From 4a2a1b636df7a67722b6b5764efa8cfc63c6a5e1 Mon Sep 17 00:00:00 2001 From: Wei Shuai Date: Fri, 26 Jan 2018 22:02:07 +0800 Subject: tracker/wii: new home --- tracker-wii/CMakeLists.txt | 6 + tracker-wii/Resources/wii.ico | Bin 0 -> 10134 bytes tracker-wii/Resources/wii.png | Bin 0 -> 2974 bytes tracker-wii/lang/nl_NL.ts | 4 + tracker-wii/lang/ru_RU.ts | 4 + tracker-wii/lang/stub.ts | 4 + tracker-wii/tracker_wii.qrc | 5 + tracker-wii/wii_camera.cpp | 225 ++++++++++++++++++++++++++++++++++++ tracker-wii/wii_camera.h | 74 ++++++++++++ tracker-wii/wii_frame.cpp | 91 +++++++++++++++ tracker-wii/wii_frame.hpp | 64 ++++++++++ tracker-wii/wii_module.cpp | 83 +++++++++++++ tracker-wii/wii_point_extractor.cpp | 143 +++++++++++++++++++++++ tracker-wii/wii_point_extractor.h | 38 ++++++ 14 files changed, 741 insertions(+) create mode 100644 tracker-wii/CMakeLists.txt create mode 100644 tracker-wii/Resources/wii.ico create mode 100644 tracker-wii/Resources/wii.png create mode 100644 tracker-wii/lang/nl_NL.ts create mode 100644 tracker-wii/lang/ru_RU.ts create mode 100644 tracker-wii/lang/stub.ts create mode 100644 tracker-wii/tracker_wii.qrc create mode 100644 tracker-wii/wii_camera.cpp create mode 100644 tracker-wii/wii_camera.h create mode 100644 tracker-wii/wii_frame.cpp create mode 100644 tracker-wii/wii_frame.hpp create mode 100644 tracker-wii/wii_module.cpp create mode 100644 tracker-wii/wii_point_extractor.cpp create mode 100644 tracker-wii/wii_point_extractor.h (limited to 'tracker-wii') diff --git a/tracker-wii/CMakeLists.txt b/tracker-wii/CMakeLists.txt new file mode 100644 index 00000000..cab5b6a1 --- /dev/null +++ b/tracker-wii/CMakeLists.txt @@ -0,0 +1,6 @@ +find_package(OpenCV 3.0 QUIET) +if(OpenCV_FOUND) + otr_module(tracker-wii) + target_link_libraries(opentrack-tracker-wii opentrack-tracker-pt-base opentrack-wiiyourself) + target_include_directories(opentrack-tracker-wii PRIVATE "${CMAKE_SOURCE_DIR}/tracker-pt") +endif() \ No newline at end of file diff --git a/tracker-wii/Resources/wii.ico b/tracker-wii/Resources/wii.ico new file mode 100644 index 00000000..44204a68 Binary files /dev/null and b/tracker-wii/Resources/wii.ico differ diff --git a/tracker-wii/Resources/wii.png b/tracker-wii/Resources/wii.png new file mode 100644 index 00000000..d83b6e77 Binary files /dev/null and b/tracker-wii/Resources/wii.png differ diff --git a/tracker-wii/lang/nl_NL.ts b/tracker-wii/lang/nl_NL.ts new file mode 100644 index 00000000..9e739505 --- /dev/null +++ b/tracker-wii/lang/nl_NL.ts @@ -0,0 +1,4 @@ + + + + diff --git a/tracker-wii/lang/ru_RU.ts b/tracker-wii/lang/ru_RU.ts new file mode 100644 index 00000000..f62cf2e1 --- /dev/null +++ b/tracker-wii/lang/ru_RU.ts @@ -0,0 +1,4 @@ + + + + diff --git a/tracker-wii/lang/stub.ts b/tracker-wii/lang/stub.ts new file mode 100644 index 00000000..6401616d --- /dev/null +++ b/tracker-wii/lang/stub.ts @@ -0,0 +1,4 @@ + + + + diff --git a/tracker-wii/tracker_wii.qrc b/tracker-wii/tracker_wii.qrc new file mode 100644 index 00000000..a7a50512 --- /dev/null +++ b/tracker-wii/tracker_wii.qrc @@ -0,0 +1,5 @@ + + + Resources/wii.png + + 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 +* +* 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 + +#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()->mat; + struct wii_info& wii = frame_.as()->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(); + 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); + } +} diff --git a/tracker-wii/wii_camera.h b/tracker-wii/wii_camera.h new file mode 100644 index 00000000..7bd4a7ae --- /dev/null +++ b/tracker-wii/wii_camera.h @@ -0,0 +1,74 @@ +/* + * Copyright (c) 2017-2018 Wei Shuai + * + * 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 + +#include "pt-api.hpp" + +#include "compat/timer.hpp" + +#include +#include +#include + +#include +#include + +#include + +#include +#include "wii_frame.hpp" + +namespace pt_module { + +struct WIICamera final : pt_camera +{ + WIICamera(const QString& module_name); + + pt_camera_open_status 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; + + operator bool() const override { return m_pDev && (!m_pDev->ConnectionLost()); } + + void set_fov(double value) override {} + void show_camera_settings() override; + + +private: + std::unique_ptr m_pDev; + static void on_state_change(wiimote &remote, + state_change_flags changed, + const wiimote_state &new_state); + bool onExit = false; + pt_frame internalframe; + + wii_camera_status _get_frame(cv::Mat& Frame); + bool _get_points(struct wii_info&); + void _get_status(struct wii_info&); + + double dt_mean = 0; + + Timer t; + + pt_camera_info cam_info; + pt_camera_info cam_desired; + QString desired_name, active_name; + + pt_settings s; + + static constexpr inline double dt_eps = 1./384; +}; + +} // ns pt_module diff --git a/tracker-wii/wii_frame.cpp b/tracker-wii/wii_frame.cpp new file mode 100644 index 00000000..9e367926 --- /dev/null +++ b/tracker-wii/wii_frame.cpp @@ -0,0 +1,91 @@ +/* +* Copyright (c) 2017-2018 Wei Shuai +* +* 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_frame.hpp" + +#include "compat/math.hpp" + +#include +#include + +#include + +using namespace pt_module; + +WIIPreview& WIIPreview::operator=(const pt_frame& frame_) +{ + const cv::Mat& frame = frame_.as_const()->mat; + ensure_size(frame_copy, frame_out.cols, frame_out.rows, CV_8UC3); + + if (frame.channels() != 3) + { + once_only(qDebug() << "tracker/pt: camera frame depth: 3 !=" << frame.channels()); + return *this; + } + + const bool need_resize = frame.cols != frame_out.cols || frame.rows != frame_out.rows; + if (need_resize) + cv::resize(frame, frame_copy, cv::Size(frame_out.cols, frame_out.rows), 0, 0, cv::INTER_NEAREST); + else + frame.copyTo(frame_copy); + + return *this; +} + +WIIPreview::WIIPreview(int w, int h) +{ + ensure_size(frame_out, w, h, CV_8UC4); + + frame_out.setTo(cv::Scalar(0, 0, 0, 0)); +} + +QImage WIIPreview::get_bitmap() +{ + int stride = frame_out.step.p[0]; + + if (stride < 64 || stride < frame_out.cols * 4) + { + once_only(qDebug() << "bad stride" << stride + << "for bitmap size" << frame_copy.cols << frame_copy.rows); + return QImage(); + } + + cv::cvtColor(frame_copy, frame_out, cv::COLOR_BGR2BGRA); + + return QImage((const unsigned char*) frame_out.data, + frame_out.cols, frame_out.rows, + stride, + QImage::Format_ARGB32); +} + +void WIIPreview::draw_head_center(double x, double y) +{ + double px_, py_; + + std::tie(px_, py_) = to_pixel_pos(x, y, frame_copy.cols, frame_copy.rows); + + int px = iround(px_), py = iround(py_); + + constexpr int len = 9; + + static const cv::Scalar color(0, 255, 255); + cv::line(frame_copy, + cv::Point(px - len, py), + cv::Point(px + len, py), + color, 1); + cv::line(frame_copy, + cv::Point(px, py - len), + cv::Point(px, py + len), + color, 1); +} + +void WIIPreview::ensure_size(cv::Mat& frame, int w, int h, int type) +{ + if (frame.cols != w || frame.rows != h) + frame = cv::Mat(h, w, type); +} diff --git a/tracker-wii/wii_frame.hpp b/tracker-wii/wii_frame.hpp new file mode 100644 index 00000000..2bffa862 --- /dev/null +++ b/tracker-wii/wii_frame.hpp @@ -0,0 +1,64 @@ +/* +* Copyright (c) 2017-2018 Wei Shuai +* +* 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 + +#include "pt-api.hpp" + +#include +#include + + + +namespace pt_module { + +enum wii_camera_status : unsigned { wii_cam_wait_for_connect, wii_cam_data_no_change, wii_cam_data_change }; + +struct wii_info_points { + unsigned ux; + unsigned uy; + int isize; + bool bvis; +}; + +struct wii_info { + struct wii_info_points Points[4]; + bool bBatteryDrained; + unsigned char BatteryPercent; + float Pitch; + float Roll; + wii_camera_status status; +}; + +struct WIIFrame final : pt_frame +{ + cv::Mat mat; + struct wii_info wii; + + operator const cv::Mat&() const& { return mat; } + operator cv::Mat&() & { return mat; } +}; + +struct WIIPreview final : pt_preview +{ + WIIPreview(int w, int h); + + WIIPreview& operator=(const pt_frame& frame) override; + QImage get_bitmap() override; + void draw_head_center(double x, double y) override; + + operator cv::Mat&() { return frame_copy; } + operator cv::Mat const&() const { return frame_copy; } + +private: + static void ensure_size(cv::Mat& frame, int w, int h, int type); + + bool fresh = true; + cv::Mat frame_copy, frame_color, frame_resize, frame_out; +}; + +} // ns pt_module diff --git a/tracker-wii/wii_module.cpp b/tracker-wii/wii_module.cpp new file mode 100644 index 00000000..40131f69 --- /dev/null +++ b/tracker-wii/wii_module.cpp @@ -0,0 +1,83 @@ +/* +* Copyright (c) 2017-2018 Wei Shuai +* +* 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 "ftnoir_tracker_pt.h" +#include "api/plugin-api.hpp" + +#include "wii_camera.h" +#include "wii_frame.hpp" +#include "wii_point_extractor.h" +#include "ftnoir_tracker_pt_dialog.h" + +#include "pt-api.hpp" + +#include + +static const QString module_name = "tracker-wii-pt"; + +using namespace pt_module; + +struct wii_pt_module_traits final : pt_runtime_traits +{ + pointer make_camera() const override + { + return pointer(new WIICamera(module_name)); + } + + pointer make_point_extractor() const override + { + return pointer(new WIIPointExtractor(module_name)); + } + + QString get_module_name() const override + { + return module_name; + } + + pointer make_frame() const override + { + return pointer(new WIIFrame); + } + + pointer make_preview(int w, int h) const override + { + return pointer(new WIIPreview(w, h)); + } +}; + +struct wii_tracker_pt : Tracker_PT +{ + wii_tracker_pt() : Tracker_PT(pointer(new wii_pt_module_traits)) + { + } +}; + + +struct wii_dialog_pt : TrackerDialog_PT +{ + wii_dialog_pt(); +}; + +class wii_metadata_pt : public Metadata +{ + QString name() { return _("WiiPointTracker 1.1"); } + QIcon icon() { return QIcon(":/Resources/wii.png"); } +}; + +// ns pt_module + +using namespace pt_module; + + + +wii_dialog_pt::wii_dialog_pt() : TrackerDialog_PT(module_name) +{ + ui.camera_settings_groupbox->hide(); + ui.groupBox_2->hide(); +} + +OPENTRACK_DECLARE_TRACKER(wii_tracker_pt, wii_dialog_pt, wii_metadata_pt) diff --git a/tracker-wii/wii_point_extractor.cpp b/tracker-wii/wii_point_extractor.cpp new file mode 100644 index 00000000..f1fc013d --- /dev/null +++ b/tracker-wii/wii_point_extractor.cpp @@ -0,0 +1,143 @@ +/* +* Copyright (c) 2017-2018 Wei Shuai +* +* 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_point_extractor.h" + +#include "point_tracker.h" +#include "wii_frame.hpp" + +#include "cv/numeric.hpp" +#include "compat/math.hpp" + +#include + +#undef PREVIEW +//#define PREVIEW + +#if defined PREVIEW +# include +#endif + +#include +#include +#include +#include + +#include + +using namespace types; +using namespace pt_module; + + +WIIPointExtractor::WIIPointExtractor(const QString& module_name) : s(module_name) +{ + +} + +//define a temp draw function +void WIIPointExtractor::_draw_point(cv::Mat& preview_frame, const vec2& p, const cv::Scalar& color, int thinkness) +{ + static constexpr int len = 9; + + cv::Point p2(iround(p[0] * preview_frame.cols + preview_frame.cols / 2), + iround(-p[1] * preview_frame.cols + preview_frame.rows / 2)); + + cv::line(preview_frame, + cv::Point(p2.x - len, p2.y), + cv::Point(p2.x + len, p2.y), + color, + thinkness); + cv::line(preview_frame, + cv::Point(p2.x, p2.y - len), + cv::Point(p2.x, p2.y + len), + color, + thinkness); +}; + +bool WIIPointExtractor::_draw_points(cv::Mat& preview_frame, const struct wii_info &wii, std::vector& points) +{ + const float W = 1024.0f; + const float H = 768.0f; + points.reserve(4); + points.clear(); + + for (unsigned index = 0; index < 4; index++) + { + 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); + _draw_point(preview_frame, dt, cv::Scalar(0, 255, 0), dot.isize); + } + } + const bool success = points.size() >= PointModel::N_POINTS; + + return success; +} + +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); + + //draw horizon + int pdelta = iround((preview_frame.rows / 4) * tan((wii.Pitch)* M_PI / 180.0f)); + int rdelta = iround((preview_frame.cols / 4) * tan((wii.Roll)* M_PI / 180.0f)); + + cv::line(preview_frame, + cv::Point(0, preview_frame.rows / 2 + rdelta - pdelta), + cv::Point(preview_frame.cols, preview_frame.rows / 2 - rdelta - pdelta), + cv::Scalar(80, 80, 80), + 1); +} + + +void WIIPointExtractor::extract_points(const pt_frame& frame_, pt_preview& preview_frame_, std::vector& points) +{ + const cv::Mat& frame = frame_.as_const()->mat; + const struct wii_info& wii = frame_.as_const()->wii; + cv::Mat& preview_frame = *preview_frame_.as(); + + //create a blank frame + //cv::Mat blank_frame(preview_frame.cols, preview_frame.rows, CV_8UC3, cv::Scalar(0, 0, 0)); + //cv::cvtColor(_frame, _frame2, cv::COLOR_BGR2BGRA); + //cv::resize(blank_frame, preview_frame, cv::Size(preview_frame.cols, preview_frame.rows), 0, 0, cv::INTER_NEAREST); + + switch (wii.status) { + case wii_cam_data_change: + _draw_bg(preview_frame, wii); + _draw_points(preview_frame, wii, points); + break; + case wii_cam_wait_for_connect: + char txtbuf[64]; + sprintf(txtbuf, "%s", "wait for WIImote"); + //draw wait text + cv::putText(preview_frame, + txtbuf, + cv::Point(preview_frame.cols / 10, preview_frame.rows / 2), + cv::FONT_HERSHEY_SIMPLEX, + 1, + cv::Scalar(255, 255, 255), + 1); + break; + } +} + diff --git a/tracker-wii/wii_point_extractor.h b/tracker-wii/wii_point_extractor.h new file mode 100644 index 00000000..be0e5f45 --- /dev/null +++ b/tracker-wii/wii_point_extractor.h @@ -0,0 +1,38 @@ +/* +* Copyright (c) 2017-2018 Wei Shuai +* +* 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 + +#include "pt-api.hpp" + +#include + +#include +#include + +namespace pt_module { + +using namespace types; + +class WIIPointExtractor final : public pt_point_extractor +{ +public: + // extracts points from frame and draws some processing info into frame, if draw_output is set + // dt: time since last call in seconds + void extract_points(const pt_frame& frame, pt_preview& preview_frame, std::vector& points) override; + WIIPointExtractor(const QString& module_name); +private: + static constexpr int max_blobs = 16; + + pt_settings s; + void _draw_point(cv::Mat& preview_frame, const vec2& p, const cv::Scalar& color, int thinkness = 1); + bool _draw_points(cv::Mat& preview_frame, const struct wii_info &wii, std::vector& points); + void _draw_bg(cv::Mat& preview_frame, const struct wii_info &wii); +}; + +} // ns impl + -- cgit v1.2.3