Kinect Point Tracker: Working on basic architecture.

10 files changed, 106 insertions, 16 deletions

diff --git a/compat/camera-names.cpp b/compat/camera-names.cpp
index 246d76ee..c30e4b33 100644
--- a/compat/camera-names.cpp
+++ b/compat/camera-names.cpp
@@ -49,6 +49,7 @@ QList<QString> get_camera_names()
         // Enumerate the monikers.
         IMoniker *pMoniker = nullptr;
         ULONG cFetched;
+        bool hasKinect = true;
         while (pEnumCat->Next(1, &pMoniker, &cFetched) == S_OK)
         {
             IPropertyBag *pPropBag;
@@ -63,12 +64,26 @@ QList<QString> get_camera_names()
                     // Display the name in your UI somehow.
                     QString str((QChar*)var.bstrVal, int(std::wcslen(var.bstrVal)));
                     ret.append(str);
+                    if (!hasKinect && str.compare(KKinectVideoSensor)==0)
+                    {
+                        // We do have a Kinect V2 connected
+                        hasKinect = true;
+                    }
                 }
                 VariantClear(&var);
                 pPropBag->Release();
             }
             pMoniker->Release();
         }
+
+        if (hasKinect)
+        {
+            // Add Kinect V2 IR Sensor as an option then        
+            ret.append(QString(KKinectIRSensor));
+            // We made sure that extra camera is added at the end of our array so as not to mess up genuine camera indices...
+            // ...which we relly on to create our OpenCV VideoCapture object in Camera::start.
+        }
+
         pEnumCat->Release();
     }
     else
diff --git a/compat/camera-names.hpp b/compat/camera-names.hpp
index 97184c8c..4d9b023c 100644
--- a/compat/camera-names.hpp
+++ b/compat/camera-names.hpp
@@ -13,6 +13,11 @@
 
 #include "export.hpp"
 
+// Hard coding name of standard Kinect camera as returned from Windows API as used in ::get_camera_names
+static const char KKinectVideoSensor[] = "Kinect V2 Video Sensor";
+// Defining camera name for Kinect IR Sensor
+static const char KKinectIRSensor[] = "Kinect V2 IR Sensor";
+
 OTR_COMPAT_EXPORT QList<QString> get_camera_names();
 OTR_COMPAT_EXPORT int camera_name_to_index(const QString &name);
 
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index 3854e531..1f4afe46 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -22,14 +22,29 @@ using namespace options;
 
 namespace pt_impl {
 
+/// @deprecated Consider removing it
 Tracker_PT::Tracker_PT(pointer<pt_runtime_traits> const& traits) :
-    traits { traits },
-    s { traits->get_module_name() },
-    point_extractor { traits->make_point_extractor() },
-    camera { traits->make_camera() },
-    frame { traits->make_frame() },
-    preview_frame { traits->make_preview(preview_width, preview_height) }
+    s { traits->get_module_name() }
 {
+    init(traits);
+}
+
+Tracker_PT::Tracker_PT(const QString& aModuleName) :
+    traits{ nullptr},
+    s { aModuleName }
+{
+
+}
+
+void Tracker_PT::init(pointer<pt_runtime_traits> const& aTraits)
+{
+    traits = aTraits;
+
+    point_extractor = traits->make_point_extractor();
+    camera = traits->make_camera();
+    frame = traits->make_frame();
+    preview_frame = traits->make_preview(preview_width, preview_height);
+
     cv::setBreakOnError(true);
     cv::setNumThreads(1);
 
@@ -40,6 +55,7 @@ Tracker_PT::Tracker_PT(pointer<pt_runtime_traits> const& traits) :
     set_fov(s.fov);
 }
 
+
 Tracker_PT::~Tracker_PT()
 {
     requestInterruption();
@@ -132,9 +148,17 @@ void Tracker_PT::set_fov(int value)
 }
 
 module_status Tracker_PT::start_tracker(QFrame* video_frame)
-{
-    //video_frame->setAttribute(Qt::WA_NativeWindow);
+{    
+    if (traits == nullptr)
+    {
+        // Create traits according to settings
+        traits = create_traits();
+        init(traits);
+    }
 
+ 
+    //video_frame->setAttribute(Qt::WA_NativeWindow);
+  
     widget = std::make_unique<video_widget>(video_frame);
     layout = std::make_unique<QHBoxLayout>(video_frame);
     layout->setContentsMargins(0, 0, 0, 0);
diff --git a/tracker-pt/ftnoir_tracker_pt.h b/tracker-pt/ftnoir_tracker_pt.h
index 210c6a01..37f5bfef 100644
--- a/tracker-pt/ftnoir_tracker_pt.h
+++ b/tracker-pt/ftnoir_tracker_pt.h
@@ -36,8 +36,14 @@ struct Tracker_PT : QThread, ITracker
 
     template<typename t> using pointer = pt_pointer<t>;
 
+    /// @deprecated Consider removing it
     explicit Tracker_PT(pointer<pt_runtime_traits> const& pt_runtime_traits);
+    Tracker_PT(const QString& aModuleName);
     ~Tracker_PT() override;
+
+    void init(pointer<pt_runtime_traits> const& traits);
+    virtual pointer<pt_runtime_traits> create_traits()=0;
+
     module_status start_tracker(QFrame* parent_window) override;
     void data(double* data) override;
     bool center() override;
@@ -46,6 +52,9 @@ struct Tracker_PT : QThread, ITracker
     [[nodiscard]] bool get_cam_info(pt_camera_info& info);
     Affine pose() const;
 
+protected:
+    pt_settings s;
+
 private:
     void run() override;
 
@@ -56,9 +65,7 @@ private:
 
     QMutex camera_mtx;
 
-    PointTracker point_tracker;
-
-    pt_settings s;
+    PointTracker point_tracker;    
 
     std::unique_ptr<QLayout> layout;
     std::vector<vec2> points;
diff --git a/tracker-pt/module/camera.cpp b/tracker-pt/module/camera.cpp
index 1afecc92..816f5baf 100644
--- a/tracker-pt/module/camera.cpp
+++ b/tracker-pt/module/camera.cpp
@@ -85,6 +85,7 @@ Camera::result Camera::get_frame(pt_frame& frame_)
 
 bool Camera::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 ||
@@ -96,6 +97,11 @@ bool Camera::start(int idx, int fps, int res_x, int res_y)
             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;
diff --git a/tracker-pt/module/camera.h b/tracker-pt/module/camera.h
index 2ea633d0..644eead7 100644
--- a/tracker-pt/module/camera.h
+++ b/tracker-pt/module/camera.h
@@ -19,6 +19,9 @@
 
 namespace pt_module {
 
+///
+/// Implement our camera interface using OpenCV VideoCapture.
+///
 struct Camera final : pt_camera
 {
     Camera(const QString& module_name);
diff --git a/tracker-pt/module/module.cpp b/tracker-pt/module/module.cpp
index f665face..db3e8fac 100644
--- a/tracker-pt/module/module.cpp
+++ b/tracker-pt/module/module.cpp
@@ -2,6 +2,7 @@
 
 #include "module.hpp"
 #include "camera.h"
+#include "compat/camera-names.hpp"
 #include "frame.hpp"
 #include "point_extractor.h"
 #include "ftnoir_tracker_pt_dialog.h"
@@ -18,6 +19,7 @@ static const QString module_name = "tracker-pt";
 
 namespace pt_module {
 
+// Traits for OpenCV VideoCapture camera
 struct pt_module_traits final : pt_runtime_traits
 {
     pointer<pt_camera> make_camera() const override
@@ -48,9 +50,22 @@ struct pt_module_traits final : pt_runtime_traits
 
 struct tracker_pt : Tracker_PT
 {
-    tracker_pt() : Tracker_PT(pointer<pt_runtime_traits>(new pt_module_traits))
+    tracker_pt() : Tracker_PT(module_name)
     {
     }
+
+    pointer<pt_runtime_traits> create_traits() override
+    {
+        // Create different 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 pt_module_traits);
+    }
+
 };
 
 struct dialog_pt : TrackerDialog_PT
diff --git a/tracker-pt/module/point_extractor.cpp b/tracker-pt/module/point_extractor.cpp
index 298d8752..049f4acd 100644
--- a/tracker-pt/module/point_extractor.cpp
+++ b/tracker-pt/module/point_extractor.cpp
@@ -235,9 +235,12 @@ static void draw_blobs(cv::Mat& preview_frame, const blob* blobs, unsigned nblob
                           : cv::Scalar(0, 0, 255);
 
         cv::Point pos(iround(b.pos[0]*cx+offx), iround(b.pos[1]*cy+offy));
-        cv::putText(preview_frame, buf, pos,
-                    cv::FONT_HERSHEY_PLAIN, overlay_size, text_color,
-                    1);
+
+        // That crashes in debug x64 on my dev machine when using Kinect V2 Video Sensor
+        // Seems to work fine with official beta 3 though
+        //cv::putText(preview_frame, buf, pos,
+        //            cv::FONT_HERSHEY_PLAIN, overlay_size, text_color,
+        //            1);
     }
 }
 
diff --git a/tracker-pt/pt-api.hpp b/tracker-pt/pt-api.hpp
index b44cfea2..a7fc464b 100644
--- a/tracker-pt/pt-api.hpp
+++ b/tracker-pt/pt-api.hpp
@@ -66,6 +66,11 @@ struct pt_preview : pt_frame
     virtual void draw_head_center(f x, f y) = 0;
 };
 
+/// 
+/// Defines a camera interface.
+/// A camera can be started and stopped.
+/// Once started one can obtain frames through this interface.
+///
 struct pt_camera
 {
     using result = std::tuple<bool, pt_camera_info>;
diff --git a/tracker-wii/wii_module.cpp b/tracker-wii/wii_module.cpp
index c4884f22..57e7cd6d 100644
--- a/tracker-wii/wii_module.cpp
+++ b/tracker-wii/wii_module.cpp
@@ -57,9 +57,16 @@ struct wii_pt_module_traits final : pt_runtime_traits
 
 struct wii_tracker_pt : Tracker_PT
 {
-    wii_tracker_pt() : Tracker_PT(pointer<pt_runtime_traits>(new wii_pt_module_traits))
+    wii_tracker_pt() : Tracker_PT(module_name)
     {
+
+    }
+
+    pointer<pt_runtime_traits> create_traits() override
+    {
+        return pointer<pt_runtime_traits>(new wii_pt_module_traits);
     }
+  
 };