move to subdirectory-based build system

Closes #224

10 files changed, 655 insertions, 0 deletions

diff --git a/tracker-ht/CMakeLists.txt b/tracker-ht/CMakeLists.txt
new file mode 100644
index 00000000..74fd9056
--- /dev/null
+++ b/tracker-ht/CMakeLists.txt
@@ -0,0 +1,11 @@
+set(SDK_HT "" CACHE FILEPATH "Path to headtracker library")
+set(SDK_HT_FLANDMARK "" CACHE FILEPATH "Path to flandmark library for headtracker")
+find_package(OpenCV 3.0)
+if(OpenCV_FOUND)
+    if(SDK_HT AND SDK_HT_FLANDMARK)
+        opentrack_boilerplate(opentrack-tracker-ht)
+        target_link_libraries(opentrack-tracker-ht ${SDK_HT} ${SDK_HT_FLANDMARK} ${OpenCV_LIBS})
+        link_with_dinput8(opentrack-tracker-ht)
+        target_include_directories(opentrack-tracker-ht SYSTEM PUBLIC ${OpenCV_INCLUDE_DIRS})
+    endif()
+endif()
diff --git a/tracker-ht/ftnoir_tracker_ht.cpp b/tracker-ht/ftnoir_tracker_ht.cpp
new file mode 100644
index 00000000..cc9d2ba1
--- /dev/null
+++ b/tracker-ht/ftnoir_tracker_ht.cpp
@@ -0,0 +1,225 @@
+#include "headtracker-ftnoir.h"
+#include "ftnoir_tracker_ht.h"
+#include "ui_ht-trackercontrols.h"
+#include "opentrack/plugin-api.hpp"
+#include <cmath>
+#include "opentrack/camera-names.hpp"
+#include "opentrack-compat/sleep.hpp"
+
+typedef struct {
+	int width;
+	int height;
+} resolution_tuple;
+
+static resolution_tuple resolution_choices[] = {
+	{ 640, 480 },
+	{ 320, 240 },
+	{ 320, 200 },
+	{ 0, 0 }
+};
+
+void Tracker::load_settings(ht_config_t* config)
+{
+    int nframes = 0;
+    switch (static_cast<int>(s.fps))
+    {
+    default:
+    case 0:
+        nframes = 0;
+        break;
+    case 1:
+        nframes = 30;
+        break;
+    case 2:
+        nframes = 60;
+        break;
+    case 3:
+        nframes = 120;
+        break;
+    case 4:
+        nframes = 180;
+        break;
+    }
+
+    config->classification_delay = 500;
+    config->field_of_view = s.fov;
+    config->max_keypoints = 150;
+    config->keypoint_distance = 3.5;
+    config->force_fps = nframes;
+    config->camera_index = camera_name_to_index(s.camera_name);
+
+    config->ransac_max_reprojection_error = 25;
+    config->ransac_max_inlier_error = config->ransac_max_reprojection_error;
+
+    config->pyrlk_pyramids = 0;
+    config->pyrlk_win_size_w = config->pyrlk_win_size_h = 21;
+
+    config->ransac_max_mean_error = 999;
+    config->ransac_abs_max_mean_error = 999;
+
+    config->debug = 1;
+    config->ransac_min_features = 0.95;
+    config->ransac_num_iters = 300;
+
+    int res = s.resolution;
+    if (res < 0 || res >= (int)(sizeof(resolution_choices) / sizeof(resolution_tuple)))
+		res = 0;
+	resolution_tuple r = resolution_choices[res];
+	config->force_width = r.width;
+    config->force_height = r.height;
+    config->flandmark_delay = 50;
+    for (int i = 0; i < 5; i++)
+        config->dist_coeffs[i] = 0;
+}
+
+Tracker::Tracker() :
+    ht(nullptr),
+    ypr {0,0,0, 0,0,0},
+    videoWidget(nullptr),
+    layout(nullptr),
+    should_stop(false)
+{
+}
+
+Tracker::~Tracker()
+{
+    should_stop = true;
+    wait();
+    ht_free_context(ht);
+	if (layout)
+		delete layout;
+	if (videoWidget)
+		delete videoWidget;
+}
+
+void Tracker::start_tracker(QFrame* videoframe)
+{
+    videoframe->show();
+    videoWidget = new HTVideoWidget(videoframe);
+    QHBoxLayout* layout = new QHBoxLayout();
+    layout->setContentsMargins(0, 0, 0, 0);
+    layout->addWidget(videoWidget);
+    if (videoframe->layout())
+        delete videoframe->layout();
+    videoframe->setLayout(layout);
+    videoWidget->show();
+    this->layout = layout;
+
+    load_settings(&conf);
+    ht = ht_make_context(&conf, nullptr);
+    start();
+}
+
+void Tracker::run()
+{
+    while (!should_stop)
+    {
+        ht_result_t euler;
+        euler.filled = false;
+        {
+            QMutexLocker l(&camera_mtx);
+
+            if (!ht_cycle(ht, &euler))
+                break;
+        }
+        if (euler.filled)
+        {
+            QMutexLocker l(&ypr_mtx);
+            ypr[TX] = euler.tx;
+            ypr[TY] = euler.ty;
+            ypr[TZ] = euler.tz;
+            ypr[Yaw] = euler.rotx;
+            ypr[Pitch] = euler.roty;
+            ypr[Roll] = euler.rotz;
+        }
+        {
+            const cv::Mat frame_ = ht_get_bgr_frame(ht);
+            if (frame_.cols <= HT_MAX_VIDEO_WIDTH && frame_.rows <= HT_MAX_VIDEO_HEIGHT && frame_.channels() <= HT_MAX_VIDEO_CHANNELS)
+            {
+                QMutexLocker l(&frame_mtx);
+
+                const int cols = frame_.cols;
+                const int rows = frame_.rows;
+                const int pitch = cols * 3;
+                for (int y = 0; y < rows; y++)
+                {
+                    for (int x = 0; x < cols; x++)
+                    {
+                        unsigned char* dest = &frame.frame[y * pitch + 3 * x];
+                        const cv::Vec3b& elt = frame_.at<cv::Vec3b>(y, x);
+                        const cv::Scalar elt2 = static_cast<cv::Scalar>(elt);
+                        dest[0] = elt2.val[0];
+                        dest[1] = elt2.val[1];
+                        dest[2] = elt2.val[2];
+                    }
+                }
+                frame.channels = frame_.channels();
+                frame.width = frame_.cols;
+                frame.height = frame_.rows;
+            }
+        }
+    }
+    // give opencv time to exit camera threads, etc.
+    portable::sleep(500);
+}
+
+void Tracker::data(double* data)
+{
+    {
+        QMutexLocker l(&frame_mtx);
+
+        if (frame.width > 0)
+        {
+            videoWidget->update_image(frame.frame, frame.width, frame.height);
+            frame.width = 0;
+        }
+    }
+
+    {
+        QMutexLocker l(&ypr_mtx);
+
+        for (int i = 0; i < 6; i++)
+            data[i] = ypr[i];
+    }
+}
+
+TrackerControls::TrackerControls() : tracker(nullptr)
+{
+	ui.setupUi(this);
+    ui.cameraName->clear();
+    QList<QString> names = get_camera_names();
+    names.prepend("Any available");
+    ui.cameraName->addItems(names);
+    tie_setting(s.camera_name, ui.cameraName);
+    tie_setting(s.fps, ui.cameraFPS);
+    tie_setting(s.fov, ui.cameraFOV);
+    tie_setting(s.resolution, ui.resolution);
+    connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
+    connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
+    connect(ui.camera_settings, SIGNAL(pressed()), this, SLOT(camera_settings()));
+}
+
+void TrackerControls::doOK()
+{
+    s.b->save();
+	this->close();
+}
+
+void TrackerControls::doCancel()
+{
+    s.b->reload();
+    this->close();
+}
+
+void TrackerControls::camera_settings()
+{
+    if (tracker)
+    {
+        cv::VideoCapture* cap = ht_capture(tracker->ht);
+        open_camera_settings(cap, s.camera_name, &tracker->camera_mtx);
+    }
+    else
+        open_camera_settings(nullptr, s.camera_name, nullptr);
+}
+
+OPENTRACK_DECLARE_TRACKER(Tracker, TrackerControls, TrackerDll)
diff --git a/tracker-ht/ftnoir_tracker_ht.h b/tracker-ht/ftnoir_tracker_ht.h
new file mode 100644
index 00000000..1e364456
--- /dev/null
+++ b/tracker-ht/ftnoir_tracker_ht.h
@@ -0,0 +1,90 @@
+/* Copyright (c) 2013 Stanislaw Halik <sthalik@misaki.pl>
+ *
+ * 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 "headtracker-ftnoir.h"
+#include "ui_ht-trackercontrols.h"
+#include "ht_video_widget.h"
+#include "opentrack-compat/shm.h"
+#include <QObject>
+#include "opentrack/options.hpp"
+#include "opentrack/plugin-api.hpp"
+#include "opentrack/opencv-camera-dialog.hpp"
+
+#include <QThread>
+#include <QMutex>
+#include <QMutexLocker>
+#include <QHBoxLayout>
+#include <QString>
+
+using namespace options;
+
+struct settings : opts {
+    value<double> fov;
+    value<QString> camera_name;
+    value<int> fps, resolution;
+    settings() :
+        opts("HT-Tracker"),
+        fov(b, "fov", 56),
+        camera_name(b, "camera-name", ""),
+        fps(b, "fps", 0),
+        resolution(b, "resolution", 0)
+    {}
+};
+
+class Tracker : public QThread, public ITracker
+{
+    Q_OBJECT
+public:
+    Tracker();
+    ~Tracker() override;
+    void run() override;
+    void start_tracker(QFrame* frame) override;
+    void data(double *data) override;
+    void load_settings(ht_config_t* config);
+    headtracker_t* ht;
+    QMutex camera_mtx;
+private:
+    double ypr[6];
+    settings s;
+    ht_config_t conf;
+    HTVideoWidget* videoWidget;
+    QHBoxLayout* layout;
+    QMutex ypr_mtx, frame_mtx;
+    ht_video_t frame;
+    volatile bool should_stop;
+};
+
+class TrackerControls : public ITrackerDialog, protected camera_dialog<Tracker>
+{
+    Q_OBJECT
+public:
+    TrackerControls();
+    void register_tracker(ITracker * t) override
+    {
+        tracker = static_cast<Tracker*>(t);
+    }
+    void unregister_tracker() override
+    {
+        tracker = nullptr;
+    }
+private:
+    Ui::Form ui;
+    settings s;
+    Tracker* tracker;
+private slots:
+    void doOK();
+    void doCancel();
+    void camera_settings();
+};
+
+class TrackerDll : public Metadata
+{
+    QString name() { return QString("ht -- face tracker"); }
+    QIcon icon() { return QIcon(":/images/ht.png"); }
+};
diff --git a/tracker-ht/headtracker-ftnoir.h b/tracker-ht/headtracker-ftnoir.h
new file mode 100644
index 00000000..9a343bae
--- /dev/null
+++ b/tracker-ht/headtracker-ftnoir.h
@@ -0,0 +1,24 @@
+#pragma once
+#include <stdlib.h>
+#include <stdio.h>
+#include "ht-api.h"
+
+#define HT_SHM_NAME "ftnoir-tracker-ht-shm"
+#define HT_MUTEX_NAME "ftnoir-tracker-ht-mutex"
+
+#define HT_MAX_VIDEO_WIDTH 640
+#define HT_MAX_VIDEO_HEIGHT 480
+#define HT_MAX_VIDEO_CHANNELS 3
+
+typedef struct {
+    int width, height, channels;
+    unsigned char frame[HT_MAX_VIDEO_WIDTH * HT_MAX_VIDEO_HEIGHT * HT_MAX_VIDEO_CHANNELS];
+} ht_video_t;
+
+typedef struct {
+    ht_video_t frame;
+    ht_config_t config;
+    ht_result_t result;
+    volatile int timer;
+    volatile bool pause, terminate, running;
+} ht_shm_t;
diff --git a/tracker-ht/ht-api.h b/tracker-ht/ht-api.h
new file mode 100644
index 00000000..4629a00b
--- /dev/null
+++ b/tracker-ht/ht-api.h
@@ -0,0 +1,51 @@
+#pragma once
+#ifndef HT_API
+#   if defined(_WIN32) && !defined(MINGW)
+#     define HT_API(t) __declspec(dllexport) t __stdcall
+#   else
+#    define HT_API(t) t
+#   endif
+#endif
+#if !defined(_WIN32) && !defined(_isnan)
+#  define _isnan isnan
+#endif
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+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;
+    float keypoint_distance;
+    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;
+    float flandmark_delay;
+    double dist_coeffs[5];
+} ht_config_t;
+
+typedef struct {
+    double rotx, roty, rotz;
+    double tx, ty, tz;
+    bool filled;
+} ht_result_t;
+
+HT_API(headtracker_t*) ht_make_context(const ht_config_t* config, const char* filename);
+HT_API(void) ht_free_context(headtracker_t* ctx);
+HT_API(const cv::Mat) ht_get_bgr_frame(headtracker_t* ctx);
+HT_API(bool) ht_cycle(headtracker_t* ctx, ht_result_t* euler);
+HT_API(void) ht_reset(headtracker_t* ctx);
+HT_API(cv::VideoCapture*) ht_capture(headtracker_t* ctx);
diff --git a/tracker-ht/ht-tracker.qrc b/tracker-ht/ht-tracker.qrc
new file mode 100644
index 00000000..b6af7a18
--- /dev/null
+++ b/tracker-ht/ht-tracker.qrc
@@ -0,0 +1,5 @@
+<RCC>
+    <qresource prefix="/">
+        <file>images/ht.png</file>
+    </qresource>
+</RCC>
diff --git a/tracker-ht/ht-trackercontrols.ui b/tracker-ht/ht-trackercontrols.ui
new file mode 100644
index 00000000..29b80c8d
--- /dev/null
+++ b/tracker-ht/ht-trackercontrols.ui
@@ -0,0 +1,157 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Form</class>
+ <widget class="QWidget" name="Form">
+  <property name="windowModality">
+   <enum>Qt::NonModal</enum>
+  </property>
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>354</width>
+    <height>179</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="maximumSize">
+   <size>
+    <width>750</width>
+    <height>280</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>HT tracker settings</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="1" column="0">
+    <widget class="QLabel" name="label_2">
+     <property name="text">
+      <string>Frames per second</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="1">
+    <widget class="QDoubleSpinBox" name="cameraFOV">
+     <property name="locale">
+      <locale language="English" country="UnitedStates"/>
+     </property>
+     <property name="minimum">
+      <double>35.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>180.000000000000000</double>
+     </property>
+     <property name="value">
+      <double>52.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="0">
+    <widget class="QLabel" name="label">
+     <property name="text">
+      <string>Diagonal FOV</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="1">
+    <widget class="QComboBox" name="cameraFPS">
+     <item>
+      <property name="text">
+       <string notr="true">Default</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>30</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>60</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>120</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>180</string>
+      </property>
+     </item>
+    </widget>
+   </item>
+   <item row="2" column="1">
+    <widget class="QComboBox" name="cameraName"/>
+   </item>
+   <item row="3" column="1">
+    <widget class="QComboBox" name="resolution">
+     <item>
+      <property name="text">
+       <string>640x480</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>320x240</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>320x200</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Default (not recommended!)</string>
+      </property>
+     </item>
+    </widget>
+   </item>
+   <item row="3" column="0">
+    <widget class="QLabel" name="label_4">
+     <property name="text">
+      <string>Resolution</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0">
+    <widget class="QLabel" name="label_3">
+     <property name="text">
+      <string>Camera name</string>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="1">
+    <widget class="QDialogButtonBox" name="buttonBox">
+     <property name="standardButtons">
+      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="0">
+    <widget class="QLabel" name="label_5">
+     <property name="text">
+      <string>Camera settings</string>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="1">
+    <widget class="QPushButton" name="camera_settings">
+     <property name="text">
+      <string>Open</string>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/tracker-ht/ht_video_widget.cpp b/tracker-ht/ht_video_widget.cpp
new file mode 100644
index 00000000..02fe71d1
--- /dev/null
+++ b/tracker-ht/ht_video_widget.cpp
@@ -0,0 +1,53 @@
+/* Copyright (c) 2014 Stanislaw Halik
+ *
+ * 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 "ht_video_widget.h"
+
+void HTVideoWidget::update_image(unsigned char *frame, int width, int height)
+{
+    QMutexLocker foo(&mtx);
+    if (!fresh)
+    {
+        memcpy(fb, frame, width * height * 3);
+        this->width = width;
+        this->height = height;
+        fresh = true;
+    }
+}
+
+void HTVideoWidget::update_and_repaint()
+{
+    QImage qframe;
+    {
+        QMutexLocker foo(&mtx);
+        if (width*height <= 0 || !fresh)
+            return;
+        fresh = false;
+        qframe = QImage(width, height, QImage::Format_RGB888);
+        uchar* data = qframe.bits();
+        const int pitch = qframe.bytesPerLine();
+        for (int y = 0; y < height; y++)
+        {
+            const int part = y*width;
+            for (int x = 0; x < width; x++)
+            {
+                const int pos = 3 * (part + x);
+                const int x_ = x * 3;
+                data[x_ + 0] = fb[pos + 2];
+                data[x_ + 1] = fb[pos + 1];
+                data[x_ + 2] = fb[pos + 0];
+            }
+            data += pitch;
+        }
+    }
+    qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
+    {
+        QMutexLocker foo(&mtx);
+        texture = qframe;
+    }
+    update();
+}
diff --git a/tracker-ht/ht_video_widget.h b/tracker-ht/ht_video_widget.h
new file mode 100644
index 00000000..054b2cf4
--- /dev/null
+++ b/tracker-ht/ht_video_widget.h
@@ -0,0 +1,39 @@
+/* Copyright (c) 2014 Stanislaw Halik
+ *
+ * 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 <QTimer>
+#include <QWidget>
+#include <QMutex>
+#include <QMutexLocker>
+#include <QPainter>
+#include <QPaintEvent>
+
+class HTVideoWidget : public QWidget
+{
+    Q_OBJECT
+public:
+    HTVideoWidget(QWidget *parent) : QWidget(parent), fb(), width(0), height(0), fresh(false) {
+        connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint()));
+        timer.start(60);
+    }
+    void update_image(unsigned char* frame, int width, int height);
+protected slots:
+    void paintEvent( QPaintEvent* e ) {
+        QMutexLocker foo(&mtx);
+        QPainter painter(this);
+        painter.drawImage(e->rect(), texture);
+    }
+    void update_and_repaint();
+private:
+    QMutex mtx;
+    QImage texture;
+    QTimer timer;
+    unsigned char fb[2048*2048*3];
+    int width,height;
+    bool fresh;
+};
diff --git a/tracker-ht/images/ht.png b/tracker-ht/images/ht.png
new file mode 100644
index 00000000..19c73d21
--- /dev/null
+++ b/tracker-ht/images/ht.png