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Adding FOURCC usb camera support (#1366)

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* Adding FOURCC usb camera support

* Improved warnings

* more checks and warnings
This commit is contained in:
matlabbe
2024-10-27 18:09:07 -07:00
committed by GitHub
parent 2454b04f1f
commit 8b21c27f5f
6 changed files with 319 additions and 69 deletions
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2
corelib/include/rtabmap/core/camera/CameraStereoVideo.h
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@@ -69,6 +69,7 @@ public:
virtual std::string getSerial() const;
void setResolution(int width, int height) {_width=width, _height=height;}
void setFOURCC(const std::string & fourcc) { _fourcc = fourcc; }
protected:
virtual SensorData captureImage(SensorCaptureInfo * info = 0);
@@ -86,6 +87,7 @@ private:
int usbDevice2_;
int _width;
int _height;
std::string _fourcc;
};
} // namespace rtabmap

2
corelib/include/rtabmap/core/camera/CameraVideo.h
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@@ -62,6 +62,7 @@ public:
* has been loaded, thus resolution from calibration is used.
* */
void setResolution(int width, int height) {_width=width, _height=height;}
void setFOURCC(const std::string & fourcc) { _fourcc = fourcc; }
protected:
virtual SensorData captureImage(SensorCaptureInfo * info = 0);
@@ -79,6 +80,7 @@ private:
std::string _guid;
int _width;
int _height;
std::string _fourcc;
CameraModel _model;
};

120
corelib/src/camera/CameraStereoVideo.cpp
View File

@@ -199,14 +199,39 @@ bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::s
{
if(stereoModel_.isValidForProjection())
{
if(_width > 0 && _height > 0 && (_width!=stereoModel_.left().imageWidth() || _height != stereoModel_.left().imageHeight()))
{
UWARN("Desired resolution of %dx%d is set but calibration has "
"been loaded with resolution %dx%d, using calibration resolution.",
_width, _height,
stereoModel_.left().imageWidth(), stereoModel_.left().imageHeight());
}
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());
bool resolutionSet = false;
resolutionSet = capture_.set(CV_CAP_PROP_FRAME_WIDTH, stereoModel_.left().imageWidth()*(capture2_.isOpened()?1:2));
resolutionSet = resolutionSet && 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());
resolutionSet = resolutionSet && capture2_.set(CV_CAP_PROP_FRAME_WIDTH, stereoModel_.right().imageWidth());
resolutionSet = resolutionSet && capture2_.set(CV_CAP_PROP_FRAME_HEIGHT, stereoModel_.right().imageHeight());
}
// Check if the resolution was set successfully
int actualWidth = int(capture_.get(CV_CAP_PROP_FRAME_WIDTH));
int actualHeight = int(capture_.get(CV_CAP_PROP_FRAME_HEIGHT));
if(!resolutionSet ||
actualWidth != stereoModel_.left().imageWidth()*(capture2_.isOpened()?1:2) ||
actualHeight != stereoModel_.left().imageHeight())
{
UERROR("Calibration resolution (%dx%d) cannot be set to camera driver, "
"actual resolution is %dx%d. You would have to re-calibrate with one "
"supported format by your camera. "
"Do \"v4l2-ctl --list-formats-ext\" to list all supported "
"formats by your camera. For side-by-side format, you should set listed width/2.",
stereoModel_.left().imageWidth(), stereoModel_.left().imageHeight(),
actualWidth/(capture2_.isOpened()?1:2), actualHeight);
}
}
}
@@ -214,13 +239,92 @@ bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::s
{
if(capture_.isOpened())
{
capture_.set(CV_CAP_PROP_FRAME_WIDTH, _width*(capture2_.isOpened()?1:2));
capture_.set(CV_CAP_PROP_FRAME_HEIGHT, _height);
bool resolutionSet = false;
resolutionSet = capture_.set(CV_CAP_PROP_FRAME_WIDTH, _width*(capture2_.isOpened()?1:2));
resolutionSet = resolutionSet && 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);
resolutionSet = resolutionSet && capture2_.set(CV_CAP_PROP_FRAME_WIDTH, _width);
resolutionSet = resolutionSet && capture2_.set(CV_CAP_PROP_FRAME_HEIGHT, _height);
}
// Check if the resolution was set successfully
int actualWidth = int(capture_.get(CV_CAP_PROP_FRAME_WIDTH));
int actualHeight = int(capture_.get(CV_CAP_PROP_FRAME_HEIGHT));
if(!resolutionSet ||
actualWidth != _width*(capture2_.isOpened()?1:2) ||
actualHeight != _height)
{
UWARN("Desired resolution (%dx%d) cannot be set to camera driver, "
"actual resolution is %dx%d. "
"Do \"v4l2-ctl --list-formats-ext\" to list all supported "
"formats by your camera. For side-by-side format, you should set listed width/2.",
_width, _height,
actualWidth/(capture2_.isOpened()?1:2), actualHeight);
}
}
}
// Set FPS
if (this->getFrameRate() > 0)
{
bool fpsSupported = false;
fpsSupported = capture_.set(CV_CAP_PROP_FPS, this->getFrameRate());
if (capture2_.isOpened())
{
fpsSupported = fpsSupported && capture2_.set(CV_CAP_PROP_FPS, this->getFrameRate());
}
if(fpsSupported)
{
// Check if the FPS was set successfully
double actualFPS = capture_.get(cv::CAP_PROP_FPS);
if(fabs(actualFPS - this->getFrameRate()) < 0.01)
{
this->setFrameRate(0);
}
else
{
UWARN("Desired FPS (%f Hz) cannot be set to camera driver, "
"actual FPS is %f Hz. We will throttle to lowest FPS. "
"Do \"v4l2-ctl --list-formats-ext\" to list all supported "
"formats by your camera.",
this->getFrameRate(), actualFPS);
if(this->getFrameRate() > actualFPS)
{
this->setFrameRate(0);
}
}
}
}
// Set FOURCC
if (!_fourcc.empty())
{
if(_fourcc.size() == 4)
{
std::string fourccUpperCase = uToUpperCase(_fourcc);
int fourcc = cv::VideoWriter::fourcc(fourccUpperCase.at(0), fourccUpperCase.at(1), fourccUpperCase.at(2), fourccUpperCase.at(3));
bool fourccSupported = false;
fourccSupported = capture_.set(CV_CAP_PROP_FOURCC, fourcc);
if (capture2_.isOpened())
{
fourccSupported = fourccSupported && capture2_.set(CV_CAP_PROP_FOURCC, fourcc);
}
// Check if the FOURCC was set successfully
int actualFourcc = int(capture_.get(CV_CAP_PROP_FOURCC));
if(!fourccSupported || actualFourcc != fourcc)
{
UWARN("Camera doesn't support provided FOURCC \"%s\". "
"Do \"v4l2-ctl --list-formats-ext\" to list all supported "
"formats by your camera.", fourccUpperCase.c_str());
}
}
else
{
UERROR("FOURCC parameter should be 4 characters, current value is \"%s\"", _fourcc.c_str());
}
}
}

96
corelib/src/camera/CameraVideo.cpp
View File

@@ -134,13 +134,101 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string
{
if(_model.isValidForProjection())
{
_capture.set(CV_CAP_PROP_FRAME_WIDTH, _model.imageWidth());
_capture.set(CV_CAP_PROP_FRAME_HEIGHT, _model.imageHeight());
if(_width > 0 && _height > 0 && (_width!=_model.imageWidth() || _height != _model.imageHeight()))
{
UWARN("Desired resolution of %dx%d is set but calibration has "
"been loaded with resolution %dx%d, using calibration resolution.",
_width, _height,
_model.imageWidth(), _model.imageHeight());
}
bool resolutionSet = false;
resolutionSet = _capture.set(CV_CAP_PROP_FRAME_WIDTH, _model.imageWidth());
resolutionSet = resolutionSet && _capture.set(CV_CAP_PROP_FRAME_HEIGHT, _model.imageHeight());
// Check if the resolution was set successfully
int actualWidth = int(_capture.get(CV_CAP_PROP_FRAME_WIDTH));
int actualHeight = int(_capture.get(CV_CAP_PROP_FRAME_HEIGHT));
if(!resolutionSet ||
actualWidth != _model.imageWidth() ||
actualHeight != _model.imageHeight())
{
UERROR("Calibration resolution (%dx%d) cannot be set to camera driver, "
"actual resolution is %dx%d. You would have to re-calibrate with one "
"supported format by your camera. "
"Do \"v4l2-ctl --list-formats-ext\" to list all supported "
"formats by your camera.",
_model.imageWidth(), _model.imageHeight(),
actualWidth, actualHeight);
}
}
else if(_width > 0 && _height > 0)
{
_capture.set(CV_CAP_PROP_FRAME_WIDTH, _width);
_capture.set(CV_CAP_PROP_FRAME_HEIGHT, _height);
int resolutionSet = false;
resolutionSet = _capture.set(CV_CAP_PROP_FRAME_WIDTH, _width);
resolutionSet = resolutionSet && _capture.set(CV_CAP_PROP_FRAME_HEIGHT, _height);
// Check if the resolution was set successfully
int actualWidth = int(_capture.get(CV_CAP_PROP_FRAME_WIDTH));
int actualHeight = int(_capture.get(CV_CAP_PROP_FRAME_HEIGHT));
if(!resolutionSet || actualWidth != _width || actualHeight != _height)
{
UWARN("Desired resolution (%dx%d) cannot be set to camera driver, "
"actual resolution is %dx%d. "
"Do \"v4l2-ctl --list-formats-ext\" to list all supported "
"formats by your camera.",
_width, _height, actualWidth, actualHeight);
}
}
// Set FPS
if (this->getFrameRate() > 0 && _capture.set(CV_CAP_PROP_FPS, this->getFrameRate()))
{
// Check if the FPS was set successfully
double actualFPS = _capture.get(cv::CAP_PROP_FPS);
if(fabs(actualFPS - this->getFrameRate()) < 0.01)
{
this->setFrameRate(0);
}
else
{
UWARN("Desired FPS (%f Hz) cannot be set to camera driver, "
"actual FPS is %f Hz. We will throttle to lowest FPS. "
"Do \"v4l2-ctl --list-formats-ext\" to list all supported "
"formats by your camera.",
this->getFrameRate(), actualFPS);
if(this->getFrameRate() > actualFPS)
{
this->setFrameRate(0);
}
}
}
// Set FOURCC
if (!_fourcc.empty())
{
if(_fourcc.size() == 4)
{
std::string fourccUpperCase = uToUpperCase(_fourcc);
int fourcc = cv::VideoWriter::fourcc(fourccUpperCase.at(0), fourccUpperCase.at(1), fourccUpperCase.at(2), fourccUpperCase.at(3));
bool fourccSupported = _capture.set(CV_CAP_PROP_FOURCC, fourcc);
// Check if the FOURCC was set successfully
int actualFourcc = int(_capture.get(CV_CAP_PROP_FOURCC));
if(!fourccSupported || actualFourcc != fourcc)
{
UWARN("Camera doesn't support provided FOURCC \"%s\". "
"Do \"v4l2-ctl --list-formats-ext\" to list all supported "
"formats by your camera.", fourccUpperCase.c_str());
}
}
else
{
UERROR("FOURCC parameter should be 4 characters, current value is \"%s\"", _fourcc.c_str());
}
}
}
if(_rectifyImages && !_model.isValidForRectification())