1 files changed, 182 insertions, 0 deletions
diff --git a/tracker-pt/module/camera_kinect_ir.cpp b/tracker-pt/module/camera_kinect_ir.cpp
new file mode 100644
index 00000000..ea5d2591
--- /dev/null
+++ b/tracker-pt/module/camera_kinect_ir.cpp
@@ -0,0 +1,182 @@
+/* Copyright (c) 2012 Patrick Ruoff
+ *
+ * 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.
+ */
+
+#include "camera_kinect_ir.h"
+#include "frame.hpp"
+
+#include "compat/sleep.hpp"
+#include "compat/camera-names.hpp"
+#include "compat/math-imports.hpp"
+
+#include <opencv2/imgproc.hpp>
+
+#include "cv/video-property-page.hpp"
+
+#include <cstdlib>
+
+namespace pt_module {
+
+CameraKinectIr::CameraKinectIr(const QString& module_name) : s { module_name }
+{
+}
+
+QString CameraKinectIr::get_desired_name() const
+{
+    return desired_name;
+}
+
+QString CameraKinectIr::get_active_name() const
+{
+    return active_name;
+}
+
+void CameraKinectIr::show_camera_settings()
+{
+    const int idx = camera_name_to_index(s.camera_name);
+
+    if (cap && cap->isOpened())
+        video_property_page::show_from_capture(*cap, idx);
+    else
+        video_property_page::show(idx);
+}
+
+CameraKinectIr::result CameraKinectIr::get_info() const
+{
+    if (cam_info.res_x == 0 || cam_info.res_y == 0)
+        return { false, pt_camera_info() };
+    else
+        return { true, cam_info };
+}
+
+CameraKinectIr::result CameraKinectIr::get_frame(pt_frame& frame_)
+{
+    cv::Mat& frame = frame_.as<Frame>()->mat;
+
+    const bool new_frame = get_frame_(frame);
+
+    if (new_frame)
+    {
+        const f dt = (f)t.elapsed_seconds();
+        t.start();
+
+        // measure fps of valid frames
+        constexpr f RC = f{1}/10; // seconds
+        const f alpha = dt/(dt + RC);
+
+        if (dt_mean < dt_eps)
+            dt_mean = dt;
+        else
+            dt_mean = (1-alpha) * dt_mean + alpha * dt;
+
+        cam_info.fps = dt_mean > dt_eps ? 1 / dt_mean : 0;
+        cam_info.res_x = frame.cols;
+        cam_info.res_y = frame.rows;
+        cam_info.fov = fov;
+
+        return { true, cam_info };
+    }
+    else
+        return { false, {} };
+}
+
+bool CameraKinectIr::start(int idx, int fps, int res_x, int res_y)
+{
+
+    if (idx >= 0 && fps >= 0 && res_x >= 0 && res_y >= 0)
+    {
+        if (cam_desired.idx != idx ||
+            (int)cam_desired.fps != fps ||
+            cam_desired.res_x != res_x ||
+            cam_desired.res_y != res_y ||
+            !cap || !cap->isOpened() || !cap->grab())
+        {
+            stop();
+
+            desired_name = get_camera_names().value(idx);
+            bool kinectIRSensor = false;
+            if (desired_name.compare(KKinectIRSensor) == 0)
+            {
+                kinectIRSensor = true;
+            }
+            cam_desired.idx = idx;
+            cam_desired.fps = fps;
+            cam_desired.res_x = res_x;
+            cam_desired.res_y = res_y;
+            cam_desired.fov = fov;
+
+            cap = camera_ptr(new cv::VideoCapture(idx));
+
+            if (cam_desired.res_x > 0 && cam_desired.res_y > 0)
+            {
+                cap->set(cv::CAP_PROP_FRAME_WIDTH,  res_x);
+                cap->set(cv::CAP_PROP_FRAME_HEIGHT, res_y);
+            }
+
+            if (fps > 0)
+                cap->set(cv::CAP_PROP_FPS, fps);
+
+            if (cap->isOpened())
+            {
+                cam_info = pt_camera_info();
+                cam_info.idx = idx;
+                dt_mean = 0;
+                active_name = desired_name;
+
+                cv::Mat tmp;
+
+                if (get_frame_(tmp))
+                {
+                    t.start();
+                    return true;
+                }
+            }
+
+            cap = nullptr;
+            return false;
+        }
+
+        return true;
+    }
+
+    stop();
+    return false;
+}
+
+void CameraKinectIr::stop()
+{
+    cap = nullptr;
+    desired_name = QString{};
+    active_name = QString{};
+    cam_info = {};
+    cam_desired = {};
+}
+
+bool CameraKinectIr::get_frame_(cv::Mat& frame)
+{
+    if (cap && cap->isOpened())
+    {
+        for (unsigned i = 0; i < 10; i++)
+        {
+            if (cap->read(frame))
+                return true;
+            portable::sleep(50);
+        }
+    }
+    return false;
+}
+
+void CameraKinectIr::camera_deleter::operator()(cv::VideoCapture* cap)
+{
+    if (cap)
+    {
+        if (cap->isOpened())
+            cap->release();
+        delete cap;
+    }
+}
+
+} // ns pt_module