
markerDetector.detect(image,markers,cameraParameters,markerSize);
kmarkers.clear();
for(int i=0;i < markers.size();i++) {
markers[i].draw(image,cv::Scalar(0,0,255),2);
//Update coordinate markers if applicalbe, otherwise calculate marker pose
if(markers[i].id == 0) {
origin[0] = markers[i].Tvec.ptr<float>(0)[0];
origin[1] = markers[i].Tvec.ptr<float>(0)[1];
origin[2] = markers[i].Tvec.ptr<float>(0)[2];
originPx[0] = markers[i][0].x;
originPx[1] = markers[i][0].y;
}
else if(markers[i].id == 1) {
xAxis[0] = markers[i].Tvec.ptr<float>(0)[0];
xAxis[1] = markers[i].Tvec.ptr<float>(0)[1];
xAxis[2] = markers[i].Tvec.ptr<float>(0)[2];
xAxisPx[0] = markers[i][0].x;
xAxisPx[1] = markers[i][0].y;
}
else if(markers[i].id == 2) {
yAxis[0] = markers[i].Tvec.ptr<float>(0)[0];
yAxis[1] = markers[i].Tvec.ptr<float>(0)[1];
yAxis[2] = markers[i].Tvec.ptr<float>(0)[2];
yAxisPx[0] = markers[i][0].x;
yAxisPx[1] = markers[i][0].y;
}
else {
//Convert marker to keytrack marker by calculating X, Y, and Theta
Marker kmarker = arucoMarkerToMarker(markers[i]);
kmarkers.append(kmarker);
}
}
//Fulfill any marker requests
splw->handleNewMarkers(kmarkers);
//Display augmented image
qimage = cvMatToQImage(image);
ui->imageLabel->setPixmap(QPixmap::fromImage(qimage.scaled(ui->imageLabel->size(),Qt::KeepAspectRatio)));
}
}
void EyeCameraFrameReaderThread::run(void)
{
emit onCameraTextChanged("Loading...");
int frontCamIndex = cameraIndex == 1 ? 2 : 1;
EyeTracker *eyeTracker = new EyeTracker(cameraIndex, frontCamIndex);
// If camera could not be opened
if(!eyeTracker->isOpened())
{
qDebug() << "Error: Cannot connect to camera.";
emit onCameraTextChanged("Cannot connect to camera");
emit finished();
}
for( ; ; )
{
// Capture images
eyeTracker->captureEyeFrame();
eyeTracker->captureSceneFrame();
Point2f p = eyeTracker->doTrack();
// Set up x and y coordinates
char str[50];
sprintf(str, "%.1f", p.x);
emit onEyeXChanged(str);
sprintf(str, "%.1f", p.y);
emit onEyeYChanged(str);
// Draw squares to eye image
eyeTracker->drawSquares(eyeTracker->findSquares());
// Set eye pixmap
emit onCameraPixmapChanged(QPixmap::fromImage(cvMatToQImage(cvarrToMat(eyeTracker->getEyeImage()))));
// Release images
eyeTracker->releaseGrayEyeImage();
eyeTracker->releaseGraySceneImage();
cvWaitKey(20);
}
}
void FrontCameraFrameReaderThread::run(void)
{
emit onCameraTextChanged("Loading...");
VideoCapture videoCapture(cameraIndex);
Mat frame;
/* If camera could not be opened */
if(!videoCapture.isOpened())
{
emit onCameraTextChanged("Cannot open camera");
qDebug() << "Capture not opened";
return;
}
for( ; ; )
{
videoCapture.read(frame);
emit onCameraPixmapChanged(QPixmap::fromImage(cvMatToQImage(frame)));
waitKey();
}
}
QPixmap cvMatToQPixmap(const cv::Mat &inMat)
{
return QPixmap::fromImage(cvMatToQImage(inMat));
}
QPixmap QOpenCVScene::cvMatToQPixmap( const cv::Mat &inMat )
{
return QPixmap::fromImage( cvMatToQImage( inMat ) );
}
void MainWindow::showImage(cv::Mat* image)
{
QImage qimage = cvMatToQImage(*image);
ui->image->setPixmap(QPixmap::fromImage(qimage.scaled(ui->image->size(),Qt::KeepAspectRatio)));
}
