NVIDIA-BodyTracking/CCameraDriver.cpp at main · Wunder-Wulfe/NVIDIA-BodyTracking · GitHub

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#include "pch.h"
#include "CCameraDriver.h"
#include "CServerDriver.h"
#include "CCommon.h"

CameraInfo::CameraInfo(cv::VideoCapture &cam, int c_id)
{
    width = (int)cam.get(cv::CAP_PROP_FRAME_WIDTH);
    height = (int)cam.get(cv::CAP_PROP_FRAME_HEIGHT);
    id = c_id;
}

void CCameraDriver::LoadCameras()
{
    if (m_cameras.size() > 0)
    {
        m_currentCamera.release();
        m_cameras.clear();
    }
    vr_log("CAMERA LOAD");
    cv::VideoCapture camera;
    int device_counts = 0;
    while(true)
    {
        if(!camera.open(device_counts)) break;

        m_cameras.push_back(CameraInfo(camera, device_counts));

        vr_log(
            "\tFound camera at index %d (%dx%d) (%.2f fps)\n",
            device_counts,
            m_cameras[device_counts].width,
            m_cameras[device_counts].height,
            camera.get(CV_CAP_PROP_FPS)
        );

        device_counts++;
    }
    m_cameraIndex = m_cameraIndex % device_counts;
    vr_log("CAMERA RESET");
    ChangeCamera(0);
}

CCameraDriver::CCameraDriver(CServerDriver *driv, float scale) : m_currentCamera(), imageChanged(), cameraChanged(), m_cameras()
{
    m_resScale = scale;
    m_cameraIndex = 0;
    show = false;
    m_working = true;
    m_cameraInfo = nullptr;
    driver = driv;
    m_fps = 0.f;
}

CCameraDriver::~CCameraDriver()
{
    Cleanup();
}

void CCameraDriver::DoRunFrame()
{
    static char buff[150];
    static int ccam = -1;
    static double l_time = systime();
    double cur_time = systime();
    double clock_diff;

    if (ccam != m_cameraIndex)
    {
        if (ccam > 0)
        {
            cv::destroyAllWindows();
            m_currentCamera.release();
        }
        ccam = m_cameraIndex;
        m_cameraInfo = &m_cameras[m_cameraIndex];

        m_currentCamera.open(m_cameraInfo->id);

        m_currentCamera.set(cv::CAP_PROP_FRAME_WIDTH, GetScaledWidth());
        m_currentCamera.set(cv::CAP_PROP_FRAME_HEIGHT, GetScaledHeight());
        m_currentCamera.set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc('M', 'J', 'P', 'G'));

        sprintf_s(buff, 150, "Live (Camera %d) (%dx%d)@%.1ffps", (int)m_cameraIndex, GetWidth(), GetHeight(), (float)m_currentCamera.get(CV_CAP_PROP_FPS));

        vr_log("Switching to camera of index %d (%dx%d) (%.2f fps)\n", m_cameraInfo->id, GetWidth(), GetHeight(), (float)m_currentCamera.get(CV_CAP_PROP_FPS));

        cv::destroyAllWindows();
        cv::destroyAllWindows();
        cv::destroyAllWindows();
        cv::destroyAllWindows();

        cameraChanged(*this, m_cameraIndex);
    }

    if (m_currentCamera.read(m_frame) && !m_frame.empty())
    {
        cur_time = systime();
        clock_diff = cur_time - l_time;
        l_time = cur_time;

        m_fps = 1.f / clock_diff;
        if (show) {

            cv::imshow(buff, m_frame);
        }
        imageChanged(*this, m_frame);
    }
}

void CCameraDriver::RunAsync()
{
    m_working = true;
    vr_log("Initializing main camera loop");
    while (m_working)
    {
        DoRunFrame();
        cv::waitKey(1);
    }

    cv::destroyAllWindows();
    m_currentCamera.release();
}

void CCameraDriver::ChangeCamera(int up)
{
    if(m_cameras.size() > 0)
    {
        m_cameraIndex = (m_cameraIndex + up) % m_cameras.size();
    }
}

void CCameraDriver::Cleanup()
{
    //cv::destroyAllWindows();
    m_working = false;
    //m_currentCamera.release();
    m_cameras.clear();

    cv::destroyAllWindows();
    m_currentCamera.release();
}