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/* Copyright (c) 2012 Patrick Ruoff
*
* 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
#if __has_include(<Kinect.h>)
#include <Kinect.h>
#include "pt-api.hpp"
#include "compat/timer.hpp"
#include <memory>
#include <opencv2/core.hpp>
#include <opencv2/videoio.hpp>
#include <QString>
namespace pt_module {
///
/// Implement our camera interface using Kinect V2 SDK IR Sensor.
///
struct CameraKinectIr final : pt_camera
{
CameraKinectIr(const QString& module_name);
bool 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;
void set_fov(f value) override { fov = value; }
void show_camera_settings() override;
private:
[[nodiscard]] bool get_frame_(cv::Mat& frame);
f dt_mean = 0, fov = 30;
Timer t;
pt_camera_info cam_info;
pt_camera_info cam_desired;
QString desired_name, active_name;
struct camera_deleter final
{
void operator()(cv::VideoCapture* cap);
};
pt_settings s;
static constexpr f dt_eps = f{1}/256;
// Current Kinect
IKinectSensor* iKinectSensor = nullptr;
// Infrared reader
IInfraredFrameReader* iInfraredFrameReader = nullptr;
// Frame needs to stay alive while we access the data buffer
IInfraredFrame* iInfraredFrame = nullptr;
};
} // ns pt_module
#endif
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