First version of the HT tracker

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@209 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

1 files changed, 85 insertions, 0 deletions

diff --git a/FTNoIR_Tracker_HT/ht-api.h b/FTNoIR_Tracker_HT/ht-api.h
new file mode 100644
index 00000000..ac8d45cf
--- /dev/null
+++ b/FTNoIR_Tracker_HT/ht-api.h
@@ -0,0 +1,85 @@
+#pragma once
+#ifndef HT_API
+#ifndef __cplusplus
+# define HT_EXTERN 
+#else
+# define HT_EXTERN extern "C" 
+#endif
+#   if defined(_WIN32) && !defined(MINGW)
+#     define HT_API(t) HT_EXTERN __declspec(dllexport) t __stdcall
+#   else
+#    define HT_API(t) HT_EXTERN t
+#   endif
+#endif
+#if !defined(_WIN32) && !defined(_isnan)
+#  define _isnan isnan
+#endif
+#include <stdio.h>
+struct ht_context;
+typedef struct ht_context headtracker_t;
+
+typedef struct ht_config {
+	float field_of_view;
+	float classification_delay;
+	int   pyrlk_pyramids;
+	int   pyrlk_win_size_w;
+	int   pyrlk_win_size_h;
+    float ransac_max_inlier_error;
+    float ransac_max_reprojection_error;
+	int   max_keypoints;
+    int   keypoint_quality;
+	float keypoint_distance;
+    float keypoint_3distance;
+    int   force_width;
+	int   force_height;
+	int   force_fps;
+	int   camera_index;
+	bool  debug;
+    int   ransac_num_iters;
+    float ransac_min_features;
+    float ransac_max_mean_error;
+    float ransac_abs_max_mean_error;
+} ht_config_t;
+
+typedef struct {
+    double rotx, roty, rotz;
+    double tx, ty, tz;
+	bool filled;
+} ht_result_t;
+
+typedef enum {
+	cfg_type_float = 0,
+	cfg_type_int   = 1,
+	cfg_type_bool  = 2,
+    cfg_type_double = 3
+} ht_cfg_type_t;
+
+typedef union
+{
+	double d;
+	float f;
+	int i;
+} ht_cfg_value_t;
+
+typedef struct {
+	const char* name;
+	int offset;
+	ht_cfg_type_t type;
+	ht_cfg_value_t default_value;
+	ht_cfg_value_t min;
+	ht_cfg_value_t max;
+	const char* docstring;
+} ht_reflection_t;
+
+typedef struct {
+    int rows, cols, channels;
+    unsigned char* data;
+} ht_frame_t;
+
+HT_API(headtracker_t*) ht_make_context(const ht_config_t* config, const char* filename);
+HT_API(void) ht_load_config(FILE* stream, ht_config_t* cfg);
+HT_API(void) ht_free_context(headtracker_t* ctx);
+HT_API(void) ht_get_bgr_frame(headtracker_t* ctx, ht_frame_t* ret);
+HT_API(void) ht_make_config(ht_config_t* cfg);
+HT_API(bool) ht_cycle(headtracker_t* ctx, ht_result_t* euler);
+HT_API(void) ht_reset(headtracker_t* ctx);