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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.
*/
#pragma once
#ifdef OTR_HAVE_OPENCV
#include <Kinect.h>
//#include "pt-api.hpp"
#include "compat/timer.hpp"
#include "video/camera.hpp"
#include <memory>
#include <opencv2/core.hpp>
#include <opencv2/videoio.hpp>
#include <QString>
namespace Kinect {
struct CamerasProvider : video::impl::camera_
{
CamerasProvider();
std::vector<QString> camera_names() const override;
std::unique_ptr<video::impl::camera> make_camera(const QString& name) override;
bool can_show_dialog(const QString& camera_name) override;
bool show_dialog(const QString& camera_name) override;
};
///
/// Implement our camera interface using Kinect V2 SDK IR Sensor.
///
struct CameraKinectIr final : video::impl::camera
{
CameraKinectIr();
~CameraKinectIr() override;
// From video::impl::camera
[[nodiscard]] bool start(info& args) override;
void stop() override;
bool is_open() override;
std::tuple<const video::impl::frame&, bool> get_frame() override;
[[nodiscard]] bool show_dialog() override;
private:
bool get_frame_(cv::Mat& frame);
void WaitForFirstFrame();
private:
// Current Kinect
IKinectSensor* iKinectSensor = nullptr;
// Infrared reader
IInfraredFrameReader* iInfraredFrameReader = nullptr;
// Frame needs to stay alive while we access the data buffer
IInfraredFrame* iInfraredFrame = nullptr;
//
ICoordinateMapper* iCoordinateMapper = nullptr;
video::frame iFrame;
cv::Mat iMatFrame;
cv::Mat iRaw8;
float fov = 0;
int width = 0, height = 0;
bool first_frame = true;
};
}
#endif
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