Veehmot

//#ifdef _CRAZY_FLAG_OPTITRACK
//========================================================================-----
//== OptiTrack Sample Application
//== Copyright (c) NaturalPoint
//==
//== This sample is intended to show how to properly access and control
//== OptiTrack cameras.  The application does the following:
//==
//== 1. Initializes the OptiTrack COM Component.
//== 2. Displays information about all connected cameras.
//== 3. Starts the first camera in the system and displays a grayscale image
//==    (grayscale is only supported on OptiTrack cameras.  TrackIR and
//==     SmartNAV cameras will display filtered tracking image)
//== 4. Unintializes the OptiTrack cameras, COM, and terminates.

//== This sample uses TinyPTC to display grayscale data ==================-----
//== >> TinyPTC by Gaffer
//== >> www.gaffer.org/tinyptc

//== INCLUDES ============================================================-----

#include "tinyptc.h"

//== NECESSARY OPTITRACK INCLUDES AND DEFINITIONS ========================-----

#include <objbase.h>
#include <atlbase.h>
#include "./optitrack.h"
#import  "./optitrack.tlb"

// OpenCV includes.
#include "cv.h"
#include "highgui.h"
IplImage* backbuffer = cvCreateImage( cvSize(640,480), IPL_DEPTH_8U, 4 );
unsigned char *backbufferData= (unsigned char *)(backbuffer->imageData);

static int noise;
static int carry;
static int index;
static int seed = 0x12345;
static int pixel[640*480];
static unsigned char frameBuffer[640*480];
bool       TimeToClose = false;

//== SAMPLE APPLICATION ENTRY POINT ======================================-----

int main(int argc, char** argv)
{

    //== Initialize Microsoft COM Interop ================----
    CoInitialize(NULL);

    //== Initialize OptiTrack COM Component ==============----
    CComPtr<INPCameraCollection> cameraCollection;
    CComPtr<INPCamera>           camera;
    CComPtr<INPCameraFrame>      frame;

    cameraCollection.CoCreateInstance(CLSID_NPCameraCollection);

    //== Enumerate (Identify) Available Cameras ==========----
    cameraCollection->Enum();

    long cameraCount  = 0;
    int  frameCounter = 0;

    //== Determine Available Cameras =====================----
    cameraCollection->get_Count(&cameraCount);

    int windowWidth = 0;
    int windowHeight = 0;

    //== Display Camera Information for All Cameras ======----
    for(int index=0; index<cameraCount; index++)
    {
        cameraCollection->Item(index, &camera);

        long serial,width,height,model,revision,rate;

        camera->get_SerialNumber(&serial);
        camera->get_Width       (&width);
        camera->get_Height      (&height);
        camera->get_Model       (&model);
        camera->get_Revision    (&revision);
        camera->get_FrameRate   (&rate);

        if(index==0)
        {
            windowWidth = width;
            windowHeight = height;
        }

        //== Set Some Camera Options ====================----

        //== Set Grayscale Mode =========================----
        camera->SetOption(NP_OPTION_VIDEO_TYPE        , (CComVariant) 1 );

        //== Don't drop frames ==--
        camera->SetOption(NP_OPTION_FRAME_DECIMATION  , (CComVariant) 0 );

        //== Display 99 on the Camera ===================----
        //== Note: This only works for cameras with a display
        camera->SetOption(NP_OPTION_NUMERIC_DISPLAY_ON, (CComVariant) 01);

        //== Add frame information to the top left of the frame ==--
        camera->SetOption(NP_OPTION_TEXT_OVERLAY_OPTION,(CComVariant) 255);

        //== Send corrupt frames ==
        //camera->SetOption(NP_OPTION_SEND_FRAME_MASK,(CComVariant) 255);

        //== Slow camera frame frame to 25% ==--
        //camera->SetOption(NP_OPTION_FRAME_RATE,(CComVariant) 25);

        //== Always Clean-up COM Objects ================----
        camera.Release();
    }


    //== Open the first camera ==========================----

    if(cameraCount>0)
    {
        if (!ptc_open("OptiTrack Grayscale Sample", windowWidth, windowHeight)) return 1;

        cameraCollection->Item(0, &camera);
        {
            camera->Open();
            camera->Start();
            camera->SetOption(NP_OPTION_EXPOSURE, (CComVariant) 1);
            {
                while(!TimeToClose)
                {
                    Sleep(10);

                    MSG msg;
                    if( PeekMessage( &msg, NULL, 0, 0, PM_NOREMOVE ) )
                    {
                        if(GetMessage( &msg, NULL, 0, 0 ) )
                        {
                            TranslateMessage(&msg);
                            DispatchMessage(&msg);
                        }
                    }

                    camera->GetFrame(0, &frame);

                    if(frame!=0)
                    {
                        //== New Frame Has Arrived ==========================------
                        frameCounter++;

                        camera->GetFrameImage(frame, windowWidth, windowHeight, windowWidth, 8, (byte *) backbuffer->imageData);//(byte *) backbufferData);//(byte *) backbuffer->imageData);

                        cvRectangle(backbuffer, cvPoint(0, 0), cvPoint(64, 64), CV_RGB(255, 0, 0), 5);

                        /*for (int index=0; index<windowWidth*windowHeight; index++){
                            pixel[index] = (unsigned char) backbuffer->imageData[index];
                            //pixel[index] = backbufferData[index];
                        }*/
                        /*for (int index=0; index<windowWidth*windowHeight; index++) {
                            noise = (unsigned char) backbuffer->imageData[index];
                            pixel[index] = (noise<<16) | (noise<<8) | noise;
                        }*/
                        ptc_update(backbuffer->imageData);



                        frame->Free();
                        frame.Release();
                    }
                }
            }
            camera->Stop();
            camera->Close();
        }

        camera.Release();
    }

    ptc_close();

    //== Always Clean-up COM Objects ================----
    cameraCollection.Release();

    //== Uninitialize Microsoft COM Interop =============----
    CoUninitialize();

    ExitProcess(1);
}
//#endif