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cscamera.cpp
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/*******************************************************************************
* This file is part of the 3DViewer *
* *
* Copyright (C) 2022 Revopoint3D Company Ltd. *
* All rights reserved. *
* *
* This program is free software: you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
* for more details. *
* *
********************************************************************************/
#include "cscamera.h"
#include "cameraparaid.h"
#include <QDebug>
#include <QSize>
#include <QVariant>
#include <QThread>
#include <QRectF>
#include <QTimer>
#include <QMetaEnum>
#include <algorithm>
#include <3DCamera.hpp>
static CSRange DEPTH_RANGE_LIMIT = { 0, 65535 };
static CSRange CAMERA_HDR_LEVEL_RANGE = { 2,8 };
#define HDR_SCALE_DEFAULT 5
#ifdef _DEBUG
#define _CS_DEBUG_
#endif
using namespace cs;
using namespace cs::parameter;
QMetaEnum CSCamera::metaEnum = QMetaEnum::fromType<CAMERA_PARA_ID>();
static const QMap<int, const char*> STREAM_FORMAT_MAP =
{
{ STREAM_FORMAT_MJPG, "MJPG" },
{ STREAM_FORMAT_RGB8, "RGB8" },
{ STREAM_FORMAT_Z16, "Z16" },
{ STREAM_FORMAT_Z16Y8Y8, "Z16Y8Y8" },
{ STREAM_FORMAT_PAIR, "PAIR" },
{ STREAM_FORMAT_H264, "H264" },
{ STREAM_FORMAT_I8DS, "I8DS" },
{ STREAM_FORMAT_XZ32, "XZ32" },
{ STREAM_FORMAT_GRAY, "GRAY" },
};
const QMap<int, const char*> CSCamera::AUTO_EXPOSURE_MODE_MAP =
{
{ AUTO_EXPOSURE_MODE_CLOSE, QT_TR_NOOP("Close")},
{ AUTO_EXPOSURE_MODE_FIX_FRAMETIME, QT_TR_NOOP("Speed First")},
{ AUTO_EXPOSURE_MODE_HIGH_QUALITY, QT_TR_NOOP("Quality First")},
{ AUTO_EXPOSURE_MODE_FORE_GROUND, QT_TR_NOOP("Foreground")},
};
const QMap<int, const char*> CSCamera::FILTER_TYPE_MAP =
{
{ FILTER_CLOSE, QT_TR_NOOP("Close")},
{ FILTER_SMOOTH, QT_TR_NOOP("Smooth")},
{ FILTER_MEDIAN, QT_TR_NOOP("Median")},
{ FILTER_TDSMOOTH, QT_TR_NOOP("TDSmooth")},
};
static const QMap<int, CSRange> FILTER_RANGE_MAP =
{
{ FILTER_CLOSE, { 0, 0 }},
{ FILTER_SMOOTH, { 3, 9 }},
{ FILTER_MEDIAN, { 3, 5 }},
{ FILTER_TDSMOOTH, { 3, 7 }},
};
struct ParaInfo
{
int type; // 0 : STREAM_TYPE_DEPTH, 1 : STREAM_TYPE_RGB
int id; // PROPERTY_TYPE
};
static const QMap<CAMERA_PARA_ID, ParaInfo> CAMERA_PROPERTY_MAP =
{
{ PARA_DEPTH_GAIN, { STREAM_TYPE_DEPTH , PROPERTY_GAIN} },
{ PARA_DEPTH_EXPOSURE, { STREAM_TYPE_DEPTH , PROPERTY_EXPOSURE} },
{ PARA_DEPTH_FRAMETIME, { STREAM_TYPE_DEPTH , PROPERTY_FRAMETIME} },
{ PARA_RGB_GAIN, { STREAM_TYPE_RGB , PROPERTY_GAIN} },
{ PARA_RGB_AUTO_EXPOSURE, { STREAM_TYPE_RGB , PROPERTY_ENABLE_AUTO_EXPOSURE} },
{ PARA_RGB_AUTO_WHITE_BALANCE, { STREAM_TYPE_RGB , PROPERTY_ENABLE_AUTO_WHITEBALANCE} },
{ PARA_RGB_WHITE_BALANCE, { STREAM_TYPE_RGB , PROPERTY_WHITEBALANCE} }
};
static const QMap<CAMERA_PARA_ID, int> CAMERA_EXTENSION_PROPERTY_MAP =
{
{ PARA_DEPTH_AUTO_EXPOSURE, PROPERTY_EXT_AUTO_EXPOSURE_MODE },
{ PARA_DEPTH_THRESHOLD, PROPERTY_EXT_CONTRAST_MIN },
{ PARA_DEPTH_HDR_MODE, PROPERTY_EXT_HDR_MODE },
{ PARA_DEPTH_HDR_SETTINGS, PROPERTY_EXT_HDR_EXPOSURE },
{ PARA_DEPTH_HDR_LEVEL, PROPERTY_EXT_HDR_SCALE_SETTING },
{ PARA_DEPTH_SCALE, PROPERTY_EXT_DEPTH_SCALE },
{ PARA_DEPTH_ROI, PROPERTY_EXT_DEPTH_ROI },
{ PARA_DEPTH_RANGE, PROPERTY_EXT_DEPTH_RANGE },
{ PARA_TRIGGER_MODE, PROPERTY_EXT_TRIGGER_MODE },
{ PARA_CAMERA_IP, PROPERTY_EXT_CAMERA_IP },
{ PARA_RGB_EXPOSURE, PROPERTY_EXT_EXPOSURE_TIME_RGB }
};
static const QList<CAMERA_PARA_ID> CAMERA_OPTION_PARA_LIST =
{
PARA_DEPTH_STREAM_FORMAT,
PARA_DEPTH_RESOLUTION,
PARA_DEPTH_AUTO_EXPOSURE,
PARA_DEPTH_FILTER_TYPE,
PARA_RGB_STREAM_FORMAT,
PARA_RGB_RESOLUTION,
};
const QMap<CAMERA_HDR_MODE, const char*> CSCamera::CAMERA_HDR_MAP =
{
{ HDR_MODE_CLOSE, QT_TR_NOOP("Close") },
{ HDR_MODE_SHINE, QT_TR_NOOP("Shiny") },
{ HDR_MODE_DARK, QT_TR_NOOP("Dark") },
{ HDR_MODE_BOTH, QT_TR_NOOP("Both") },
{ HDR_MODE_MANUAL, QT_TR_NOOP("Manual") },
};
static const QMap<CAMERA_PARA_ID, QVariant> CAMERA_DEFAULT_STREAM_TYPE =
{
{ PARA_DEPTH_STREAM_FORMAT, (int)STREAM_FORMAT_Z16 },
{ PARA_DEPTH_RESOLUTION, QSize(640, 400) },
{ PARA_RGB_STREAM_FORMAT, (int)STREAM_FORMAT_RGB8 },
{ PARA_RGB_RESOLUTION, QSize(1280, 800) },
};
static const QMap<CAMERA_PARA_ID, QVariant> CAMERA_DEFAULT_PARA_VALUE =
{
{ PARA_DEPTH_RANGE, QVariant::fromValue(QPair<float, float>({ 50.0f, 2000.0f })) },
{ PARA_DEPTH_GAIN, 1.0f },
{ PARA_DEPTH_EXPOSURE, 7000.0f },
{ PARA_TRIGGER_MODE, (int)TRIGGER_MODE_OFF}
};
int CSCamera::setCameraChangeCallback(CameraChangeCallback callback, void* userData)
{
return cs::getSystemPtr()->setCameraChangeCallback(callback, userData);
}
int CSCamera::setCameraAlarmCallback(CameraAlarmCallback callback, void* userData)
{
return cs::getSystemPtr()->setCameraAlarmCallback(callback, userData);
}
void CSCamera::setSdkLogPath(QString path)
{
setLogSavePath(path.toStdString().c_str());
enableLoging(true);
}
void CSCamera::queryCameras(std::vector<CameraInfo>& cameras)
{
cs::getSystemPtr()->queryCameras(cameras);
}
static void depthCallback(cs::IFramePtr frame, void* usrData)
{
CSCamera* camera = (CSCamera*)usrData;
FrameData frameData;
camera->onProcessFrame(TYPE_DEPTH, frame, frameData.data);
emit camera->framedDataUpdated(frameData);
}
static void rgbCallback(cs::IFramePtr frame, void* usrData)
{
CSCamera* camera = (CSCamera*)usrData;
FrameData frameData;
camera->onProcessFrame(TYPE_RGB, frame, frameData.data);
emit camera->framedDataUpdated(frameData);
}
CSCamera::StreamThread::StreamThread(CSCamera& camera)
: m_camera(camera)
{
setObjectName("StreamThread");
}
void CSCamera::StreamThread::run()
{
while (!isInterruptionRequested())
{
FrameData frameData;
auto ret = m_camera.onGetFrame(frameData);
if (frameData.data.size() > 0)
{
frameData.rgbIntrinsics = m_camera.m_rgbIntrinsics;
frameData.depthIntrinsics = m_camera.m_depthIntrinsics;
frameData.extrinsics = m_camera.m_extrinsics;
frameData.depthScale = m_camera.m_depthScale;
emit m_camera.framedDataUpdated(frameData);
}
if (ret == ERROR_DEVICE_NOT_CONNECT)
{
// If the return value indicates that the camera is not connected, add a delay.
QThread::msleep(200);
}
}
}
CSCamera::StreamThread::~StreamThread()
{
requestInterruption();
wait();
qDebug() << "~StreamThread";
}
CSCamera::CSCamera()
: m_cameraState(CAMERA_DISCONNECTED)
, m_cameraPtr(cs::getCameraPtr())
, m_filterValue(0)
, m_filterType(0)
, m_fillHole(false)
, m_hasIrStream(false)
, m_hasDepthStream(false)
, m_isRgbStreamSup(false)
, m_isDepthStreamSup(false)
, m_hdrMode(HDR_MODE_CLOSE)
, m_hdrTimes(2)
, m_streamThread(new StreamThread(*this))
, m_cameraThread(nullptr)
, m_cachedDepthExposure(0)
, m_cachedDepthGain(0)
, m_triggerMode(TRIGGER_MODE_OFF)
, m_depthScale(0.1)
{
m_manualHdrSetting.count = 0;
}
CSCamera::~CSCamera()
{
doDisconnectCamera();
delete m_streamThread;
qDebug() << "~CSCamera";
}
bool CSCamera::restartStream()
{
qInfo() << "begin restart stream.";
// start stream after stop stream
bool result = stopStream();
QThread::msleep(200);
result &= startStream();
qDebug() << "restartStream end!";
return result;
}
bool CSCamera::startStream()
{
bool suc = true;
suc &= (bool)connect(this, &CSCamera::updateParaSignal, this, &CSCamera::onParaUpdated);
Q_ASSERT(suc);
setCameraState(CAMERA_STARTING_STREAM);
bool result = true;
if (m_isDepthStreamSup)
{
qInfo() << "begin start depth stream";
result &= startDepthStream();
if (!result)
{
Q_ASSERT(false);
qWarning("Error : start depth stream failed.");
}
qInfo() << "start depth stream end";
}
if (m_isRgbStreamSup)
{
qInfo() << "begin start rgb stream";
result &= startRgbStream();
if (!result)
{
Q_ASSERT(false);
qWarning("Error : start rgb stream failed.");
}
qInfo() << "start rgb stream end";
}
if (!result)
{
qWarning("Error : start stream failed.");
setCameraState(CAMERA_START_STREAM_FAILED);
return false;
}
// start get frame thread
startStreamThread();
onStreamStarted();
// notify camera stream started
setCameraState(CAMERA_STARTED_STREAM);
return result;
}
void CSCamera::onStreamStarted()
{
// set default para
qInfo() << "set camera default para";
for (auto key : CAMERA_DEFAULT_PARA_VALUE.keys())
{
setCameraPara(key, CAMERA_DEFAULT_PARA_VALUE.value(key));
}
// get depth scale
PropertyExtension propExt;
ERROR_CODE ret = m_cameraPtr->getPropertyExtension(PROPERTY_EXT_DEPTH_SCALE, propExt);
m_depthScale = propExt.depthScale;
DEPTH_RANGE_LIMIT.max = 65535 * m_depthScale;
}
bool CSCamera::stopStream()
{
bool result = true;
disconnect(this, &CSCamera::updateParaSignal, this, &CSCamera::onParaUpdated);
// stop get frame thread
stopStreamThread();
if (m_isDepthStreamSup)
{
result &= stopDepthStream();
if (!result)
{
Q_ASSERT(false);
qWarning("Error : stop depth stream failed.");
}
}
if (m_isRgbStreamSup)
{
result &= stopRgbStream();
if (!result)
{
Q_ASSERT(false);
qWarning("Error : stop rgb stream failed.");
}
}
m_hasIrStream = false;
m_hasDepthStream = false;
setCameraState(CAMERA_STOPPED_STREAM);
return true;
}
bool CSCamera::startDepthStream()
{
ERROR_CODE ret;
// get stream info by depthFormat and depthResolution
StreamInfo info = getDepthStreamInfo();
// you can also use the callback method
//ret = cameraPtr->startStream(STREAM_TYPE_DEPTH, info, depthCallback, this);
ret = m_cameraPtr->startStream(STREAM_TYPE_DEPTH, info, nullptr, this);
if (ret != SUCCESS)
{
qWarning("camera start depth stream failed(%d)!", ret);
Q_ASSERT(false);
return false;
}
else
{
qWarning("start depth format:%2d, width:%4d, height:%4d, fps:%2.1f", info.format, info.width, info.height, info.fps);
}
m_hasIrStream = m_isDepthStreamSup && ((info.format == STREAM_FORMAT_Z16Y8Y8) || (info.format == STREAM_FORMAT_PAIR));
m_hasDepthStream = m_isDepthStreamSup && (info.format != STREAM_FORMAT_PAIR);
return ret == SUCCESS;
}
bool CSCamera::startRgbStream()
{
ERROR_CODE ret;
// get stream info by rgbFormat and rgbResolution
StreamInfo info = getRgbStreamInfo();
// you can also use the callback method
//ret = cameraPtr->startStream(STREAM_TYPE_RGB, info, rgbCallback, this);
ret = m_cameraPtr->startStream(STREAM_TYPE_RGB, info, nullptr, this);
if (ret != SUCCESS)
{
qDebug("camera start rgb stream failed(%d)!", ret);
Q_ASSERT(false);
return false;
}
return ret == SUCCESS;
}
bool CSCamera::stopDepthStream()
{
ERROR_CODE ret = m_cameraPtr->stopStream(STREAM_TYPE_DEPTH);
if (ret != SUCCESS)
{
qDebug("camera stop depth stream failed(%d)!", ret);
return false;
}
return true;
}
bool CSCamera::stopRgbStream()
{
ERROR_CODE ret = m_cameraPtr->stopStream(STREAM_TYPE_RGB);
if (ret != SUCCESS)
{
qDebug("camera stop rgb stream failed(%d)!", ret);
return false;
}
return true;
}
bool CSCamera::restartCamera()
{
qInfo() << "CSCamera: restart camera";
setCameraState(CAMERA_RESTARTING_CAMERA);
disconnect(this, &CSCamera::updateParaSignal, this, &CSCamera::onParaUpdated);
stopStreamThread();
ERROR_CODE ret = m_cameraPtr->restart();
if (ret != SUCCESS)
{
qInfo() << "camera restart failed, ret = " << ret;
Q_ASSERT(false);
setCameraState(CAMERA_CONNECTFAILED);
return false;
}
qInfo() << "CSCamera: restart end, wait connect...";
return true;
}
bool CSCamera::connectCamera(CameraInfo info)
{
qInfo() << "connectCamera, camera seiral : "<< info.serial;
m_cameraInfo.cameraInfo = info;
setCameraState(CAMERA_CONNECTING);
ERROR_CODE ret = m_cameraPtr->connect(info);
if (ret != SUCCESS)
{
qWarning() << "camera connect failed, error code : " << ret;
setCameraState(CAMERA_CONNECTFAILED);
return false;
}
// judge if depth stream is supported or not
ret = m_cameraPtr->isStreamSupport(STREAM_TYPE_DEPTH, m_isDepthStreamSup);
if (ret != SUCCESS)
{
qWarning() << "camera call is support stream failed, error code : " << ret;
Q_ASSERT(false);
}
// judge if RGB stream is supported or not
ret = m_cameraPtr->isStreamSupport(STREAM_TYPE_RGB, m_isRgbStreamSup);
if (ret != SUCCESS)
{
qWarning() << "camera call is support stream failed, error code : " << ret;
Q_ASSERT(false);
}
initDefaultStreamInfo();
initCameraInfo();
setCameraState(CAMERA_CONNECTED);
return ret == SUCCESS;
}
bool CSCamera::reconnectCamera()
{
qInfo() << "CSCamera, begin reconnect camera";
bool result = connectCamera(m_cameraInfo.cameraInfo);
qInfo() << "CSCamera, reconnect camera end";
return result;
}
bool CSCamera::disconnectCamera()
{
qInfo() << "CSCamera, begin disconenct camera";
disconnect(this, &CSCamera::updateParaSignal, this, &CSCamera::onParaUpdated);
doDisconnectCamera();
qInfo() << "CSCamera, disconenct camera end";
return true;
}
void CSCamera::doDisconnectCamera()
{
if (getCameraState() == CAMERA_STARTED_STREAM || getCameraState() == CAMERA_PAUSED_STREAM)
{
qInfo() << "CSCamera, begin stop stream";
stopStream();
}
setCameraState(CAMERA_DISCONNECTING);
// disconnect camera
ERROR_CODE ret = m_cameraPtr->disconnect();
if (ret != SUCCESS)
{
qWarning() << "disconnect camera failed, error code : " << ret;
Q_ASSERT(false);
setCameraState(CAMERA_DISCONNECTFAILED);
}
else
{
setCameraState(CAMERA_DISCONNECTED);
}
m_isRgbStreamSup = false;
m_isDepthStreamSup = false;
}
bool CSCamera::pauseStream()
{
if (getCameraState() != CAMERA_STARTED_STREAM) {
qInfo() << "please pause stream latter, state = " << getCameraState();
return false;
}
stopStreamThread();
ERROR_CODE ret = SUCCESS;
//depth
if (m_isDepthStreamSup)
{
ret = m_cameraPtr->pauseStream(STREAM_TYPE_DEPTH);
if (ret != SUCCESS)
{
Q_ASSERT(false);
qWarning() << "pause depth stream failed, error code : " << ret;
}
}
//rgb
if (m_isRgbStreamSup)
{
ret = m_cameraPtr->pauseStream(STREAM_TYPE_RGB);
if (ret != SUCCESS)
{
//Q_ASSERT(false);
qWarning() << "pause rgb stream failed, error code : " << ret;
}
}
setCameraState(CAMERA_PAUSED_STREAM);
return ret == SUCCESS;
}
bool CSCamera::resumeStream()
{
if (getCameraState() != CAMERA_PAUSED_STREAM) {
qInfo() << "please resume stream latter, state = " << getCameraState();
return false;
}
//depth
ERROR_CODE ret = SUCCESS;
if (m_isDepthStreamSup)
{
ret = m_cameraPtr->resumeStream(STREAM_TYPE_DEPTH);
if (ret != SUCCESS)
{
Q_ASSERT(false);
qWarning() << "resume depth stream failed, error code : " << ret;
}
}
//rgb
if (m_isRgbStreamSup)
{
ret = m_cameraPtr->resumeStream(STREAM_TYPE_RGB);
if (ret != SUCCESS)
{
//Q_ASSERT(false);
qWarning() << "resume rgb stream failed, error code : " << ret;
}
}
startStreamThread();
setCameraState(CAMERA_STARTED_STREAM);
return ret = SUCCESS;
}
bool CSCamera::softTrigger()
{
if (getCameraState() != CAMERA_STARTED_STREAM)
{
qWarning() << "";
return false;
}
int frameCount = (m_filterType == FILTER_TDSMOOTH) ? m_filterValue : 1;
bool result = true;
FrameData frameData;
for(int i = 0; i < frameCount; i++)
{
ERROR_CODE ret = m_cameraPtr->softTrigger();
if (ret != SUCCESS)
{
qWarning("camera soft trigger failed(%d)!", ret);
result = false;
}
doGetFrame(frameData.data, 3000);
}
// notify
if (frameData.data.size() > 0)
{
frameData.rgbIntrinsics = m_rgbIntrinsics;
frameData.depthIntrinsics = m_depthIntrinsics;
frameData.extrinsics = m_extrinsics;
frameData.depthScale = m_depthScale;
emit framedDataUpdated(frameData);
}
return result;
}
void CSCamera::initCameraInfo()
{
CameraType cameraType = getCameraTypeBySN(m_cameraInfo.cameraInfo.serial);
m_cameraInfo.model = getCameraTypeName(cameraType);
CS_SDK_VERSION* sdkVersion = nullptr;
getSdkVersion(&sdkVersion);
if (sdkVersion && sdkVersion->version)
{
m_cameraInfo.sdkVersion = sdkVersion->version;
}
//connect type
m_cameraInfo.connectType = isNetworkConnect(m_cameraInfo.cameraInfo.uniqueId) ? CONNECT_TYPE_NET : CONNECT_TYPE_USB;
m_hasIrStream = m_isDepthStreamSup && ((m_depthFormat == STREAM_FORMAT_Z16Y8Y8) || (m_depthFormat == STREAM_FORMAT_PAIR));
m_hasDepthStream = m_isDepthStreamSup && (m_depthFormat != STREAM_FORMAT_PAIR);
ERROR_CODE ret = SUCCESS;
if (m_isDepthStreamSup)
{
ret = m_cameraPtr->getIntrinsics(STREAM_TYPE_DEPTH, m_depthIntrinsics);
if (ret != SUCCESS)
{
qWarning() << "camera get depth intrinsics failed, error code : " << ret;
Q_ASSERT(false);
}
}
if (m_isRgbStreamSup)
{
ret = m_cameraPtr->getIntrinsics(STREAM_TYPE_RGB, m_rgbIntrinsics);
if (ret != SUCCESS)
{
qWarning() << "camera get rgb intrinsics failed, error code : " << ret;
Q_ASSERT(false);
}
PropertyExtension proExt;
proExt.depthRgbMatchParam.iRgbOffset = 0;
proExt.depthRgbMatchParam.iDifThreshold = 0;
ret = m_cameraPtr->setPropertyExtension(PROPERTY_EXT_DEPTH_RGB_MATCH_PARAM, proExt);
if (ret != SUCCESS)
{
qWarning() << "camera set depth rgb match para failed, error code : " << ret;
Q_ASSERT(false);
}
}
ret = m_cameraPtr->getExtrinsics(m_extrinsics);
if (ret != SUCCESS)
{
qWarning() << "camera get extrinsics failed, error code : " << ret;
Q_ASSERT(false);
}
}
void CSCamera::initDefaultStreamInfo()
{
ERROR_CODE ret;
std::vector<StreamInfo> streamInfos;
// default depth stream
if (m_isDepthStreamSup)
{
ret = m_cameraPtr->getStreamInfos(STREAM_TYPE_DEPTH, streamInfos);
if (ret != SUCCESS || streamInfos.empty())
{
qDebug("camera get stream info failed(%d)!\n", ret);
}
else
{
// format
auto defaultFromat = (STREAM_FORMAT)CAMERA_DEFAULT_STREAM_TYPE[PARA_DEPTH_STREAM_FORMAT].toInt();
auto it = std::find_if(streamInfos.begin(), streamInfos.end()
, [=](const StreamInfo& info)
{
return defaultFromat == info.format;
});
it = (it == streamInfos.end()) ? streamInfos.begin() : it;
m_depthFormat = it->format;
// resolution
auto defaultRes = CAMERA_DEFAULT_STREAM_TYPE[PARA_DEPTH_RESOLUTION].toSize();
auto itRes = std::find_if(streamInfos.begin(), streamInfos.end()
, [=](const StreamInfo& info)
{
return (defaultRes.width() == info.width && defaultRes.height() == info.height)
&& (m_depthFormat == info.format);
});
// use *it if not find the resolution
itRes = (itRes == streamInfos.end()) ? it : itRes;
m_depthResolution = QSize(itRes->width, itRes->height);
}
}
if (m_isRgbStreamSup)
{
// default rgb stream
streamInfos.clear();
ret = m_cameraPtr->getStreamInfos(STREAM_TYPE_RGB, streamInfos);
if (ret != SUCCESS || streamInfos.empty())
{
qWarning("camera get stream info failed(%d)!\n", ret);
}
else
{
// format
auto defaultFromat = (STREAM_FORMAT)CAMERA_DEFAULT_STREAM_TYPE[PARA_RGB_STREAM_FORMAT].toInt();
auto it = std::find_if(streamInfos.begin(), streamInfos.end()
, [=](const StreamInfo& info)
{
return defaultFromat == info.format;
});
it = (it == streamInfos.end()) ? streamInfos.begin() : it;
m_rgbFormat = it->format;
// resolution
auto defaultRes = CAMERA_DEFAULT_STREAM_TYPE[PARA_RGB_RESOLUTION].toSize();
auto itRes = std::find_if(streamInfos.begin(), streamInfos.end()
, [=](const StreamInfo& info)
{
return (defaultRes.width() == info.width && defaultRes.height() == info.height)
&& (m_rgbFormat == info.format);
});
// use *it if not find the resolution
itRes = (itRes == streamInfos.end()) ? it : itRes;
m_rgbResolution = QSize(itRes->width, itRes->height);
}
}
}
int CSCamera::doGetFrame(QVector<StreamData>& streamDatas, int timeout)
{
auto ret = SUCCESS;
if (m_isRgbStreamSup)
{
IFramePtr depthFrame, rgbFrame;
ret = m_cameraPtr->getPairedFrame(depthFrame, rgbFrame, timeout);
if (ret != SUCCESS)
{
return ret;
}
onProcessFrame(TYPE_DEPTH, depthFrame, streamDatas);
onProcessFrame(TYPE_RGB, rgbFrame, streamDatas);
}
else
{
IFramePtr depthFrame;
ret = m_cameraPtr->getFrame(STREAM_TYPE_DEPTH, depthFrame, timeout);
if (ret != SUCCESS)
{
return ret;
}
onProcessFrame(TYPE_DEPTH, depthFrame, streamDatas);
}
return SUCCESS;
}
// use getPairedFrame if has a RGB camera, or use getFrame
int CSCamera::onGetFrame(FrameData& frameData, int timeout)
{
return doGetFrame(frameData.data, timeout);
}
bool CSCamera::onProcessFrame(STREAM_DATA_TYPE streamDataType, const IFramePtr& frame, QVector<StreamData>& streamDatas)
{
if (!frame || frame->empty())
{
return false;
}
StreamDataInfo streamDataInfo = { streamDataType, frame->getFormat(),frame->getWidth(), frame->getHeight(), frame->getTimeStamp()};
const int dataSize = frame->getSize();
//copy data
QByteArray data;
data.resize(dataSize);
memcpy(data.data(), frame->getData(), dataSize);
StreamData streamData = { streamDataInfo, data };
streamDatas.push_back(streamData);
return true;
}
void CSCamera::setCameraThread(QThread* thread)
{
m_cameraThread = thread;
Q_ASSERT(m_cameraThread);
moveToThread(m_cameraThread);
}
StreamInfo CSCamera::getDepthStreamInfo()
{
StreamInfo info = { STREAM_FORMAT_COUNT, 0, 0, 0.0f};
std::vector<StreamInfo> streamInfos;
ERROR_CODE ret = m_cameraPtr->getStreamInfos(STREAM_TYPE_DEPTH, streamInfos);
if (ret != SUCCESS || streamInfos.empty())
{
qWarning("camera get depth stream info failed(%d)!\n", ret);
return info;
}
info.fps = -1;
for (const auto& sInfo : streamInfos)
{
if (sInfo.format == m_depthFormat && sInfo.width == m_depthResolution.width()
&& sInfo.height == m_depthResolution.height() && sInfo.fps > info.fps)
{
info = sInfo;
}
}
return info;
}
StreamInfo CSCamera::getRgbStreamInfo()
{
StreamInfo info = { STREAM_FORMAT_COUNT, 0, 0, 0.0f };
std::vector<StreamInfo> streamInfos;
ERROR_CODE ret = m_cameraPtr->getStreamInfos(STREAM_TYPE_RGB, streamInfos);
if (ret != SUCCESS || streamInfos.empty())
{
qWarning("camera get rgb stream info failed(%d)!\n", ret);
return info;
}
info.fps = -1;
for (const auto& sInfo : streamInfos)
{
if (sInfo.format == m_rgbFormat && sInfo.width == m_rgbResolution.width()
&& sInfo.height == m_rgbResolution.height() && sInfo.fps > info.fps)
{
info = sInfo;
}
}
return info;
}
void CSCamera::getUserParaPrivate(CAMERA_PARA_ID paraId, QVariant& value)
{
switch (paraId)
{
case PARA_DEPTH_STREAM_FORMAT:
value = (int)m_depthFormat;
break;
case PARA_DEPTH_RESOLUTION:
value = m_depthResolution;
break;
case PARA_DEPTH_FILTER:
value = m_filterValue;
break;
case PARA_DEPTH_FILTER_TYPE:
value = m_filterType;
break;
case PARA_DEPTH_FILL_HOLE:
value = m_fillHole;
break;
case PARA_RGB_STREAM_FORMAT:
value = (int)m_rgbFormat;
break;
case PARA_RGB_RESOLUTION:
value = m_rgbResolution;
break;
case PARA_HAS_RGB:
value = m_isRgbStreamSup;
break;
case PARA_DEPTH_HAS_IR:
value = m_hasIrStream;
break;
case PARA_HAS_DEPTH:
value = m_hasDepthStream;
break;
case PARA_DEPTH_INTRINSICS:
value = QVariant::fromValue(m_depthIntrinsics);
break;
case PARA_RGB_INTRINSICS:
value = QVariant::fromValue(m_rgbIntrinsics);
break;
case PARA_EXTRINSICS:
value = QVariant::fromValue(m_extrinsics);
break;
default:
qDebug() << "unknow camera para : " << paraId;
break;
}
}
void CSCamera::setUserParaPrivate(CAMERA_PARA_ID paraId, QVariant value)
{
switch (paraId)
{
case PARA_DEPTH_STREAM_FORMAT:
setDepthFormat((STREAM_FORMAT)value.toInt());
return;
case PARA_DEPTH_RESOLUTION:
setDepthResolution(value.toSize());
return;
case PARA_DEPTH_FILTER:
setDepthFilterValue(value.toInt());
return;
case PARA_DEPTH_FILTER_TYPE:
if (m_filterType == value.toInt())
{
return;
}
m_filterType = value.toInt();
break;
case PARA_DEPTH_FILL_HOLE:
if (m_fillHole == value.toBool())
{
return;
}
m_fillHole = value.toBool();