diff options
Diffstat (limited to 'FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp')
| -rw-r--r-- | FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp | 386 |
1 files changed, 386 insertions, 0 deletions
diff --git a/FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp b/FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp new file mode 100644 index 00000000..0b9c923f --- /dev/null +++ b/FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp @@ -0,0 +1,386 @@ +#include "stdafx.h" +#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h" +#include "headtracker-ftnoir.h" +#include "ftnoir_tracker_ht.h" +#include "ftnoir_tracker_ht_dll.h" +#include "UI_TRACKERCONTROLS.h" + +static TCHAR shmName[] = TEXT(HT_SHM_NAME); +static TCHAR mutexName[] = TEXT(HT_MUTEX_NAME); + +#define WIDGET_WIDTH 250 +#define WIDGET_HEIGHT 170 + +static void load_settings(ht_config_t* config, Tracker* tracker) +{ + QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); + QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString(); + QSettings iniFile( currentFile, QSettings::IniFormat ); + + iniFile.beginGroup( "HT-Tracker" ); + config->classification_delay = 1000; + config->field_of_view = iniFile.value("fov", 69).toFloat(); + config->pyrlk_pyramids = 3; + config->pyrlk_win_size_w = config->pyrlk_win_size_h = 21; + config->max_keypoints = 250; + config->keypoint_quality = 31; + config->keypoint_distance = 3.9; + config->keypoint_3distance = 12; + config->force_width = 640; + config->force_height = 480; + config->force_fps = iniFile.value("fps", 0).toInt(); + config->camera_index = iniFile.value("camera-index", -1).toInt(); + config->ransac_num_iters = 100; + config->ransac_max_reprojection_error = 7; + config->ransac_max_inlier_error = 7; + config->ransac_max_mean_error = 5; + config->ransac_abs_max_mean_error = 7; + config->debug = 0; + config->ransac_min_features = 0.90; + if (tracker) + { + tracker->enableRX = iniFile.value("enable-rx", true).toBool(); + tracker->enableRY = iniFile.value("enable-ry", true).toBool(); + tracker->enableRZ = iniFile.value("enable-rz", true).toBool(); + tracker->enableTX = iniFile.value("enable-tx", true).toBool(); + tracker->enableTY = iniFile.value("enable-ty", true).toBool(); + tracker->enableTZ = iniFile.value("enable-tz", true).toBool(); + } + iniFile.endGroup(); +} + +Tracker::Tracker() +{ + videoWidget = NULL; + layout = NULL; + enableRX = enableRY = enableRZ = enableTX = enableTY = enableTZ = true; + hMutex = CreateMutex(NULL, false, mutexName); + hMapFile = CreateFileMapping( + INVALID_HANDLE_VALUE, + NULL, + PAGE_READWRITE, + 0, + sizeof(ht_shm_t), + shmName); + shm = (ht_shm_t*) MapViewOfFile(hMapFile, + FILE_MAP_READ | FILE_MAP_WRITE, + 0, + 0, + sizeof(ht_shm_t)); + paused = false; + load_settings(&shm->config, this); +} + +Tracker::~Tracker() +{ + if (layout) + delete layout; + if (videoWidget) + delete videoWidget; + UnmapViewOfFile(shm); + CloseHandle(hMapFile); + CloseHandle(hMutex); +} + +void Tracker::Initialize(QFrame *videoframe) +{ + videoframe->setAttribute(Qt::WA_NativeWindow); + videoframe->show(); + videoWidget = new VideoWidget(videoframe); + QHBoxLayout* layout = new QHBoxLayout(); + layout->setContentsMargins(0, 0, 0, 0); + layout->addWidget(videoWidget); + if (videoframe->layout()) + delete videoframe->layout(); + videoframe->setLayout(layout); + videoWidget->resize(WIDGET_WIDTH, WIDGET_HEIGHT); + videoWidget->show(); + this->layout = layout; +} + +void Tracker::StartTracker(HWND parent) +{ + if (paused) + { + shm->pause = false; + } + else + { + load_settings(&shm->config, this); + shm->frame.channels = shm->frame.width = shm->frame.height = 0; + shm->pause = shm->terminate = shm->running = false; + shm->timer = 0; + switch (subprocess.state()) + { + case QProcess::ProcessState::Running: + case QProcess::ProcessState::Starting: + subprocess.kill(); + } + subprocess.setWorkingDirectory("tracker-ht"); + subprocess.start("tracker-ht/headtracker-ftnoir.exe"); + } +} + +void Tracker::StopTracker(bool exit) +{ + if (exit) + { + shm->terminate = true; + subprocess.kill(); + } + else + { + shm->pause = true; + } +} + +bool Tracker::GiveHeadPoseData(THeadPoseData* data) +{ + bool ret = false; + + if (WaitForSingleObject(hMutex, INFINITE) == WAIT_OBJECT_0) + { + shm->timer = 0; + if (WaitForSingleObject(videoWidget->hMutex, INFINITE) == WAIT_OBJECT_0) + { + memcpy(&videoWidget->videoFrame, &shm->frame, sizeof(ht_video_t)); + ReleaseMutex(videoWidget->hMutex); + } + if (shm->result.filled) { + if (enableRX) + data->yaw = shm->result.rotx * 57.295781; + if (enableRY) + data->pitch = shm->result.roty * 57.295781; + if (enableRZ) + data->roll = shm->result.rotz * 57.295781; + if (enableTX) + data->x = shm->result.tx; + if (enableTY) + data->y = shm->result.ty; + if (enableTZ) + data->z = shm->result.tz; + ret = true; + } + ReleaseMutex(hMutex); + } + + return ret; +} + +VideoWidget::VideoWidget(QWidget* parent) : QWidget(parent) +{ + hMutex = CreateMutex(NULL, false, NULL); + videoFrame.channels = videoFrame.height = videoFrame.width = 0; + connect(&timer, SIGNAL(timeout()), this, SLOT(update())); + timer.start(35); +} + +VideoWidget::~VideoWidget() +{ + CloseHandle(hMutex); +} + +void VideoWidget::paintEvent(QPaintEvent *e) +{ + if (WaitForSingleObject(hMutex, INFINITE) == WAIT_OBJECT_0) + { + if (videoFrame.width > 0) + { + QImage image((uchar*) videoFrame.frame, videoFrame.width, videoFrame.height, QImage::Format_RGB888); + QPainter painter(this); + painter.drawPixmap(e->rect(), QPixmap::fromImage(image.rgbSwapped()).scaled(WIDGET_WIDTH, WIDGET_HEIGHT, Qt::AspectRatioMode::KeepAspectRatioByExpanding), e->rect()); + } + ReleaseMutex(hMutex); + } +} + +//----------------------------------------------------------------------------- +void TrackerDll::getFullName(QString *strToBeFilled) +{ + *strToBeFilled = "HT 0.5"; +} + +void TrackerDll::getShortName(QString *strToBeFilled) +{ + *strToBeFilled = "HT"; +} + +void TrackerDll::getDescription(QString *strToBeFilled) +{ + *strToBeFilled = ""; +} + +void TrackerDll::getIcon(QIcon *icon) +{ + *icon = QIcon(); +} + + +//----------------------------------------------------------------------------- +#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0") + +FTNOIR_TRACKER_BASE_EXPORT ITrackerDllPtr __stdcall GetTrackerDll() +{ + return new TrackerDll; +} + +#pragma comment(linker, "/export:GetTracker=_GetTracker@0") + +FTNOIR_TRACKER_BASE_EXPORT ITrackerPtr __stdcall GetTracker() +{ + return new Tracker; +} + +//////////////////////////////////////////////////////////////////////////////// +// Factory function that creates instances if the Tracker-settings dialog object. + +// Export both decorated and undecorated names. +// GetTrackerDialog - Undecorated name, which can be easily used with GetProcAddress +// Win32 API function. +// _GetTrackerDialog@0 - Common name decoration for __stdcall functions in C language. +#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0") + +FTNOIR_TRACKER_BASE_EXPORT ITrackerDialogPtr __stdcall GetTrackerDialog( ) +{ + return new TrackerControls; +} + +TrackerControls::TrackerControls() +{ + ui.setupUi(this); + loadSettings(); + connect(ui.cameraIndex, SIGNAL(valueChanged(int)), this, SLOT(settingChanged(int))); + connect(ui.cameraFPS, SIGNAL(currentIndexChanged(int)), this, SLOT(settingChanged(int))); + connect(ui.cameraFOV, SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double))); + connect(ui.rx, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); + connect(ui.ry, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); + connect(ui.rz, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); + connect(ui.tx, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); + connect(ui.ty, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); + connect(ui.tz, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); + connect(ui.buttonCancel, SIGNAL(clicked()), this, SLOT(doCancel())); + connect(ui.buttonOK, SIGNAL(clicked()), this, SLOT(doOK())); + settingsDirty = false; +} + +TrackerControls::~TrackerControls() +{ +} + +void TrackerControls::showEvent(QShowEvent *event) +{ +} + +void TrackerControls::Initialize(QWidget* parent) +{ + show(); +} + +void TrackerControls::loadSettings() +{ + QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); + QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString(); + QSettings iniFile( currentFile, QSettings::IniFormat ); + iniFile.beginGroup( "HT-Tracker" ); + ui.cameraIndex->setValue(iniFile.value("camera-index", -1).toInt()); + ui.cameraFOV->setValue(iniFile.value("fov", 69).toInt()); + int fps; + switch (iniFile.value("fps", 0).toInt()) + { + default: + case 0: + fps = 0; + break; + case 30: + fps = 1; + break; + case 60: + fps = 2; + break; + case 120: + fps = 3; + break; + } + ui.cameraFPS->setCurrentIndex(fps); + ui.rx->setCheckState(iniFile.value("enable-rx", true).toBool() ? Qt::CheckState::Checked : Qt::CheckState::Unchecked); + ui.ry->setCheckState(iniFile.value("enable-ry", true).toBool() ? Qt::CheckState::Checked : Qt::CheckState::Unchecked); + ui.rz->setCheckState(iniFile.value("enable-rz", true).toBool() ? Qt::CheckState::Checked : Qt::CheckState::Unchecked); + ui.tx->setCheckState(iniFile.value("enable-tx", true).toBool() ? Qt::CheckState::Checked : Qt::CheckState::Unchecked); + ui.ty->setCheckState(iniFile.value("enable-ty", true).toBool() ? Qt::CheckState::Checked : Qt::CheckState::Unchecked); + ui.tz->setCheckState(iniFile.value("enable-tz", true).toBool() ? Qt::CheckState::Checked : Qt::CheckState::Unchecked); + iniFile.endGroup(); + settingsDirty = false; +} + +void TrackerControls::save() +{ + QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); + QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString(); + QSettings iniFile( currentFile, QSettings::IniFormat ); + + iniFile.beginGroup( "HT-Tracker" ); + iniFile.setValue("fov", ui.cameraFOV->value()); + int fps; + switch (ui.cameraFPS->currentIndex()) + { + case 0: + default: + fps = 0; + break; + case 1: + fps = 30; + break; + case 2: + fps = 60; + break; + case 3: + fps = 120; + break; + } + iniFile.setValue("fps", fps); + iniFile.setValue("camera-index", ui.cameraIndex->value()); + iniFile.setValue("enable-rx", ui.rx->checkState()); + iniFile.setValue("enable-ry", ui.ry->checkState()); + iniFile.setValue("enable-rz", ui.rz->checkState()); + iniFile.setValue("enable-tx", ui.tx->checkState()); + iniFile.setValue("enable-ty", ui.ty->checkState()); + iniFile.setValue("enable-tz", ui.tz->checkState()); + iniFile.endGroup(); + settingsDirty = false; +} + +void TrackerControls::doOK() +{ + save(); + this->close(); +} + +void TrackerControls::doCancel() +{ + if (settingsDirty) { + int ret = QMessageBox::question ( this, + "Settings have changed", + "Do you want to save the settings?", + QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, + QMessageBox::Discard ); + + switch (ret) { + case QMessageBox::Save: + save(); + this->close(); + break; + case QMessageBox::Discard: + this->close(); + break; + case QMessageBox::Cancel: + // Cancel was clicked + break; + default: + // should never be reached + break; + } + } + else { + this->close(); + } +}
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