New effort to embrace faceAPI 3.2.6

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@54 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

1 files changed, 47 insertions, 70 deletions

diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp
index 18b9c0b8..39bc8dce 100644
--- a/FaceTrackNoIR/tracker.cpp
+++ b/FaceTrackNoIR/tracker.cpp
@@ -23,6 +23,7 @@
 *********************************************************************************/

 /*

 	Modifications (last one on top):

+		20110313 - WVR: Removed 'set_initial'. Less is more.

 		20110109 - WVR: Added setZero option to define behaviour after STOP tracking via shortkey.

 		20110104 - WVR: Removed a few nasty bugs (it was impossible to stop tracker without crash).

 		20101224 - WVR: Removed the QThread inheritance of the Base Class for the protocol-servers.

@@ -57,7 +58,6 @@
 

 // Flags

 bool Tracker::confid = false;

-bool Tracker::set_initial = false;

 bool Tracker::do_tracking = true;

 bool Tracker::do_center = false;

 bool Tracker::do_inhibit = false;

@@ -66,7 +66,6 @@ bool Tracker::setZero = true;
 bool Tracker::setEngineStop = true;

 HANDLE Tracker::hTrackMutex = 0;

 

-long Tracker::prevHeadPoseTime = 0;

 THeadPoseDOF Tracker::Pitch;							// One structure for each of 6DOF's

 THeadPoseDOF Tracker::Yaw;

 THeadPoseDOF Tracker::Roll;

@@ -83,12 +82,15 @@ IFilterPtr Tracker::pFilter;							// Pointer to Filter instance (in DLL)
 

 

 /** constructor **/

-Tracker::Tracker( int clientID, int facetrackerID ) {

+Tracker::Tracker( int clientID, int facetrackerID, FaceTrackNoIR *parent ) {

 importGetTracker getIT;

 QLibrary *trackerLib;

 importGetFilter getFilter;

 QLibrary *filterLib;

+QFrame *video_frame;

 

+	// Retieve the pointer to the parent

+	mainApp = parent;

 

 	// Remember the selected client, from the ListBox

 	// If the Tracker runs, this can NOT be changed...

@@ -112,6 +114,13 @@ QLibrary *filterLib;
 	Tracker::Z.initHeadPoseData();

 

 	//

+	// Locate the video-frame, for the DLL

+	//

+	video_frame = 0;

+	video_frame = mainApp->getVideoWidget();

+	qDebug() << "Tracker::setup VideoFrame = " << video_frame;

+

+	//

 	// Start the selected Tracker-engine

 	//

 	switch (selectedTracker) {

@@ -125,7 +134,7 @@ QLibrary *filterLib;
 				if (ptrXyz)

 				{

 					pTracker = ptrXyz;

-					pTracker->Initialize();

+					pTracker->Initialize( video_frame );

 					qDebug() << "Tracker::setup Function Resolved!";

 				}

 			}

@@ -144,7 +153,7 @@ QLibrary *filterLib;
 				if (ptrXyz)

 				{

 					pTracker = ptrXyz;

-					pTracker->Initialize();

+					pTracker->Initialize( video_frame );

 					qDebug() << "Tracker::setup Function Resolved!";

 				}

 			}

@@ -255,12 +264,11 @@ Tracker::~Tracker() {
 }

 

 /** setting up the tracker engine **/

-void Tracker::setup(QWidget *head, FaceTrackNoIR *parent) {

+void Tracker::setup() {

 	bool DLL_Ok;

 

 	// retrieve pointers to the User Interface and the main Application

-	mainApp = parent;

-	pTracker->StartTracker();

+	pTracker->StartTracker( mainApp->winId() );

 

 	//

 	// Check if the Protocol-server files were installed OK.

@@ -296,14 +304,12 @@ void Tracker::run() {
 	bool lastStartStopKey = false;

 	bool lastInhibitKey = false;

 

-	SYSTEMTIME now;

-	long newHeadPoseTime;

-	float dT;

-

 	THeadPoseData current_camera_position;			// Used for filtering

 	THeadPoseData target_camera_position;

 	THeadPoseData new_camera_position;

 

+	Tracker::do_center = true;						// Center initially

+

 	current_camera_position.x = 0.0f;

 	current_camera_position.y = 0.0f;

 	current_camera_position.z = 0.0f;

@@ -406,7 +412,6 @@ void Tracker::run() {
 					if (Tracker::do_tracking) {

 						Tracker::do_center = true;

 

-						Tracker::set_initial = false;

 						Tracker::confid = false;

 

 						Pitch.rawList.clear();

@@ -429,7 +434,7 @@ void Tracker::run() {
 						current_camera_position.pitch = 0.0f;

 						current_camera_position.roll = 0.0f;

 

-						pTracker->StartTracker();

+						pTracker->StartTracker( mainApp->winId() );

 					}

 					else {

 						if (setEngineStop) {						// Only stop engine when option is checked

@@ -471,49 +476,21 @@ void Tracker::run() {
 

 			THeadPoseData newpose;

 			Tracker::confid = pTracker->GiveHeadPoseData(&newpose);

-			addHeadPose(newpose);

-

-			//

-			// Get the System-time and substract the time from the previous call.

-			// dT will be used for the EWMA-filter.

-			//

-			GetSystemTime ( &now );

-			newHeadPoseTime = (((now.wHour * 3600) + (now.wMinute * 60) + now.wSecond) * 1000) + now.wMilliseconds;

-			dT = (newHeadPoseTime - Tracker::prevHeadPoseTime) / 1000.0f;

-

-			// Remember time for next call

-			Tracker::prevHeadPoseTime = newHeadPoseTime;

-

-			//if the confidence is good enough the headpose will be updated **/

-			if (Tracker::confid) {

-

-				//

-				// Most games need an offset to the initial position and NOT the

-				// absolute distance to the camera: so remember the initial distance

-				// to substract that later...

-				//

-				if(Tracker::set_initial == false) {

-					Tracker::Pitch.initial_headPos = Tracker::Pitch.headPos;

-					Tracker::Yaw.initial_headPos = Tracker::Yaw.headPos;

-					Tracker::Roll.initial_headPos = Tracker::Roll.headPos;

-					Tracker::X.initial_headPos = Tracker::X.headPos;

-					Tracker::Y.initial_headPos = Tracker::Y.headPos;

-					Tracker::Z.initial_headPos = Tracker::Z.headPos;

-					MessageBeep (MB_ICONASTERISK);

-					Tracker::set_initial = true;

-				}

+			if ( Tracker::confid ) {

+				addHeadPose(newpose);

 			}

 

 			//

 			// If Center is pressed, copy the current values to the offsets.

 			//

-			if (Tracker::do_center && Tracker::set_initial) {

-				Pitch.offset_headPos = getSmoothFromList( &Pitch.rawList )- Tracker::Pitch.initial_headPos;

-				Yaw.offset_headPos = getSmoothFromList( &Yaw.rawList ) - Tracker::Yaw.initial_headPos;

-				Roll.offset_headPos = getSmoothFromList( &Roll.rawList ) - Tracker::Roll.initial_headPos;

-				X.offset_headPos = getSmoothFromList( &X.rawList ) - Tracker::X.initial_headPos;

-				Y.offset_headPos = getSmoothFromList( &Y.rawList ) - Tracker::Y.initial_headPos;

-				Z.offset_headPos = getSmoothFromList( &Z.rawList ) - Tracker::Z.initial_headPos;

+			if (Tracker::confid && Tracker::do_center) {

+				Pitch.offset_headPos = getSmoothFromList( &Pitch.rawList );

+				Yaw.offset_headPos = getSmoothFromList( &Yaw.rawList );

+				Roll.offset_headPos = getSmoothFromList( &Roll.rawList );

+				X.offset_headPos = getSmoothFromList( &X.rawList );

+				Y.offset_headPos = getSmoothFromList( &Y.rawList );

+				Z.offset_headPos = getSmoothFromList( &Z.rawList );

+				MessageBeep (MB_ICONASTERISK);

 

 				Tracker::do_center = false;

 			}

@@ -521,23 +498,23 @@ void Tracker::run() {
 			if (Tracker::do_tracking && Tracker::confid) {

 

 				// Pitch

-				target_camera_position.x = getSmoothFromList( &X.rawList ) - X.offset_headPos - X.initial_headPos;

-				target_camera_position.y = getSmoothFromList( &Y.rawList ) - Y.offset_headPos - Y.initial_headPos;

-				target_camera_position.z = getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Z.initial_headPos;

-				target_camera_position.pitch = getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos - Pitch.initial_headPos;

-				target_camera_position.yaw   = getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos - Yaw.initial_headPos;

-				target_camera_position.roll  = getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos - Roll.initial_headPos;

+				target_camera_position.x     = getSmoothFromList( &X.rawList ) - X.offset_headPos;

+				target_camera_position.y     = getSmoothFromList( &Y.rawList ) - Y.offset_headPos;

+				target_camera_position.z     = getSmoothFromList( &Z.rawList ) - Z.offset_headPos;

+				target_camera_position.pitch = getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos;

+				target_camera_position.yaw   = getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos;

+				target_camera_position.roll  = getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos;

 

 				if (Tracker::useFilter && pFilter) {

 					pFilter->FilterHeadPoseData(&current_camera_position, &target_camera_position, &new_camera_position, Tracker::Pitch.newSample);

 				}

 				else {

-					new_camera_position.x = getSmoothFromList( &X.rawList ) - X.offset_headPos - X.initial_headPos;

-					new_camera_position.y = getSmoothFromList( &Y.rawList ) - Y.offset_headPos - Y.initial_headPos;

-					new_camera_position.z = getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Z.initial_headPos;

-					new_camera_position.pitch = getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos - Pitch.initial_headPos;

-					new_camera_position.yaw = getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos - Yaw.initial_headPos;

-					new_camera_position.roll = getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos - Roll.initial_headPos;

+					new_camera_position.x     = getSmoothFromList( &X.rawList ) - X.offset_headPos;

+					new_camera_position.y     = getSmoothFromList( &Y.rawList ) - Y.offset_headPos;

+					new_camera_position.z     = getSmoothFromList( &Z.rawList ) - Z.offset_headPos;

+					new_camera_position.pitch = getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos;

+					new_camera_position.yaw   = getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos;

+					new_camera_position.roll  = getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos;

 				}

 				new_camera_position.x = X.invert * getOutputFromCurve(&X.curve, new_camera_position.x, X.NeutralZone, X.MaxInput);

 				new_camera_position.y = Y.invert * getOutputFromCurve(&Y.curve, new_camera_position.y, Y.NeutralZone, Y.MaxInput);

@@ -757,13 +734,13 @@ void Tracker::setPowCurve( int x ) {
 // Set the filter-value from the GUI.

 //

 void Tracker::getHeadPose( THeadPoseData *data ) {

-	data->x = Tracker::X.headPos - Tracker::X.initial_headPos;						// centimeters

-	data->y = Tracker::Y.headPos - Tracker::Y.initial_headPos;

-	data->z = Tracker::Z.headPos - Tracker::Z.initial_headPos;

+	data->x = Tracker::X.headPos - Tracker::X.offset_headPos;				// centimeters

+	data->y = Tracker::Y.headPos - Tracker::Y.offset_headPos;

+	data->z = Tracker::Z.headPos - Tracker::Z.offset_headPos;

 

-	data->pitch = Tracker::Pitch.headPos- Tracker::Pitch.initial_headPos;			// degrees

-	data->yaw = Tracker::Yaw.headPos- Tracker::Yaw.initial_headPos;

-	data->roll = Tracker::Roll.headPos - Tracker::Roll.initial_headPos;

+	data->pitch = Tracker::Pitch.headPos- Tracker::Pitch.offset_headPos;	// degrees

+	data->yaw = Tracker::Yaw.headPos- Tracker::Yaw.offset_headPos;

+	data->roll = Tracker::Roll.headPos - Tracker::Roll.offset_headPos;

 }

 

 //