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VideoCapture with digital camera and gPhoto2 library

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This commit is contained in:
Piotr Dobrowolski 2015-05-21 00:41:39 +02:00
parent 298c98ea32
commit 6d0407b65e
11 changed files with 1788 additions and 10 deletions
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5
CMakeLists.txt
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@ -205,6 +205,7 @@ OCV_OPTION(WITH_DIRECTX "Include DirectX support" ON
OCV_OPTION(WITH_INTELPERC "Include Intel Perceptual Computing support" OFF IF (WIN32 AND NOT WINRT) )
OCV_OPTION(WITH_IPP_A "Include Intel IPP_A support" OFF IF (MSVC OR X86 OR X86_64) )
OCV_OPTION(WITH_GDAL "Include GDAL Support" OFF IF (NOT ANDROID AND NOT IOS AND NOT WINRT) )
OCV_OPTION(WITH_GPHOTO2 "Include gPhoto2 library support" ON IF (UNIX AND NOT ANDROID) )
# OpenCV build components
# ===================================================
@ -1032,6 +1033,10 @@ if(DEFINED WITH_INTELPERC)
status(" Intel PerC:" HAVE_INTELPERC THEN "YES" ELSE NO)
endif(DEFINED WITH_INTELPERC)
if(DEFINED WITH_GPHOTO2)
status(" gPhoto2:" HAVE_GPHOTO2 THEN "YES" ELSE NO)
endif(DEFINED WITH_GPHOTO2)
# ========================== Other third-party libraries ==========================
status("")

6
cmake/OpenCVFindLibsVideo.cmake
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@ -311,3 +311,9 @@ endif()
if(WITH_INTELPERC)
include("${OpenCV_SOURCE_DIR}/cmake/OpenCVFindIntelPerCSDK.cmake")
endif(WITH_INTELPERC)
# --- gPhoto2 ---
ocv_clear_vars(HAVE_GPHOTO2)
if(WITH_GPHOTO2)
CHECK_MODULE(libgphoto2 HAVE_GPHOTO2)
endif(WITH_GPHOTO2)

3
cmake/templates/cvconfig.h.in
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@ -178,3 +178,6 @@
/* Define if your processor stores words with the most significant byte
first (like Motorola and SPARC, unlike Intel and VAX). */
#cmakedefine WORDS_BIGENDIAN
/* gPhoto2 library */
#cmakedefine HAVE_GPHOTO2

4
modules/videoio/CMakeLists.txt
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@ -186,6 +186,10 @@ if(HAVE_INTELPERC)
list(APPEND VIDEOIO_LIBRARIES ${INTELPERC_LIBRARIES})
endif(HAVE_INTELPERC)
if(HAVE_GPHOTO2)
list(APPEND videoio_srcs ${CMAKE_CURRENT_LIST_DIR}/src/cap_gphoto2.cpp)
endif(HAVE_GPHOTO2)
if(IOS)
add_definitions(-DHAVE_IOS=1)
list(APPEND videoio_srcs

20
modules/videoio/include/opencv2/videoio.hpp
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@ -89,7 +89,8 @@ enum { CAP_ANY = 0, // autodetect
CAP_WINRT = 1410, // Microsoft Windows Runtime using Media Foundation
CAP_INTELPERC = 1500, // Intel Perceptual Computing SDK
CAP_OPENNI2 = 1600, // OpenNI2 (for Kinect)
CAP_OPENNI2_ASUS = 1610 // OpenNI2 (for Asus Xtion and Occipital Structure sensors)
CAP_OPENNI2_ASUS = 1610, // OpenNI2 (for Asus Xtion and Occipital Structure sensors)
CAP_GPHOTO2 = 1700 // gPhoto2 connection
};
// generic properties (based on DC1394 properties)
@ -382,6 +383,23 @@ enum { VIDEOWRITER_PROP_QUALITY = 1, // Quality (0..100%) of the videostream
VIDEOWRITER_PROP_FRAMEBYTES = 2, // (Read-only): Size of just encoded video frame
};
// gPhoto2 properties, if propertyId is less than 0 then work on widget with that __additive inversed__ camera setting ID
// Get IDs by using CAP_PROP_GPHOTO2_WIDGET_ENUMERATE.
// @see CvCaptureCAM_GPHOTO2 for more info
enum { CAP_PROP_GPHOTO2_PREVIEW = 17001, // Capture only preview from liveview mode.
CAP_PROP_GPHOTO2_WIDGET_ENUMERATE = 17002, // Readonly, returns (const char *).
CAP_PROP_GPHOTO2_RELOAD_CONFIG = 17003, // Trigger, only by set. Reload camera settings.
CAP_PROP_GPHOTO2_RELOAD_ON_CHANGE = 17004, // Reload all settings on set.
CAP_PROP_GPHOTO2_COLLECT_MSGS = 17005, // Collect messages with details.
CAP_PROP_GPHOTO2_FLUSH_MSGS = 17006, // Readonly, returns (const char *).
CAP_PROP_SPEED = 17007, // Exposure speed. Can be readonly, depends on camera program.
CAP_PROP_APERTURE = 17008, // Aperture. Can be readonly, depends on camera program.
CAP_PROP_EXPOSUREPROGRAM = 17009, // Camera exposure program.
CAP_PROP_VIEWFINDER = 17010 // Enter liveview mode.
};
//enum {
class IVideoCapture;
/** @brief Class for video capturing from video files, image sequences or cameras. The class provides C++ API

21
modules/videoio/include/opencv2/videoio/videoio_c.h
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@ -110,7 +110,9 @@ enum
CV_CAP_INTELPERC = 1500, // Intel Perceptual Computing
CV_CAP_OPENNI2 = 1600 // OpenNI2 (for Kinect)
CV_CAP_OPENNI2 = 1600, // OpenNI2 (for Kinect)
CV_CAP_GPHOTO2 = 1700
};
/* start capturing frames from camera: index = camera_index + domain_offset (CV_CAP_*) */
@ -391,6 +393,23 @@ enum
CV_CAP_INTELPERC_IMAGE = 3
};
// gPhoto2 properties, if propertyId is less than 0 then work on widget with that __additive inversed__ camera setting ID
// Get IDs by using CAP_PROP_GPHOTO2_WIDGET_ENUMERATE.
// @see CvCaptureCAM_GPHOTO2 for more info
enum
{
CV_CAP_PROP_GPHOTO2_PREVIEW = 17001, // Capture only preview from liveview mode.
CV_CAP_PROP_GPHOTO2_WIDGET_ENUMERATE = 17002, // Readonly, returns (const char *).
CV_CAP_PROP_GPHOTO2_RELOAD_CONFIG = 17003, // Trigger, only by set. Reload camera settings.
CV_CAP_PROP_GPHOTO2_RELOAD_ON_CHANGE = 17004, // Reload all settings on set.
CV_CAP_PROP_GPHOTO2_COLLECT_MSGS = 17005, // Collect messages with details.
CV_CAP_PROP_GPHOTO2_FLUSH_MSGS = 17006, // Readonly, returns (const char *).
CV_CAP_PROP_SPEED = 17007, // Exposure speed. Can be readonly, depends on camera program.
CV_CAP_PROP_APERTURE = 17008, // Aperture. Can be readonly, depends on camera program.
CV_CAP_PROP_EXPOSUREPROGRAM = 17009, // Camera exposure program.
CV_CAP_PROP_VIEWFINDER = 17010 // Enter liveview mode.
};
/* retrieve or set capture properties */
CVAPI(double) cvGetCaptureProperty( CvCapture* capture, int property_id );
CVAPI(int) cvSetCaptureProperty( CvCapture* capture, int property_id, double value );

48
modules/videoio/src/cap.cpp
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@ -518,6 +518,9 @@ static Ptr<IVideoCapture> IVideoCapture_create(int index)
#endif
#ifdef WINRT_VIDEO
CAP_WINRT,
#endif
#ifdef HAVE_GPHOTO2
CV_CAP_GPHOTO2,
#endif
-1, -1
};
@ -536,7 +539,8 @@ static Ptr<IVideoCapture> IVideoCapture_create(int index)
{
#if defined(HAVE_DSHOW) || \
defined(HAVE_INTELPERC) || \
defined(WINRT_VIDEO) || \
defined(WINRT_VIDEO) || \
defined(HAVE_GPHOTO2) || \
(0)
Ptr<IVideoCapture> capture;
@ -558,6 +562,11 @@ static Ptr<IVideoCapture> IVideoCapture_create(int index)
if (capture)
return capture;
break; // CAP_WINRT
#endif
#ifdef HAVE_GPHOTO2
case CV_CAP_GPHOTO2:
capture = createGPhoto2Capture(index);
break;
#endif
}
if (capture && capture->isOpened())
@ -572,14 +581,37 @@ static Ptr<IVideoCapture> IVideoCapture_create(int index)
static Ptr<IVideoCapture> IVideoCapture_create(const String& filename)
{
Ptr<IVideoCapture> capture;
capture = createMotionJpegCapture(filename);
if (capture && capture->isOpened())
int domains[] =
{
return capture;
}
CV_CAP_ANY,
#ifdef HAVE_GPHOTO2
CV_CAP_GPHOTO2,
#endif
-1, -1
};
// try every possibly installed camera API
for (int i = 0; domains[i] >= 0; i++)
{
Ptr<IVideoCapture> capture;
switch (domains[i])
{
case CV_CAP_ANY:
capture = createMotionJpegCapture(filename);
break;
#ifdef HAVE_GPHOTO2
case CV_CAP_GPHOTO2:
capture = createGPhoto2Capture(filename);
break;
#endif
}
if (capture && capture->isOpened())
{
return capture;
}
}
// failed open a camera
return Ptr<IVideoCapture>();
}
@ -800,4 +832,4 @@ int VideoWriter::fourcc(char c1, char c2, char c3, char c4)
return (c1 & 255) + ((c2 & 255) << 8) + ((c3 & 255) << 16) + ((c4 & 255) << 24);
}
}
}

1227
modules/videoio/src/cap_gphoto2.cpp Normal file
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File diff suppressed because it is too large Load Diff

3
modules/videoio/src/precomp.hpp
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@ -186,6 +186,9 @@ namespace cv
Ptr<IVideoCapture> createMotionJpegCapture(const String& filename);
Ptr<IVideoWriter> createMotionJpegWriter( const String& filename, double fps, Size frameSize, bool iscolor );
Ptr<IVideoCapture> createGPhoto2Capture(int index);
Ptr<IVideoCapture> createGPhoto2Capture(const String& deviceName);
};
#endif /* __VIDEOIO_H_ */

1
modules/videoio/test/test_precomp.hpp
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@ -37,6 +37,7 @@
defined(HAVE_AVFOUNDATION) || \
defined(HAVE_GIGE_API) || \
defined(HAVE_INTELPERC) || \
defined(HAVE_GPHOTO2) || \
(0)
//defined(HAVE_ANDROID_NATIVE_CAMERA) || - enable after #1193
# define BUILD_WITH_CAMERA_SUPPORT 1

460
samples/cpp/autofocus.cpp Normal file
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@ -0,0 +1,460 @@
/*
* Copyright (c) 2015, Piotr Dobrowolski dobrypd[at]gmail[dot]com
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
* IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
* INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
* THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
#include <cstdlib>
#include <cstdio>
#include <iostream>
#include <algorithm>
#include <opencv2/opencv.hpp>
using namespace std;
using namespace cv;
const char * windowOriginal = "Captured preview";
const int FOCUS_STEP = 1024;
const int MAX_FOCUS_STEP = 32767;
const int FOCUS_DIRECTION_INFTY = 1;
const int DEFAULT_BREAK_LIMIT = 5;
const int DEFAULT_OUTPUT_FPS = 20;
const double epsylon = 0.0005; // compression, noice, etc.
struct Args_t
{
const char * deviceName;
const char * output;
unsigned int fps;
unsigned int minimumFocusStep;
unsigned int breakLimit;
bool measure;
bool verbose;
} GlobalArgs;
struct FocusState
{
int step;
int direction;
int minFocusStep;
int lastDirectionChange;
int stepToLastMax;
double rate;
double rateMax;
};
static ostream & operator<<(ostream & os, FocusState & state)
{
return os << "RATE=" << state.rate << "\tSTEP="
<< state.step * state.direction << "\tLast change="
<< state.lastDirectionChange << "\tstepToLastMax="
<< state.stepToLastMax;
}
static FocusState createInitialState()
{
FocusState state;
state.step = FOCUS_STEP;
state.direction = FOCUS_DIRECTION_INFTY;
state.minFocusStep = 0;
state.lastDirectionChange = 0;
state.stepToLastMax = 0;
state.rate = 0;
state.rateMax = 0;
return state;
}
static void focusDriveEnd(VideoCapture & cap, int direction)
{
while (cap.set(CAP_PROP_ZOOM, (double) MAX_FOCUS_STEP * direction))
;
}
/**
* Minimal focus step depends on lens
* and I don't want to make any assumptions about it.
*/
static int findMinFocusStep(VideoCapture & cap, unsigned int startWith,
int direction)
{
int lStep, rStep;
lStep = 0;
rStep = startWith;
focusDriveEnd(cap, direction * FOCUS_DIRECTION_INFTY);
while (lStep < rStep)
{
int mStep = (lStep + rStep) / 2;
cap.set(CAP_PROP_ZOOM, direction * FOCUS_DIRECTION_INFTY * FOCUS_STEP);
if (cap.set(CAP_PROP_ZOOM, -direction * mStep))
{
rStep = mStep;
}
else
{
lStep = mStep + 1;
}
}
cap.set(CAP_PROP_ZOOM, direction * FOCUS_DIRECTION_INFTY * MAX_FOCUS_STEP);
if (GlobalArgs.verbose)
{
cout << "Found minimal focus step = " << lStep << endl;
}
return lStep;
}
/**
* Rate frame from 0/blury/ to 1/sharp/.
*/
static double rateFrame(Mat & frame)
{
unsigned long int sum = 0;
unsigned long int size = frame.cols * frame.rows;
Mat edges;
cvtColor(frame, edges, CV_BGR2GRAY);
GaussianBlur(edges, edges, Size(7, 7), 1.5, 1.5);
Canny(edges, edges, 0, 30, 3);
MatIterator_<uchar> it, end;
for (it = edges.begin<uchar>(), end = edges.end<uchar>(); it != end; ++it)
{
sum += *it != 0;
}
return (double) sum / (double) size;
}
static int correctFocus(bool lastSucceeded, FocusState & state, double rate)
{
if (GlobalArgs.verbose)
{
cout << "RATE=" << rate << endl;
}
state.lastDirectionChange++;
double rateDelta = rate - state.rate;
if (rate >= state.rateMax + epsylon)
{
// Update Max
state.stepToLastMax = 0;
state.rateMax = rate;
// My local minimum is now on the other direction, that's why:
state.lastDirectionChange = 0;
}
if (!lastSucceeded)
{
// Focus at limit or other problem, change the direction.
state.direction *= -1;
state.lastDirectionChange = 0;
state.step /= 2;
}
else
{
if (rate < epsylon)
{ // It's hard to say anything
state.step = FOCUS_STEP;
}
else if (rateDelta < -epsylon)
{ // Wrong direction ?
state.direction *= -1;
state.step = static_cast<int>(static_cast<double>(state.step) * 0.75);
state.lastDirectionChange = 0;
}
else if ((rate + epsylon < state.rateMax)
&& ((state.lastDirectionChange > 3)
|| ((state.step < (state.minFocusStep * 1.5))
&& state.stepToLastMax > state.step)))
{ // I've done 3 steps (or I'm finishing) without improvement, go back to max.
state.direction = state.stepToLastMax >= 0 ? 1 : -1;
state.step = static_cast<int>(static_cast<double>(state.step) * 0.75);
int stepToMax = abs(state.stepToLastMax);
state.stepToLastMax = 0;
state.lastDirectionChange = 0; // Like reset.
state.rate = rate;
return stepToMax;
}
}
// Update state.
state.rate = rate;
state.stepToLastMax -= state.direction * state.step;
return state.step;
}
static void showHelp(const char * pName, bool welcomeMsg)
{
cout << "This program demonstrates usage of gPhoto2 VideoCapture.\n\n"
"With OpenCV build without gPhoto2 library support it will "
"do nothing special, just capture.\n\n"
"Simple implementation of autofocus is based on edges detection.\n"
"It was tested (this example) only with Nikon DSLR (Nikon D90).\n"
"But shall work on all Nikon DSLRs, and with little effort with other devices.\n"
"Visit http://www.gphoto.org/proj/libgphoto2/support.php\n"
"to find supported devices (need Image Capture at least).\n"
"Before run, set your camera autofocus ON.\n\n";
if (!welcomeMsg)
{
cout << "usage " << pName << ": [OPTIONS] DEVICE_NAME\n\n"
"OPTIONS:\n"
"\t-h\t\treturns this help message,\n"
"\t-o FILENAME\tsave output video in file (MJPEG only),\n"
"\t-f FPS\t\tframes per second in output video,\n"
"\t-m\t\tmeasure exposition\n"
"\t\t\t(returns rates from closest focus to INTY\n"
"\t\t\tfor every minimum step),\n"
"\t-d INT\t\tset minimum focus step,\n"
"\t-v\t\tverbose mode.\n\n\n"
"DEVICE_NAME\t\tis your digital camera model substring.\n\n\n"
"On runtime you can use keys to control:\n";
}
else
{
cout << "Actions:\n";
}
cout << "\tk:\t- focus out,\n"
"\tj:\t- focus in,\n"
"\t,:\t- focus to the closest point,\n"
"\t.:\t- focus to infinity,\n"
"\tr:\t- reset autofocus state,\n"
"\tf:\t- switch autofocus on/off,\n"
"\tq:\t- quit.\n";
}
static bool parseArguments(int argc, char ** argv)
{
int index;
GlobalArgs.deviceName = "Nikon";
GlobalArgs.output = NULL;
GlobalArgs.fps = DEFAULT_OUTPUT_FPS;
GlobalArgs.minimumFocusStep = 0;
GlobalArgs.breakLimit = DEFAULT_BREAK_LIMIT;
GlobalArgs.measure = false;
GlobalArgs.verbose = false;
for (index = 1; index < argc; index++)
{
const char * arg = argv[index];
if (strcmp(arg, "-h") == 0)
{
return false;
}
else if (strcmp(arg, "-o") == 0)
{
GlobalArgs.output = argv[++index];
}
else if (strcmp(arg, "-f") == 0)
{
if (sscanf(argv[++index], "%u", &GlobalArgs.fps) != 1
|| GlobalArgs.fps <= 0)
{
cerr << "Invalid fps argument." << endl;
return false;
}
}
else if (strcmp(arg, "-m") == 0)
{
GlobalArgs.measure = true;
}
else if (strcmp(arg, "-v") == 0)
{
GlobalArgs.verbose = true;
}
else if (strcmp(arg, "-d") == 0)
{
if (sscanf(argv[++index], "%u", &GlobalArgs.minimumFocusStep) != 1
|| GlobalArgs.minimumFocusStep <= 0)
{
cerr << "Invalid minimum focus step argument." << endl;
return false;
}
}
else if (arg[0] != '-')
{
GlobalArgs.deviceName = arg;
}
else
{
cerr << "Unknown option " << arg << endl;
}
}
return true;
}
int main(int argc, char ** argv)
{
if (!parseArguments(argc, argv))
{
showHelp(argv[0], false);
return -1;
}
VideoCapture cap(GlobalArgs.deviceName);
if (!cap.isOpened())
{
cout << "Cannot find device " << GlobalArgs.deviceName << endl;
showHelp(argv[0], false);
return -1;
}
VideoWriter videoWriter;
Mat frame;
FocusState state = createInitialState();
bool focus = true;
bool lastSucceeded = true;
namedWindow(windowOriginal, 1);
// Get settings:
if (GlobalArgs.verbose)
{
if ((cap.get(CAP_PROP_GPHOTO2_WIDGET_ENUMERATE) == 0)
|| (cap.get(CAP_PROP_GPHOTO2_WIDGET_ENUMERATE) == -1))
{
// Some VideoCapture implementations can return -1, 0.
cout << "This is not GPHOTO2 device." << endl;
return -2;
}
cout << "List of camera settings: " << endl
<< (const char *) (intptr_t) cap.get(CAP_PROP_GPHOTO2_WIDGET_ENUMERATE)
<< endl;
cap.set(CAP_PROP_GPHOTO2_COLLECT_MSGS, true);
}
cap.set(CAP_PROP_GPHOTO2_PREVIEW, true);
cap.set(CAP_PROP_VIEWFINDER, true);
cap >> frame; // To check PREVIEW output Size.
if (GlobalArgs.output != NULL)
{
Size S = Size((int) cap.get(CAP_PROP_FRAME_WIDTH), (int) cap.get(CAP_PROP_FRAME_HEIGHT));
int fourCC = CV_FOURCC('M', 'J', 'P', 'G');
videoWriter.open(GlobalArgs.output, fourCC, GlobalArgs.fps, S, true);
if (!videoWriter.isOpened())
{
cerr << "Cannot open output file " << GlobalArgs.output << endl;
showHelp(argv[0], false);
return -1;
}
}
showHelp(argv[0], true); // welcome msg
if (GlobalArgs.minimumFocusStep == 0)
{
state.minFocusStep = findMinFocusStep(cap, FOCUS_STEP / 16, -FOCUS_DIRECTION_INFTY);
}
else
{
state.minFocusStep = GlobalArgs.minimumFocusStep;
}
focusDriveEnd(cap, -FOCUS_DIRECTION_INFTY); // Start with closest
char key = 0;
while (key != 'q' && key != 27 /*ESC*/)
{
cap >> frame;
if (frame.empty())
{
break;
}
if (GlobalArgs.output != NULL)
{
videoWriter << frame;
}
if (focus && !GlobalArgs.measure)
{
int stepToCorrect = correctFocus(lastSucceeded, state, rateFrame(frame));
lastSucceeded = cap.set(CAP_PROP_ZOOM,
max(stepToCorrect, state.minFocusStep) * state.direction);
if ((!lastSucceeded) || (stepToCorrect < state.minFocusStep))
{
if (--GlobalArgs.breakLimit <= 0)
{
focus = false;
state.step = state.minFocusStep * 4;
cout << "In focus, you can press 'f' to improve with small step, "
"or 'r' to reset." << endl;
}
}
else
{
GlobalArgs.breakLimit = DEFAULT_BREAK_LIMIT;
}
}
else if (GlobalArgs.measure)
{
double rate = rateFrame(frame);
if (!cap.set(CAP_PROP_ZOOM, state.minFocusStep))
{
if (--GlobalArgs.breakLimit <= 0)
{
break;
}
}
else
{
cout << rate << endl;
}
}
if ((focus || GlobalArgs.measure) && GlobalArgs.verbose)
{
cout << "STATE\t" << state << endl;
cout << "Output from camera: " << endl
<< (const char *) (intptr_t) cap.get(CAP_PROP_GPHOTO2_FLUSH_MSGS) << endl;
}
imshow(windowOriginal, frame);
switch (key = static_cast<char>(waitKey(30)))
{
case 'k': // focus out
cap.set(CAP_PROP_ZOOM, 100);
break;
case 'j': // focus in
cap.set(CAP_PROP_ZOOM, -100);
break;
case ',': // Drive to closest
focusDriveEnd(cap, -FOCUS_DIRECTION_INFTY);
break;
case '.': // Drive to infinity
focusDriveEnd(cap, FOCUS_DIRECTION_INFTY);
break;
case 'r': // reset focus state
focus = true;
state = createInitialState();
break;
case 'f': // focus switch on/off
focus ^= true;
break;
}
}
if (GlobalArgs.verbose)
{
cout << "Captured " << (int) cap.get(CAP_PROP_FRAME_COUNT) << " frames"
<< endl << "in " << (int) (cap.get(CAP_PROP_POS_MSEC) / 1e2)
<< " seconds," << endl << "at avg speed "
<< (cap.get(CAP_PROP_FPS)) << " fps." << endl;
}
return 0;
}