update: CameraCaptureを実機で動くように変更

Author: takuchi17

Makefile.inc

@@ -5,6 +5,7 @@ mkfile_path := $(dir $(lastword $(MAKEFILE_LIST)))
 
 # Shellスクリプトで、moduleディレクトリ中のソースコード名をオブジェクトファイル名に変換している
 SRCS := $(shell find ${mkfile_path}modules -name '*.cpp')
+SRCS += $(shell find ${mkfile_path}usb_camera -name '*.cpp')
 OBJS := $(notdir $(SRCS:.cpp=.o))
 APPL_CXXOBJS += $(OBJS)
 
@@ -13,9 +14,11 @@ SRCLANG := c++
 APPL_LIBS += -lm
 
 APPL_DIRS += $(mkfile_path)modules
+APPL_DIRS += $(mkfile_path)usb_camera
 
 INCLUDES += \
 	-I$(mkfile_path)modules\
+	-I$(mkfile_path)usb_camera\
 	-I/usr/include/opencv4
 
 APPL_LIBS += $(shell pkg-config --libs opencv4)

tests/CameraCaptureTest.cpp

@@ -5,14 +5,14 @@
  */
 
 #include <gtest/gtest.h>
-#include "../usb_camera/CameraCapure.h"
+#include "../usb_camera/CameraCapture.h"
 #include "helpers/OStreamCapture.h"
 
 using namespace std;
 
 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)
+  TEST(CameraCaptureTest, CameraCaptureInit)
   {
     CameraCapture cap;
     int expected = 0;
@@ -21,7 +21,7 @@ namespace etrobocon2025_test {
   }
 
   // 有効なcameraIDを指定した場合のテスト
-  TEST(CameraCapureTest, SetCameraIDTrue)
+  TEST(CameraCaptureTest, SetCameraIDTrue)
   {
     CameraCapture cap;
     int expected = 1;
@@ -32,7 +32,7 @@ namespace etrobocon2025_test {
   }
 
   // 無効なcameraIDを指定した場合のテスト
-  TEST(CameraCapureTest, SetCameraIDFalse)
+  TEST(CameraCaptureTest, SetCameraIDFalse)
   {
     CameraCapture cap;
     int expected = 0;

usb_camera/CameraCapure.cpp usb_camera/CameraCapture.cppusb_camera/CameraCapure.cpp renamed to usb_camera/CameraCapture.cpp

@@ -4,7 +4,7 @@
  * @author Haranaruki
  */
 
-#include "CameraCapure.h"
+#include "CameraCapture.h"
 
 CameraCapture::CameraCapture() : cameraID(0) {}
 
@@ -82,14 +82,14 @@ bool CameraCapture::getFrames(cv::Mat* frames, int numFrames, double seconds)
   return allSuccess;
 }
 
-bool CameraCapture::saveLatestFrame(std::string filepath, std::string filename)
+bool CameraCapture::saveFrame(const cv::Mat& frame, std::string filepath, std::string filename)
 {
-  if(latestFrame.empty()) {
+  if(frame.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)) {
+  if(!cv::imwrite(fullpath, frame)) {
     std::cerr << "画像の保存に失敗しました: " << fullpath << std::endl;
     return false;
   }

usb_camera/CameraCapure.h usb_camera/CameraCapture.husb_camera/CameraCapure.h renamed to usb_camera/CameraCapture.h

@@ -7,8 +7,8 @@
 #ifndef CAMERACAPTURE_H
 #define CAMERACAPTURE_H
 
-#include <iostream>
 #include <opencv2/opencv.hpp>
+#include <iostream>
 #include <vector>
 #include <string>
 #include <thread>
@@ -29,7 +29,7 @@ class CameraCapture {
   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);
+  bool saveFrame(const cv::Mat& frame, std::string filepath, std::string filename);
 };
 
 #endif