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CameraStereoVideo: added resolution options for usb camera

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matlabbe
2021-02-25 22:22:44 -05:00
parent cad184e82b
commit 862eb0a90a
4 changed files with 121 additions and 20 deletions
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50
corelib/src/camera/CameraStereoVideo.cpp
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@@ -31,6 +31,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/imgproc/types_c.h>
#if CV_MAJOR_VERSION > 3
#include <opencv2/videoio/videoio_c.h>
#if CV_MAJOR_VERSION > 4
#include <opencv2/videoio/legacy/constants_c.h>
#endif
#endif
namespace rtabmap
@@ -51,7 +54,9 @@ CameraStereoVideo::CameraStereoVideo(
rectifyImages_(rectifyImages),
src_(CameraVideo::kVideoFile),
usbDevice_(0),
usbDevice2_(-1)
usbDevice2_(-1),
_width(0),
_height(0)
{
}
@@ -67,7 +72,9 @@ CameraStereoVideo::CameraStereoVideo(
rectifyImages_(rectifyImages),
src_(CameraVideo::kVideoFile),
usbDevice_(0),
usbDevice2_(-1)
usbDevice2_(-1),
_width(0),
_height(0)
{
}
@@ -80,7 +87,9 @@ CameraStereoVideo::CameraStereoVideo(
rectifyImages_(rectifyImages),
src_(CameraVideo::kUsbDevice),
usbDevice_(device),
usbDevice2_(-1)
usbDevice2_(-1),
_width(0),
_height(0)
{
}
@@ -94,7 +103,9 @@ CameraStereoVideo::CameraStereoVideo(
rectifyImages_(rectifyImages),
src_(CameraVideo::kUsbDevice),
usbDevice_(deviceLeft),
usbDevice2_(deviceRight)
usbDevice2_(deviceRight),
_width(0),
_height(0)
{
}
@@ -183,6 +194,37 @@ bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::s
}
stereoModel_.setLocalTransform(this->getLocalTransform());
if(src_ == CameraVideo::kUsbDevice)
{
if(stereoModel_.isValidForProjection())
{
if(capture_.isOpened())
{
capture_.set(CV_CAP_PROP_FRAME_WIDTH, stereoModel_.left().imageWidth()*(capture2_.isOpened()?1:2));
capture_.set(CV_CAP_PROP_FRAME_HEIGHT, stereoModel_.left().imageHeight());
if(capture2_.isOpened())
{
capture2_.set(CV_CAP_PROP_FRAME_WIDTH, stereoModel_.right().imageWidth());
capture2_.set(CV_CAP_PROP_FRAME_HEIGHT, stereoModel_.right().imageHeight());
}
}
}
else if(_width > 0 && _height > 0)
{
if(capture_.isOpened())
{
capture_.set(CV_CAP_PROP_FRAME_WIDTH, _width*(capture2_.isOpened()?1:2));
capture_.set(CV_CAP_PROP_FRAME_HEIGHT, _height);
if(capture2_.isOpened())
{
capture2_.set(CV_CAP_PROP_FRAME_WIDTH, _width);
capture2_.set(CV_CAP_PROP_FRAME_HEIGHT, _height);
}
}
}
}
if(rectifyImages_ && !stereoModel_.isValidForRectification())
{
UERROR("Parameter \"rectifyImages\" is set, but no stereo model is loaded or valid.");