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-rw-r--r--tracker-pt/module/CMakeLists.txt2
-rw-r--r--tracker-pt/module/camera_kinect_ir.cpp182
-rw-r--r--tracker-pt/module/camera_kinect_ir.h70
-rw-r--r--tracker-pt/module/module.cpp47
4 files changed, 297 insertions, 4 deletions
diff --git a/tracker-pt/module/CMakeLists.txt b/tracker-pt/module/CMakeLists.txt
index 22b725c9..72d985c6 100644
--- a/tracker-pt/module/CMakeLists.txt
+++ b/tracker-pt/module/CMakeLists.txt
@@ -3,4 +3,6 @@ if(OpenCV_FOUND)
otr_module(tracker-pt)
target_link_libraries(${self} opentrack-tracker-pt-base)
target_include_directories(${self} PUBLIC "${CMAKE_SOURCE_DIR}/tracker-pt")
+ # Add Kinect dependency if available
+ otr_kinect_setup()
endif()
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
diff --git a/tracker-pt/module/camera_kinect_ir.h b/tracker-pt/module/camera_kinect_ir.h
new file mode 100644
index 00000000..93c3d75b
--- /dev/null
+++ b/tracker-pt/module/camera_kinect_ir.h
@@ -0,0 +1,70 @@
+/* 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.
+ */
+
+#pragma once
+
+#if __has_include(<Kinect.h>)
+
+#include "pt-api.hpp"
+#include "compat/timer.hpp"
+
+#include <memory>
+
+#include <opencv2/core.hpp>
+#include <opencv2/videoio.hpp>
+
+#include <QString>
+
+namespace pt_module {
+
+///
+/// Implement our camera interface using Kinect V2 SDK IR Sensor.
+///
+struct CameraKinectIr final : pt_camera
+{
+ CameraKinectIr(const QString& module_name);
+
+ bool start(int idx, int fps, int res_x, int res_y) override;
+ void stop() override;
+
+ result get_frame(pt_frame& Frame) override;
+ result get_info() const override;
+
+ pt_camera_info get_desired() const override { return cam_desired; }
+ QString get_desired_name() const override;
+ QString get_active_name() const override;
+
+ void set_fov(f value) override { fov = value; }
+ void show_camera_settings() override;
+
+private:
+ [[nodiscard]] bool get_frame_(cv::Mat& frame);
+
+ f dt_mean = 0, fov = 30;
+ Timer t;
+ pt_camera_info cam_info;
+ pt_camera_info cam_desired;
+ QString desired_name, active_name;
+
+ struct camera_deleter final
+ {
+ void operator()(cv::VideoCapture* cap);
+ };
+
+ using camera_ptr = std::unique_ptr<cv::VideoCapture, camera_deleter>;
+
+ camera_ptr cap;
+
+ pt_settings s;
+
+ static constexpr f dt_eps = f{1}/256;
+};
+
+} // ns pt_module
+
+
+#endif
diff --git a/tracker-pt/module/module.cpp b/tracker-pt/module/module.cpp
index db3e8fac..c3b417a7 100644
--- a/tracker-pt/module/module.cpp
+++ b/tracker-pt/module/module.cpp
@@ -2,6 +2,7 @@
#include "module.hpp"
#include "camera.h"
+#include "camera_kinect_ir.h"
#include "compat/camera-names.hpp"
#include "frame.hpp"
#include "point_extractor.h"
@@ -19,7 +20,9 @@ static const QString module_name = "tracker-pt";
namespace pt_module {
-// Traits for OpenCV VideoCapture camera
+///
+/// Traits for OpenCV VideoCapture camera
+///
struct pt_module_traits final : pt_runtime_traits
{
pointer<pt_camera> make_camera() const override
@@ -48,6 +51,41 @@ struct pt_module_traits final : pt_runtime_traits
}
};
+#if __has_include(<Kinect.h>)
+///
+/// Traits for Kinect V2 IR Sensor
+///
+struct KinectIrTraits final : pt_runtime_traits
+{
+ pointer<pt_camera> make_camera() const override
+ {
+ return pointer<pt_camera>(new CameraKinectIr(module_name));
+ }
+
+ pointer<pt_point_extractor> make_point_extractor() const override
+ {
+ return pointer<pt_point_extractor>(new PointExtractor(module_name));
+ }
+
+ QString get_module_name() const override
+ {
+ return module_name;
+ }
+
+ pointer<pt_frame> make_frame() const override
+ {
+ return pointer<pt_frame>(new Frame);
+ }
+
+ pointer<pt_preview> make_preview(int w, int h) const override
+ {
+ return pointer<pt_preview>(new Preview(w, h));
+ }
+};
+#endif
+
+
+
struct tracker_pt : Tracker_PT
{
tracker_pt() : Tracker_PT(module_name)
@@ -56,13 +94,14 @@ struct tracker_pt : Tracker_PT
pointer<pt_runtime_traits> create_traits() override
{
- // Create different traits according to settings
+#if __has_include(<Kinect.h>)
+ // Create Kinect traits according to settings
if (s.camera_name().compare(KKinectIRSensor) == 0)
{
// Use Kinect IR trait
- return pointer<pt_runtime_traits>(new pt_module_traits);
+ return pointer<pt_runtime_traits>(new KinectIrTraits);
}
-
+#endif
return pointer<pt_runtime_traits>(new pt_module_traits);
}
generated by cgit v1.2.3 (git 2.39.1) at 2025-04-08 16:17:45 +0000