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-rw-r--r--FaceTrackNoIR/FaceTrackNoIR.cpp24
-rw-r--r--FaceTrackNoIR/GeneratedFiles/qrc_FaceTrackNoIR.cpp2
-rw-r--r--FaceTrackNoIR/GeneratedFiles/ui_FaceTrackNoIR.h2
-rw-r--r--FaceTrackNoIR/tracker.cpp278
-rw-r--r--FaceTrackNoIR/tracker.h166
5 files changed, 224 insertions, 248 deletions
diff --git a/FaceTrackNoIR/FaceTrackNoIR.cpp b/FaceTrackNoIR/FaceTrackNoIR.cpp
index 0183d3f9..18a06ecc 100644
--- a/FaceTrackNoIR/FaceTrackNoIR.cpp
+++ b/FaceTrackNoIR/FaceTrackNoIR.cpp
@@ -345,6 +345,7 @@ void FaceTrackNoIR::loadSettings() {
iniFile.beginGroup ( "GameProtocol" );
ui.iconcomboBox->setCurrentIndex(iniFile.value ( "Selection", 0 ).toInt());
+ setIcon( ui.iconcomboBox->currentIndex() );
iniFile.endGroup ();
settingsDirty = false;
@@ -390,11 +391,14 @@ void FaceTrackNoIR::startTracker( ) {
l->addWidget(_display);
//
- // Setup the Tracker and send the settings, just to be sure...
+ // Setup the Tracker and send the settings.
+ // This is necessary, because the events are only triggered 'on change'
//
tracker->setup( ui.headPoseWidget , this);
tracker->setSmoothing ( ui.slideSmoothing->value() );
tracker->setNeutralZone ( ui.slideNeutralZone->value() );
+ tracker->setUseFilter (ui.chkUseEWMA->isChecked() );
+
tracker->setSensYaw (ui.sensYaw->value() );
tracker->setSensPitch (ui.sensPitch->value() );
tracker->setSensRoll (ui.sensRoll->value() );
@@ -402,6 +406,20 @@ void FaceTrackNoIR::startTracker( ) {
tracker->setSensY (ui.sensY->value() );
tracker->setSensZ (ui.sensZ->value() );
+ tracker->setInvertYaw (ui.chkInvertYaw->isChecked() );
+ tracker->setInvertPitch (ui.chkInvertPitch->isChecked() );
+ tracker->setInvertRoll (ui.chkInvertRoll->isChecked() );
+ tracker->setInvertX (ui.chkInvertX->isChecked() );
+ tracker->setInvertY (ui.chkInvertY->isChecked() );
+ tracker->setInvertZ (ui.chkInvertZ->isChecked() );
+
+ tracker->setRedYaw (ui.redYaw->value() );
+ tracker->setRedPitch (ui.redPitch->value() );
+ tracker->setRedRoll (ui.redRoll->value() );
+ tracker->setRedX (ui.redX->value() );
+ tracker->setRedY (ui.redY->value() );
+ tracker->setRedZ (ui.redZ->value() );
+
ui.headPoseWidget->show();
ui.btnStartTracker->setEnabled ( false );
@@ -682,8 +700,8 @@ void FaceTrackNoIR::iconActivated(QSystemTrayIcon::ActivationReason reason)
switch (reason) {
case QSystemTrayIcon::Trigger:
case QSystemTrayIcon::DoubleClick:
- ui.iconcomboBox->setCurrentIndex((ui.iconcomboBox->currentIndex() + 1)
- % ui.iconcomboBox->count());
+ //ui.iconcomboBox->setCurrentIndex((ui.iconcomboBox->currentIndex() + 1)
+ // % ui.iconcomboBox->count());
break;
////case QSystemTrayIcon::MiddleClick:
//// showMessage();
diff --git a/FaceTrackNoIR/GeneratedFiles/qrc_FaceTrackNoIR.cpp b/FaceTrackNoIR/GeneratedFiles/qrc_FaceTrackNoIR.cpp
index e962cd76..f66a19b2 100644
--- a/FaceTrackNoIR/GeneratedFiles/qrc_FaceTrackNoIR.cpp
+++ b/FaceTrackNoIR/GeneratedFiles/qrc_FaceTrackNoIR.cpp
@@ -1,7 +1,7 @@
/****************************************************************************
** Resource object code
**
-** Created: Fri 21. May 10:07:42 2010
+** Created: Fri 4. Jun 14:33:52 2010
** by: The Resource Compiler for Qt version 4.6.2
**
** WARNING! All changes made in this file will be lost!
diff --git a/FaceTrackNoIR/GeneratedFiles/ui_FaceTrackNoIR.h b/FaceTrackNoIR/GeneratedFiles/ui_FaceTrackNoIR.h
index 1adf2690..2f8224bf 100644
--- a/FaceTrackNoIR/GeneratedFiles/ui_FaceTrackNoIR.h
+++ b/FaceTrackNoIR/GeneratedFiles/ui_FaceTrackNoIR.h
@@ -1,7 +1,7 @@
/********************************************************************************
** Form generated from reading UI file 'FaceTrackNoIR.ui'
**
-** Created: Wed 2. Jun 19:35:54 2010
+** Created: Fri 4. Jun 14:33:49 2010
** by: Qt User Interface Compiler version 4.6.2
**
** WARNING! All changes made in this file will be lost when recompiling UI file!
diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp
index 377f605d..fc4a8d20 100644
--- a/FaceTrackNoIR/tracker.cpp
+++ b/FaceTrackNoIR/tracker.cpp
@@ -23,6 +23,10 @@
*********************************************************************************/
/*
Modifications (last one on top):
+ 20100604 - WVR: Created structure for DOF-data and changed timing of
+ ReceiveHeadPose end run().
+ 20100602 - WVR: Implemented EWMA-filtering, according to the example of
+ Melchior Franz. Works like a charm...
20100601 - WVR: Added DirectInput keyboard-handling. '=' used for center,
'BACK' for start (+center)/stop.
20100517 - WVR: Added upstream command(s) from FlightGear
@@ -35,55 +39,21 @@
using namespace sm::faceapi;
using namespace sm::faceapi::qt;
-float Tracker::headPosX = 0.0f;
-float Tracker::headPosY = 0.0f;
-float Tracker::headPosZ = 0.0f;
-float Tracker::initial_headPosZ = 0.0f;
-
-float Tracker::headRotX = 0.0f;
-float Tracker::headRotY = 0.0f;
-float Tracker::headRotZ = 0.0f;
-
-// Offsets, to center headpos while tracking
-float Tracker::offset_headPosX = 0.0f;
-float Tracker::offset_headPosY = 0.0f;
-float Tracker::offset_headPosZ = 0.0f;
-
-float Tracker::offset_headRotX = 0.0f;
-float Tracker::offset_headRotY = 0.0f;
-float Tracker::offset_headRotZ = 0.0f;
-
// Flags
bool Tracker::confid = false;
-bool Tracker::newdata = false;
bool Tracker::set_initial = false;
bool Tracker::do_tracking = true;
bool Tracker::do_center = false;
-
-float Tracker::sensYaw = 1.0f;
-float Tracker::sensPitch = 1.0f;
-float Tracker::sensRoll = 1.0f;
-float Tracker::sensX = 1.0f;
-float Tracker::sensY = 1.0f;
-float Tracker::sensZ = 1.0f;
-
-float Tracker::invertYaw = 1.0f;
-float Tracker::invertPitch = 1.0f;
-float Tracker::invertRoll = 1.0f;
-float Tracker::invertX = 1.0f;
-float Tracker::invertY = 1.0f;
-float Tracker::invertZ = 1.0f;
-
bool Tracker::useFilter = false;
-float Tracker::redYaw = 0.7f;
-float Tracker::redPitch = 0.7f;
-float Tracker::redRoll = 0.7f;
-float Tracker::redX = 0.7f;
-float Tracker::redY = 0.7f;
-float Tracker::redZ = 0.7f;
-
float Tracker::rotNeutralZone = 0.087f; // Neutral Zone for rotations (rad)
+long Tracker::prevHeadPoseTime = 0;
+THeadPoseDOF Tracker::Pitch; // One structure for each of 6DOF's
+THeadPoseDOF Tracker::Yaw;
+THeadPoseDOF Tracker::Roll;
+THeadPoseDOF Tracker::X;
+THeadPoseDOF Tracker::Y;
+THeadPoseDOF Tracker::Z;
/** constructor empty **/
Tracker::Tracker() {
@@ -186,23 +156,9 @@ void Tracker::run() {
LPDIRECTINPUTDEVICE8 dinkeyboard; // the pointer to the keyboard device
BYTE keystate[256]; // the storage for the key-information
HRESULT retAcquire;
- bool lastMinusKey = false; // Remember state, to detect rising edge
+ bool lastBackKey = false; // Remember state, to detect rising edge
bool lastEqualsKey = false;
- float prevYaw = 0.0f; // Remember previous Raw, to filter jitter
- float prevPitch = 0.0f;
- float prevRoll = 0.0f;
- float prevX = 0.0f;
- float prevY = 0.0f;
- float prevZ = 0.0f;
-
- float newYaw = 0.0f; // Local new Raw, to filter jitter
- float newPitch = 0.0f;
- float newRoll = 0.0f;
- float newX = 0.0f;
- float newY = 0.0f;
- float newZ = 0.0f;
-
//QFile data("output.txt");
//if (data.open(QFile::WriteOnly | QFile::Truncate)) {
// QTextStream out(&data);
@@ -259,9 +215,9 @@ void Tracker::run() {
}
else {
//
- // Check the state of the MINUS key (= Start/Stop tracking) and EQUALS key (= Center)
+ // Check the state of the BACK key (= Start/Stop tracking) and EQUALS key (= Center)
//
- if ( (keystate[DIK_BACK] & 0x80) && (!lastMinusKey) ) {
+ if ( (keystate[DIK_BACK] & 0x80) && (!lastBackKey) ) {
Tracker::do_tracking = !Tracker::do_tracking;
//
@@ -272,7 +228,7 @@ void Tracker::run() {
}
qDebug() << "Tracker::run() says BACK pressed, do_tracking =" << Tracker::do_tracking;
}
- lastMinusKey = (keystate[DIK_BACK] & 0x80); // Remember
+ lastBackKey = (keystate[DIK_BACK] & 0x80); // Remember
if ( (keystate[DIK_EQUALS] & 0x80) && (!lastEqualsKey) ) {
Tracker::do_center = true;
@@ -283,7 +239,7 @@ void Tracker::run() {
}
//if the confidence is good enough the headpose will be updated **/
- if (Tracker::confid && Tracker::newdata) {
+ if (Tracker::confid) {
//
// Most games need an offset to the initial position and NOT the
@@ -291,7 +247,7 @@ void Tracker::run() {
// to substract that later...
//
if(Tracker::set_initial == false) {
- Tracker::initial_headPosZ = Tracker::getHeadPosZ();
+ Tracker::Z.initial_headPos = Tracker::getHeadPosZ();
Tracker::set_initial = true;
}
@@ -307,76 +263,30 @@ void Tracker::run() {
//
// Copy the Raw values directly to Free-track server
//
- server_FT->setHeadRotX( Tracker::headRotX ); // rads
- server_FT->setHeadRotY( Tracker::headRotY );
- server_FT->setHeadRotZ( Tracker::headRotZ );
-
- server_FT->setHeadPosX( Tracker::headPosX * 1000.0f); // From m to mm
- server_FT->setHeadPosY( Tracker::headPosY * 1000.0f);
- server_FT->setHeadPosZ( ( Tracker::headPosZ - Tracker::initial_headPosZ ) * 1000.0f);
+ server_FT->setHeadRotX( Tracker::Pitch.headPos ); // rads
+ server_FT->setHeadRotY( Tracker::Yaw.headPos );
+ server_FT->setHeadRotZ( Tracker::Roll.headPos);
- //
- // Calculate the new values, applying a low-pass filter.
- // Add the values to their respective QList, for further smoothing
- //
- if (Tracker::useFilter) {
- newPitch = lowPassFilter ( Tracker::headRotX, &prevPitch, 0.020f, Tracker::redPitch );
- }
- else {
- newPitch = Tracker::headRotX;
- }
- addRaw2List ( &rawPitchList, intMaxPitchItems, newPitch );
- //QTextStream out(&data);
- //out << "Raw:" << Tracker::headRotX << " filtered:" << newPitch << endl;
- if (Tracker::useFilter) {
- newYaw = lowPassFilter ( Tracker::headRotY, &prevYaw, 0.020f, Tracker::redYaw );
- }
- else {
- newYaw = Tracker::headRotY;
- }
- addRaw2List ( &rawYawList, intMaxYawItems, newYaw );
- if (Tracker::useFilter) {
- newRoll = lowPassFilter ( Tracker::headRotZ, &prevRoll, 0.020f, Tracker::redRoll );
- }
- else {
- newRoll = Tracker::headRotZ;
- }
- addRaw2List ( &rawRollList, intMaxRollItems, newRoll );
- if (Tracker::useFilter) {
- newX = lowPassFilter ( Tracker::headPosX, &prevX, 0.020f, Tracker::redX );
- }
- else {
- newX = Tracker::headPosX;
- }
- addRaw2List ( &rawXList, intMaxXItems, newX );
- if (Tracker::useFilter) {
- newY = lowPassFilter ( Tracker::headPosY, &prevY, 0.020f, Tracker::redY );
- }
- else {
- newY = Tracker::headPosY;
- }
- addRaw2List ( &rawYList, intMaxYItems, newY );
- if (Tracker::useFilter) {
- newZ = lowPassFilter ( Tracker::headPosZ, &prevZ, 0.020f, Tracker::redZ );
- }
- else {
- newZ = Tracker::headPosZ;
- }
- addRaw2List ( &rawZList, intMaxZItems, newZ );
+ server_FT->setHeadPosX( Tracker::X.headPos * 1000.0f); // From m to mm
+ server_FT->setHeadPosY( Tracker::Y.headPos * 1000.0f);
+ server_FT->setHeadPosZ( ( Tracker::Z.headPos - Tracker::Z.initial_headPos ) * 1000.0f);
- Tracker::newdata = false; // Reset flag for ReceiveHeadPose
}
//
// If Center is pressed, copy the current values to the offsets.
//
if (Tracker::do_center) {
- offset_headRotX = getSmoothFromList( &rawPitchList );
- offset_headRotY = getSmoothFromList( &rawYawList );
- offset_headRotZ = getSmoothFromList( &rawRollList );
- offset_headPosX = getSmoothFromList( &rawXList );
- offset_headPosY = getSmoothFromList( &rawYList );
- offset_headPosZ = getSmoothFromList( &rawZList );
+ 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 );
+
+ //
+ // Reset the initial distance to the camera
+ //
+ Z.offset_headPos = getSmoothFromList( &Z.rawList ) - Tracker::Z.initial_headPos;
Tracker::do_center = false;
}
@@ -384,19 +294,19 @@ void Tracker::run() {
//
// Also send the Virtual Pose to FT-server and FG-server
//
- server_FT->setVirtRotX ( Tracker::invertPitch * Tracker::sensPitch * (getSmoothFromList( &rawPitchList ) - offset_headRotX) );
- server_FT->setVirtRotY ( Tracker::invertYaw * Tracker::sensYaw * (getSmoothFromList( &rawYawList ) - offset_headRotY) );
- server_FT->setVirtRotZ ( Tracker::invertRoll * Tracker::sensRoll * (getSmoothFromList( &rawRollList ) - offset_headRotZ) );
- server_FT->setVirtPosX ( ( Tracker::invertX * Tracker::sensX * (getSmoothFromList( &rawXList ) - offset_headPosX) ) * 1000.0f);
- server_FT->setVirtPosY ( ( Tracker::invertY * Tracker::sensY * (getSmoothFromList( &rawYList ) - offset_headPosY) ) * 1000.0f );
- server_FT->setVirtPosZ ( ( Tracker::invertZ * Tracker::sensZ * (getSmoothFromList( &rawZList ) - offset_headPosZ) ) * 1000.0f );
-
- server_FG->setVirtRotX ( getDegreesFromRads ( Tracker::invertPitch * Tracker::sensPitch * (getSmoothFromList( &rawPitchList ) - offset_headRotX) ) );
- server_FG->setVirtRotY ( getDegreesFromRads ( Tracker::invertYaw * Tracker::sensYaw * (getSmoothFromList( &rawYawList ) - offset_headRotY) ) );
- server_FG->setVirtRotZ ( getDegreesFromRads ( Tracker::invertRoll * Tracker::sensRoll * (getSmoothFromList( &rawRollList ) - offset_headRotZ) ) );
- server_FG->setVirtPosX ( Tracker::invertX * Tracker::sensX * (getSmoothFromList( &rawXList ) - offset_headPosX) );
- server_FG->setVirtPosY ( Tracker::invertY * Tracker::sensY * (getSmoothFromList( &rawYList ) - offset_headPosY) );
- server_FG->setVirtPosZ ( Tracker::invertZ * Tracker::sensZ * (getSmoothFromList( &rawZList ) - offset_headPosZ) );
+ server_FT->setVirtRotX ( Tracker::Pitch.invert * Tracker::Pitch.sens * (getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos) );
+ server_FT->setVirtRotY ( Tracker::Yaw.invert * Tracker::Yaw.sens * (getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos) );
+ server_FT->setVirtRotZ ( Tracker::Roll.invert * Tracker::Roll.sens * (getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos) );
+ server_FT->setVirtPosX ( ( Tracker::X.invert * Tracker::X.sens * (getSmoothFromList( &X.rawList ) - X.offset_headPos) ) * 1000.0f);
+ server_FT->setVirtPosY ( ( Tracker::Y.invert * Tracker::Y.sens * (getSmoothFromList( &Y.rawList ) - Y.offset_headPos) ) * 1000.0f );
+ server_FT->setVirtPosZ ( ( Tracker::Z.invert * Tracker::Z.sens * (getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Tracker::Z.initial_headPos) ) * 1000.0f );
+
+ server_FG->setVirtRotX ( getDegreesFromRads ( Tracker::Pitch.invert * Tracker::Pitch.sens * (getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos) ) );
+ server_FG->setVirtRotY ( getDegreesFromRads ( Tracker::Yaw.invert * Tracker::Yaw.sens * (getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos) ) );
+ server_FG->setVirtRotZ ( getDegreesFromRads ( Tracker::Roll.invert * Tracker::Roll.sens * (getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos) ) );
+ server_FG->setVirtPosX ( Tracker::X.invert * Tracker::X.sens * (getSmoothFromList( &X.rawList ) - X.offset_headPos) );
+ server_FG->setVirtPosY ( Tracker::Y.invert * Tracker::Y.sens * (getSmoothFromList( &Y.rawList ) - Y.offset_headPos) );
+ server_FG->setVirtPosZ ( Tracker::Z.invert * Tracker::Z.sens * (getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Tracker::Z.initial_headPos) );
}
else {
//
@@ -418,7 +328,7 @@ void Tracker::run() {
}
//for lower cpu load
- msleep(20);
+ msleep(25);
yieldCurrentThread();
}
}
@@ -434,7 +344,14 @@ void Tracker::registerHeadPoseCallback() {
/** Callback function for head-pose - only static methods could be called **/
void Tracker::receiveHeadPose(void *,smEngineHeadPoseData head_pose, smCameraVideoFrame video_frame)
{
- if(head_pose.confidence>0) {
+ SYSTEMTIME now;
+ long newHeadPoseTime;
+ float dT;
+
+ //
+ // Perform actions, when valid data is received from faceAPI.
+ //
+ if( head_pose.confidence > 0 ) {
Tracker::confid = true;
Tracker::setHeadPosX(head_pose.head_pos.x);
Tracker::setHeadPosY(head_pose.head_pos.y);
@@ -443,14 +360,93 @@ void Tracker::receiveHeadPose(void *,smEngineHeadPoseData head_pose, smCameraVid
Tracker::setHeadRotX(head_pose.head_rot.x_rads);
Tracker::setHeadRotY(head_pose.head_rot.y_rads);
Tracker::setHeadRotZ(head_pose.head_rot.z_rads);
+
+ //
+ // 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;
+
+ //
+ // Log something
+ //
+ //QFile data("output.txt");
+ //if (data.open(QFile::WriteOnly | QFile::Append)) {
+ // QTextStream out(&data);
+ // out << "ReceiveHeadPose:" << dT << '\n';
+ //}
+
+
+ //
+ // Calculate the new values, applying a low-pass filter.
+ // Add the values to their respective QList, for further smoothing
+ //
+ // Pitch
+ if (Tracker::useFilter) {
+ Pitch.newPos = lowPassFilter ( Tracker::Pitch.headPos, &Pitch.prevPos, dT, Tracker::Pitch.red );
+ }
+ else {
+ Pitch.newPos = Tracker::Pitch.headPos;
+ }
+ addRaw2List ( &Pitch.rawList, Pitch.maxItems, Pitch.newPos );
+
+ // Yaw
+ if (Tracker::useFilter) {
+ Yaw.newPos = lowPassFilter ( Tracker::Yaw.headPos, &Yaw.prevPos, dT, Tracker::Yaw.red );
+ }
+ else {
+ Yaw.newPos = Tracker::Yaw.headPos;
+ }
+ addRaw2List ( &Yaw.rawList, Yaw.maxItems, Yaw.newPos );
+
+ // Roll
+ if (Tracker::useFilter) {
+ Roll.newPos = lowPassFilter ( Tracker::Roll.headPos, &Roll.prevPos, dT, Tracker::Roll.red );
+ }
+ else {
+ Roll.newPos = Tracker::Roll.headPos;
+ }
+ addRaw2List ( &Roll.rawList, Roll.maxItems, Roll.newPos );
+
+ // X-position
+ if (Tracker::useFilter) {
+ X.newPos = lowPassFilter ( Tracker::X.headPos, &X.prevPos, dT, Tracker::X.red );
+ }
+ else {
+ X.newPos = Tracker::X.headPos;
+ }
+ addRaw2List ( &X.rawList, X.maxItems, X.newPos );
+
+ // Y-position
+ if (Tracker::useFilter) {
+ Y.newPos = lowPassFilter ( Tracker::Y.headPos, &Y.prevPos, dT, Tracker::Y.red );
+ }
+ else {
+ Y.newPos = Tracker::Y.headPos;
+ }
+ addRaw2List ( &Y.rawList, Y.maxItems, Y.newPos );
+
+ // Z-position (distance to camera, absolute!)
+ if (Tracker::useFilter) {
+ Z.newPos = lowPassFilter ( Tracker::Z.headPos, &Z.prevPos, dT, Tracker::Z.red );
+ }
+ else {
+ Z.newPos = Tracker::Z.headPos;
+ }
+ addRaw2List ( &Z.rawList, Z.maxItems, Z.newPos );
+
} else {
Tracker::confid = false;
}
- Tracker::newdata = true; // Set flag for run()
+
// for lower cpu load
- msleep(40);
+ msleep(30);
yieldCurrentThread();
-
}
//
diff --git a/FaceTrackNoIR/tracker.h b/FaceTrackNoIR/tracker.h
index 8614d2e6..9cf89114 100644
--- a/FaceTrackNoIR/tracker.h
+++ b/FaceTrackNoIR/tracker.h
@@ -47,6 +47,22 @@ using namespace sm::faceapi::qt;
class FaceTrackNoIR; // pre-define parent-class to avoid circular includes
+//
+// Structure to hold all variables concerning one of 6 DOF's
+//
+struct THeadPoseDOF {
+ float headPos; // Current position (from faceTracker, radials or meters)
+ float initial_headPos; // Position on startup (first valid value)
+ float offset_headPos; // Offset for centering
+ float sens; // Sensitivity (multiplication factor)
+ float invert; // Invert measured value (= 1.0f or -1.0f)
+ float red; // Reduction factor (used for EWMA-filtering, between 0.0f and 1.0f)
+ QList<float> rawList; // List of 'n' headPos values (used for moving average)
+ int maxItems; // Maximum number of elements is rawList
+ float newPos; // New Position (used locally)
+ float prevPos; // Previous Position
+};
+
class Tracker : public QThread {
Q_OBJECT
@@ -63,79 +79,27 @@ private:
/** static callback method for the head pose tracking **/
static void STDCALL receiveHeadPose(void *,smEngineHeadPoseData head_pose, smCameraVideoFrame video_frame);
+ static void addRaw2List ( QList<float> *rawList, float maxIndex, float raw );
+ static float lowPassFilter ( float newvalue, float *oldvalue, float dt, float coeff);
- /** static member varables for saving the head pose **/
- static float headPosX;
- static float headPosY;
- static float headPosZ; // Distance from camera
- static float initial_headPosZ; // Initial distance when headpose is valid
-
- static float headRotX;
- static float headRotY;
- static float headRotZ;
-
- // Offsets, used to center view while tracking
- static float offset_headPosX;
- static float offset_headPosY;
- static float offset_headPosZ; // Distance from camera
-
- static float offset_headRotX;
- static float offset_headRotY;
- static float offset_headRotZ;
+ /** static member variables for saving the head pose **/
+ static THeadPoseDOF Pitch; // Head-rotation X-direction (Up/Down)
+ static THeadPoseDOF Yaw; // Head-rotation Y-direction ()
+ static THeadPoseDOF Roll; // Head-rotation Z-direction ()
+ static THeadPoseDOF X; // Head-movement X-direction (Left/Right)
+ static THeadPoseDOF Y; // Head-movement Y-direction (Up/Down)
+ static THeadPoseDOF Z; // Head-movement Z-direction (To/From camera)
// Flags to start/stop/reset tracking
- static bool confid;
- static bool newdata;
+ static bool confid; // Tracker data is OK
static bool set_initial; // initial headpose is set
static bool do_tracking; // Start/stop tracking, using MINUS key on keyboard
static bool do_center; // Center head-position, using EQUALS key on keyboard
- /** static member varables for calculating the virtual head pose **/
- static float sensYaw;
- static float sensPitch;
- static float sensRoll;
- static float sensX;
- static float sensY;
- static float sensZ;
-
- static float invertYaw;
- static float invertPitch;
- static float invertRoll;
- static float invertX;
- static float invertY;
- static float invertZ;
-
static bool useFilter;
-
- /** Factors to remove jitter **/
- static float redYaw;
- static float redPitch;
- static float redRoll;
- static float redX;
- static float redY;
- static float redZ;
-
- static float rotNeutralZone; // Neutral Zone for rotations (rad).
+ static float rotNeutralZone; // Neutral Zone for rotations (rad).
+ static long prevHeadPoseTime; // Time from previous sample
- //
- // The Raw FaceAPI-data may need smoothing.
- // We implement smoothing, by taking the last 'x' raw samples and making an average of this.
- // After 'x' samples, the oldest sample is removed and the fresh 'pre-pended' to the QList
- //
- QList<float> rawYawList; // List of last 'x' values from FaceAPI
- QList<float> rawPitchList;
- QList<float> rawRollList;
- QList<float> rawXList;
- QList<float> rawYList;
- QList<float> rawZList;
-
- int intMaxYawItems; // Max. number of items in QList: more = smoother (yet slower!)
- int intMaxPitchItems;
- int intMaxRollItems;
- int intMaxXItems;
- int intMaxYItems;
- int intMaxZItems;
-
/** QT objects **/
QLineEdit *headXLine;
QLineEdit *headYLine;
@@ -167,63 +131,61 @@ public:
QSharedPointer<EngineBase> getEngine() { return _engine; };
// smEngineHandle getEngineHandle() { return _engine->handle(); };
- static float getHeadPosX() {return headPosX;}
- static float getHeadPosY() {return headPosY;}
- static float getHeadPosZ() {return headPosZ;}
+ static float getHeadPosX() {return X.headPos;}
+ static float getHeadPosY() {return Y.headPos;}
+ static float getHeadPosZ() {return Z.headPos;}
- static void setHeadPosX(float x) { headPosX = x; }
- static void setHeadPosY(float y) { headPosY = y; }
- static void setHeadPosZ(float z) { headPosZ = z; }
+ static void setHeadPosX(float x) { X.headPos = x; }
+ static void setHeadPosY(float y) { Y.headPos = y; }
+ static void setHeadPosZ(float z) { Z.headPos = z; }
- static float getHeadRotX() {return headRotX;}
- static float getHeadRotY() {return headRotY;}
- static float getHeadRotZ() {return headRotZ;}
+ static float getHeadRotX() {return Pitch.headPos;}
+ static float getHeadRotY() {return Yaw.headPos;}
+ static float getHeadRotZ() {return Roll.headPos;}
- static void setHeadRotX(float x) { headRotX = x; }
- static void setHeadRotY(float y) { headRotY = y; }
- static void setHeadRotZ(float z) { headRotZ = z; }
+ static void setHeadRotX(float x) { Pitch.headPos = x; }
+ static void setHeadRotY(float y) { Yaw.headPos = y; }
+ static void setHeadRotZ(float z) { Roll.headPos = z; }
static bool getConfid() { return confid; }
- static void setSensYaw(int x) { sensYaw = x/100.0f; }
- static void setSensPitch(int x) { sensPitch = x/100.0f; }
- static void setSensRoll(int x) { sensRoll = x/100.0f; }
- static void setSensX(int x) { sensX = x/100.0f; }
- static void setSensY(int x) { sensY = x/100.0f; }
- static void setSensZ(int x) { sensZ = x/100.0f; }
+ static void setSensPitch(int x) { Pitch.sens = x/100.0f; }
+ static void setSensYaw(int x) { Yaw.sens = x/100.0f; }
+ static void setSensRoll(int x) { Roll.sens = x/100.0f; }
+ static void setSensX(int x) { X.sens = x/100.0f; }
+ static void setSensY(int x) { Y.sens = x/100.0f; }
+ static void setSensZ(int x) { Z.sens = x/100.0f; }
- static void setInvertYaw(bool invert) { invertYaw = invert?-1.0f:+1.0f; }
- static void setInvertPitch(bool invert) { invertPitch = invert?-1.0f:+1.0f; }
- static void setInvertRoll(bool invert) { invertRoll = invert?-1.0f:+1.0f; }
- static void setInvertX(bool invert) { invertX = invert?-1.0f:+1.0f; }
- static void setInvertY(bool invert) { invertY = invert?-1.0f:+1.0f; }
- static void setInvertZ(bool invert) { invertZ = invert?-1.0f:+1.0f; }
+ static void setInvertPitch(bool invert) { Pitch.invert = invert?-1.0f:+1.0f; }
+ static void setInvertYaw(bool invert) { Yaw.invert = invert?-1.0f:+1.0f; }
+ static void setInvertRoll(bool invert) { Roll.invert = invert?-1.0f:+1.0f; }
+ static void setInvertX(bool invert) { X.invert = invert?-1.0f:+1.0f; }
+ static void setInvertY(bool invert) { Y.invert = invert?-1.0f:+1.0f; }
+ static void setInvertZ(bool invert) { Z.invert = invert?-1.0f:+1.0f; }
static void setUseFilter(bool set) { useFilter = set; }
- static void setRedYaw(int x) { redYaw = x/100.0f; }
- static void setRedPitch(int x) { redPitch = x/100.0f; }
- static void setRedRoll(int x) { redRoll = x/100.0f; }
- static void setRedX(int x) { redX = x/100.0f; }
- static void setRedY(int x) { redY = x/100.0f; }
- static void setRedZ(int x) { redZ = x/100.0f; }
+ static void setRedYaw(int x) { Yaw.red = x/100.0f; }
+ static void setRedPitch(int x) { Pitch.red = x/100.0f; }
+ static void setRedRoll(int x) { Roll.red = x/100.0f; }
+ static void setRedX(int x) { X.red = x/100.0f; }
+ static void setRedY(int x) { Y.red = x/100.0f; }
+ static void setRedZ(int x) { Z.red = x/100.0f; }
static void setNeutralZone(int x) { rotNeutralZone = (x * 2.0f * 3.14159)/360.0f; }
- void addRaw2List ( QList<float> *rawList, float maxIndex, float raw );
float getSmoothFromList ( QList<float> *rawList );
float getCorrectedNewRaw ( float NewRaw, float rotNeutral );
- float lowPassFilter ( float newvalue, float *oldvalue, float dt, float coeff);
float getDegreesFromRads ( float rads ) { return ((rads * 360.0f)/ (2.0f * 3.14159)); }
// For now, use one slider for all
void setSmoothing(int x) {
- intMaxYawItems = x;
- intMaxPitchItems = x;
- intMaxRollItems = x;
- intMaxXItems = x;
- intMaxYItems = x;
- intMaxZItems = x;
+ Pitch.maxItems = x;
+ Yaw.maxItems = x;
+ Roll.maxItems = x;
+ X.maxItems = x;
+ Y.maxItems = x;
+ Z.maxItems = x;
}
};
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-15 00:08:40 +0000