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ackimixs
2024-02-10 18:41:33 +01:00
parent 0685975b26
commit 247ce0e1cb
2 changed files with 9 additions and 8 deletions
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15
aruco/ArucoDetector.cpp
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@@ -20,10 +20,11 @@ ArucoDetector::ArucoDetector(const Type::RobotPose& pose, const std::string& cal
this->readCameraParameters(calibrationPath);
// this->cap = cv::VideoCapture(cameraId);
cam.options->video_width=1920;
cam.options->video_height=1080;
cam.options->framerate=30;
cam.options->verbose=true;
this->cam = new lccv::PiCamera();
cam->options->video_width=1920;
cam->options->video_height=1080;
cam->options->framerate=10;
cam->options->verbose=true;
/* if (!cap.isOpened()) {
std::cerr << "Error opening camera." << std::endl;
@@ -47,7 +48,7 @@ ArucoDetector::ArucoDetector(const Type::RobotPose& pose, const std::string& cal
this->addArucoTag(ArucoTag(47, "Solar panel", 50, SOLAR_PANEL));
cam.startVideo();
cam->startVideo();
}
ArucoDetector::ArucoDetector(const float x, const float y, const float z, const float theta, const std::string& calibrationPath, const Team team, const int cameraId, const bool headless) : ArucoDetector(Type::RobotPose{cv::Point3f(x, y, z), theta}, calibrationPath, team, cameraId, headless)
@@ -56,7 +57,7 @@ ArucoDetector::ArucoDetector(const float x, const float y, const float z, const
ArucoDetector::~ArucoDetector()
{
cam.stopVideo();
cam->stopVideo();
cv::destroyAllWindows();
}
@@ -93,7 +94,7 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
}
cv::Mat frame;
cam.getVideoFrame(frame, 1000);
cam->getVideoFrame(frame, 1);
// cap >> frame; // Capture frame from the camera
std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> result;

2
aruco/ArucoDetector.h
View File

@@ -13,7 +13,7 @@ class ArucoDetector {
cv::Mat distCoeffs;
// cv::VideoCapture cap;
lccv::PiCamera cam;
lccv::PiCamera* cam;
// 4.6
cv::Ptr<cv::aruco::Dictionary> dictionary;