diff options
Diffstat (limited to 'ftnoir_tracker_ht/ftnoir_tracker_ht.cpp')
| -rw-r--r-- | ftnoir_tracker_ht/ftnoir_tracker_ht.cpp | 422 |
1 files changed, 422 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..336ede2d --- /dev/null +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp @@ -0,0 +1,422 @@ +#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" +#include "../facetracknoir/global-settings.h" + +#define WIDGET_WIDTH 250 +#define WIDGET_HEIGHT 188 + +#if defined(_WIN32) || defined(__WIN32) +#include <dshow.h> +#else +#include <unistd.h> +#endif + +// delicious copypasta +static QList<QString> get_camera_names(void) { + QList<QString> ret; +#if defined(_WIN32) || defined(__WIN32) + // Create the System Device Enumerator. + HRESULT hr; + ICreateDevEnum *pSysDevEnum = NULL; + hr = CoCreateInstance(CLSID_SystemDeviceEnum, NULL, CLSCTX_INPROC_SERVER, IID_ICreateDevEnum, (void **)&pSysDevEnum); + if (FAILED(hr)) + { + return ret; + } + // Obtain a class enumerator for the video compressor category. + IEnumMoniker *pEnumCat = NULL; + hr = pSysDevEnum->CreateClassEnumerator(CLSID_VideoInputDeviceCategory, &pEnumCat, 0); + + if (hr == S_OK) { + // Enumerate the monikers. + IMoniker *pMoniker = NULL; + ULONG cFetched; + while (pEnumCat->Next(1, &pMoniker, &cFetched) == S_OK) { + IPropertyBag *pPropBag; + hr = pMoniker->BindToStorage(0, 0, IID_IPropertyBag, (void **)&pPropBag); + if (SUCCEEDED(hr)) { + // To retrieve the filter's friendly name, do the following: + VARIANT varName; + VariantInit(&varName); + hr = pPropBag->Read(L"FriendlyName", &varName, 0); + if (SUCCEEDED(hr)) + { + // Display the name in your UI somehow. + QString str((QChar*)varName.bstrVal, wcslen(varName.bstrVal)); + ret.append(str); + } + VariantClear(&varName); + + ////// To create an instance of the filter, do the following: + ////IBaseFilter *pFilter; + ////hr = pMoniker->BindToObject(NULL, NULL, IID_IBaseFilter, + //// (void**)&pFilter); + // Now add the filter to the graph. + //Remember to release pFilter later. + pPropBag->Release(); + } + pMoniker->Release(); + } + pEnumCat->Release(); + } + pSysDevEnum->Release(); +#else + for (int i = 0; i < 16; i++) { + char buf[128]; + sprintf(buf, "/dev/video%d", i); + if (access(buf, R_OK | W_OK) == 0) { + ret.append(buf); + } else { + break; + } + } +#endif + return ret; +} + +typedef struct { + int width; + int height; +} resolution_tuple; + +static resolution_tuple resolution_choices[] = { + { 0, 0 }, + { 640, 480 }, + { 320, 240 }, + { 320, 200 }, + { 0, 0 } +}; + +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 = 4000; + 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 = 12; + config->keypoint_distance = 2.3f; + config->keypoint_3distance = 6; + //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 = 6.5f; + config->ransac_max_inlier_error = 6.5f; + config->ransac_max_mean_error = 4.0f; + config->ransac_abs_max_mean_error = 7.0f; + config->debug = 0; + config->ransac_min_features = 0.75f; + int res = iniFile.value("resolution", 0).toInt(); + 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; + 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() : lck_shm(HT_SHM_NAME, HT_MUTEX_NAME, sizeof(ht_shm_t)), fresh(false) +{ + videoWidget = NULL; + layout = NULL; + enableRX = enableRY = enableRZ = enableTX = enableTY = enableTZ = true; + shm = (ht_shm_t*) lck_shm.mem; + shm->terminate = 0; + load_settings(&shm->config, this); + shm->result.filled = false; +} + +Tracker::~Tracker() +{ + subprocess.kill(); + if (shm) + shm->terminate = true; + if (layout) + delete layout; + if (videoWidget) + delete videoWidget; +} + +void Tracker::StartTracker(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; + 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; + subprocess.setWorkingDirectory(QCoreApplication::applicationDirPath() + "/tracker-ht"); +#if defined(_WIN32) || defined(__WIN32) + subprocess.start("\"" + QCoreApplication::applicationDirPath() + "/tracker-ht/headtracker-ftnoir" + "\""); +#else + subprocess.start(QCoreApplication::applicationDirPath() + "/tracker-ht/headtracker-ftnoir"); +#endif + connect(&timer, SIGNAL(timeout()), this, SLOT(paint_widget())); + timer.start(15); +} + +void Tracker::paint_widget() { + if (fresh) { + fresh = false; + videoWidget->update(); + } +} + +bool Tracker::GiveHeadPoseData(THeadPoseData* data) +{ + bool ret = false; + + lck_shm.lock(); + shm->timer = 0; + if (shm->frame.width > 0) + { + videoWidget->updateImage(shm->frame.frame, shm->frame.width, shm->frame.height); + //memcpy(foo, shm->frame.frame, shm->frame.width * shm->frame.height * 3); + fresh = true; + } + if (shm->result.filled) { + if (enableRX) + data->yaw = shm->result.rotx; + if (enableRY) + data->pitch = shm->result.roty; + if (enableRZ) + data->roll = shm->result.rotz; + if (enableTX) + data->x = shm->result.tx; + if (enableTY) + data->y = shm->result.ty; + if (enableTZ) + data->z = shm->result.tz; + ret = true; + } + lck_shm.unlock(); + + return ret; +} + +//----------------------------------------------------------------------------- +void TrackerDll::getFullName(QString *strToBeFilled) +{ + *strToBeFilled = "HT 0.7"; +} + +void TrackerDll::getShortName(QString *strToBeFilled) +{ + *strToBeFilled = "HT"; +} + +void TrackerDll::getDescription(QString *strToBeFilled) +{ + *strToBeFilled = ""; +} + +void TrackerDll::getIcon(QIcon *icon) +{ + *icon = QIcon(":/images/ht.png"); +} + + +//----------------------------------------------------------------------------- +//#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0") + +extern "C" FTNOIR_TRACKER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +{ + return new TrackerDll; +} + +//#pragma comment(linker, "/export:GetTracker=_GetTracker@0") + +extern "C" FTNOIR_TRACKER_BASE_EXPORT void* CALLING_CONVENTION GetConstructor() +{ + return (ITracker*) 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") + +extern "C" FTNOIR_TRACKER_BASE_EXPORT void* CALLING_CONVENTION GetDialog( ) +{ + return (ITrackerDialog*) new TrackerControls; +} + +TrackerControls::TrackerControls() +{ + ui.setupUi(this); + loadSettings(); + connect(ui.cameraName, SIGNAL(currentIndexChanged(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() +{ + ui.cameraName->clear(); + QList<QString> names = get_camera_names(); + names.prepend("Any available"); + ui.cameraName->addItems(names); + 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.cameraName->setCurrentIndex(iniFile.value("camera-index", -1).toInt() + 1); + ui.cameraFOV->setValue(iniFile.value("fov", 69).toFloat()); + 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::Checked : Qt::Unchecked); + ui.ry->setCheckState(iniFile.value("enable-ry", true).toBool() ? Qt::Checked : Qt::Unchecked); + ui.rz->setCheckState(iniFile.value("enable-rz", true).toBool() ? Qt::Checked : Qt::Unchecked); + ui.tx->setCheckState(iniFile.value("enable-tx", true).toBool() ? Qt::Checked : Qt::Unchecked); + ui.ty->setCheckState(iniFile.value("enable-ty", true).toBool() ? Qt::Checked : Qt::Unchecked); + ui.tz->setCheckState(iniFile.value("enable-tz", true).toBool() ? Qt::Checked : Qt::Unchecked); + ui.resolution->setCurrentIndex(iniFile.value("resolution", 0).toInt()); + 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.cameraName->currentIndex() - 1); + iniFile.setValue("enable-rx", ui.rx->checkState() != Qt::Unchecked ? true : false); + iniFile.setValue("enable-ry", ui.ry->checkState() != Qt::Unchecked ? true : false); + iniFile.setValue("enable-rz", ui.rz->checkState() != Qt::Unchecked ? true : false); + iniFile.setValue("enable-tx", ui.tx->checkState() != Qt::Unchecked ? true : false); + iniFile.setValue("enable-ty", ui.ty->checkState() != Qt::Unchecked ? true : false); + iniFile.setValue("enable-tz", ui.tz->checkState() != Qt::Unchecked ? true : false); + iniFile.setValue("resolution", ui.resolution->currentIndex()); + 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(); + } +} |