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authorWei Shuai <cpuwolf@gmail.com>2018-01-26 22:02:07 +0800
committerWei Shuai <cpuwolf@gmail.com>2018-01-26 22:02:07 +0800
commit4a2a1b636df7a67722b6b5764efa8cfc63c6a5e1 (patch)
treebd375c924fa72f9eb3ce1d78356785077836f3c1 /tracker-wii/wii_camera.cpp
parentd057e5db1c9ca81d5f60b9cd8001f60dd155f145 (diff)
tracker/wii: new home
Diffstat (limited to 'tracker-wii/wii_camera.cpp')
-rw-r--r--tracker-wii/wii_camera.cpp225
1 files changed, 225 insertions, 0 deletions
diff --git a/tracker-wii/wii_camera.cpp b/tracker-wii/wii_camera.cpp
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+/*
+* Copyright (c) 2017-2018 Wei Shuai <cpuwolf@gmail.com>
+*
+* 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 "wii_camera.h"
+#include "wii_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"
+
+
+using namespace pt_module;
+
+WIICamera::WIICamera(const QString& module_name) : s { module_name }
+{
+ cam_info.fps = 70;
+ cam_info.res_x = 1024;
+ cam_info.res_y = 768;
+ cam_info.fov = 42.0f;
+ cam_info.idx = 0;
+}
+
+QString WIICamera::get_desired_name() const
+{
+ return desired_name;
+}
+
+QString WIICamera::get_active_name() const
+{
+ return active_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);
+}
+
+WIICamera::result WIICamera::get_frame(pt_frame& frame_)
+{
+ cv::Mat& frame = frame_.as<WIIFrame>()->mat;
+ struct wii_info& wii = frame_.as<WIIFrame>()->wii;
+
+ 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));
+ wii.status = new_frame;
+
+ switch (new_frame)
+ {
+ case wii_cam_data_change:
+ _get_status(wii);
+ _get_points(wii);
+ break;
+ case wii_cam_data_no_change:
+ return result(false, cam_info);
+ }
+
+ return result(true, cam_info);
+}
+
+pt_camera_open_status WIICamera::start(int idx, int fps, int res_x, int res_y)
+{
+ m_pDev = std::make_unique<wiimote>();
+ m_pDev->ChangedCallback = on_state_change;
+ m_pDev->CallbackTriggerFlags = (state_change_flags)(CONNECTED |
+ EXTENSION_CHANGED |
+ MOTIONPLUS_CHANGED);
+ return cam_open_ok_no_change;
+}
+
+void WIICamera::stop()
+{
+ onExit = true;
+ m_pDev->ChangedCallback = NULL;
+ m_pDev->Disconnect();
+ Beep(1000, 200);
+ if (m_pDev) {
+ m_pDev=nullptr;
+ m_pDev = NULL;
+ }
+
+ desired_name = QString();
+ active_name = QString();
+ cam_info = pt_camera_info();
+ cam_desired = pt_camera_info();
+}
+
+wii_camera_status WIICamera::_get_frame(cv::Mat& frame)
+{
+ wii_camera_status ret = wii_cam_wait_for_connect;
+
+ if (!m_pDev->IsConnected()) {
+ qDebug() << "wii wait";
+ if (!m_pDev->Connect(wiimote::FIRST_AVAILABLE)) {
+ Beep(500, 30); Sleep(1000);
+ goto goodbye;
+ }
+ }
+
+ if (m_pDev->RefreshState() == NO_CHANGE) {
+ Sleep(1); // don't hog the CPU if nothing changed
+ ret = wii_cam_data_no_change;
+ goto goodbye;
+ }
+
+ // did we loose the connection?
+ if (m_pDev->ConnectionLost())
+ {
+ goto goodbye;
+ }
+
+ ret = wii_cam_data_change;
+goodbye:
+ return ret;
+}
+
+bool WIICamera::_get_points(struct wii_info& wii)
+{
+ bool dot_sizes = (m_pDev->IR.Mode == wiimote_state::ir::EXTENDED);
+ bool ret = false;
+ int point_count = 0;
+
+ for (unsigned index = 0; index < 4; index++)
+ {
+ wiimote_state::ir::dot &dot = m_pDev->IR.Dot[index];
+ if (dot.bVisible) {
+ wii.Points[index].ux = dot.RawX;
+ wii.Points[index].uy = dot.RawY;
+ if (dot_sizes) {
+ wii.Points[index].isize = dot.Size;
+ } else {
+ wii.Points[index].isize = 1;
+ }
+ wii.Points[index].bvis = dot.bVisible;
+ point_count++;
+ ret = true;
+ } else {
+ wii.Points[index].ux = 0;
+ wii.Points[index].uy = 0;
+ wii.Points[index].isize = 0;
+ wii.Points[index].bvis = dot.bVisible;
+ }
+ }
+ m_pDev->SetLEDs(3 - point_count);
+ return ret;
+}
+
+void WIICamera::_get_status(struct wii_info& wii)
+{
+ //draw battery status
+ wii.BatteryPercent = m_pDev->BatteryPercent;
+ wii.bBatteryDrained = m_pDev->bBatteryDrained;
+
+ //draw horizon
+ static int p = 0;
+ static int r = 0;
+ if (m_pDev->Nunchuk.Acceleration.Orientation.UpdateAge < 10)
+ {
+ p = m_pDev->Acceleration.Orientation.Pitch;
+ r = m_pDev->Acceleration.Orientation.Roll;
+ }
+
+ wii.Pitch = p;
+ wii.Roll = r;
+}
+
+void WIICamera::on_state_change(wiimote &remote,
+ state_change_flags changed,
+ const wiimote_state &new_state)
+{
+ // the wiimote just connected
+ if (changed & CONNECTED)
+ {
+ /* wiimote connected */
+ remote.SetLEDs(0x0f);
+ Beep(1000, 300); Sleep(500);
+
+ qDebug() << "wii connected";
+
+ if (new_state.ExtensionType != wiimote::BALANCE_BOARD)
+ {
+ if (new_state.bExtension)
+ remote.SetReportType(wiimote::IN_BUTTONS_ACCEL_IR_EXT); // no IR dots
+ else
+ remote.SetReportType(wiimote::IN_BUTTONS_ACCEL_IR); // IR dots
+ }
+ }
+ // another extension was just connected:
+ else if (changed & EXTENSION_CONNECTED)
+ {
+
+ Beep(1000, 200);
+
+ // switch to a report mode that includes the extension data (we will
+ // loose the IR dot sizes)
+ // note: there is no need to set report types for a Balance Board.
+ if (!remote.IsBalanceBoard())
+ remote.SetReportType(wiimote::IN_BUTTONS_ACCEL_IR_EXT);
+ }
+ else if (changed & EXTENSION_DISCONNECTED)
+ {
+
+ Beep(200, 300);
+
+ // use a non-extension report mode (this gives us back the IR dot sizes)
+ remote.SetReportType(wiimote::IN_BUTTONS_ACCEL_IR);
+ }
+}