summaryrefslogtreecommitdiffhomepage
path: root/tracker-wii/wii_point_extractor.cpp
blob: 99d4d37597063485bc9b4b9648d22aadb94276ab (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
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
/*
* Copyright (c) 2017-2018 Wei Shuai <cpuwolf@gmail.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 "wii_point_extractor.h"

#include "point_tracker.h"
#include "wii_frame.hpp"

#include "cv/numeric.hpp"
#include "compat/math.hpp"

#include <opencv2/videoio.hpp>

#undef PREVIEW
//#define PREVIEW

#if defined PREVIEW
#   include <opencv2/highgui.hpp>
#endif

#include <cmath>
#include <algorithm>
#include <cinttypes>
#include <memory>

#include <QDebug>

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<vec2>& 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<vec2>& points)
{
        //const cv::Mat& frame = frame_.as_const<WIIFrame>()->mat;
	const struct wii_info& wii = frame_.as_const<WIIFrame>()->wii;
	cv::Mat& preview_frame = *preview_frame_.as<WIIPreview>();

	//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;
	}
}