Merge pull request #1625 from eyedav/eyeware-beam

13 files changed, 386 insertions, 0 deletions

diff --git a/sdk-paths-sthalik@Clang-windows.cmake b/sdk-paths-sthalik@Clang-windows.cmake
index 895d68b2..25fec0a6 100644
--- a/sdk-paths-sthalik@Clang-windows.cmake
+++ b/sdk-paths-sthalik@Clang-windows.cmake
@@ -31,6 +31,8 @@ setq(SDK_VJOYSTICK "vjoystick")
 
 setq(SDK_REALSENSE "RSSDK-R2")
 
+setq(SDK_EYEWARE_BEAM "eyeware-beam-sdk")
+
 # WARNING: this is utter experimental nonsense
 set(_cxxflags
     -Weverything
diff --git a/sdk-paths-sthalik@GNU-windows.cmake b/sdk-paths-sthalik@GNU-windows.cmake
index b9617719..fe496ae8 100644
--- a/sdk-paths-sthalik@GNU-windows.cmake
+++ b/sdk-paths-sthalik@GNU-windows.cmake
@@ -31,6 +31,8 @@ setq(SDK_VJOYSTICK "vjoystick")
 
 setq(SDK_REALSENSE "RSSDK-R2")
 
+setq(SDK_EYEWARE_BEAM "eyeware-beam-sdk")
+
 set(base-flags "-Wall -Wextra -Wpedantic")
 set(CMAKE_C_FLAGS "-std=c11 ${base-flags} -ggdb ${CMAKE_C_FLAGS}")
 set(CMAKE_CXX_FLAGS "-std=c++17 ${base-flags} -ggdb ${CMAKE_CXX_FLAGS}")
diff --git a/sdk-paths-sthalik@MSVC-windows.cmake b/sdk-paths-sthalik@MSVC-windows.cmake
index 7df31152..c6a93f69 100644
--- a/sdk-paths-sthalik@MSVC-windows.cmake
+++ b/sdk-paths-sthalik@MSVC-windows.cmake
@@ -24,6 +24,7 @@ setq(EIGEN3_INCLUDE_DIR "eigen")
 setq(OpenCV_DIR "opencv/build/install")
 setq(SDL2_DIR "SDL2-win32")
 setq(SDK_ARUCO_LIBPATH "aruco/build/src/aruco.lib")
+setq(SDK_EYEWARE_BEAM "eyeware-beam-sdk")
 setq(SDK_FSUIPC "fsuipc")
 setq(SDK_HYDRA "SixenseSDK")
 setq(SDK_KINECT20 "Kinect-v2.0")
diff --git a/tracker-eyeware-beam/CMakeLists.txt b/tracker-eyeware-beam/CMakeLists.txt
new file mode 100644
index 00000000..3a75f61a
--- /dev/null
+++ b/tracker-eyeware-beam/CMakeLists.txt
@@ -0,0 +1,21 @@
+# The Eyeware Beam SDK can be found at https://beam.eyeware.tech/developers/
+# The latest version can be downloaded at https://eyewarecistorage.blob.core.windows.net/beam-sdk/BeamSDK-Windows64-1.1.0.zip
+set(SDK_EYEWARE_BEAM "" CACHE PATH "Eyeware Beam SDK path")
+if(WIN32 AND SDK_EYEWARE_BEAM)
+    if(MSVC)
+        add_compile_options(-EHsc)
+    endif()
+    otr_module(tracker-eyeware-beam)
+
+    target_include_directories(${self} SYSTEM PRIVATE "${SDK_EYEWARE_BEAM}/API/cpp/include")
+    target_link_directories(${self} SYSTEM PRIVATE "${SDK_EYEWARE_BEAM}/API/cpp/lib")
+    set(dll "${SDK_EYEWARE_BEAM}/API/cpp/lib/tracker_client.dll" "${SDK_EYEWARE_BEAM}/API/cpp/lib/libsodium.dll")
+    set(lib tracker_client)
+
+    #message(${self})
+    #message(${dll})
+    #message(${lib})
+
+    target_link_libraries(${self} ${lib})
+    install(FILES ${dll} DESTINATION ${opentrack-libexec})
+endif()
diff --git a/tracker-eyeware-beam/eyeware_beam.cpp b/tracker-eyeware-beam/eyeware_beam.cpp
new file mode 100644
index 00000000..6762b1bf
--- /dev/null
+++ b/tracker-eyeware-beam/eyeware_beam.cpp
@@ -0,0 +1,111 @@
+/* Copyright (c) 2023 Eyeware Tech SA https://www.eyeware.tech
+ *
+ * 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 "eyeware_beam.h"
+
+#include <QMutexLocker>
+
+eyeware_beam_tracker::eyeware_beam_tracker()
+{
+}
+
+eyeware_beam_tracker::~eyeware_beam_tracker()
+{
+    QMutexLocker lck(&mtx);
+    tracker_client.reset(nullptr);
+}
+
+module_status eyeware_beam_tracker::start_tracker(QFrame* videoframe)
+{
+    QMutexLocker lck(&mtx);
+    try
+    {
+        tracker_client = std::make_unique<eyeware::TrackerClient>();
+    }
+    catch (...)
+    {
+        return error("Eyeware Beam initialization has failed");
+    }
+
+    return status_ok();
+}
+
+void eyeware_beam_tracker::extract_translation(const eyeware::Vector3D& t,
+                                               double& translation_x_cm,
+                                               double& translation_y_cm,
+                                               double& translation_z_cm)
+{
+    translation_x_cm = +t.x * m_to_cm;
+    translation_y_cm = -t.y * m_to_cm;
+    translation_z_cm = +t.z * m_to_cm;
+}
+
+void eyeware_beam_tracker::extract_rotation_angles(const eyeware::Matrix3x3& R,
+                                                   double& pitch_deg,
+                                                   double& roll_deg,
+                                                   double& yaw_deg)
+{
+    double r00 = static_cast<double>(R[0][0]);
+    double r01 = static_cast<double>(R[0][1]);
+    double r02 = static_cast<double>(R[0][2]);
+    double r10 = static_cast<double>(R[1][0]);
+    double r11 = static_cast<double>(R[1][1]);
+    double r12 = static_cast<double>(R[1][2]);
+    double r20 = static_cast<double>(R[2][0]);
+    double r21 = static_cast<double>(R[2][1]);
+    double r22 = static_cast<double>(R[2][2]);
+
+    double dy = std::sqrt(r00 * r00 + r10 * r10);
+    last_yaw_deg = -std::atan2(-r20, dy) * rad_to_deg;
+    last_roll_deg = 0.0;
+    if (dy > epsilon)
+    {
+        last_pitch_deg = -std::atan2(r21, r22) * rad_to_deg;
+        last_roll_deg = +std::atan2(r10, r00) * rad_to_deg;
+    }
+    else
+    {
+        last_pitch_deg = -std::atan2(-r12, r11) * rad_to_deg;
+    }
+}
+
+void eyeware_beam_tracker::data(double *data)
+{
+     QMutexLocker lck(&mtx);
+
+     if (tracker_client && tracker_client->connected())
+     {
+         eyeware::HeadPoseInfo head_pose_info = tracker_client->get_head_pose_info();
+         if (!head_pose_info.is_lost)
+         {
+             extract_translation(head_pose_info.transform.translation, last_translation_x_cm,
+                                 last_translation_y_cm, last_translation_z_cm);
+             extract_rotation_angles(head_pose_info.transform.rotation, last_pitch_deg, last_roll_deg, last_yaw_deg);
+         }
+     }
+
+     data[TX] = last_translation_x_cm;
+     data[TY] = last_translation_y_cm;
+     data[TZ] = last_translation_z_cm;
+     data[Yaw] = last_yaw_deg;
+     data[Pitch] = last_pitch_deg;
+     data[Roll] = last_roll_deg;
+}
+
+eyeware_beam_dialog::eyeware_beam_dialog()
+{
+    ui.setupUi(this);
+
+    connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
+}
+
+void eyeware_beam_dialog::doOK()
+{
+    close();
+}
+
+OPENTRACK_DECLARE_TRACKER(eyeware_beam_tracker, eyeware_beam_dialog, eyeware_beam_metadata)
diff --git a/tracker-eyeware-beam/eyeware_beam.h b/tracker-eyeware-beam/eyeware_beam.h
new file mode 100644
index 00000000..b30703bc
--- /dev/null
+++ b/tracker-eyeware-beam/eyeware_beam.h
@@ -0,0 +1,74 @@
+/* Copyright (c) 2023 Eyeware Tech SA https://www.eyeware.tech
+ *
+ * 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.
+ */
+
+#pragma once
+
+#include "api/plugin-api.hpp"
+
+#include "ui_eyeware_beam.h"
+
+#include "eyeware/tracker_client.h"
+
+#include <QObject>
+#include <QMutex>
+
+class eyeware_beam_tracker : public QObject, public ITracker
+{
+    Q_OBJECT
+
+public:
+    eyeware_beam_tracker();
+    ~eyeware_beam_tracker() override;
+    module_status start_tracker(QFrame* frame) override;
+    void data(double *data) override;
+
+private:
+    void extract_translation(const eyeware::Vector3D& t,
+                             double& translation_x_cm,
+                             double& translation_y_cm,
+                             double& translation_z_cm);
+    void extract_rotation_angles(const eyeware::Matrix3x3& R, double& pitch_deg, double& roll_deg, double& yaw_deg);
+
+    std::unique_ptr<eyeware::TrackerClient> tracker_client = nullptr;
+
+    QMutex mtx;
+
+    double last_pitch_deg = 0.0;
+    double last_roll_deg = 0.0;
+    double last_yaw_deg = 0.0;
+    double last_translation_x_cm = 0.0;
+    double last_translation_y_cm = 0.0;
+    double last_translation_z_cm = 0.0;
+
+    const double rad_to_deg = 180.0 / M_PI;
+    const double m_to_cm = 100.0;
+    const double epsilon = 0.000001;
+};
+
+class eyeware_beam_dialog : public ITrackerDialog
+{
+    Q_OBJECT
+
+public:
+    eyeware_beam_dialog();
+    void register_tracker(ITracker * x) override { tracker = static_cast<eyeware_beam_tracker*>(x); }
+    void unregister_tracker() override { tracker = nullptr; }
+
+private:
+    Ui::eyeware_beam_ui ui;
+    eyeware_beam_tracker* tracker = nullptr;
+
+private Q_SLOTS:
+    void doOK();
+};
+
+class eyeware_beam_metadata : public Metadata
+{
+    Q_OBJECT
+    QString name() override { return QString("Eyeware Beam"); }
+    QIcon icon() override { return QIcon(":/images/eyeware_beam_logo.png"); }
+};
diff --git a/tracker-eyeware-beam/eyeware_beam.qrc b/tracker-eyeware-beam/eyeware_beam.qrc
new file mode 100644
index 00000000..ae20865e
--- /dev/null
+++ b/tracker-eyeware-beam/eyeware_beam.qrc
@@ -0,0 +1,5 @@
+<RCC>
+    <qresource prefix="/images">
+        <file>eyeware_beam_logo.png</file>
+    </qresource>
+</RCC>
diff --git a/tracker-eyeware-beam/eyeware_beam.ui b/tracker-eyeware-beam/eyeware_beam.ui
new file mode 100644
index 00000000..475db6a0
--- /dev/null
+++ b/tracker-eyeware-beam/eyeware_beam.ui
@@ -0,0 +1,90 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>eyeware_beam_ui</class>
+ <widget class="QWidget" name="eyeware_beam_ui">
+  <property name="windowModality">
+   <enum>Qt::NonModal</enum>
+  </property>
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>433</width>
+    <height>180</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="windowTitle">
+   <string>Eyeware Beam</string>
+  </property>
+  <property name="windowIcon">
+   <iconset resource="eyeware_beam.qrc">
+    <normaloff>:/images/eyeware_beam_logo.png</normaloff>:/images/eyeware_beam_logo.png</iconset>
+  </property>
+  <property name="layoutDirection">
+   <enum>Qt::LeftToRight</enum>
+  </property>
+  <property name="autoFillBackground">
+   <bool>false</bool>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QFrame" name="frame_2">
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout_2">
+      <item>
+       <widget class="QLabel" name="label">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Please make sure the Eyeware Beam application is running and tracking is active.&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;To download, visit &lt;a href=&quot;https://beam.eyeware.tech/opentrack&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;https://beam.eyeware.tech/opentrack&lt;/span&gt;&lt;/a&gt;.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+        </property>
+        <property name="openExternalLinks">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDialogButtonBox" name="buttonBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="standardButtons">
+      <set>QDialogButtonBox::Ok</set>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources>
+  <include location="eyeware_beam.qrc"/>
+ </resources>
+ <connections/>
+ <slots>
+  <slot>startEngineClicked()</slot>
+  <slot>stopEngineClicked()</slot>
+  <slot>cameraSettingsClicked()</slot>
+ </slots>
+</ui>
diff --git a/tracker-eyeware-beam/eyeware_beam_logo.png b/tracker-eyeware-beam/eyeware_beam_logo.png
new file mode 100644
index 00000000..6a611cac
--- /dev/null
+++ b/tracker-eyeware-beam/eyeware_beam_logo.png
diff --git a/tracker-eyeware-beam/lang/nl_NL.ts b/tracker-eyeware-beam/lang/nl_NL.ts
new file mode 100644
index 00000000..d70f58ed
--- /dev/null
+++ b/tracker-eyeware-beam/lang/nl_NL.ts
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="nl_NL">
+<context>
+    <name>eyeware_beam_ui</name>
+    <message>
+        <source>Eyeware Beam</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:&apos;MS Shell Dlg 2&apos;; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Please make sure the Eyeware Beam application is running and tracking is active.&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;To download, visit &lt;a href=&quot;https://beam.eyeware.tech/opentrack&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;https://beam.eyeware.tech/opentrack&lt;/span&gt;&lt;/a&gt;.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+</TS>
diff --git a/tracker-eyeware-beam/lang/ru_RU.ts b/tracker-eyeware-beam/lang/ru_RU.ts
new file mode 100644
index 00000000..0bff47ae
--- /dev/null
+++ b/tracker-eyeware-beam/lang/ru_RU.ts
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="ru_RU">
+<context>
+    <name>eyeware_beam_ui</name>
+    <message>
+        <source>Eyeware Beam</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:&apos;MS Shell Dlg 2&apos;; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Please make sure the Eyeware Beam application is running and tracking is active.&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;To download, visit &lt;a href=&quot;https://beam.eyeware.tech/opentrack&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;https://beam.eyeware.tech/opentrack&lt;/span&gt;&lt;/a&gt;.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+</TS>
diff --git a/tracker-eyeware-beam/lang/stub.ts b/tracker-eyeware-beam/lang/stub.ts
new file mode 100644
index 00000000..c64ff83e
--- /dev/null
+++ b/tracker-eyeware-beam/lang/stub.ts
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1">
+<context>
+    <name>eyeware_beam_ui</name>
+    <message>
+        <source>Eyeware Beam</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:&apos;MS Shell Dlg 2&apos;; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Please make sure the Eyeware Beam application is running and tracking is active.&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;To download, visit &lt;a href=&quot;https://beam.eyeware.tech/opentrack&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;https://beam.eyeware.tech/opentrack&lt;/span&gt;&lt;/a&gt;.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+</TS>
diff --git a/tracker-eyeware-beam/lang/zh_CN.ts b/tracker-eyeware-beam/lang/zh_CN.ts
new file mode 100644
index 00000000..aed44317
--- /dev/null
+++ b/tracker-eyeware-beam/lang/zh_CN.ts
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="zh_CN">
+<context>
+    <name>eyeware_beam_ui</name>
+    <message>
+        <source>Eyeware Beam</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:&apos;MS Shell Dlg 2&apos;; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Please make sure the Eyeware Beam application is running and tracking is active.&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;To download, visit &lt;a href=&quot;https://beam.eyeware.tech/opentrack&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;https://beam.eyeware.tech/opentrack&lt;/span&gt;&lt;/a&gt;.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+</TS>