add: CameraCaptureクラスの実装

Author: Hara1274

.vscode/settings.json

@@ -0,0 +1,73 @@
+{
+    "files.associations": {
+        "any": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "cctype": "cpp",
+        "charconv": "cpp",
+        "chrono": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "compare": "cpp",
+        "complex": "cpp",
+        "concepts": "cpp",
+        "condition_variable": "cpp",
+        "csignal": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "deque": "cpp",
+        "forward_list": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "format": "cpp",
+        "fstream": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "semaphore": "cpp",
+        "span": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "stop_token": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cinttypes": "cpp",
+        "typeinfo": "cpp",
+        "variant": "cpp"
+    }
+}

tests/CameraCaptureTest.cpp

@@ -10,19 +10,35 @@
 
 using namespace std;
 
-namespace CameraCapure_test {
-  // start関数が最終的に標準出力に"Hello KATLAB"を出力することを確認するテスト
-  TEST(CameraCapureTest, Start)
+namespace etrobocon2025_test {
+  // CameraCaptureクラスがインスタンス化ができるか確認するテスト
+  TEST(CameraCapureTest, CameraCapureInit)
   {
-    string expected = "Camera started.\n";
+    CameraCapture cap;
+    int expected = 0;
 
-    // 標準出力をキャプチャ
-    OStreamCapture capture(cout);
+    EXPECT_EQ(expected, cap.getCameraID());
+  }
 
+  // 有効なcameraIDを指定した場合のテスト
+  TEST(CameraCapureTest, SetCameraIDTrue)
+  {
+    CameraCapture cap;
+    int expected = 1;
+    int cameraID = 1;
 
-    // start関数を実行
-    CameraCapture::start();
+    ASSERT_TRUE(cap.setCameraID(cameraID));
+    EXPECT_EQ(expected, cap.getCameraID());
+  }
+
+  // 無効なcameraIDを指定した場合のテスト
+  TEST(CameraCapureTest, SetCameraIDFalse)
+  {
+    CameraCapture cap;
+    int expected = 0;
+    int cameraID = -1;
 
-    EXPECT_EQ(expected, capture.getOutput());
+    ASSERT_FALSE(cap.setCameraID(cameraID));
+    EXPECT_EQ(expected, cap.getCameraID());
   }
 }  // namespace etrobocon2025_test

usb_camera/CameraCapure.cpp

@@ -4,28 +4,94 @@
  * @author Haranaruki
  */
 
- #include "CameraCapure.h"
+#include "CameraCapure.h"
 
-void CameraCapture::start() {
-    std::cout << "Camera started." << std::endl;
+CameraCapture::CameraCapture() : cameraID(0) {}
 
-    cv::VideoCapture cap(0); // デバイスID 0 を指定
-
-    if (!cap.isOpened()) {
-        std::cerr << "カメラを開けませんでした。" << std::endl;
-        return ;
+int CameraCapture::getAvailableCameraID(int maxTested)
+{
+  for(int i = 0; i < maxTested; ++i) {
+    cv::VideoCapture cap(i);
+    if(cap.isOpened()) {
+      cap.release();
+      return i;
     }
+  }
+  return -1;
+}
 
-    cv::Mat frame;
-    while (true) {
-        cap >> frame;
-        if (frame.empty()) break;
+int CameraCapture::getCameraID()
+{
+  return cameraID;
+}
 
-        cv::imshow("USB Camera", frame);
-        if (cv::waitKey(1) == 'q') break;
-    }
+bool CameraCapture::setCameraID(int id)
+{
+  if(id < 0) {
+    return false;
+  }
+  cameraID = id;
+  return true;
+}
+
+bool CameraCapture::openCamera()
+{
+  cap.open(cameraID);
+  if(!cap.isOpened()) {
+    std::cerr << "カメラを開くことができませんでした。" << std::endl;
+    return false;
+  }
+
+  return true;
+}
 
-    cap.release();
-    cv::destroyAllWindows();
-    return ;
+void CameraCapture::setCapProps(double width, double height)
+{
+  cap.set(cv::CAP_PROP_FRAME_WIDTH, width);
+  cap.set(cv::CAP_PROP_FRAME_HEIGHT, height);
 }
+
+bool CameraCapture::getFrame(cv::Mat& outFrame)
+{
+  if(!cap.isOpened()) {
+    std::cerr << "カメラを開いて開いてください。" << std::endl;
+    return false;
+  }
+  cap >> outFrame;
+  if(outFrame.empty()) {
+    std::cerr << "フレームの取得に失敗しました。" << std::endl;
+    return false;
+  }
+  return true;
+}
+
+bool CameraCapture::getFrames(cv::Mat* frames, int numFrames, double seconds)
+{
+  if(frames == nullptr || numFrames <= 0 || seconds <= 0) return false;
+  int intervalMs = static_cast<int>((seconds * 1000) / numFrames);
+  bool allSuccess = true;
+  for(int i = 0; i < numFrames; ++i) {
+    if(!getFrame(frames[i])) {
+      std::cerr << "フレーム " << i << " の取得に失敗しました。" << std::endl;
+      allSuccess = false;
+    }
+    if(i < numFrames - 1) {
+      std::this_thread::sleep_for(std::chrono::milliseconds(intervalMs));
+    }
+  }
+  return allSuccess;
+}
+
+bool CameraCapture::saveLatestFrame(std::string filepath, std::string filename)
+{
+  if(latestFrame.empty()) {
+    std::cerr << "保存するフレームがありません。" << std::endl;
+    return false;
+  }
+  std::string fullpath = filepath + "/" + filename + ".JPEG";
+  if(!cv::imwrite(fullpath, latestFrame)) {
+    std::cerr << "画像の保存に失敗しました: " << fullpath << std::endl;
+    return false;
+  }
+  return true;
+}

usb_camera/CameraCapure.h

@@ -9,11 +9,27 @@
 
 #include <iostream>
 #include <opencv2/opencv.hpp>
+#include <vector>
+#include <string>
+#include <thread>
+#include <chrono>
 
 class CameraCapture {
-public:
-    static void start();
-};
+ private:
+  cv::VideoCapture cap;
+  int cameraID;
+  cv::Mat latestFrame;
 
+ public:
+  CameraCapture();
+  int getAvailableCameraID(int maxTested = 10);
+  int getCameraID();
+  bool setCameraID(int id);
+  bool openCamera();
+  void setCapProps(double width, double height);
+  bool getFrame(cv::Mat& outFrame);
+  bool getFrames(cv::Mat* frames, int numFrames, double seconds);
+  bool saveLatestFrame(std::string filepath, std::string filename);
+};
 
 #endif