Run dos2unix on the tree. No user-facing changes.

1 files changed, 261 insertions, 261 deletions

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 99b2f680..48702d19 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -1,261 +1,261 @@
-/* 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.

- */

-

-#include "ftnoir_tracker_pt.h"

-#include <QHBoxLayout>

-#include <cmath>

-#include <QDebug>

-#include <QFile>

-#include <QCoreApplication>

-#include "facetracknoir/global-settings.h"

-

-using namespace std;

-using namespace cv;

-

-//#define PT_PERF_LOG	//log performance

-

-//-----------------------------------------------------------------------------

-Tracker::Tracker()

-    : tracking_valid(false), frame_count(0), commands(0), video_widget(NULL), fresh(false)

-{

-    should_quit = false;

-	qDebug()<<"Tracker::Tracker";

-	TrackerSettings settings;

-    settings.load_ini();

-	apply(settings);

-}

-

-Tracker::~Tracker()

-{

-	qDebug()<<"Tracker::~Tracker";

-	set_command(ABORT);

-	wait();

-	if (video_widget) delete video_widget;

-}

-

-void Tracker::set_command(Command command)

-{

-	//QMutexLocker lock(&mutex);

-	commands |= command;

-}

-

-void Tracker::reset_command(Command command)

-{

-	//QMutexLocker lock(&mutex);

-	commands &= ~command;

-}

-

-void Tracker::run()

-{

-	qDebug()<<"Tracker:: Thread started";

-

-#ifdef PT_PERF_LOG

-	QFile log_file(QCoreApplication::applicationDirPath() + "/PointTrackerPerformance.txt");

-	if (!log_file.open(QIODevice::WriteOnly | QIODevice::Text)) return;

-	QTextStream log_stream(&log_file);

-#endif

-

-	time.start();

-	float dt;

-	bool new_frame;

-	forever

-	{

-		{	

-            QMutexLocker lock(&mutex);

-            if (should_quit)

-                break;

-            

-			if (commands & ABORT) break;

-			if (commands & PAUSE) continue;

-			commands = 0;

-			

-			dt = time.elapsed() / 1000.0;

-			time.restart();

-

-			new_frame = camera.get_frame(dt, &frame);

-			if (new_frame && !frame.empty())

-			{

-				const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, draw_frame);

-				tracking_valid = point_tracker.track(points, camera.get_info().f, dt);

-				frame_count++;

-                fresh = true;

-			}

-#ifdef PT_PERF_LOG

-			log_stream<<"dt: "<<dt;

-			if (!frame.empty()) log_stream<<" fps: "<<camera.get_info().fps;

-			log_stream<<"\n";

-#endif

-            refreshVideo();

-		}

-        msleep(sleep_time);

-	}

-

-	qDebug()<<"Tracker:: Thread stopping";

-}

-

-void Tracker::apply(const TrackerSettings& settings)

-{

-	qDebug()<<"Tracker:: Applying settings";

-	QMutexLocker lock(&mutex);

-	camera.set_index(settings.cam_index);

-	camera.set_res(settings.cam_res_x, settings.cam_res_y);	

-	camera.set_fps(settings.cam_fps);

-	camera.set_f(settings.cam_f);

-	point_extractor.threshold_val = settings.threshold;

-	point_extractor.min_size = settings.min_point_size;

-	point_extractor.max_size = settings.max_point_size;

-	point_tracker.point_model = std::auto_ptr<PointModel>(new PointModel(settings.M01, settings.M02));

-	point_tracker.dynamic_pose_resolution = settings.dyn_pose_res;

-	sleep_time = settings.sleep_time;

-	point_tracker.dt_reset = settings.reset_time / 1000.0;

-	draw_frame = settings.video_widget;

-	cam_pitch = settings.cam_pitch;

-

-	bEnableRoll = settings.bEnableRoll;

-	bEnablePitch = settings.bEnablePitch;

-	bEnableYaw = settings.bEnableYaw;

-	bEnableX = settings.bEnableX;

-	bEnableY = settings.bEnableY;

-	bEnableZ = settings.bEnableZ;

-

-	t_MH = settings.t_MH;

-	qDebug()<<"Tracker::apply ends";

-}

-

-void Tracker::reset()

-{

-	QMutexLocker lock(&mutex);

-	point_tracker.reset();

-}

-

-void Tracker::center()

-{

-	point_tracker.reset();	// we also do a reset here since there is no reset shortkey yet

-	QMutexLocker lock(&mutex);

-	FrameTrafo X_CM_0 = point_tracker.get_pose();

-	FrameTrafo X_MH(Matx33f::eye(), t_MH);

-	X_CH_0 = X_CM_0 * X_MH;

-}

-

-void Tracker::refreshVideo()

-{	

-    if (video_widget && fresh)

-	{

-		Mat frame_copy;

-		std::auto_ptr< vector<Vec2f> > points;

-		{

-            //QMutexLocker lock(&mutex);

-			if (!draw_frame || frame.empty()) return;

-		

-			// copy the frame and points from the tracker thread

-			frame_copy = frame.clone();

-			points = std::auto_ptr< vector<Vec2f> >(new vector<Vec2f>(point_extractor.get_points()));

-		}

-	    //QMutexLocker lck(&mutex);	

-		video_widget->update_image(frame_copy, points);

-    }

-}

-

-void Tracker::StartTracker(QFrame* videoframe)

-{

-    const int VIDEO_FRAME_WIDTH = videoframe->width();

-    const int VIDEO_FRAME_HEIGHT = videoframe->height();

-    TrackerSettings settings;

-    settings.load_ini();

-    apply(settings);

-    qDebug("Tracker::Initialize");

-    // setup video frame

-    video_widget = new VideoWidget(videoframe);

-    QHBoxLayout* layout = new QHBoxLayout();

-    layout->setContentsMargins(0, 0, 0, 0);

-    layout->addWidget(video_widget);

-    if (videoframe->layout()) delete videoframe->layout();

-    videoframe->setLayout(layout);

-    video_widget->resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT);

-    videoframe->show();

-    connect(&timer, SIGNAL(timeout()), this, SLOT(paint_widget()));

-    timer.start(40);

-    camera.start();

-    start();

-    reset_command(PAUSE);

-}

-

-void Tracker::paint_widget() {

-    if (fresh) {

-        fresh = false;

-        video_widget->update();

-    }

-}

-

-bool Tracker::GiveHeadPoseData(double *data)

-{

-	const double rad2deg = 180.0/3.14159265;

-	const double deg2rad = 1.0/rad2deg;

-	{

-		QMutexLocker lock(&mutex);

-

-		if (!tracking_valid) return false;

-

-		FrameTrafo X_CM = point_tracker.get_pose();

-		FrameTrafo X_MH(Matx33f::eye(), t_MH);

-		FrameTrafo X_CH = X_CM * X_MH;

-

-		Matx33f R = X_CH.R * X_CH_0.R.t(); 

-		Vec3f t   = X_CH.t - X_CH_0.t;		

-		

-		// correct for camera pitch

-		Matx33f R_CP( 1, 0, 0,

-			          0,  cos(deg2rad*cam_pitch), sin(deg2rad*cam_pitch),

-					  0, -sin(deg2rad*cam_pitch), cos(deg2rad*cam_pitch));

-		R = R_CP * R * R_CP.t();

-		t = R_CP * t;

-

-		// get translation(s)

-		if (bEnableX) {

-            data[TX] = t[0] / 10.0;	// convert to cm

-		}

-		if (bEnableY) {

-            data[TY] = t[1] / 10.0;

-		}

-		if (bEnableZ) {

-            data[TZ] = t[2] / 10.0;

-		}

-

-		// translate rotation matrix from opengl (G) to roll-pitch-yaw (R) frame

-		// -z -> x, y -> z, x -> -y

-		Matx33f R_RG( 0, 0,-1,

-			         -1, 0, 0,

-					  0, 1, 0);

-		R = R_RG * R * R_RG.t();

-

-		// extract rotation angles

-		double alpha, beta, gamma;

-		//beta = atan2( -R(2,0), sqrt(R(0,0)*R(0,0) + R(1,0)*R(1,0)) );

-		beta = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );

-		alpha = atan2( R(1,0), R(0,0));

-		gamma = atan2( R(2,1), R(2,2));		

-

-		if (bEnableYaw) {

-            data[Yaw]   = rad2deg * alpha;

-		}

-		if (bEnablePitch) {

-            data[Pitch] = rad2deg * beta;

-		}

-		if (bEnableRoll) {

-            data[Roll]  = rad2deg * gamma;

-		}

-	}

-	return true;

-}

-

-//-----------------------------------------------------------------------------

-//#pragma comment(linker, "/export:GetTracker=_GetTracker@0")

-

-extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor()

-{

-    return new Tracker;

-}

+/* 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.
+ */
+
+#include "ftnoir_tracker_pt.h"
+#include <QHBoxLayout>
+#include <cmath>
+#include <QDebug>
+#include <QFile>
+#include <QCoreApplication>
+#include "facetracknoir/global-settings.h"
+
+using namespace std;
+using namespace cv;
+
+//#define PT_PERF_LOG	//log performance
+
+//-----------------------------------------------------------------------------
+Tracker::Tracker()
+    : tracking_valid(false), frame_count(0), commands(0), video_widget(NULL), fresh(false)
+{
+    should_quit = false;
+	qDebug()<<"Tracker::Tracker";
+	TrackerSettings settings;
+    settings.load_ini();
+	apply(settings);
+}
+
+Tracker::~Tracker()
+{
+	qDebug()<<"Tracker::~Tracker";
+	set_command(ABORT);
+	wait();
+	if (video_widget) delete video_widget;
+}
+
+void Tracker::set_command(Command command)
+{
+	//QMutexLocker lock(&mutex);
+	commands |= command;
+}
+
+void Tracker::reset_command(Command command)
+{
+	//QMutexLocker lock(&mutex);
+	commands &= ~command;
+}
+
+void Tracker::run()
+{
+	qDebug()<<"Tracker:: Thread started";
+
+#ifdef PT_PERF_LOG
+	QFile log_file(QCoreApplication::applicationDirPath() + "/PointTrackerPerformance.txt");
+	if (!log_file.open(QIODevice::WriteOnly | QIODevice::Text)) return;
+	QTextStream log_stream(&log_file);
+#endif
+
+	time.start();
+	float dt;
+	bool new_frame;
+	forever
+	{
+		{	
+            QMutexLocker lock(&mutex);
+            if (should_quit)
+                break;
+            
+			if (commands & ABORT) break;
+			if (commands & PAUSE) continue;
+			commands = 0;
+			
+			dt = time.elapsed() / 1000.0;
+			time.restart();
+
+			new_frame = camera.get_frame(dt, &frame);
+			if (new_frame && !frame.empty())
+			{
+				const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, draw_frame);
+				tracking_valid = point_tracker.track(points, camera.get_info().f, dt);
+				frame_count++;
+                fresh = true;
+			}
+#ifdef PT_PERF_LOG
+			log_stream<<"dt: "<<dt;
+			if (!frame.empty()) log_stream<<" fps: "<<camera.get_info().fps;
+			log_stream<<"\n";
+#endif
+            refreshVideo();
+		}
+        msleep(sleep_time);
+	}
+
+	qDebug()<<"Tracker:: Thread stopping";
+}
+
+void Tracker::apply(const TrackerSettings& settings)
+{
+	qDebug()<<"Tracker:: Applying settings";
+	QMutexLocker lock(&mutex);
+	camera.set_index(settings.cam_index);
+	camera.set_res(settings.cam_res_x, settings.cam_res_y);	
+	camera.set_fps(settings.cam_fps);
+	camera.set_f(settings.cam_f);
+	point_extractor.threshold_val = settings.threshold;
+	point_extractor.min_size = settings.min_point_size;
+	point_extractor.max_size = settings.max_point_size;
+	point_tracker.point_model = std::auto_ptr<PointModel>(new PointModel(settings.M01, settings.M02));
+	point_tracker.dynamic_pose_resolution = settings.dyn_pose_res;
+	sleep_time = settings.sleep_time;
+	point_tracker.dt_reset = settings.reset_time / 1000.0;
+	draw_frame = settings.video_widget;
+	cam_pitch = settings.cam_pitch;
+
+	bEnableRoll = settings.bEnableRoll;
+	bEnablePitch = settings.bEnablePitch;
+	bEnableYaw = settings.bEnableYaw;
+	bEnableX = settings.bEnableX;
+	bEnableY = settings.bEnableY;
+	bEnableZ = settings.bEnableZ;
+
+	t_MH = settings.t_MH;
+	qDebug()<<"Tracker::apply ends";
+}
+
+void Tracker::reset()
+{
+	QMutexLocker lock(&mutex);
+	point_tracker.reset();
+}
+
+void Tracker::center()
+{
+	point_tracker.reset();	// we also do a reset here since there is no reset shortkey yet
+	QMutexLocker lock(&mutex);
+	FrameTrafo X_CM_0 = point_tracker.get_pose();
+	FrameTrafo X_MH(Matx33f::eye(), t_MH);
+	X_CH_0 = X_CM_0 * X_MH;
+}
+
+void Tracker::refreshVideo()
+{	
+    if (video_widget && fresh)
+	{
+		Mat frame_copy;
+		std::auto_ptr< vector<Vec2f> > points;
+		{
+            //QMutexLocker lock(&mutex);
+			if (!draw_frame || frame.empty()) return;
+		
+			// copy the frame and points from the tracker thread
+			frame_copy = frame.clone();
+			points = std::auto_ptr< vector<Vec2f> >(new vector<Vec2f>(point_extractor.get_points()));
+		}
+	    //QMutexLocker lck(&mutex);	
+		video_widget->update_image(frame_copy, points);
+    }
+}
+
+void Tracker::StartTracker(QFrame* videoframe)
+{
+    const int VIDEO_FRAME_WIDTH = videoframe->width();
+    const int VIDEO_FRAME_HEIGHT = videoframe->height();
+    TrackerSettings settings;
+    settings.load_ini();
+    apply(settings);
+    qDebug("Tracker::Initialize");
+    // setup video frame
+    video_widget = new VideoWidget(videoframe);
+    QHBoxLayout* layout = new QHBoxLayout();
+    layout->setContentsMargins(0, 0, 0, 0);
+    layout->addWidget(video_widget);
+    if (videoframe->layout()) delete videoframe->layout();
+    videoframe->setLayout(layout);
+    video_widget->resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT);
+    videoframe->show();
+    connect(&timer, SIGNAL(timeout()), this, SLOT(paint_widget()));
+    timer.start(40);
+    camera.start();
+    start();
+    reset_command(PAUSE);
+}
+
+void Tracker::paint_widget() {
+    if (fresh) {
+        fresh = false;
+        video_widget->update();
+    }
+}
+
+bool Tracker::GiveHeadPoseData(double *data)
+{
+	const double rad2deg = 180.0/3.14159265;
+	const double deg2rad = 1.0/rad2deg;
+	{
+		QMutexLocker lock(&mutex);
+
+		if (!tracking_valid) return false;
+
+		FrameTrafo X_CM = point_tracker.get_pose();
+		FrameTrafo X_MH(Matx33f::eye(), t_MH);
+		FrameTrafo X_CH = X_CM * X_MH;
+
+		Matx33f R = X_CH.R * X_CH_0.R.t(); 
+		Vec3f t   = X_CH.t - X_CH_0.t;		
+		
+		// correct for camera pitch
+		Matx33f R_CP( 1, 0, 0,
+			          0,  cos(deg2rad*cam_pitch), sin(deg2rad*cam_pitch),
+					  0, -sin(deg2rad*cam_pitch), cos(deg2rad*cam_pitch));
+		R = R_CP * R * R_CP.t();
+		t = R_CP * t;
+
+		// get translation(s)
+		if (bEnableX) {
+            data[TX] = t[0] / 10.0;	// convert to cm
+		}
+		if (bEnableY) {
+            data[TY] = t[1] / 10.0;
+		}
+		if (bEnableZ) {
+            data[TZ] = t[2] / 10.0;
+		}
+
+		// translate rotation matrix from opengl (G) to roll-pitch-yaw (R) frame
+		// -z -> x, y -> z, x -> -y
+		Matx33f R_RG( 0, 0,-1,
+			         -1, 0, 0,
+					  0, 1, 0);
+		R = R_RG * R * R_RG.t();
+
+		// extract rotation angles
+		double alpha, beta, gamma;
+		//beta = atan2( -R(2,0), sqrt(R(0,0)*R(0,0) + R(1,0)*R(1,0)) );
+		beta = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );
+		alpha = atan2( R(1,0), R(0,0));
+		gamma = atan2( R(2,1), R(2,2));		
+
+		if (bEnableYaw) {
+            data[Yaw]   = rad2deg * alpha;
+		}
+		if (bEnablePitch) {
+            data[Pitch] = rad2deg * beta;
+		}
+		if (bEnableRoll) {
+            data[Roll]  = rad2deg * gamma;
+		}
+	}
+	return true;
+}
+
+//-----------------------------------------------------------------------------
+//#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
+
+extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor()
+{
+    return new Tracker;
+}