Added Support for (new) Besteker camera

added camera reset button Added default resetCamera
umdenes100 · Nov 10, 2018 · e65cc7b · e65cc7b
1 parent 7d3d86d
commit e65cc7b
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Showing 5 changed files with 110 additions and 12 deletions.
diff --git a/Camera.cpp b/Camera.cpp
@@ -1,8 +1,12 @@
 #include "Camera.h"
+#include "QRegularExpression"
+#include "QDebug"
+#include <QProcess>
 
 Camera::Camera(Arena& arena) : QObject(), mArena(arena) {
     connect(&mCaptureTimer, SIGNAL(timeout()), SLOT(capture()));
     mMarkerDetector.setDetectionMode(aruco::DM_VIDEO_FAST, 0.0001);
+    isBestekerCamera = false;
 }
 
 void Camera::capture() {
@@ -26,6 +30,19 @@ void Camera::capture() {
 
 void Camera::applySettings(uint cameraDevice, QSize resolution, uint frameRate, float markerSize) {
     mCameraDevice = cameraDevice;
+    QString bestekerCamera = QString("USB  Live  Camera");//name of the Besteker camera
+    QString command = QString("v4l2-ctl --list-devices");
+
+    QProcess process;
+    process.start(command);
+    process.waitForFinished(-1);
+
+    if (process.readAllStandardOutput().indexOf(bestekerCamera) != -1) {
+        //check for whether a live camera is plugged in (Besteker)
+        //Besteker has different brightness, sharpness settings and doesn't have a focus option
+        isBestekerCamera = true;
+    }
+
     mVideoCapture.open(cameraDevice);
 
     mVideoCapture.set(cv::CAP_PROP_FOURCC, CV_FOURCC('M','J','P','G'));
@@ -37,16 +54,6 @@ void Camera::applySettings(uint cameraDevice, QSize resolution, uint frameRate,
     mMarkerSize = markerSize;
 }
 
-void Camera::onBrightnessChanged(int brightness) {
-    QString command;
-    command = command + QString("v4l2-ctl -d /dev/video");
-    command = command + QString::number(mCameraDevice);
-    command = command + QString(" -c brightness=");
-    command = command + QString::number(brightness);
-
-    system(command.toStdString().c_str());
-}
-
 void Camera::onCustomXChanged(double x) {
     mCustomCoordinate.x = static_cast<float>(x);
 }
@@ -69,6 +76,9 @@ void Camera::onDrawObstaclesChanged(bool draw) {
 
 void Camera::onFocusChanged(int focus) {
     QString command;
+
+    if (isBestekerCamera) return;
+
     command = command + QString("v4l2-ctl -d /dev/video");
     command = command + QString::number(mCameraDevice);
     command = command + QString(" -c focus_absolute=");
@@ -79,12 +89,75 @@ void Camera::onFocusChanged(int focus) {
 
 void Camera::onSharpnessChanged(int sharpness) {
     QString command;
+
+    if (isBestekerCamera) {
+        sharpness = sharpness * 6.0 / 255.0;
+    }
+    command = command + QString("v4l2-ctl -d /dev/video");
+    command = command + QString::number(mCameraDevice);
+    command = command + QString(" -c sharpness=");
+    command = command + QString::number(sharpness);
+
+    system(command.toStdString().c_str());
+}
+
+void Camera::onBrightnessChanged(int brightness) {
+    QString command;
+    if (isBestekerCamera) {
+        brightness = brightness * 128.0 / 255.0 - 64;
+    }
+    command = command + QString("v4l2-ctl -d /dev/video");
+    command = command + QString::number(mCameraDevice);
+    command = command + QString(" -c brightness=");
+    command = command + QString::number(brightness);
+
+    system(command.toStdString().c_str());
+}
+
+void Camera::resetCamera() {
+    //'v4l2-ctl -d /dev/video2 --all' lists default values for the camera
+    int sharpness, brightness, contrast;
+    QString command;
+    if (isBestekerCamera) {
+        sharpness = 6;
+        contrast = 64;
+        brightness = -64;
+    } else {
+        sharpness = 128;
+        contrast = 128;
+        brightness = 128;
+    }
+
+    //set sharpness
     command = command + QString("v4l2-ctl -d /dev/video");
     command = command + QString::number(mCameraDevice);
     command = command + QString(" -c sharpness=");
     command = command + QString::number(sharpness);
+    system(command.toStdString().c_str());
+
+    //set brightness
+    command = QString("v4l2-ctl -d /dev/video");
+    command = command + QString::number(mCameraDevice);
+    command = command + QString(" -c brightness=");
+    command = command + QString::number(brightness);
+    system(command.toStdString().c_str());
 
+    //set contrast
+    command = QString("v4l2-ctl -d /dev/video");
+    command = command + QString::number(mCameraDevice);
+    command = command + QString(" -c contrast=");
+    command = command + QString::number(contrast);
     system(command.toStdString().c_str());
+
+    //set focus
+    if (!isBestekerCamera) {
+        command = QString("v4l2-ctl -d /dev/video");
+        command = command + QString::number(mCameraDevice);
+        command = command + QString(" -c focus_absolute=");
+        command = command + QString::number(0);
+        system(command.toStdString().c_str());
+    }
+
 }
 
 inline QImage Camera::cvMatToQImage(const cv::Mat& inMat)

diff --git a/Camera.h b/Camera.h
@@ -18,6 +18,8 @@ class Camera : public QObject {
 
 public:
     explicit Camera(Arena& arena);
+    void resetCamera();
+    bool isBestekerCamera;
 
 public slots:
     void applySettings(uint cameraDevice, QSize resolution, uint frameRate, float markerSize);

diff --git a/MainWindow.cpp b/MainWindow.cpp
@@ -65,6 +65,7 @@ void MainWindow::onApplySettingsClicked()
     float markerSize = ui->markerSizeLineEdit->text().toFloat();
 
     mCamera.applySettings(cameraDevice, resolution, frameRate, markerSize);
+    this->on_resetCamera_clicked();
 
     // Arena size
     float width = ui->arenaWidthLineEdit->text().toFloat();
@@ -92,3 +93,17 @@ void MainWindow::fillDefaultSettings()
     onApplySettingsClicked();
 }
 
+
+void MainWindow::on_resetCamera_clicked()
+{
+   mCamera.resetCamera();
+   if (mCamera.isBestekerCamera) {
+       ui->cameraFocusSlider->setValue(0);
+       ui->cameraBrightnessSlider->setValue(0);
+       ui->cameraSharpnessSlider->setValue(255);
+   } else {
+       ui->cameraFocusSlider->setValue(128);
+       ui->cameraBrightnessSlider->setValue(128);
+       ui->cameraSharpnessSlider->setValue(128);
+   }
+}
diff --git a/MainWindow.h b/MainWindow.h
@@ -23,6 +23,7 @@ private slots:
     void onNewFrame(QImage image);
     void onApplySettingsClicked();
     void onRandomizeButtonClicked();
+    void on_resetCamera_clicked();
 
 private:
     Ui::MainWindow *ui;

diff --git a/MainWindow.ui b/MainWindow.ui
@@ -34,7 +34,7 @@
            </size>
           </property>
           <property name="currentIndex">
-           <number>1</number>
+           <number>2</number>
           </property>
           <widget class="QWidget" name="tab">
            <attribute name="title">
@@ -345,6 +345,13 @@
                   </item>
                  </layout>
                 </item>
+                <item row="11" column="1">
+                 <widget class="QPushButton" name="resetCamera">
+                  <property name="text">
+                   <string>Reset Camera</string>
+                  </property>
+                 </widget>
+                </item>
                </layout>
               </item>
               <item>
@@ -413,7 +420,7 @@
      <x>0</x>
      <y>0</y>
      <width>1056</width>
-     <height>19</height>
+     <height>22</height>
     </rect>
    </property>
   </widget>