New PT from Patrick Ruoff adapted to Linux

1 files changed, 47 insertions, 9 deletions

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
index 88a3fc8d..d4741101 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
@@ -12,6 +12,10 @@
 #include <QFile>

 #include <QCoreApplication>

 

+#ifdef OPENTRACK_API

+#   define VideoWidget VideoWidget2

+#endif

+

 using namespace std;

 using namespace cv;

 using namespace boost;

@@ -92,6 +96,9 @@ void Tracker::run()
 				const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, has_observers());

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

 				frame_count++;

+#ifdef OPENTRACK_API

+                video_widget->update_image(frame);

+#endif

 			}

 #ifdef PT_PERF_LOG

 			log_stream<<"dt: "<<dt;

@@ -113,12 +120,16 @@ void Tracker::apply(const TrackerSettings& settings)
 	camera.set_res(settings.cam_res_x, settings.cam_res_y);	

 	camera.set_fps(settings.cam_fps);

 	camera.set_f(settings.cam_f);

-	frame_rotation.rotation = static_cast<FrameRotation::Rotation>(settings.cam_roll);

+    frame_rotation.rotation = static_cast<RotationType>(settings.cam_roll);

 	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 = boost::shared_ptr<PointModel>(new PointModel(settings.M01, settings.M02));

-	point_tracker.dynamic_pose_resolution = settings.dyn_pose_res;

+    point_extractor.max_size = settings.max_point_size;

+#ifdef OPENTRACK_API

+    point_tracker.point_model.reset(new PointModel(settings.M01, settings.M02));

+#else

+    point_tracker.point_model = boost::shared_ptr<PointModel>(new PointModel(settings.M01, settings.M02));

+#endif

+    point_tracker.dynamic_pose_resolution = settings.dyn_pose_res;

 	sleep_time = settings.sleep_time;

 	point_tracker.dt_reset = settings.reset_time / 1000.0;

 	show_video_widget = settings.video_widget;

@@ -181,7 +192,6 @@ void Tracker::update_show_video_widget()
 	{

 		const int VIDEO_FRAME_WIDTH  = 252;

 		const int VIDEO_FRAME_HEIGHT = 189;

-

 		video_widget = new VideoWidget(video_frame, this);

 		QHBoxLayout* video_layout = new QHBoxLayout();

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

@@ -208,15 +218,28 @@ void Tracker::refreshVideo()
 	if (video_widget) video_widget->update_frame_and_points();

 }

 

+#ifdef OPENTRACK_API

+void Tracker::StartTracker(QFrame *parent_window)

+#else

 void Tracker::StartTracker(HWND parent_window)

+#endif

 {

+#ifdef OPENTRACK_API

+    Initialize(parent_window);

+#endif

 	reset_command(PAUSE);

 }

 

+#ifndef OPENTRACK_API

 void Tracker::StopTracker(bool exit)

 {

 	set_command(PAUSE);

 }

+#endif

+

+#ifdef OPENTRACK_API

+#define THeadPoseData double

+#endif

 

 bool Tracker::GiveHeadPoseData(THeadPoseData *data)

 {

@@ -228,14 +251,20 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 		FrameTrafo X_CM = point_tracker.get_pose();

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

 		FrameTrafo X_GH = R_GC * X_CM * X_MH;

-		Matx33f R = X_GH.R * X_GH_0.R.t(); 

+        Matx33f R = X_GH.R * X_GH_0.R.t();

 		Vec3f   t = X_GH.t - X_GH_0.t;		

 

+#ifndef OPENTRACK_API

 		// get translation(s)

 		if (bEnableX) data->x = t[0] / 10.0;	// convert to cm

 		if (bEnableY) data->y = t[1] / 10.0;

 		if (bEnableZ) data->z = t[2] / 10.0;

-

+#else

+        // 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;

+#endif

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

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

 		Matx33f R_EG( 0, 0,-1,

@@ -249,17 +278,26 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 		alpha = atan2( R(1,0), R(0,0));

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

 

+#ifndef OPENTRACK_API

 		if (bEnableYaw)   data->yaw   =   rad2deg * alpha;

 		if (bEnablePitch) data->pitch = - rad2deg * beta;	// FTNoIR expects a minus here

 		if (bEnableRoll)  data->roll  =   rad2deg * gamma;

+#else

+        if (bEnableYaw)   data[Yaw]  =   rad2deg * alpha;

+        if (bEnablePitch) data[Pitch] = - rad2deg * beta;	// FTNoIR expects a minus here

+        if (bEnableRoll)  data[Roll]  =   rad2deg * gamma;

+#endif

 	}

 	return true;

 }

 

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

+#ifdef OPENTRACK_API

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

+#else

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

-

 FTNOIR_TRACKER_BASE_EXPORT ITrackerPtr __stdcall GetTracker()

+#endif

 {

 	return new Tracker;

-}
\ No newline at end of file
+}