summaryrefslogtreecommitdiffhomepage
path: root/tracker-kinect-face/camera_kinect_ir.h
blob: a2ddaf76487fbd60ad0a87c0cbbf40a002edc2ae (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
/* 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