+++ /dev/null
-/*M///////////////////////////////////////////////////////////////////////////////////////
-//
-// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
-//
-// By downloading, copying, installing or using the software you agree to this license.
-// If you do not agree to this license, do not download, install,
-// copy or use the software.
-//
-//
-// Intel License Agreement
-// For Open Source Computer Vision Library
-//
-// Copyright (C) 2002, Intel Corporation, all rights reserved.
-// Third party copyrights are property of their respective owners.
-//
-// Redistribution and use in source and binary forms, with or without modification,
-// are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// * Redistributions in binary form must reproduce the above copyright notice,
-// this list of conditions and the following disclaimer in the documentation
-// and/or other materials provided with the distribution.
-//
-// * The name of Intel Corporation may not be used to endorse or promote products
-// derived from this software without specific prior written permission.
-//
-// This software is provided by the copyright holders and contributors "as is" and
-// any express or implied warranties, including, but not limited to, the implied
-// warranties of merchantability and fitness for a particular purpose are disclaimed.
-// In no event shall the Intel Corporation or contributors be liable for any direct,
-// indirect, incidental, special, exemplary, or consequential damages
-// (including, but not limited to, procurement of substitute goods or services;
-// loss of use, data, or profits; or business interruption) however caused
-// and on any theory of liability, whether in contract, strict liability,
-// or tort (including negligence or otherwise) arising in any way out of
-// the use of this software, even if advised of the possibility of such damage.
-//
-//M*/
-
-#pragma warning(disable:4786)
-#include <vector>
-#include <algorithm>
-#include <streams.h>
-#include "autorelease.h"
-#include <initguid.h>
-#include "Tracker3dFilter.h"
-#include "Tracker3dPropertyPage.h"
-#include "cvaux.h"
-
-#define ARRAY_SIZEOF(a) (sizeof(a)/sizeof((a)[0]))
-
-// locks a critical section, and unlocks it automatically
-// when the lock goes out of scope. Also allows explicit unlocking.
-class AutoLock {
- CCritSec *m_lock;
-
-public:
- AutoLock(CCritSec *lock)
- {
- m_lock = lock;
- m_lock->Lock();
- };
-
- ~AutoLock()
- {
- Unlock();
- };
-
- void Unlock()
- {
- if (m_lock)
- {
- m_lock->Unlock();
- m_lock = NULL;
- }
- };
-};
-
-//#define TRACE
-#ifdef TRACE
-
-#include <stdarg.h>
-#include <stdio.h>
-
-void Trace(const char *fmt, ...)
-{
- char buf[200];
- va_list args;
- va_start(args, fmt);
- vsprintf(buf, fmt, args);
- va_end(args);
- OutputDebugString(buf) ;
-}
-#endif
-
-//
-// CreateInstance
-//
-// Provide the way for COM to create a Tracker3dFilter object
-//
-CUnknown *Tracker3dFilter::CreateInstance(IUnknown *unk, HRESULT *phr)
-{
- try
- {
- *phr = NOERROR;
- return new Tracker3dFilter(NAME("3d Tracker"), unk);
- }
- catch(HRESULT hr)
- {
- *phr = hr;
- return NULL;
- }
- catch (...)
- {
- *phr = E_OUTOFMEMORY;
- return NULL;
- }
-} // CreateInstance
-
-
-//
-// Constructor
-//
-Tracker3dFilter::Tracker3dFilter(TCHAR *name, IUnknown *unk)
- : CBaseFilter(name, unk, &m_cs, CLSID_Tracker3dFilter)
-{
- m_num_streams = 0;
- m_streams = NULL;
- m_camera_configuration_loaded = false;
- m_pCameraInfo = NULL;
- m_tracker_clsid = GUID_NULL;
- m_calibrate_cameras = 0;
- m_camera_intrinsics = NULL;
- m_viewing_stream = 0;
- m_preferred_size = SIZE_Any;
- m_end_of_stream_count = 0;
-}
-
-Tracker3dFilter::~Tracker3dFilter()
-{
- for (int i = 0; i < m_callbacks.size(); i++)
- m_callbacks[i]->Release();
-
- delete [] m_streams;
- delete [] m_pCameraInfo;
- delete [] m_camera_intrinsics;
-}
-
-
-//
-// NonDelegatingQueryInterface
-//
-STDMETHODIMP Tracker3dFilter::NonDelegatingQueryInterface(REFIID riid, void **ppv)
-{
- CheckPointer(ppv,E_POINTER);
-
- if (riid == IID_ITracker3dFilter)
- return GetInterface(static_cast<ITracker3dFilter *>(this), ppv);
- else if (riid == IID_ITracker3dInternal)
- return GetInterface(static_cast<ITracker3dInternal *>(this), ppv);
- else if (riid == IID_ISpecifyPropertyPages)
- return GetInterface(static_cast<ISpecifyPropertyPages *>(this), ppv);
- else if (riid == IID_IPersist)
- return GetInterface(static_cast<IPersist *>(static_cast<IPersistStream *>(this)), ppv);
- else if (riid == IID_IPersistStream)
- return GetInterface(static_cast<IPersistStream *>(this), ppv);
- else
- return CBaseFilter::NonDelegatingQueryInterface(riid, ppv);
-}
-
-int Tracker3dFilter::GetPinCount()
-{
- return 2 * m_num_streams;
-}
-
-CBasePin *Tracker3dFilter::GetPin(int n)
-{
- if (n > GetPinCount())
- return NULL;
- if (n % 2)
- return m_streams[n/2].output_pin;
- else
- return m_streams[n/2].input_pin;
-}
-
-static HRESULT InitImageHeader(IplImage *image_header, const CMediaType *mt)
-{
- const GUID *subtype = mt->Subtype();
- ASSERT(*mt->FormatType() == FORMAT_VideoInfo);
- VIDEOINFO *fmt = (VIDEOINFO *)mt->Format();
-
- int channels;
- int origin;
-
- // We assume that RGB images are inverted and YUV images are not...
- if (*subtype == MEDIASUBTYPE_RGB24 || *subtype == MEDIASUBTYPE_RGB32)
- {
- channels = fmt->bmiHeader.biBitCount / 8;
- origin = IPL_ORIGIN_BL;
- }
- else if (*subtype == MEDIASUBTYPE_YVU9
- || *subtype == MEDIASUBTYPE_YV12
- || *subtype == MEDIASUBTYPE_IYUV)
- {
- // Note: these are planar images, which for our purposes we treat as
- // a single plane of Y8 and ignore the rest.
- channels = 1;
- origin = IPL_ORIGIN_TL;
- }
- else // Other trackers could support other formats, which should be handled here
- {
- return E_FAIL;
- }
-
- cvInitImageHeader(image_header, cvSize(fmt->bmiHeader.biWidth, fmt->bmiHeader.biHeight),
- IPL_DEPTH_8U, channels, origin, 4);
- return NOERROR;
-}
-
-HRESULT Tracker3dFilter::CheckMediaType(int pin, const CMediaType *mt)
-{
- Stream &stream = m_streams[pin];
-
- if (stream.media_type.IsValid())
- return *mt == stream.media_type ? S_OK : E_FAIL;
-
- if (*mt->Type() != MEDIATYPE_Video || *mt->FormatType() != FORMAT_VideoInfo)
- return E_FAIL;
-
- IplImage image_header;
- HRESULT hr = InitImageHeader(&image_header, mt);
- if (FAILED(hr))
- return hr;
-
- if (m_preferred_size == SIZE_320x240
- && (image_header.width != 320 || image_header.height != 240))
- {
- return E_FAIL;
- }
-
- if (m_preferred_size == SIZE_640x480
- && (image_header.width != 640 || image_header.height != 480))
- {
- return E_FAIL;
- }
-
- if (stream.tracker != NULL)
- {
- hr = stream.tracker->CheckFormat(&image_header);
- if (FAILED(hr))
- return hr;
- }
-
- return S_OK;
-}
-
-
-HRESULT Tracker3dFilter::SetMediaType(int pin, const CMediaType *mt)
-{
- Stream &stream = m_streams[pin];
-
- if (stream.media_type.IsValid())
- return *mt == stream.media_type ? S_OK : E_FAIL;
-
- HRESULT hr = CheckMediaType(pin, mt);
- if (FAILED(hr))
- return hr;
-
- hr = InitImageHeader(&stream.image_header1, mt);
- if (FAILED(hr))
- return hr;
- stream.image_header2 = stream.image_header1;
-
- if (stream.tracker != NULL)
- stream.tracker->SetFormat(&stream.image_header1);
-
- stream.media_type = *mt;
- return NOERROR;
-}
-
-HRESULT Tracker3dFilter::GetMediaType(int pin, int pos, CMediaType *mt)
-{
- if (pos < 0)
- return E_INVALIDARG;
-
-#define IYUV 0x56555949
- static const struct
- {
- const GUID *subtype;
- FOURCC fourcc;
- int width, height, depth;
- } types[] = {
- { &MEDIASUBTYPE_IYUV, IYUV, 640, 480, 12 },
- { &MEDIASUBTYPE_RGB24, BI_RGB, 640, 480, 24 },
- { &MEDIASUBTYPE_RGB24, BI_RGB, 640, 480, 32 },
- { &MEDIASUBTYPE_RGB32, BI_RGB, 640, 480, 32 },
- { &MEDIASUBTYPE_IYUV, IYUV, 320, 240, 12 },
- { &MEDIASUBTYPE_RGB24, BI_RGB, 320, 240, 24 },
- { &MEDIASUBTYPE_RGB24, BI_RGB, 320, 240, 32 },
- { &MEDIASUBTYPE_RGB32, BI_RGB, 320, 240, 32 },
- };
-
- // If our media type has been set, we respond only with that type;
- // otherwise, we respond with each of the types we know about.
- if (m_streams[pin].media_type.IsValid())
- {
- if (pos == 0)
- {
- *mt = m_streams[pin].media_type;
- return S_OK;
- }
- }
- else if (pos < ARRAY_SIZEOF(types))
- {
- const GUID *subtype = types[pos].subtype;
- FOURCC fourcc = types[pos].fourcc;
- int width = types[pos].width;
- int height = types[pos].height;
- int depth = types[pos].depth;
-
- VIDEOINFOHEADER fmt = { { 0, 0, 0, 0 }, { 0, 0, 0, 0 }, 30*width*height*depth, 0, 333333,
- { sizeof(BITMAPINFOHEADER), width, height, 1, depth, fourcc, width*height*depth/8, 0, 0, 0, 0 } };
- mt->SetType(&MEDIATYPE_Video);
- mt->SetTemporalCompression(false);
- mt->SetSubtype(subtype);
- mt->SetSampleSize(width*height*depth/8);
- mt->SetFormatType(&FORMAT_VideoInfo);
- mt->SetFormat((BYTE *)&fmt, sizeof(fmt));
- return S_OK;
- }
-
- return VFW_S_NO_MORE_ITEMS;
-}
-
-STDMETHODIMP Tracker3dFilter::Run(REFERENCE_TIME t)
-{
- if (!m_camera_configuration_loaded && m_calibrate_cameras == 0)
- LoadCameraConfiguration();
- return CBaseFilter::Run(t);
-}
-
-STDMETHODIMP Tracker3dFilter::Pause()
-{
- return CBaseFilter::Pause();
-}
-
-STDMETHODIMP Tracker3dFilter::Stop()
-{
- AutoLock lock1(&m_cs);
- AutoLock lock2(&m_recv_cs);
-
- HRESULT hr = CBaseFilter::Stop();
- if (FAILED(hr))
- return hr;
-
- for (int i = 0; i < m_num_streams; i++)
- Flush(i);
- m_end_of_stream_count = 0;
-
- return NOERROR;
-}
-
-HRESULT Tracker3dFilter::Flush(int pin)
-{
- Stream::SampleQueue &q = m_streams[pin].queue;
- while (!q.empty())
- q.pop_front();
- return NOERROR;
-}
-
-Tracker3dFilter::Stream::Stream()
- : input_pin(NULL),
- output_pin(NULL),
- tracker(NULL),
- discarded_frames(0),
- total_frames(0)
-{
-}
-
-Tracker3dFilter::Stream::~Stream()
-{
- SAFE_RELEASE(input_pin);
- SAFE_RELEASE(output_pin);
- SAFE_RELEASE(tracker);
-}
-
-void Tracker3dFilter::Stream::operator =(Stream &s)
-{
- SAFE_RELEASE(input_pin);
- SAFE_RELEASE(output_pin);
- SAFE_RELEASE(tracker);
-
- input_pin = s.input_pin; s.input_pin = NULL;
- output_pin = s.output_pin; s.output_pin = NULL;
- tracker = s.tracker; s.tracker = NULL;
- image_header1 = image_header2 = s.image_header1;
- media_type = s.media_type;
-}
-
-inline Tracker3dFilter::Stream::Sample::Sample(IMediaSample *s, const ITracker::TrackingInfo &t)
- : sample(s),
- tracking_info(t)
-{
- sample->AddRef();
- sample->GetTime(&ts, &te);
- sample->GetPointer(&data);
-}
-
-inline Tracker3dFilter::Stream::Sample::Sample(const Sample &s)
- : sample(s.sample),
- ts(s.ts),
- te(s.te),
- data(s.data),
- tracking_info(s.tracking_info)
-{
- sample->AddRef();
-}
-
-inline void Tracker3dFilter::Stream::Sample::operator=(const Sample &s)
-{
- sample->Release();
-
- sample = s.sample;
- ts = s.ts;
- te = s.te;
- data = s.data;
- tracking_info = s.tracking_info;
- sample->AddRef();
-}
-
-inline Tracker3dFilter::Stream::Sample::~Sample()
-{
- sample->Release();
-}
-
-//-----------------------
-// This is an attempt to match the frames up across the streams which are connected to the tracker.
-// The goal is to minimize the time differences between the frames in one set. This is necessary since
-// there is no available syncronization mechanism for the independant USB cameras or other video sources.
-//-----------------------
-bool Tracker3dFilter::QueuesReady()
-{
- int i;
-
- REFERENCE_TIME greatest = 0;
- REFERENCE_TIME least = 0;
- for (i = 0; i < m_num_streams; i++)
- {
- Stream::SampleQueue &q = m_streams[i].queue;
- if (q.empty())
- return false;
- REFERENCE_TIME ts = q.front().ts;
- if (ts > greatest)
- greatest = ts;
- if (ts < least || least == 0)
- least = ts;
- }
-
- // If the difference between the greatest timestamp and the least is less than
- // the specified difference (1/60 sec or 1/2 nominal frame time), all queues
- // are ready.
-#define MAX_DIFF (10000000/60)
- if (greatest - least <= MAX_DIFF)
- return true;
-
- // Otherwise, check in each queue whether the 'greatest' frame is a closer time
- // match to the second frame in the queue than to the first frame in the queue.
- // If so, discard the first frame in the queue.
- // This algorithm requires a second frame in each queue, so it introduces one
- // full frame delay.
- for (i = 0; i < m_num_streams; i++)
- {
- Stream::SampleQueue &q = m_streams[i].queue;
- while (q.size() > 1 && abs(q.begin()->ts - greatest) > abs((q.begin() + 1)->ts - greatest))
- {
- m_streams[i].discarded_frames++;
-#ifdef TRACE
- Trace("Discard: %*s %5lu\n", 6*i, "", (unsigned long)q.front().ts/10000);
-#endif
- q.pop_front();
- }
-
- if (q.size() > 1)
- continue;
- if (abs(greatest - q.front().ts) <= MAX_DIFF)
- continue;
- return false;
- }
-
- return true;
-}
-
-//-----------------------
-// Performs the frame to frame work...
-//-----------------------
-HRESULT Tracker3dFilter::Receive(int pin, IMediaSample *sample)
-{
- int i;
-
- Stream &stream = m_streams[pin];
- ITracker::TrackingInfo tracking_info;
-
- if (stream.tracker != NULL && m_calibrate_cameras == 0)
- {
- unsigned char *data;
- sample->GetPointer(&data);
- stream.image_header1.imageData = (char *)data;
- try
- {
- stream.tracker->Process(&stream.image_header1);
- stream.tracker->GetTrackedObjects(tracking_info);
- }
- catch (...)
- {
- }
- stream.image_header1.imageData = NULL;
- }
-
- AutoLock lock(&m_recv_cs);
-
- stream.queue.push_back(Stream::Sample(sample, tracking_info));
-
-#ifdef TRACE
- Trace("Receive(%d):%*s %5lu\n", pin, 6*pin, "", (unsigned long)stream.queue.back().ts/10000);
-#endif
-
- if (!QueuesReady())
- return NOERROR;
-
-#ifdef TRACE
- char buf[100] = "Process: ";
- char *p = buf + strlen(buf);
- REFERENCE_TIME greatest = 0;
- REFERENCE_TIME least = 0;
- for (i = 0; i < m_num_streams; i++)
- {
- REFERENCE_TIME ts = m_streams[i].queue.front().ts;
- if (ts > greatest)
- greatest = ts;
- if (ts < least || least == 0)
- least = ts;
- sprintf(p, " %5lu", (unsigned long)ts/10000);
- p += strlen(p);
- }
- sprintf(p, " %4ld", (long)((greatest - least)/10000));
- p += strlen(p);
- static unsigned long processed_frames;
- sprintf(p, "; %4lu", ++processed_frames);
- p += strlen(p);
- for (i = 0; i < m_num_streams; i++)
- {
- Stream &s = m_streams[i];
- sprintf(p, " %4lu (%2lu%%)", s.discarded_frames, (100*s.discarded_frames/(processed_frames+s.discarded_frames)));
- p += strlen(p);
- }
-
- Trace("%s\n", buf);
-#endif
-
- if (m_calibrate_cameras != 0)
- {
- std::vector<IplImage *> samples(m_num_streams);
- for (i = 0; i < m_num_streams; i++)
- {
- m_streams[i].image_header2.imageData = (char *)m_streams[i].queue.front().data;
- samples[i] = &m_streams[i].image_header2;
- }
- //
- // This is the second most significant call in the filter, this is how the relative locations of
- // all of the cameras are determined. This information is vital to the later process of determining
- // the location of the targets in 3D from the set of 2D results provided by the trackers.
- //
- if (cv3dTrackerCalibrateCameras(m_num_streams, m_camera_intrinsics, m_etalon_size,
- m_square_size, &samples[0], m_pCameraInfo))
- {
- if (m_calibrate_cameras == 1)
- {
- m_calibrate_cameras = 0;
- SaveCameraConfiguration();
- }
- }
- }
- else
- {
- int num_objects = 0;
-
- for (i = 0; i < m_num_streams; i++)
- {
- int n = m_streams[i].queue.front().tracking_info.size();
- if (n > num_objects)
- num_objects = n;
- }
-
- if (num_objects != 0)
- {
- std::vector<Cv3dTracker2dTrackedObject> tracking_info(m_num_streams * num_objects,
- cv3dTracker2dTrackedObject(-1, CvPoint()));
- for (i = 0; i < m_num_streams; i++)
- {
- ITracker::TrackingInfo &t = m_streams[i].queue.front().tracking_info;
-
- if (m_streams[i].image_header2.origin == IPL_ORIGIN_BL)
- for (int j = 0; j < t.size(); j++)
- t[j].p.y = m_streams[i].image_header2.height - 1 - t[j].p.y;
-
- for (int j = 0; j < t.size(); j++)
- tracking_info[i*num_objects+j] = t[j];
- }
-
- m_tracked_objects.resize(num_objects);
- //
- // This is it. The whole point of this is this call.
- // For each matched set of results from the trackers this call will compute the 3D coordinates of the targets.
- //
- int n = cv3dTrackerLocateObjects(m_num_streams, num_objects, m_pCameraInfo, &tracking_info[0], &m_tracked_objects[0]);
- m_tracked_objects.resize(n);
- }
- else
- m_tracked_objects.clear();
- }
-
- // Copy viewing sample out of queue before releasing lock.
- Stream::Sample viewing_sample = m_streams[m_viewing_stream].queue.front();
-
- for (i = 0; i < m_num_streams; i++)
- {
- m_streams[i].output_pin->Deliver(m_streams[i].queue.front().sample);
- m_streams[i].queue.pop_front();
- }
-
- lock.Unlock();
-
- for (i = 0; i < m_callbacks.size(); i++)
- m_callbacks[i]->Callback(m_tracked_objects, viewing_sample.data, (IUnknown *)viewing_sample.sample);
-
- return NOERROR;
-}
-
-HRESULT Tracker3dFilter::EndOfStream(int pin)
-{
- AutoLock lock(&m_recv_cs);
-
- m_end_of_stream_count++;
-
- if (m_end_of_stream_count == m_num_streams)
- {
- for (int i = 0; i < m_num_streams; i++)
- {
- Flush(i);
- m_streams[i].output_pin->DeliverEndOfStream();
- }
- }
-
- return NOERROR;
-}
-
-void Tracker3dFilter::SetNumberOfStreams(int num_streams)
-{
- if (num_streams == m_num_streams)
- return;
-
- delete [] m_camera_intrinsics;
- m_camera_intrinsics = NULL;
-
- Stream *streams = NULL;
- Cv3dTrackerCameraInfo *camera_info = NULL;
-
- if (num_streams > 0)
- {
- int i;
-
- camera_info = new Cv3dTrackerCameraInfo [ num_streams ];
- streams = new Stream [ num_streams ];
- for (i = 0; i < num_streams; i++)
- {
- if (i < m_num_streams)
- {
- streams[i] = m_streams[i];
- camera_info[i] = m_pCameraInfo[i];
- }
- else
- {
- streams[i].input_pin = new Tracker3dInputPin(i, this, &m_cs);
- streams[i].output_pin = new Tracker3dOutputPin(i, this, &m_cs);
- if (m_tracker_clsid != GUID_NULL)
- {
- // If CoCreateInstance fails, m_streams[i].tracker is left as NULL.
- CoCreateInstance(m_tracker_clsid, NULL, CLSCTX_INPROC_SERVER, IID_ITracker, (void **)&streams[i].tracker);
- }
- camera_info[i].valid = false;
- }
- }
- }
-
- delete [] m_streams;
- m_streams = streams;
-
- delete [] m_pCameraInfo;
- m_pCameraInfo = camera_info;
-
- m_num_streams = num_streams;
- IncrementPinVersion();
-}
-
-
-//
-// GetPages
-//
-// Returns the clsid's of the property pages we support
-//
-STDMETHODIMP Tracker3dFilter::GetPages(CAUUID *pPages)
-{
- std::vector<GUID> pages;
- pages.push_back(CLSID_Tracker3dPropertyPage);
-
- // In addition to our property page, return a separate property page for each type of tracker.
- // Normally all the trackers will be the same, so only one property page will be returned,
- // but we call each tracker to see if it wants a different property page.
- // It is up to each property page to call GetTrackers and connect to all the trackers
- // that are of the appropriate type.
- if (m_streams != NULL)
- {
- for (int i = 0; i < m_num_streams; i++)
- {
- GUID page;
- if (m_streams[i].tracker != NULL
- && SUCCEEDED(m_streams[i].tracker->GetPropertyPage(&page)))
- {
- if (std::find(pages.begin(), pages.end(), page) == pages.end())
- pages.push_back(page);
- }
- }
- }
-
- // Now that we've determined how many pages we need, allocate the memory
- // and fill it in.
- pPages->cElems = pages.size();
- pPages->pElems = (GUID *) CoTaskMemAlloc(pages.size() * sizeof(GUID));
- if (pPages->pElems == NULL)
- return E_OUTOFMEMORY;
-
- for (int i = 0; i < pages.size(); i++)
- pPages->pElems[i] = pages[i];
-
- return NOERROR;
-}
-
-
-// IPersistStream
-STDMETHODIMP Tracker3dFilter::GetClassID(CLSID *clsid)
-{
- *clsid = CLSID_Tracker3dFilter;
- return NOERROR;
-}
-
-STDMETHODIMP Tracker3dFilter::IsDirty()
-{
- return S_OK;
-}
-
-static const int PERSIST_STREAM_VERSION0 = 0;
-static const int PERSIST_STREAM_VERSION0_SIZE = 3;
-static const int PERSIST_STREAM_VERSION1 = 1;
-static const int PERSIST_STREAM_VERSION1_SIZE = 4;
-static const int PERSIST_STREAM_VERSION2 = 2;
-static const int PERSIST_STREAM_VERSION2_SIZE = PERSIST_STREAM_VERSION1_SIZE;
-static const int PERSIST_STREAM_VERSION3 = 3;
-static const int PERSIST_STREAM_VERSION3_SIZE = 3 + sizeof(GUID);
-
-STDMETHODIMP Tracker3dFilter::Load(IStream *stream)
-{
- unsigned long nread;
- unsigned char buf[3];
-
- HRESULT hr = stream->Read(buf, 3, &nread);
- if (FAILED(hr))
- return hr;
-
- if (nread != 3)
- return E_FAIL;
-
- int num_streams;
-
- if (buf[0] == PERSIST_STREAM_VERSION0 && buf[1] == PERSIST_STREAM_VERSION0_SIZE)
- {
- num_streams = buf[2];
- }
- else if (buf[0] == PERSIST_STREAM_VERSION1 && buf[1] == PERSIST_STREAM_VERSION1_SIZE)
- {
- num_streams = buf[2];
- }
- else if (buf[0] == PERSIST_STREAM_VERSION2 && buf[1] == PERSIST_STREAM_VERSION2_SIZE)
- {
- num_streams = buf[2] & 0x3f;
- m_preferred_size = (InputSize)((buf[2] >> 6) & 0x03);
- }
- else if (buf[0] == PERSIST_STREAM_VERSION3)
- {
- num_streams = buf[2] & 0x3f;
- m_preferred_size = (InputSize)((buf[2] >> 6) & 0x03);
- if (buf[1] == PERSIST_STREAM_VERSION3_SIZE)
- {
- GUID guid;
- hr = stream->Read(&guid, sizeof(GUID), &nread);
- if (FAILED(hr))
- return hr;
- if (nread != sizeof(GUID))
- return E_FAIL;
- m_tracker_clsid = guid;
- }
- }
- else
- {
- return E_FAIL;
- }
-
- if (buf[0] == PERSIST_STREAM_VERSION1 || buf[0] == PERSIST_STREAM_VERSION2)
- {
- unsigned char lib_name_len;
-
- hr = stream->Read(&lib_name_len, 1, &nread);
- if (FAILED(hr))
- return hr;
- if (nread != 1)
- return E_FAIL;
-
- if (lib_name_len > 0)
- {
- char lib_name[256];
- hr = stream->Read(lib_name, lib_name_len, &nread);
- // We don't support this format any more; ignore the
- // default tracker dll name, but allow the graph
- // to load.
- //if (SUCCEEDED(hr) && nread == lib_name_len)
- //{
- // lib_name[lib_name_len] = '\0';
- // SetDefaultTrackerDLL(lib_name);
- //}
- }
- }
-
- SetTrackers(num_streams, NULL);
-
- return NOERROR;
-}
-
-STDMETHODIMP Tracker3dFilter::Save(IStream *stream, BOOL clear_dirty)
-{
- HRESULT hr;
- unsigned long dummy;
- unsigned char buf[PERSIST_STREAM_VERSION3_SIZE] = { PERSIST_STREAM_VERSION3,
- PERSIST_STREAM_VERSION3_SIZE,
- (unsigned char)((m_num_streams & 0x7f) | (m_preferred_size << 6))
- };
-
- if (m_tracker_clsid != GUID_NULL)
- memcpy(buf+3, &m_tracker_clsid, sizeof(GUID));
- else
- buf[1] = 3;
-
- hr = stream->Write(&buf, buf[1], &dummy);
- if (FAILED(hr))
- return hr;
-
- return NOERROR;
-}
-
-STDMETHODIMP Tracker3dFilter::GetSizeMax(ULARGE_INTEGER *size)
-{
- size->QuadPart = PERSIST_STREAM_VERSION3_SIZE;
- return NOERROR;
-}
-
-
-// ITracker3dFilter
-
-STDMETHODIMP Tracker3dFilter::GetNumberOfCameras(int &num_streams)
-{
- num_streams = m_num_streams;
- return NOERROR;
-}
-
-class AutoClose
-{
- FILE ** m_ppfile;
-
-public:
- AutoClose(FILE ** ppfile) : m_ppfile(ppfile) { };
- ~AutoClose()
- {
- if (*m_ppfile != NULL)
- {
- fclose(*m_ppfile);
- *m_ppfile = NULL;
- }
- };
-};
-
-#define AUTO_CLOSE(f) AutoClose AutoClose##f(&f)
-
-STDMETHODIMP Tracker3dFilter::LoadCameraConfiguration(const char *filename)
-{
- FILE *f = fopen(filename, "r"); AUTO_CLOSE(f);
- if (f == NULL)
- return E_FAIL;
-
- int num_streams;
- int r;
- r = fscanf(f, "%ld\n", &num_streams);
- if (r != 1 || num_streams <= 0)
- return E_FAIL;
-
- SetNumberOfStreams(num_streams);
-
- for (int c = 0; c < m_num_streams; c++)
- {
- Cv3dTrackerCameraInfo &camera = m_pCameraInfo[c];
-
- char camera_name[80];
-
- if (fscanf(f, "%[^:]:", camera_name) != 1)
- return E_FAIL;
- if (fscanf(f, "%g, %g;", &camera.principal_point.x, &camera.principal_point.y) != 2)
- return E_FAIL;
- for (int i = 0; i < 4; i++)
- for (int j = 0; j < 4; j++)
- if (fscanf(f, "%g", &camera.mat[i][j]) != 1)
- return E_FAIL;
- //camera.camera_name = camera_name;
- camera.valid = true;
- }
-
- m_camera_configuration_loaded = true;
-
- return NOERROR;
-}
-
-STDMETHODIMP Tracker3dFilter::SaveCameraConfiguration(const char *filename)
-{
- if (m_pCameraInfo == NULL)
- return E_FAIL;
-
- FILE *f = fopen(filename, "w");
- if (f == NULL)
- return E_FAIL;
-
- fprintf(f, "%lu\n", m_num_streams);
-
- for (int c = 0; c < m_num_streams; c++)
- {
- Cv3dTrackerCameraInfo &camera = m_pCameraInfo[c];
-
- fprintf(f, "Camera %d: ", c);
- //fprintf(f, "%s: ", camera.camera_name.c_str());
- fprintf(f, " %g, %g;", camera.principal_point.x, camera.principal_point.y);
- for (int i = 0; i < 4; i++)
- for (int j = 0; j < 4; j++)
- fprintf(f, " %g", camera.mat[i][j]);
- fprintf(f, "\n");
- }
-
- fclose(f);
-
- return NOERROR;
-}
-
-static std::string subst(std::string s, char i, char o)
-{
- std::string::size_type pos = 0;
- while ((pos = s.find(i, pos)) != std::string::npos)
- s.replace(pos, 1, 1, o);
- return s;
-}
-
-std::string Tracker3dFilter::CalibrationName(int i)
-{
- std::string camera_name;
- GetCameraName(i, camera_name);
- return subst(camera_name, '\\', '#');
-}
-
-class AutoCloseKey
-{
- HKEY *m_pkey;
-
-public:
- AutoCloseKey(HKEY *pkey) : m_pkey(pkey) { };
- ~AutoCloseKey()
- {
- if (*m_pkey != 0)
- {
- RegCloseKey(*m_pkey);
- *m_pkey = 0;
- }
- };
-};
-
-#define AUTO_CLOSE_KEY(f) AutoCloseKey AutoCloseKey##f(&f)
-
-static const char key_name[] = "Software\\Intel\\VAI\\3d Tracker\\";
-
-//------------------
-// Once camera extrinsic parameters are determined they are stored in the registry in the key
-// Software\\Intel\\VAI\\3d Tracker\\
-// Read them back from here when the app starts.
-//------------------
-void Tracker3dFilter::LoadCameraConfiguration()
-{
- LONG r;
-
- HKEY key = 0; AUTO_CLOSE_KEY(key);
- r = RegOpenKeyEx(HKEY_LOCAL_MACHINE, key_name, 0,KEY_READ, &key);
- if (r != ERROR_SUCCESS)
- return;
-
- int valid_count = 0;
- for (int c = 0; c < m_num_streams; c++)
- {
- Cv3dTrackerCameraInfo &camera = m_pCameraInfo[c];
- char buf[18*15];
- DWORD size = sizeof(buf);
- r = RegQueryValueEx(key, CalibrationName(c).c_str(), 0, NULL, (BYTE *)buf, &size);
- if (r != ERROR_SUCCESS)
- continue;
-
- if (sscanf(buf, "%g %g; %g %g %g %g, %g %g %g %g, %g %g %g %g, %g %g %g %g",
- &camera.principal_point.x, &camera.principal_point.y,
- &camera.mat[0][0], &camera.mat[0][1], &camera.mat[0][2], &camera.mat[0][3],
- &camera.mat[1][0], &camera.mat[1][1], &camera.mat[1][2], &camera.mat[1][3],
- &camera.mat[2][0], &camera.mat[2][1], &camera.mat[2][2], &camera.mat[2][3],
- &camera.mat[3][0], &camera.mat[3][1], &camera.mat[3][2], &camera.mat[3][3]) != 18)
- continue;
-
- camera.valid = true;
- valid_count++;
- }
-
- m_camera_configuration_loaded = (valid_count == m_num_streams);
-}
-
-void Tracker3dFilter::SaveCameraConfiguration()
-{
- LONG r;
-
- HKEY key = 0; AUTO_CLOSE_KEY(key);
- r = RegCreateKeyEx(HKEY_LOCAL_MACHINE, key_name, 0, NULL, 0, KEY_WRITE, NULL, &key, NULL);
- if (r != ERROR_SUCCESS)
- return;
-
- for (int c = 0; c < m_num_streams; c++)
- {
- Cv3dTrackerCameraInfo &camera = m_pCameraInfo[c];
- char buf[18*15];
- char *p = buf;
- int len = sprintf(p, "%g %g;", camera.principal_point.x, camera.principal_point.y);
- p += len;
- for (int i = 0; i < 4; i++)
- {
- for (int j = 0; j < 4; j++)
- {
- len = sprintf(p, " %g", camera.mat[i][j]);
- p += len;
- }
- *p++ = ',';
- }
- RegSetValueEx(key, CalibrationName(c).c_str(), 0, REG_SZ, (BYTE *)buf, p - buf + 1);
- }
-}
-
-
-STDMETHODIMP Tracker3dFilter::GetDefaultTracker(GUID &tracker_clsid)
-{
- tracker_clsid = m_tracker_clsid;
- return NOERROR;
-}
-
-STDMETHODIMP Tracker3dFilter::SetDefaultTracker(const GUID &tracker_clsid)
-{
- m_tracker_clsid = tracker_clsid;
- return NOERROR;
-}
-
-STDMETHODIMP Tracker3dFilter::SetTrackers(int num_streams, ITracker * const *trackers)
-{
- SetNumberOfStreams(num_streams);
-
- if (trackers == NULL)
- {
- for (int i = 0; i < m_num_streams; i++)
- {
- SAFE_RELEASE(m_streams[i].tracker);
-
- if (m_tracker_clsid != GUID_NULL)
- {
- // If CoCreateInstance fails, m_streams[i].tracker is left as NULL.
- CoCreateInstance(m_tracker_clsid, NULL, CLSCTX_INPROC_SERVER, IID_ITracker, (void **)&m_streams[i].tracker);
- if (m_streams[i].media_type.IsValid())
- m_streams[i].tracker->SetFormat(&m_streams[i].image_header1);
- }
- }
- }
- else
- {
- for (int i = 0; i < m_num_streams; i++)
- {
- SAFE_RELEASE(m_streams[i].tracker);
-
- // Store and addref new tracker
- m_streams[i].tracker = trackers[i];
- if (m_streams[i].tracker != NULL)
- {
- m_streams[i].tracker->AddRef();
- if (m_streams[i].media_type.IsValid())
- m_streams[i].tracker->SetFormat(&m_streams[i].image_header1);
- }
- }
- }
-
- return NOERROR;
-}
-
-
-STDMETHODIMP Tracker3dFilter::GetTrackers(std::vector<ITracker *> &trackers)
-{
- trackers.resize(m_num_streams);
- for (int i = 0; i < m_num_streams; i++)
- {
- trackers[i] = m_streams[i].tracker;
- if (trackers[i] != NULL)
- trackers[i]->AddRef();
- }
- return NOERROR;
-}
-
-
-//----------------------
-// Read the intrinsics information for all of the from a list of files.
-// The following is an example of the format that the file is reading.
-// The top left 2 diagonal elements of the matrix are the horizontal and
-// vertical focal lengths and the top 2 elements in the last column
-// indicate the image center coordinates, x in the top row, y in the second.
-//
-// The Distortion parameters indicate the radial and barrel distortion of the lens.
-//
-// All of these results are further discussed in the documentation concerning
-// the CalibFilter.
-//----------------------
-
-/*
-Camera Matrix:
-M[0.0]= 401.3238525M[0.1]= 0.0000000M[0.2]= 135.9540710
-M[1.0]= 0.0000000M[1.1]= 403.9630737M[1.2]= 116.6698456
-M[2.0]= 0.0000000M[2.1]= 0.0000000M[2.2]= 1.0000000
-
-
-Distortion:
-D[0]=-0.011825
-D[1]=0.241698
-D[2]=0.001189
-D[3]=0.003923
-*/
-
-HRESULT Tracker3dFilter::ReadCameraIntrinsics(const char *filenames[])
-{
- // read camera intrinsics for all cameras: focal length[2], principal_point.x&y, distortion[4]
- if (m_camera_intrinsics == NULL)
- m_camera_intrinsics = new Cv3dTrackerCameraIntrinsics [ m_num_streams ];
-
- for (int c = 0; c < m_num_streams; c++)
- {
- Cv3dTrackerCameraIntrinsics &camera = m_camera_intrinsics[c];
-
- FILE *file = fopen(filenames[c], "r"); AUTO_CLOSE(file);
- if (file == NULL)
- return E_FAIL;
-
-#define BUF_SIZE 500
- char buffer[BUF_SIZE+1];
- int sz = fread( buffer, 1, BUF_SIZE, file );
- buffer[sz] = '\0';
-
- int i, j, k;
- float camera_matrix[3][3];
- char* ptr = buffer;
- /* read matrix */
- for( k = 0; k < 9; k++ )
- {
- ptr = strstr( ptr, "M[" );
- if( ptr )
- {
- int s = 0;
- ptr += 2;
- if( sscanf( ptr, "%d%*[.,]%d%n", &i, &j, &s ) == 2 && i == k/3 && j == k%3 )
- {
- ptr += s;
- ptr = strstr( ptr, "=" );
- if( ptr )
- {
- s = 0;
- ptr++;
- if( sscanf( ptr, "%f%n", &camera_matrix[i][j], &s ) == 1 )
- {
- ptr += s;
- continue;
- }
- }
- }
- }
-
- return E_FAIL;
- }
-
- camera.focal_length[0] = camera_matrix[0][0];
- camera.focal_length[1] = camera_matrix[1][1];
-
- camera.principal_point.x = camera_matrix[0][2];
- camera.principal_point.y = camera_matrix[1][2];
-
- /* read distortion */
- for( k = 0; k < 4; k++ )
- {
- ptr = strstr( ptr, "D[" );
- if( ptr )
- {
- int s = 0;
- ptr += 2;
- if( sscanf( ptr, "%d%n", &i, &s ) == 1 && i == k )
- {
- ptr += s;
- ptr = strstr( ptr, "=" );
- if( ptr )
- {
- s = 0;
- ptr++;
- if( sscanf( ptr, "%f%n", &camera.distortion[k], &s ) == 1 )
- {
- ptr += s;
- continue;
- }
- }
- }
- }
-
- return E_FAIL;
- }
- }
-
- return NOERROR;
-}
-
-
-//---------------------
-// Initiate the camera calibration process. Actual calibration call is made in Receive()
-//---------------------
-STDMETHODIMP Tracker3dFilter::CalibrateCameras(int checkerboard_width, int checkerboard_height,
- const char *camera_intrinsics_filenames[],
- float square_size,
- bool continuous)
-{
- AutoLock lock(&m_recv_cs);
- HRESULT hr = ReadCameraIntrinsics(camera_intrinsics_filenames);
- if (FAILED(hr))
- return hr;
- m_tracked_objects.clear();
- m_etalon_size = cvSize(checkerboard_width-1, checkerboard_height-1);
- m_calibrate_cameras = continuous ? 2 : 1;
- m_square_size = square_size;
- for (int c = 0; c < m_num_streams; c++)
- m_pCameraInfo[c].valid = false;
- return NOERROR;
-}
-
-
-STDMETHODIMP Tracker3dFilter::GetTrackedObjects(std::vector<Cv3dTrackerTrackedObject> &tracked_objects)
-{
- AutoLock lock(&m_recv_cs);
- tracked_objects = m_tracked_objects;
- return NOERROR;
-}
-
-STDMETHODIMP Tracker3dFilter::AddCallback(ITracker3dCallback *new_callback)
-{
- if (new_callback == NULL)
- return E_INVALIDARG;
-
- new_callback->AddRef();
- m_callbacks.push_back(new_callback);
-
- return NOERROR;
-}
-
-
-STDMETHODIMP Tracker3dFilter::RemoveCallback(ITracker3dCallback *callback)
-{
- if (callback == NULL)
- return E_INVALIDARG;
-
- std::vector<ITracker3dCallback *>::iterator i = std::find(m_callbacks.begin(), m_callbacks.end(), callback);
- if (i != m_callbacks.end())
- {
- m_callbacks.erase(i);
- callback->Release();
- }
-
- return NOERROR;
-}
-
-
-
-STDMETHODIMP Tracker3dFilter::SetViewingStream(int stream)
-{
- if (stream < 0 || stream >= m_num_streams)
- return E_INVALIDARG;
-
- m_viewing_stream = stream;
- return NOERROR;
-}
-
-STDMETHODIMP Tracker3dFilter::GetViewingStream(int &stream)
-{
- stream = m_viewing_stream;
- return NOERROR;
-}
-
-//--------------------
-// Begin at input pin 'i' and work upstream in the graph to find the source filter. Return
-// the name of the source in the string name.
-//--------------------
-STDMETHODIMP Tracker3dFilter::GetCameraName(int i, std::string &name)
-{
- // Set up a default, in case we can't generate something better
- // (This could be improved.)
- name = (char)('0'+i);
-
- // Work upstream from input pin 'i' to find the capture filter
- HRESULT hr;
- IPin *input_pin = m_streams[i].input_pin; input_pin->AddRef(); AUTO_RELEASE(input_pin);
- IBaseFilter *capture_filter = NULL; AUTO_RELEASE(capture_filter);
-
- while (1)
- {
- IPin *output_pin = NULL; AUTO_RELEASE(output_pin);
- hr = input_pin->ConnectedTo(&output_pin);
- if (FAILED(hr))
- return hr;
-
- PIN_INFO pin_info;
- hr = output_pin->QueryPinInfo(&pin_info);
- if (FAILED(hr))
- return hr;
- IBaseFilter *filter = pin_info.pFilter; AUTO_RELEASE(filter);
-
- FILTER_INFO filter_info;
- hr = filter->QueryFilterInfo(&filter_info);
- filter_info.pGraph->Release(); filter_info.pGraph = NULL;
-
- IEnumPins *e = NULL; AUTO_RELEASE(e);
- hr = filter->EnumPins(&e);
- if (FAILED(hr))
- return hr;
-
- input_pin->Release(); input_pin = NULL;
- while (e->Next(1, &input_pin, NULL) == S_OK)
- {
- hr = input_pin->QueryPinInfo(&pin_info);
- if (FAILED(hr))
- return hr;
- pin_info.pFilter->Release();
- if (pin_info.dir == PINDIR_INPUT)
- break;
- input_pin->Release(); input_pin = NULL;
- }
-
- if (input_pin == NULL) // No input pin found; this must be the capture filter
- {
- capture_filter = filter;
- capture_filter->AddRef();
- break;
- }
- }
-
- // Use IPersistStream to save the filter data, which includes a text representation of the device id.
- IPersistStream *persist_stream = NULL; AUTO_RELEASE(persist_stream);
- hr = capture_filter->QueryInterface(IID_IPersistStream, (void **)&persist_stream);
- if (FAILED(hr))
- return hr;
-
- HGLOBAL mem = GlobalAlloc(GMEM_MOVEABLE, 0);
- if (mem == 0)
- return E_OUTOFMEMORY;
-
- IStream *stream = NULL; AUTO_RELEASE(stream);
- CreateStreamOnHGlobal(mem, true, &stream);
- hr = persist_stream->Save(stream, false);
- if (FAILED(hr))
- return hr;
-
- STATSTG stat;
- hr = stream->Stat(&stat, STATFLAG_NONAME);
- if (FAILED(hr))
- return hr;
-
- int size = stat.cbSize.LowPart;
-
- wchar_t *p = (wchar_t *)GlobalLock(mem);
- wchar_t *end = p + size;
- wchar_t *id = NULL;
- while (p < end-8)
- {
- if (wcsncmp(p, L"@device:", 8) == 0)
- {
- id = p;
- break;
- }
- p++;
- }
-
- if (id == NULL)// Didn't find something we recognize
- return E_FAIL;
-
- p = id + 8;
- while (p < end && *p != L'\0')
- p++;
- int len = p - id;
-
- name.resize(len);
-
- for (i = 0; i < len; i++)
- name[i] = (char)id[i];
-
- return NOERROR;
-}
-
-STDMETHODIMP Tracker3dFilter::SetPreferredInputSize(InputSize size)
-{
- m_preferred_size = size;
- return NOERROR;
-}
-
-STDMETHODIMP Tracker3dFilter::GetPreferredInputSize(InputSize &size)
-{
- size = m_preferred_size;
- return NOERROR;
-}
-
-STDMETHODIMP Tracker3dFilter::IsConnected(bool &any_connected, bool &all_connected)
-{
- any_connected = false;
- all_connected = true;
- for (int i = 0; i < m_num_streams; i++)
- {
- if (m_streams[i].input_pin->IsConnected())
- any_connected = true;
- else
- all_connected = false;
-
- if (m_streams[i].output_pin->IsConnected())
- any_connected = true;
- else
- all_connected = false;
- }
- return NOERROR;
-}
-
-// ITracker3dInternal
-STDMETHODIMP Tracker3dFilter::GetCameraInfo(std::vector<Cv3dTrackerCameraInfo> &info)
-{
- info.resize(m_num_streams);
- for (int i = 0; i < m_num_streams; i++)
- info[i] = m_pCameraInfo[i];
- return NOERROR;
-}
-
-
-// Implementation of pins for Tracker 3d Filter
-
-static const wchar_t *PinName(PIN_DIRECTION pin_dir, int pin_number)
-{
- static wchar_t buf[14];
- swprintf(buf, L"%s %d", pin_dir == PINDIR_INPUT ? L"Input" : L"Output", pin_number);
- return buf;
-}
-
-
-Tracker3dInputPin::Tracker3dInputPin(int pin_number, Tracker3dFilter *filter, CCritSec *cs)
- : CBaseInputPin("Tracker3dInputPin", filter, cs, NULL, PinName(PINDIR_INPUT, pin_number)),
- m_pin_number(pin_number),
- m_pFilter(filter),
- m_refcnt(1)
-{
-}
-
-Tracker3dInputPin::~Tracker3dInputPin()
-{
-}
-
-STDMETHODIMP_(ULONG) Tracker3dInputPin::NonDelegatingAddRef()
-{
- InterlockedIncrement(&m_refcnt);
- return CBaseInputPin::NonDelegatingAddRef();
-}
-
-STDMETHODIMP_(ULONG) Tracker3dInputPin::NonDelegatingRelease()
-{
- if (InterlockedDecrement(&m_refcnt) == 0)
- {
- delete this;
- return 0;
- }
- return CBaseInputPin::NonDelegatingRelease();
-}
-
-STDMETHODIMP Tracker3dInputPin::GetAllocator(IMemAllocator **allocator)
-{
- if (m_pAllocator == NULL)
- return VFW_E_NO_ALLOCATOR;
- *allocator = m_pAllocator;
- (*allocator)->AddRef();
- return NOERROR;
-}
-
-STDMETHODIMP Tracker3dInputPin::NotifyAllocator(IMemAllocator *allocator, BOOL read_only)
-{
- ALLOCATOR_PROPERTIES props, actual;
- allocator->GetProperties(&props);
- props.cBuffers = 5;
- allocator->SetProperties(&props, &actual);
- return CBaseInputPin::NotifyAllocator(allocator, read_only);
-}
-
-HRESULT Tracker3dInputPin::CheckMediaType(const CMediaType *mt)
-{
- return m_pFilter->CheckMediaType(m_pin_number, mt);
-}
-
-HRESULT Tracker3dInputPin::SetMediaType(const CMediaType *mt)
-{
- CBaseInputPin::SetMediaType(mt);
- return m_pFilter->SetMediaType(m_pin_number, mt);
-}
-
-HRESULT Tracker3dInputPin::GetMediaType(int pos, CMediaType *mt)
-{
- return m_pFilter->GetMediaType(m_pin_number, pos, mt);
-}
-
-
-HRESULT Tracker3dInputPin::Receive(IMediaSample *sample)
-{
- HRESULT hr = CBaseInputPin::Receive(sample);
- if (FAILED(hr))
- return hr;
-
- return m_pFilter->Receive(m_pin_number, sample);
-}
-
-HRESULT Tracker3dInputPin::EndOfStream()
-{
- m_pFilter->EndOfStream(m_pin_number);
- return NOERROR;
-}
-
-HRESULT Tracker3dInputPin::BeginFlush()
-{
- HRESULT hr = CBaseInputPin::BeginFlush();
- if (FAILED(hr))
- return hr;
-
- m_pFilter->Flush(m_pin_number);
-
- return static_cast<Tracker3dOutputPin *>(m_pFilter->GetPin(m_pin_number*2+1))->DeliverBeginFlush();
-}
-
-HRESULT Tracker3dInputPin::EndFlush()
-{
- HRESULT hr = static_cast<Tracker3dOutputPin *>(m_pFilter->GetPin(m_pin_number*2+1))->DeliverEndFlush();
- if (FAILED(hr))
- return hr;
-
- return CBaseInputPin::EndFlush();
-}
-
-HRESULT Tracker3dInputPin::NewSegment(REFERENCE_TIME start, REFERENCE_TIME stop, double rate)
-{
- CBasePin::NewSegment(start, stop, rate);
- return static_cast<Tracker3dOutputPin *>(m_pFilter->GetPin(m_pin_number*2+1))->DeliverNewSegment(start, stop, rate);
-}
-
-
-Tracker3dOutputPin::Tracker3dOutputPin(int pin_number, Tracker3dFilter *filter, CCritSec *cs)
- : CBaseOutputPin("Tracker3dOutputPin", filter, cs, NULL, PinName(PINDIR_OUTPUT, pin_number)),
- m_pin_number(pin_number),
- m_pFilter(filter),
- m_refcnt(1)
-{
-}
-
-Tracker3dOutputPin::~Tracker3dOutputPin()
-{
-}
-
-STDMETHODIMP_(ULONG) Tracker3dOutputPin::NonDelegatingAddRef()
-{
- InterlockedIncrement(&m_refcnt);
- return CBaseOutputPin::NonDelegatingAddRef();
-}
-
-STDMETHODIMP_(ULONG) Tracker3dOutputPin::NonDelegatingRelease()
-{
- if (InterlockedDecrement(&m_refcnt) == 0)
- {
- delete this;
- return 0;
- }
- return CBaseOutputPin::NonDelegatingRelease();
-}
-
-
-HRESULT Tracker3dOutputPin::CheckMediaType(const CMediaType *mt)
-{
- return m_pFilter->CheckMediaType(m_pin_number, mt);
-}
-
-HRESULT Tracker3dOutputPin::SetMediaType(const CMediaType *mt)
-{
- CBaseOutputPin::SetMediaType(mt);
- return m_pFilter->SetMediaType(m_pin_number, mt);
-}
-
-HRESULT Tracker3dOutputPin::GetMediaType(int pos, CMediaType *mt)
-{
- return m_pFilter->GetMediaType(m_pin_number, pos, mt);
-}
-
-HRESULT Tracker3dOutputPin::DecideAllocator(IMemInputPin *pPin, IMemAllocator **ppAlloc)
-{
- *ppAlloc = NULL;
-
- Tracker3dInputPin *my_input_pin = static_cast<Tracker3dInputPin *>(m_pFilter->GetPin(m_pin_number*2));
- IMemAllocator *alloc;
- HRESULT hr = my_input_pin->GetAllocator(&alloc);
- if (FAILED(hr))
- return hr;
-
- // get downstream prop request
- ALLOCATOR_PROPERTIES props, request;
- alloc->GetProperties(&props);
- if (SUCCEEDED(pPin->GetAllocatorRequirements(&request)))
- {
- bool changed = false;
- if (request.cbAlign > props.cbAlign)
- props.cbAlign = request.cbAlign, changed = true;
- if (request.cBuffers > props.cBuffers)
- props.cBuffers = request.cBuffers, changed = true;
- if (request.cbBuffer > props.cbBuffer)
- props.cbBuffer = request.cbBuffer, changed = true;
- if (request.cbPrefix > props.cbPrefix)
- props.cbPrefix = request.cbPrefix, changed = true;
- if (changed)
- {
- ALLOCATOR_PROPERTIES actual;
- alloc->SetProperties(&props, &actual);
- }
- }
-
- hr = pPin->NotifyAllocator(alloc, my_input_pin->IsReadOnly());
- if (FAILED(hr))
- {
- alloc->Release();
- return hr;
- }
-
- *ppAlloc = alloc;
- return NOERROR;
-}
-
-
-// Setup information
-
-const AMOVIESETUP_MEDIATYPE sudPinTypes =
-{
- &MEDIATYPE_Video, // Major type
- &MEDIASUBTYPE_NULL // Minor type
-};
-
-const AMOVIESETUP_PIN sudpPins[] =
-{
- { L"Input", // Pins string name
- FALSE, // Is it rendered
- FALSE, // Is it an output
- TRUE, // Are we allowed none
- TRUE, // And allowed many
- &CLSID_NULL, // Connects to filter
- NULL, // Connects to pin
- 1, // Number of types
- &sudPinTypes // Pin information
- },
- { L"Output", // Pins string name
- FALSE, // Is it rendered
- TRUE, // Is it an output
- TRUE, // Are we allowed none
- TRUE, // And allowed many
- &CLSID_NULL, // Connects to filter
- NULL, // Connects to pin
- 1, // Number of types
- &sudPinTypes // Pin information
- }
-};
-
-const AMOVIESETUP_FILTER sudFilter =
-{
- &CLSID_Tracker3dFilter, // Filter CLSID
- L"3d Tracker", // String name
- MERIT_DO_NOT_USE, // Filter merit
- 2, // Number of pins
- sudpPins // Pin information
-};
-
-
-// List of class IDs and creator functions for the class factory. This
-// provides the link between the OLE entry point in the DLL and an object
-// being created. The class factory will call the static CreateInstance
-
-CFactoryTemplate g_Templates[] = {
- { L"3d Tracker"
- , &CLSID_Tracker3dFilter
- , Tracker3dFilter::CreateInstance
- , NULL
- , &sudFilter }
- ,
- { L"3d Tracker Property Page"
- , &CLSID_Tracker3dPropertyPage
- , Tracker3dPropertyPage::CreateInstance }
-};
-int g_cTemplates = sizeof(g_Templates) / sizeof(g_Templates[0]);
-
-
-//
-// DllRegisterServer
-//
-// Handles sample registry and unregistry
-//
-STDAPI DllRegisterServer()
-{
- return AMovieDllRegisterServer2( TRUE );
-
-} // DllRegisterServer
-
-
-//
-// DllUnregisterServer
-//
-STDAPI DllUnregisterServer()
-{
- return AMovieDllRegisterServer2( FALSE );
-
-} // DllUnregisterServer
projects / opencv / blobdiff