From 2aee2a94ea53620e3da7f976875ca4101eec780d Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Fri, 17 Jun 2022 11:58:04 +0200
Subject: tracker/wii: clean up a little
---
tracker-wii/wii_camera.cpp | 61 ++++++++++++++---------------
tracker-wii/wii_camera.h | 40 ++++++++-----------
tracker-wii/wii_point_extractor.cpp | 77 ++++++++++++++++++-------------------
3 files changed, 82 insertions(+), 96 deletions(-)
(limited to 'tracker-wii')
diff --git a/tracker-wii/wii_camera.cpp b/tracker-wii/wii_camera.cpp
index 98d180bf..1e05a11c 100644
--- a/tracker-wii/wii_camera.cpp
+++ b/tracker-wii/wii_camera.cpp
@@ -15,11 +15,9 @@
#include "wii_camera.h"
#include "wii_frame.hpp"
-#include "compat/sleep.hpp"
#include "compat/math-imports.hpp"
#include <opencv2/imgproc.hpp>
-
#include <bluetoothapis.h>
using namespace pt_module;
@@ -41,46 +39,46 @@ WIICamera::~WIICamera()
QString WIICamera::get_desired_name() const
{
- return desired_name;
+ return QStringLiteral("Wii");
}
QString WIICamera::get_active_name() const
{
- return active_name;
+ return get_desired_name();
}
void WIICamera::show_camera_settings()
{
-
}
WIICamera::result WIICamera::get_info() const
{
- if (cam_info.res_x == 0 || cam_info.res_y == 0)
- return result(false, pt_camera_info());
- return result(true, cam_info);
+ if (cam_info.res_x == 0 || cam_info.res_y == 0)
+ return result(false, pt_camera_info());
+ return result(true, cam_info);
}
WIICamera::result WIICamera::get_frame(pt_frame& frame_)
{
- cv::Mat& frame = frame_.as<WIIFrame>()->mat;
+ cv::Mat& frame = frame_.as<WIIFrame>()->mat;
struct wii_info& wii = frame_.as<WIIFrame>()->wii;
+ const wii_camera_status new_frame = get_frame(frame);
- const wii_camera_status new_frame = get_frame(frame);
//create a fake blank frame
- frame = cv::Mat(cam_info.res_x, cam_info.res_y, CV_8UC3, cv::Scalar(0, 0, 0));
+ frame.create(cam_info.res_x, cam_info.res_y, CV_8UC3);
+ frame.setTo({0});
wii.status = new_frame;
- switch (new_frame)
- {
+ switch (new_frame)
+ {
case wii_cam_data_change:
- get_status(wii);
- get_points(wii);
+ get_status(wii);
+ get_points(wii);
break;
case wii_cam_data_no_change:
return result(false, cam_info);
- default:
- break;
+ default:
+ break;
}
return result(true, cam_info);
@@ -88,30 +86,28 @@ WIICamera::result WIICamera::get_frame(pt_frame& frame_)
bool WIICamera::start(const pt_settings&)
{
+ if (m_pDev)
+ return true;
m_pDev = std::make_unique<wiimote>();
m_pDev->ChangedCallback = on_state_change;
m_pDev->CallbackTriggerFlags = (state_change_flags)(CONNECTED |
EXTENSION_CHANGED |
MOTIONPLUS_CHANGED);
- return true;
+ return true;
}
void WIICamera::stop()
{
- desired_name = QString();
- active_name = QString();
- cam_info = pt_camera_info();
- cam_desired = pt_camera_info();
- onExit = true;
-
- if (m_pDev)
- {
- m_pDev->ChangedCallback = nullptr;
- m_pDev->Disconnect();
- m_pDev = nullptr;
- }
-
- Beep(1000, 200);
+ if (!m_pDev)
+ return;
+
+ cam_info = {};
+ cam_desired = {};
+ pitch_ = 0; roll_ = 0;
+
+ m_pDev->ChangedCallback = nullptr;
+ m_pDev->Disconnect();
+ m_pDev = nullptr;
}
#ifdef __MINGW32__
@@ -149,7 +145,6 @@ wii_camera_status WIICamera::pair()
while (ibtidx < max_devices && BluetoothFindNextRadio(&bt_param, hbtlist + ibtidx));
BluetoothFindRadioClose(hbt);
-
int i;
bool error = false;
for (i = 0; i < ibtidx; i++)
diff --git a/tracker-wii/wii_camera.h b/tracker-wii/wii_camera.h
index 038e25e7..3a7993aa 100644
--- a/tracker-wii/wii_camera.h
+++ b/tracker-wii/wii_camera.h
@@ -27,47 +27,39 @@ namespace pt_module {
struct WIICamera final : pt_camera
{
- WIICamera(const QString& module_name);
- ~WIICamera() override;
+ WIICamera(const QString& module_name);
+ ~WIICamera() override;
- bool start(const pt_settings&) override;
- void stop() override;
+ bool start(const pt_settings&) override;
+ void stop() override;
- result get_frame(pt_frame& Frame) override;
- result get_info() const 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;
+ 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 x) override { (void) x; }
- void show_camera_settings() override;
+ void set_fov(f x) override { (void) x; }
+ void show_camera_settings() override;
private:
std::unique_ptr<wiimote> m_pDev;
static void on_state_change(wiimote &remote,
state_change_flags changed,
const wiimote_state &new_state);
- bool onExit = false;
wii_camera_status pair();
wii_camera_status get_frame(cv::Mat& Frame);
bool get_points(struct wii_info& wii);
void get_status(struct wii_info& wii);
- double dt_mean = 0;
+ pt_camera_info cam_info;
+ pt_camera_info cam_desired;
+ int pitch_ = 0, roll_ = 0;
+ pt_settings s;
- Timer t;
-
- pt_camera_info cam_info;
- pt_camera_info cam_desired;
- QString desired_name, active_name;
-
- pt_settings s;
-
- int pitch_ = 0, roll_ = 0;
-
- static constexpr inline double dt_eps = 1./384;
+ static constexpr inline double dt_eps = 1./384;
};
} // ns pt_module
diff --git a/tracker-wii/wii_point_extractor.cpp b/tracker-wii/wii_point_extractor.cpp
index 6f86da1d..4f1f92b9 100644
--- a/tracker-wii/wii_point_extractor.cpp
+++ b/tracker-wii/wii_point_extractor.cpp
@@ -27,7 +27,6 @@ using namespace pt_module;
WIIPointExtractor::WIIPointExtractor(const QString& module_name) : s(module_name)
{
-
}
//define a temp draw function
@@ -35,8 +34,8 @@ void WIIPointExtractor::draw_point(cv::Mat& preview_frame, const vec2& p, const
{
static constexpr int len = 9;
- cv::Point p2(iround(p[0] * preview_frame.cols + preview_frame.cols / 2.f),
- iround(-p[1] * preview_frame.cols + preview_frame.rows / 2.f));
+ cv::Point p2(iround(p[0] * preview_frame.cols + preview_frame.cols / 2.f),
+ iround(-p[1] * preview_frame.cols + preview_frame.rows / 2.f));
cv::line(preview_frame,
cv::Point(p2.x - len, p2.y),
@@ -48,7 +47,7 @@ void WIIPointExtractor::draw_point(cv::Mat& preview_frame, const vec2& p, const
cv::Point(p2.x, p2.y + len),
color,
thickness);
-};
+}
void WIIPointExtractor::draw_points(cv::Mat& preview_frame, const struct wii_info& wii)
{
@@ -75,11 +74,11 @@ void WIIPointExtractor::draw_points(cv::Mat& preview_frame, const struct wii_inf
void WIIPointExtractor::draw_bg(cv::Mat& preview_frame, const struct wii_info& wii)
{
//draw battery status
- cv::line(preview_frame,
- cv::Point(0, 0),
- cv::Point(preview_frame.cols*wii.BatteryPercent / 100, 0),
- (wii.bBatteryDrained ? cv::Scalar(255, 0, 0) : cv::Scalar(0, 140, 0)),
- 2);
+ cv::line(preview_frame,
+ cv::Point(0, 0),
+ cv::Point(preview_frame.cols*wii.BatteryPercent / 100, 0),
+ (wii.bBatteryDrained ? cv::Scalar(255, 0, 0) : cv::Scalar(0, 140, 0)),
+ 2);
//draw horizon
int pdelta = iround(preview_frame.rows / 4.f * tan(wii.Pitch * pi / 180.f));
@@ -100,38 +99,38 @@ void WIIPointExtractor::extract_points(const pt_frame& frame_,
const struct wii_info& wii = frame_.as_const<WIIFrame>()->wii;
cv::Mat& preview_frame = *preview_frame_.as<WIIPreview>();
- map_points(wii, points);
- if (preview_visible && wii.status == wii_cam_data_change)
- {
- draw_bg(preview_frame, wii);
- draw_points(preview_frame, wii);
- }
+ map_points(wii, points);
+ if (preview_visible && wii.status == wii_cam_data_change)
+ {
+ draw_bg(preview_frame, wii);
+ draw_points(preview_frame, wii);
+ }
}
bool WIIPointExtractor::map_points(const struct wii_info& wii, std::vector<vec2>& points)
{
- constexpr int W = 1024;
- constexpr int H = 768;
- points.reserve(4);
- points.clear();
-
- for (unsigned index = 0; index < 4; index++) // NOLINT(modernize-loop-convert)
- {
- const struct wii_info_points &dot = wii.Points[index];
- if (dot.bvis) {
- //qDebug() << "wii:" << dot.RawX << "+" << dot.RawY;
- //anti-clockwise rotate the 2D point
- const float RX = W - dot.ux;
- const float RY = H - dot.uy;
- //vec2 dt((dot.RawX - W / 2.0f) / W, -(dot.RawY - H / 2.0f) / W);
- //vec2 dt((RX - W / 2.0f) / W, -(RY - H / 2.0f) / W);
- //vec2 dt((2.0f*RX - W) / W, -(2.0f*RY - H ) / W);
- vec2 dt;
- std::tie(dt[0], dt[1]) = to_screen_pos(RX, RY, W, H);
-
- points.push_back(dt);
- }
- }
-
- return points.size() >= PointModel::N_POINTS;
+ constexpr int W = 1024;
+ constexpr int H = 768;
+ points.reserve(4);
+ points.clear();
+
+ for (unsigned index = 0; index < 4; index++) // NOLINT(modernize-loop-convert)
+ {
+ const struct wii_info_points &dot = wii.Points[index];
+ if (dot.bvis) {
+ //qDebug() << "wii:" << dot.RawX << "+" << dot.RawY;
+ //anti-clockwise rotate the 2D point
+ const float RX = W - dot.ux;
+ const float RY = H - dot.uy;
+ //vec2 dt((dot.RawX - W / 2.0f) / W, -(dot.RawY - H / 2.0f) / W);
+ //vec2 dt((RX - W / 2.0f) / W, -(RY - H / 2.0f) / W);
+ //vec2 dt((2.0f*RX - W) / W, -(2.0f*RY - H ) / W);
+ vec2 dt;
+ std::tie(dt[0], dt[1]) = to_screen_pos(RX, RY, W, H);
+
+ points.push_back(dt);
+ }
+ }
+
+ return points.size() >= PointModel::N_POINTS;
}
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