diff options
Diffstat (limited to 'tracker-wii/wii_camera.cpp')
| -rw-r--r-- | tracker-wii/wii_camera.cpp | 225 |
1 files changed, 225 insertions, 0 deletions
diff --git a/tracker-wii/wii_camera.cpp b/tracker-wii/wii_camera.cpp new file mode 100644 index 00000000..75ce3950 --- /dev/null +++ b/tracker-wii/wii_camera.cpp @@ -0,0 +1,225 @@ +/* +* 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); + } +} |