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/* Copyright (c) 2019, Stephane Lenclud <github@lenclud.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 "camera_kinect_ir.h"
#ifdef OTR_HAVE_OPENCV
//#include "frame.hpp"
#include "compat/sleep.hpp"
#include "compat/math-imports.hpp"
#include <opencv2/imgproc.hpp>
#include <cstdlib>
namespace Kinect {
static const char KKinectIRSensor[] = "Kinect V2 IR Sensor";
CamerasProvider::CamerasProvider() = default;
std::unique_ptr<video::impl::camera> CamerasProvider::make_camera(const QString& name)
{
if (name.compare(KKinectIRSensor) == 0)
{
return std::make_unique<CameraKinectIr>();
}
return nullptr;
}
std::vector<QString> CamerasProvider::camera_names() const
{
return { KKinectIRSensor };
}
bool CamerasProvider::can_show_dialog(const QString& camera_name)
{
return false;
}
bool CamerasProvider::show_dialog(const QString& camera_name)
{
return false;
}
// Register our camera provider thus making sure Point Tracker can use Kinect V2 IR Sensor
OTR_REGISTER_CAMERA(CamerasProvider)
CameraKinectIr::CameraKinectIr()
{
}
CameraKinectIr::~CameraKinectIr()
{
stop();
}
bool CameraKinectIr::show_dialog()
{
return false;
}
bool CameraKinectIr::is_open()
{
return iInfraredFrameReader!=nullptr;
}
///
/// Wait until we get a first frame
///
void CameraKinectIr::WaitForFirstFrame()
{
bool new_frame = false;
int attempts = 200; // Kinect cold start can take a while
while (!new_frame && attempts>0)
{
new_frame = get_frame_(iMatFrame);
portable::sleep(100);
--attempts;
}
}
std::tuple<const video::impl::frame&, bool> CameraKinectIr::get_frame()
{
bool new_frame = false;
new_frame = get_frame_(iMatFrame);
iFrame.data = iMatFrame.ptr();
iFrame.width = iWidth;
iFrame.height = iHeight;
iFrame.stride = cv::Mat::AUTO_STEP;
iFrame.channels = iMatFrame.channels();
iFrame.channelSize = iMatFrame.elemSize1();
return { iFrame, new_frame };
}
// Safe release for interfaces
template<class Interface>
inline void SafeRelease(Interface *& pInterfaceToRelease)
{
if (pInterfaceToRelease != NULL)
{
pInterfaceToRelease->Release();
pInterfaceToRelease = NULL;
}
}
///
///
///
bool CameraKinectIr::start(info& aInfo)
{
stop();
HRESULT hr;
// Get and open Kinect sensor
hr = GetDefaultKinectSensor(&iKinectSensor);
if (SUCCEEDED(hr))
{
hr = iKinectSensor->Open();
}
// Create infrared frame reader
if (SUCCEEDED(hr))
{
// Initialize the Kinect and get the infrared reader
IInfraredFrameSource* pInfraredFrameSource = NULL;
hr = iKinectSensor->Open();
if (SUCCEEDED(hr))
{
hr = iKinectSensor->get_InfraredFrameSource(&pInfraredFrameSource);
}
if (SUCCEEDED(hr))
{
hr = pInfraredFrameSource->OpenReader(&iInfraredFrameReader);
}
SafeRelease(pInfraredFrameSource);
if (SUCCEEDED(hr))
{
iKinectSensor->get_CoordinateMapper(&iCoordinateMapper);
}
}
if (SUCCEEDED(hr))
{
WaitForFirstFrame();
bool success = iMatFrame.ptr() != nullptr;
if (success)
{
// Provide frame info
aInfo.width = iWidth;
aInfo.height = iHeight;
CameraIntrinsics intrinsics;
hr = iCoordinateMapper->GetDepthCameraIntrinsics(&intrinsics);
if (SUCCEEDED(hr))
{
aInfo.focalLengthX = intrinsics.FocalLengthX;
aInfo.focalLengthY = intrinsics.FocalLengthY;
aInfo.principalPointX = intrinsics.PrincipalPointX;
aInfo.principalPointY = intrinsics.PrincipalPointY;
aInfo.radialDistortionFourthOrder = intrinsics.RadialDistortionFourthOrder;
aInfo.radialDistortionSecondOrder = intrinsics.RadialDistortionSecondOrder;
aInfo.radialDistortionSixthOrder = intrinsics.RadialDistortionSixthOrder;
}
}
return success;
}
stop();
return false;
}
void CameraKinectIr::stop()
{
// done with infrared frame reader
SafeRelease(iInfraredFrame);
SafeRelease(iInfraredFrameReader);
// close the Kinect Sensor
if (iKinectSensor)
{
iKinectSensor->Close();
}
SafeRelease(iCoordinateMapper);
SafeRelease(iKinectSensor);
// Free up our memory buffer if any
iMatFrame = cv::Mat();
}
bool CameraKinectIr::get_frame_(cv::Mat& aFrame)
{
if (!iInfraredFrameReader)
{
return false;
}
bool success = false;
// Release previous frame if any
SafeRelease(iInfraredFrame);
HRESULT hr = iInfraredFrameReader->AcquireLatestFrame(&iInfraredFrame);
if (SUCCEEDED(hr))
{
if (iFirstFrame)
{
IFrameDescription* frameDescription = NULL;
if (SUCCEEDED(hr))
{
hr = iInfraredFrame->get_FrameDescription(&frameDescription);
}
if (SUCCEEDED(hr))
{
hr = frameDescription->get_Width(&iWidth);
}
if (SUCCEEDED(hr))
{
hr = frameDescription->get_Height(&iHeight);
}
if (SUCCEEDED(hr))
{
hr = frameDescription->get_DiagonalFieldOfView(&iFov);
}
if (SUCCEEDED(hr))
{
iFirstFrame = false;
}
SafeRelease(frameDescription);
}
UINT nBufferSize = 0;
UINT16 *pBuffer = NULL;
if (SUCCEEDED(hr))
{
hr = iInfraredFrame->AccessUnderlyingBuffer(&nBufferSize, &pBuffer);
}
if (SUCCEEDED(hr))
{
// Create an OpenCV matrix with our 16-bits IR buffer
aFrame = cv::Mat(iHeight, iWidth, CV_16UC1, pBuffer, cv::Mat::AUTO_STEP);
// Any processing of the frame is left to the user
success = true;
}
}
return success;
}
}
#endif
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