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Camera.cpp

@@ -0,0 +1,90 @@
+#include "Camera.h"
+#include <iostream>
+
+Camera::Camera(int cam_id, const std::string& target_color) {
+    // 先设置为 MJPEG 模式再打开（某些驱动要求）
+    cap.open(cam_id, cv::CAP_V4L2);
+    if (!cap.isOpened()) {
+        throw std::runtime_error("Cannot open camera!");
+    }
+
+    // 必须先设 FOURCC，再设分辨率和帧率！顺序很重要
+    cap.set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc('M', 'J', 'P', 'G'));
+    cap.set(cv::CAP_PROP_FRAME_WIDTH, 640);
+    cap.set(cv::CAP_PROP_FRAME_HEIGHT, 480);
+    cap.set(cv::CAP_PROP_FPS, 100)
+
+    is_opened = true;
+    this->target_color = target_color;
+    if (this->target_color != "red" && this->target_color != "blue") {
+        throw std::invalid_argument("Only 'red' or 'blue' colors are supported");
+    }
+    
+    set_cam_params(); // 再次应用参数（包括曝光等）
+}
+
+Camera::~Camera() {
+    release();
+}
+
+void Camera::set_cam_params() {
+    // 先设 FOURCC（顺序很重要！）
+    cap.set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc('M', 'J', 'P', 'G'));
+    
+    const int width = 640;
+    const int height = 480;
+    const int fps = 60; // 从 80 降到 60
+
+    cap.set(cv::CAP_PROP_FRAME_WIDTH, width);
+    cap.set(cv::CAP_PROP_FRAME_HEIGHT, height);
+    cap.set(cv::CAP_PROP_FPS, fps);
+
+    cap.set(cv::CAP_PROP_AUTOFOCUS, 1);
+    cap.set(cv::CAP_PROP_AUTO_WB, 1);
+    cap.set(cv::CAP_PROP_AUTO_EXPOSURE, 0); // 手动曝光
+
+    if (target_color == "red") {
+        cap.set(cv::CAP_PROP_EXPOSURE, -50); // 可微调
+        //cap.set(cv::CAP_PROP_CONTRAST,50);
+    } else if (target_color == "blue") {
+        cap.set(cv::CAP_PROP_EXPOSURE, -8);
+    }
+    cap.set(cv::CAP_PROP_WB_TEMPERATURE, 3200);
+
+    // 验证
+    double w = cap.get(cv::CAP_PROP_FRAME_WIDTH);
+    double h = cap.get(cv::CAP_PROP_FRAME_HEIGHT);
+    double f = cap.get(cv::CAP_PROP_FPS);
+    double fourcc = cap.get(cv::CAP_PROP_FOURCC);
+    char str[5] = {0};
+    memcpy(str, &fourcc, 4);
+    std::cout << "Actual: " << w << "x" << h << " @ " << f << "fps, FOURCC='" << str << "'" << std::endl;
+}
+bool Camera::read_frame(cv::Mat& frame) {
+    if (!is_opened) {
+        return false;
+    }
+    return cap.read(frame);
+}
+
+void Camera::release() {
+    if (is_opened) {
+        cap.release();
+        is_opened = false;
+    }
+}
+
+bool Camera::switch_color(const std::string& new_color) {
+    std::string lower_color = new_color;
+    // Convert to lowercase manually
+    for (auto& c : lower_color) {
+        c = std::tolower(c);
+    }
+    
+    if ((lower_color == "red" || lower_color == "blue") && lower_color != target_color) {
+        target_color = lower_color;
+        set_cam_params();
+        return true;
+    }
+    return false;
+}