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