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-rw-r--r--FaceTrackNoIR/tracker.cpp117
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;
}
//
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-23 20:26:03 +0000