Merge pull request #223 from ph0b/unstable

adding a tracker that gets head tracking from the RealSense SDK

1 files changed, 151 insertions, 0 deletions

diff --git a/ftnoir_tracker_rs/rs_impl/ftnoir_tracker_rs_impl.cpp b/ftnoir_tracker_rs/rs_impl/ftnoir_tracker_rs_impl.cpp
new file mode 100644
index 00000000..c1ba5c75
--- /dev/null
+++ b/ftnoir_tracker_rs/rs_impl/ftnoir_tracker_rs_impl.cpp
@@ -0,0 +1,151 @@
+/*
+ * Copyright (c) 2015, Intel Corporation
+ *   Author: Xavier Hallade <xavier.hallade@intel.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.
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include "ftnoir_tracker_rs_impl.h"
+#include <pxcsensemanager.h>
+#include <pxcfaceconfiguration.h>
+
+PXCSenseManager* g_senseManager = NULL;
+PXCFaceData* g_faceData = NULL;
+
+pxcStatus rs_tracker_set_configuration(PXCFaceModule *faceModule){
+	pxcStatus retStatus;
+	PXCFaceConfiguration *faceConfig = NULL;
+
+	if (faceModule == NULL)
+		return PXC_STATUS_HANDLE_INVALID;
+
+	faceConfig = faceModule->CreateActiveConfiguration();
+	if (faceConfig == NULL){
+		return PXC_STATUS_HANDLE_INVALID;
+	}
+
+	faceConfig->pose.isEnabled = true;
+	faceConfig->pose.maxTrackedFaces = 1;
+	faceConfig->pose.smoothingLevel = PXCFaceConfiguration::SmoothingLevelType::SMOOTHING_DISABLED;
+	faceConfig->strategy = PXCFaceConfiguration::STRATEGY_CLOSEST_TO_FARTHEST;
+	faceConfig->detection.isEnabled = false;
+	faceConfig->landmarks.isEnabled = false;
+	faceConfig->DisableAllAlerts();
+	faceConfig->SetTrackingMode(PXCFaceConfiguration::FACE_MODE_COLOR_PLUS_DEPTH);
+
+	retStatus = faceConfig->ApplyChanges();
+	if (retStatus != PXC_STATUS_NO_ERROR){
+		faceConfig->Release();
+		return retStatus;
+	}
+
+	faceConfig->Release();
+	return PXC_STATUS_NO_ERROR;
+}
+
+int rs_tracker_impl_start(){
+	pxcStatus retStatus;
+	PXCFaceModule *faceModule = NULL;
+
+	g_senseManager = PXCSenseManager::CreateInstance();
+	if (g_senseManager == NULL){
+		rs_tracker_impl_end();
+		return PXC_STATUS_HANDLE_INVALID;
+	}
+
+	retStatus = g_senseManager->EnableFace();
+	if (retStatus != PXC_STATUS_NO_ERROR){
+		rs_tracker_impl_end();
+		return retStatus;
+	}
+
+	faceModule = g_senseManager->QueryFace();
+	if (faceModule == NULL){
+		rs_tracker_impl_end();
+		return PXC_STATUS_HANDLE_INVALID;
+	}
+
+	retStatus = rs_tracker_set_configuration(faceModule);
+	if (retStatus != PXC_STATUS_NO_ERROR){
+		rs_tracker_impl_end();
+		return PXC_STATUS_HANDLE_INVALID;
+	}
+
+	retStatus = g_senseManager->Init();
+	if (retStatus != PXC_STATUS_NO_ERROR){
+		rs_tracker_impl_end();
+		return retStatus;
+	}
+
+	g_faceData = faceModule->CreateOutput();
+	if (g_faceData == NULL){
+		rs_tracker_impl_end();
+		return PXC_STATUS_HANDLE_INVALID;
+	}
+
+	return PXC_STATUS_NO_ERROR;
+}
+
+int rs_tracker_impl_update_pose(double *data){
+	pxcStatus retStatus;
+	PXCFaceData::PoseEulerAngles angles;
+	PXCFaceData::HeadPosition headPosition;
+	PXCFaceData::Face *face = NULL;
+	PXCFaceData::PoseData *pose = NULL;
+	bool poseAnglesAvailable = false;
+	bool headPositionAvailable = false;
+
+	if (g_senseManager != NULL && g_faceData != NULL
+                && (retStatus = g_senseManager->AcquireFrame(true, 16)) == PXC_STATUS_NO_ERROR){
+
+		retStatus = g_faceData->Update();
+		if (retStatus != PXC_STATUS_NO_ERROR){
+			rs_tracker_impl_end();
+			return retStatus;
+		}
+
+		pxcI32 numberOfDetectedFaces = g_faceData->QueryNumberOfDetectedFaces();
+		for (pxcI32 i = 0; i < numberOfDetectedFaces; ++i) {
+			face = g_faceData->QueryFaceByIndex(0);
+			if (face == NULL) continue;
+
+			pose = face->QueryPose();
+			if (pose == NULL) continue;
+
+			poseAnglesAvailable = pose->QueryPoseAngles(&angles);
+			if (!poseAnglesAvailable) continue;
+
+			headPositionAvailable = pose->QueryHeadPosition(&headPosition);
+			if (!headPositionAvailable) continue;
+
+			//TODO: use pxcI32 pose->QueryConfidence(); ? for data[6] or to filter here ?
+
+			//x, y, z: cm
+			data[0] = headPosition.headCenter.x / 10.;
+			data[1] = headPosition.headCenter.y / 10.;
+			data[2] = headPosition.headCenter.z / 10.;
+
+			//yaw, pitch, roll: degrees
+			data[3] = -angles.yaw;
+			data[4] = angles.pitch;
+			data[5] = -angles.roll;
+		}
+
+		g_senseManager->ReleaseFrame();
+	}
+
+        return retStatus;
+}
+
+int rs_tracker_impl_end(){
+	if (g_faceData != NULL){
+		g_faceData->Release();
+		g_faceData = NULL;
+	}
+
+	if (g_senseManager != NULL){
+		g_senseManager->Release();
+		g_senseManager = NULL;
+	}
+	return PXC_STATUS_NO_ERROR;
+}