Kinect support for Point Tracker (#914)

Kinect tracker now provides IR camera for Point Tracker to use.
Closes #914

1 files changed, 74 insertions, 0 deletions

diff --git a/tracker-kinect-face/camera_kinect_ir.h b/tracker-kinect-face/camera_kinect_ir.h
new file mode 100644
index 00000000..f38c342a
--- /dev/null
+++ b/tracker-kinect-face/camera_kinect_ir.h
@@ -0,0 +1,74 @@
+/* Copyright (c) 2019 Stéphane Lenclud
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+
+#pragma once
+
+#ifdef OTR_HAVE_OPENCV
+
+#include <Kinect.h>
+
+//#include "pt-api.hpp"
+#include "compat/timer.hpp"
+#include "video/camera.hpp"
+
+
+#include <memory>
+
+#include <opencv2/core.hpp>
+#include <opencv2/videoio.hpp>
+
+#include <QString>
+
+namespace Kinect {
+
+    struct CamerasProvider : video::impl::camera_
+    {
+        CamerasProvider();
+        std::vector<QString> camera_names() const override;
+        std::unique_ptr<video::impl::camera> make_camera(const QString& name) override;
+        bool can_show_dialog(const QString& camera_name) override;
+        bool show_dialog(const QString& camera_name) override;
+    };
+
+
+///
+/// Implement our camera interface using Kinect V2 SDK IR Sensor.
+///
+struct CameraKinectIr final : video::impl::camera
+{
+    CameraKinectIr();
+    virtual ~CameraKinectIr();
+
+
+    [[nodiscard]] bool start(const info& args) override;
+    void stop() override;
+    bool is_open() override;
+    std::tuple<const video::impl::frame&, bool> get_frame() override;
+    [[nodiscard]] bool show_dialog() override;
+
+private:
+    bool get_frame_(cv::Mat& frame);
+    void WaitForFirstFrame();
+
+private:
+    // Current Kinect
+    IKinectSensor* iKinectSensor = nullptr;
+
+    // Infrared reader
+    IInfraredFrameReader*  iInfraredFrameReader = nullptr;
+
+    // Frame needs to stay alive while we access the data buffer
+    IInfraredFrame* iInfraredFrame = nullptr;
+
+    video::frame iFrame;
+    cv::Mat iMatFrame;
+};
+
+}
+
+
+#endif