Adding FOURCC usb camera support

introlab · Oct 26, 2024 · 9b1ac02 · 9b1ac02
1 parent e3fde4e
commit 9b1ac02
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Showing 6 changed files with 167 additions and 48 deletions.
diff --git a/corelib/include/rtabmap/core/camera/CameraStereoVideo.h b/corelib/include/rtabmap/core/camera/CameraStereoVideo.h
@@ -69,6 +69,7 @@ class RTABMAP_CORE_EXPORT CameraStereoVideo :
 	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 @@ class RTABMAP_CORE_EXPORT CameraStereoVideo :
 	int usbDevice2_;
 	int _width;
 	int _height;
+	std::string _fourcc;
 };
 
 } // namespace rtabmap
diff --git a/corelib/include/rtabmap/core/camera/CameraVideo.h b/corelib/include/rtabmap/core/camera/CameraVideo.h
@@ -62,6 +62,7 @@ class RTABMAP_CORE_EXPORT CameraVideo :
 	 * 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 @@ class RTABMAP_CORE_EXPORT CameraVideo :
 	std::string _guid;
 	int _width;
 	int _height;
+	std::string _fourcc;
 
 	CameraModel _model;
 };

diff --git a/corelib/src/camera/CameraStereoVideo.cpp b/corelib/src/camera/CameraStereoVideo.cpp
@@ -223,6 +223,45 @@ bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::s
 				}
 			}
 		}
+
+		// 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)
+			{
+				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);
+				}
+				if(!fourccSupported)
+				{
+					UWARN("Camera doesn't support provided FOURCC \"%s\"", fourccUpperCase.c_str());
+				}
+			}
+			else
+			{
+				UERROR("FOURCC parameter should be 4 characters, current value is \"%s\"", _fourcc.c_str());
+			}
+		}
 	}
 
 	if(rectifyImages_ && !stereoModel_.isValidForRectification())

diff --git a/corelib/src/camera/CameraVideo.cpp b/corelib/src/camera/CameraVideo.cpp
@@ -142,6 +142,30 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string
 				_capture.set(CV_CAP_PROP_FRAME_WIDTH, _width);
 				_capture.set(CV_CAP_PROP_FRAME_HEIGHT, _height);
 			}
+
+			// Set FPS
+			if (this->getFrameRate() > 0 && _capture.set(CV_CAP_PROP_FPS, this->getFrameRate()))
+			{
+				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));
+					if(!_capture.set(CV_CAP_PROP_FOURCC, fourcc))
+					{
+						UWARN("Camera doesn't support provided FOURCC \"%s\"", fourccUpperCase.c_str());
+					}
+				}
+				else
+				{
+					UERROR("FOURCC parameter should be 4 characters, current value is \"%s\"", _fourcc.c_str());
+				}
+			}
 		}
 		if(_rectifyImages && !_model.isValidForRectification())
 		{

diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp
@@ -2732,6 +2732,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
 	_ui->spinBox_stereo_right_device->setValue(settings.value("device2", _ui->spinBox_stereo_right_device->value()).toInt());
 	_ui->spinBox_stereousbcam_streamWidth->setValue(settings.value("width", _ui->spinBox_stereousbcam_streamWidth->value()).toInt());
 	_ui->spinBox_stereousbcam_streamHeight->setValue(settings.value("height", _ui->spinBox_stereousbcam_streamHeight->value()).toInt());
+	_ui->lineEdit_stereousbcam_fourcc->setText(settings.value("fourcc", _ui->lineEdit_stereousbcam_fourcc->text()).toString());
 	settings.endGroup(); // StereoVideo
 
 	settings.beginGroup("StereoZed");
@@ -2809,6 +2810,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
 	settings.beginGroup("UsbCam");
 	_ui->spinBox_usbcam_streamWidth->setValue(settings.value("width", _ui->spinBox_usbcam_streamWidth->value()).toInt());
 	_ui->spinBox_usbcam_streamHeight->setValue(settings.value("height", _ui->spinBox_usbcam_streamHeight->value()).toInt());
+	_ui->lineEdit_usbcam_fourcc->setText(settings.value("fourcc", _ui->lineEdit_usbcam_fourcc->text()).toString());
 	settings.endGroup(); // UsbCam
 
 	settings.beginGroup("Video");
@@ -3332,6 +3334,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
 	settings.setValue("device2",		_ui->spinBox_stereo_right_device->value());
 	settings.setValue("width",		    _ui->spinBox_stereousbcam_streamWidth->value());
 	settings.setValue("height",		    _ui->spinBox_stereousbcam_streamHeight->value());
+	settings.setValue("fourcc",         _ui->lineEdit_stereousbcam_fourcc->text());
 	settings.endGroup(); // StereoVideo
 
 	settings.beginGroup("StereoZed");
@@ -3407,6 +3410,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
 	settings.beginGroup("UsbCam");
 	settings.setValue("width",          _ui->spinBox_usbcam_streamWidth->value());
 	settings.setValue("height",         _ui->spinBox_usbcam_streamHeight->value());
+	settings.setValue("fourcc",         _ui->lineEdit_usbcam_fourcc->text());
 	settings.endGroup(); // UsbCam
 
 	settings.beginGroup("Video");
@@ -6738,6 +6742,10 @@ Camera * PreferencesDialog::createCamera(
 				this->getSourceLocalTransform());
 		}
 		((CameraStereoVideo*)camera)->setResolution(_ui->spinBox_stereousbcam_streamWidth->value(), _ui->spinBox_stereousbcam_streamHeight->value());
+		if(!_ui->lineEdit_stereousbcam_fourcc->text().isEmpty())
+		{
+			((CameraStereoVideo*)camera)->setFOURCC(_ui->lineEdit_stereousbcam_fourcc->text().toStdString());
+		}
 	}
 	else if(driver == kSrcStereoVideo)
 	{
@@ -6866,6 +6874,10 @@ Camera * PreferencesDialog::createCamera(
 			this->getGeneralInputRate(),
 			this->getSourceLocalTransform());
 		((CameraVideo*)camera)->setResolution(_ui->spinBox_usbcam_streamWidth->value(), _ui->spinBox_usbcam_streamHeight->value());
+		if(!_ui->lineEdit_usbcam_fourcc->text().isEmpty())
+		{
+			((CameraVideo*)camera)->setFOURCC(_ui->lineEdit_usbcam_fourcc->text().toStdString());
+		}
 	}
 	else if(driver == kSrcVideo)
 	{