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-rw-r--r--ftnoir_tracker_ht/ftnoir_tracker_ht.cpp316
-rw-r--r--ftnoir_tracker_ht/ftnoir_tracker_ht.h64
-rw-r--r--ftnoir_tracker_ht/ftnoir_tracker_ht_dll.h3
-rw-r--r--ftnoir_tracker_ht/ht-api.h68
-rw-r--r--ftnoir_tracker_ht/ht-trackercontrols.ui596
-rw-r--r--ftnoir_tracker_ht/ht_video_widget.cpp44
-rw-r--r--ftnoir_tracker_ht/ht_video_widget.h (renamed from ftnoir_tracker_ht/video_widget.h)20
-rw-r--r--ftnoir_tracker_ht/stdafx.h1
-rw-r--r--ftnoir_tracker_ht/video_widget.cpp30
9 files changed, 377 insertions, 765 deletions
diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
index b755010c..76a6ba71 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
@@ -7,7 +7,7 @@
#include "facetracknoir/global-settings.h"
#include <cmath>
-#if defined(_WIN32) || defined(__WIN32)
+#if defined(_WIN32)
#include <dshow.h>
#else
#include <unistd.h>
@@ -16,7 +16,7 @@
// delicious copypasta
static QList<QString> get_camera_names(void) {
QList<QString> ret;
-#if defined(_WIN32) || defined(__WIN32)
+#if defined(_WIN32)
// Create the System Device Enumerator.
HRESULT hr;
ICreateDevEnum *pSysDevEnum = NULL;
@@ -62,14 +62,14 @@ static QList<QString> get_camera_names(void) {
pEnumCat->Release();
}
pSysDevEnum->Release();
-#else
+#elif !defined(__APPLE__)
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;
+ continue;
}
}
#endif
@@ -88,67 +88,71 @@ static resolution_tuple resolution_choices[] = {
{ 0, 0 }
};
-static void load_settings(ht_config_t* config, Tracker* tracker)
+void Tracker::load_settings(ht_config_t* config)
{
- QSettings settings("opentrack");
- QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
- QSettings iniFile( currentFile, QSettings::IniFormat );
+ 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;
+ }
- iniFile.beginGroup( "HT-Tracker" );
config->classification_delay = 500;
- config->field_of_view = iniFile.value("fov", 52).toFloat();
- config->pyrlk_pyramids = 3;
+ config->field_of_view = s.fov;
+ config->pyrlk_pyramids = 0;
config->pyrlk_win_size_w = config->pyrlk_win_size_h = 21;
- config->max_keypoints = 200;
- config->keypoint_distance = 4.5;
- //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->max_keypoints = 150;
+ config->keypoint_distance = 6;
+ config->force_fps = nframes;
+ config->camera_index = s.camera_idx - 1;
config->ransac_num_iters = 100;
- config->ransac_max_reprojection_error = 6.5;
- config->ransac_max_inlier_error = 6.5;
- config->ransac_abs_max_mean_error = 15;
- config->ransac_max_mean_error = 4.5;
+ config->ransac_max_reprojection_error = 10;
+ config->ransac_max_inlier_error = 10;
+ config->ransac_abs_max_mean_error = 14;
+ config->ransac_max_mean_error = 8;
config->debug = 0;
- config->ransac_min_features = 0.8;
- int res = iniFile.value("resolution", 0).toInt();
+ config->ransac_min_features = 0.86;
+ 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 = 200;
- qDebug() << "width" << r.width << "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();
- }
-
+ config->flandmark_delay = 500;
for (int i = 0; i < 5; i++)
- config->dist_coeffs[i] = iniFile.value(QString("dc%1").arg(i), 0).toDouble();
-
- iniFile.endGroup();
+ config->dist_coeffs[i] = 0;
}
-Tracker::Tracker() : lck_shm(HT_SHM_NAME, HT_MUTEX_NAME, sizeof(ht_shm_t)), fresh(false)
+Tracker::Tracker() :
+ lck_shm(HT_SHM_NAME, HT_MUTEX_NAME, sizeof(ht_shm_t)),
+ shm(reinterpret_cast<ht_shm_t*>(lck_shm.mem)),
+ videoWidget(nullptr),
+ layout(nullptr)
{
- 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()
{
+ if (shm) {
+ shm->terminate = true;
+ subprocess.waitForFinished(5000);
+ }
subprocess.kill();
if (shm)
shm->terminate = true;
@@ -161,7 +165,7 @@ Tracker::~Tracker()
void Tracker::StartTracker(QFrame* videoframe)
{
videoframe->show();
- videoWidget = new VideoWidget(videoframe);
+ videoWidget = new HTVideoWidget(videoframe);
QHBoxLayout* layout = new QHBoxLayout();
layout->setContentsMargins(0, 0, 0, 0);
layout->addWidget(videoWidget);
@@ -170,60 +174,51 @@ void Tracker::StartTracker(QFrame* videoframe)
videoframe->setLayout(layout);
videoWidget->show();
this->layout = layout;
- load_settings(&shm->config, this);
+ load_settings(&shm->config);
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)
+#if 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(40);
}
-void Tracker::paint_widget() {
- if (fresh) {
- fresh = false;
- videoWidget->update();
- }
-}
-
-bool Tracker::GiveHeadPoseData(double *data)
+void Tracker::GetHeadPoseData(double *data)
{
- bool ret = false;
-
lck_shm.lock();
shm->timer = 0;
if (shm->frame.width > 0)
{
videoWidget->update_image(shm->frame.frame, shm->frame.width, shm->frame.height);
//memcpy(foo, shm->frame.frame, shm->frame.width * shm->frame.height * 3);
- fresh = true;
shm->frame.width = 0;
}
if (shm->result.filled) {
- if (enableRX)
+ if (s.enableRX)
data[Yaw] = shm->result.rotx;
- if (enableRY) {
+ if (s.enableRY) {
data[Pitch] = shm->result.roty;
}
- if (enableRZ) {
+ if (s.enableRZ) {
data[Roll] = shm->result.rotz;
}
- if (enableTX)
+ if (s.enableTX)
data[TX] = shm->result.tx;
- if (enableTY)
+ if (s.enableTY)
data[TY] = shm->result.ty;
- if (enableTZ)
+ if (s.enableTZ)
data[TZ] = shm->result.tz;
- ret = true;
+ if (fabs(data[Yaw]) > 60 || fabs(data[Pitch]) > 50 || fabs(data[Roll]) > 40)
+ {
+ shm->pause = true;
+ }
+ } else {
+ shm->pause = false;
}
lck_shm.unlock();
-
- return ret;
}
//-----------------------------------------------------------------------------
@@ -247,31 +242,16 @@ 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 ITracker* CALLING_CONVENTION GetConstructor()
{
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")
-
extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( )
{
return new TrackerControls;
@@ -280,162 +260,32 @@ extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDial
TrackerControls::TrackerControls()
{
ui.setupUi(this);
- setAttribute(Qt::WA_NativeWindow, true);
- 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()));
- //connect(ui.buttonSettings, SIGNAL(clicked()), this, SLOT(cameraSettings()));
- loadSettings();
- settingsDirty = false;
-}
-
-TrackerControls::~TrackerControls()
-{
-}
-
-void TrackerControls::showEvent(QShowEvent *event)
-{
-}
-
-void TrackerControls::Initialize(QWidget* parent)
-{
- loadSettings();
- show();
-}
-
-void TrackerControls::loadSettings()
-{
- ui.cameraName->clear();
- QList<QString> names = get_camera_names();
- names.prepend("Any available");
- ui.cameraName->addItems(names);
- QSettings settings("opentrack");
- 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", 52).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());
-
- ui.doubleSpinBox->setValue(iniFile.value("dc0").toDouble());
- ui.doubleSpinBox_2->setValue(iniFile.value("dc1").toDouble());
- ui.doubleSpinBox_3->setValue(iniFile.value("dc2").toDouble());
- ui.doubleSpinBox_4->setValue(iniFile.value("dc3").toDouble());
- ui.doubleSpinBox_5->setValue(iniFile.value("dc4").toDouble());
-
- iniFile.endGroup();
- settingsDirty = false;
-}
-
-void TrackerControls::save()
-{
- QSettings settings("opentrack");
- 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.setValue("dc0", ui.doubleSpinBox->value());
- iniFile.setValue("dc1", ui.doubleSpinBox_2->value());
- iniFile.setValue("dc2", ui.doubleSpinBox_3->value());
- iniFile.setValue("dc3", ui.doubleSpinBox_4->value());
- iniFile.setValue("dc4", ui.doubleSpinBox_5->value());
-
- iniFile.endGroup();
- settingsDirty = false;
+ ui.cameraName->clear();
+ QList<QString> names = get_camera_names();
+ names.prepend("Any available");
+ ui.cameraName->addItems(names);
+ tie_setting(s.camera_idx, ui.cameraName);
+ tie_setting(s.fps, ui.cameraFPS);
+ tie_setting(s.fov, ui.cameraFOV);
+ tie_setting(s.enableTX, ui.tx);
+ tie_setting(s.enableTY, ui.ty);
+ tie_setting(s.enableTZ, ui.tz);
+ tie_setting(s.enableRX, ui.rx);
+ tie_setting(s.enableRY, ui.ry);
+ tie_setting(s.enableRZ, ui.rz);
+ tie_setting(s.resolution, ui.resolution);
+ connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
+ connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
}
void TrackerControls::doOK()
{
- save();
+ s.b->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();
- }
+ s.b->revert();
+ this->close();
}
diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.h b/ftnoir_tracker_ht/ftnoir_tracker_ht.h
index fcdea140..583249dc 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.h
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.h
@@ -12,40 +12,48 @@
#include "ftnoir_tracker_base/ftnoir_tracker_base.h"
#include "headtracker-ftnoir.h"
#include "ui_ht-trackercontrols.h"
-#include "video_widget.h"
+#include "ht_video_widget.h"
#include "compat/compat.h"
#include <QObject>
-#include <QTimer>
+#include "facetracknoir/options.h"
+using namespace options;
+
+struct settings {
+ pbundle b;
+ value<bool> enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ;
+ value<double> fov;
+ value<int> fps, camera_idx, resolution;
+ settings() :
+ b(bundle("HT-Tracker")),
+ enableTX(b, "enable-tx", true),
+ enableTY(b, "enable-ty", true),
+ enableTZ(b, "enable-tz", true),
+ enableRX(b, "enable-rx", true),
+ enableRY(b, "enable-ry", true),
+ enableRZ(b, "enable-rz", true),
+ fov(b, "fov", 56),
+ fps(b, "fps", 0),
+ camera_idx(b, "camera-index", 0),
+ resolution(b, "resolution", 0)
+ {}
+};
class Tracker : public QObject, public ITracker
{
Q_OBJECT
public:
Tracker();
- ~Tracker();
+ virtual ~Tracker();
void StartTracker(QFrame* frame);
- bool GiveHeadPoseData(double *data);
- bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ;
- ht_shm_t* shm;
- bool NeedsTimeToFinish() {
- return true;
- }
- void WaitForExit() {
- if (shm) {
- shm->terminate = true;
- subprocess.waitForFinished(5000);
- }
- subprocess.kill();
- }
+ void GetHeadPoseData(double *data);
+ void load_settings(ht_config_t* config);
private:
- QTimer timer;
+ settings s;
PortableLockedShm lck_shm;
+ ht_shm_t* shm;
QProcess subprocess;
- VideoWidget* videoWidget;
+ HTVideoWidget* videoWidget;
QHBoxLayout* layout;
- volatile bool fresh;
-private slots:
- void paint_widget();
};
// Widget that has controls for FTNoIR protocol client-settings.
@@ -53,27 +61,17 @@ class TrackerControls : public QWidget, public ITrackerDialog
{
Q_OBJECT
public:
-
explicit TrackerControls();
- virtual ~TrackerControls();
- void showEvent ( QShowEvent * event );
-
- void Initialize(QWidget *parent);
- void registerTracker(ITracker *tracker) {}
+ void registerTracker(ITracker *) {}
void unRegisterTracker() {}
private:
Ui::Form ui;
- void loadSettings();
- void save();
- bool settingsDirty;
+ settings s;
private slots:
void doOK();
void doCancel();
- void settingChanged() { settingsDirty = true; }
- void settingChanged(int) { settingsDirty = true; }
- void settingChanged(double) { settingsDirty = true; }
};
#endif
diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht_dll.h b/ftnoir_tracker_ht/ftnoir_tracker_ht_dll.h
index 1e53f802..ffdc5262 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht_dll.h
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht_dll.h
@@ -1,4 +1,4 @@
-/* Copyright (c) 2013 Stanis³aw Halik <sthalik@misaki.pl>
+/* Copyright (c) 2013 Stanisław 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
@@ -12,7 +12,6 @@
class TrackerDll : public Metadata
{
// ITrackerDll interface
- void Initialize() {}
void getFullName(QString *strToBeFilled);
void getShortName(QString *strToBeFilled);
void getDescription(QString *strToBeFilled);
diff --git a/ftnoir_tracker_ht/ht-api.h b/ftnoir_tracker_ht/ht-api.h
index e6960206..2ab2e840 100644
--- a/ftnoir_tracker_ht/ht-api.h
+++ b/ftnoir_tracker_ht/ht-api.h
@@ -1,38 +1,33 @@
#pragma once
#ifndef HT_API
-#ifndef __cplusplus
-# define HT_EXTERN
-#else
-# define HT_EXTERN extern "C"
-#endif
# if defined(_WIN32) && !defined(MINGW)
-# define HT_API(t) HT_EXTERN __declspec(dllexport) t __stdcall
+# define HT_API(t) __declspec(dllexport) t __stdcall
# else
-# define HT_API(t) HT_EXTERN t
+# define HT_API(t) t
# endif
#endif
#if !defined(_WIN32) && !defined(_isnan)
# define _isnan isnan
#endif
-#include <stdio.h>
+#include <opencv2/core/core.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 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 max_keypoints;
+ float keypoint_distance;
int force_width;
- int force_height;
- int force_fps;
- int camera_index;
- bool debug;
+ int force_height;
+ int force_fps;
+ int camera_index;
+ bool debug;
int ransac_num_iters;
float ransac_min_features;
float ransac_max_mean_error;
@@ -44,42 +39,11 @@ typedef struct ht_config {
typedef struct {
double rotx, roty, rotz;
double tx, ty, tz;
- bool filled;
+ bool filled;
} ht_result_t;
-typedef enum {
- cfg_type_float = 0,
- cfg_type_int = 1,
- cfg_type_bool = 2,
- cfg_type_double = 3
-} ht_cfg_type_t;
-
-typedef union
-{
- double d;
- float f;
- int i;
-} ht_cfg_value_t;
-
-typedef struct {
- const char* name;
- int offset;
- ht_cfg_type_t type;
- ht_cfg_value_t default_value;
- ht_cfg_value_t min;
- ht_cfg_value_t max;
- const char* docstring;
-} ht_reflection_t;
-
-typedef struct {
- int rows, cols, channels;
- unsigned char* data;
-} ht_frame_t;
-
HT_API(headtracker_t*) ht_make_context(const ht_config_t* config, const char* filename);
-HT_API(void) ht_load_config(FILE* stream, ht_config_t* cfg);
HT_API(void) ht_free_context(headtracker_t* ctx);
-HT_API(void) ht_get_bgr_frame(headtracker_t* ctx, ht_frame_t* ret);
-HT_API(void) ht_make_config(ht_config_t* cfg);
+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);
diff --git a/ftnoir_tracker_ht/ht-trackercontrols.ui b/ftnoir_tracker_ht/ht-trackercontrols.ui
index fbe7a41a..f57022c8 100644
--- a/ftnoir_tracker_ht/ht-trackercontrols.ui
+++ b/ftnoir_tracker_ht/ht-trackercontrols.ui
@@ -9,8 +9,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>593</width>
- <height>280</height>
+ <width>531</width>
+ <height>166</height>
</rect>
</property>
<property name="sizePolicy">
@@ -28,420 +28,200 @@
<property name="windowTitle">
<string>HT tracker settings</string>
</property>
- <widget class="QLabel" name="label">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>10</y>
- <width>141</width>
- <height>16</height>
- </rect>
- </property>
- <property name="text">
- <string>Horizontal FOV</string>
- </property>
- </widget>
- <widget class="QDoubleSpinBox" name="cameraFOV">
- <property name="geometry">
- <rect>
- <x>130</x>
- <y>10</y>
- <width>251</width>
- <height>22</height>
- </rect>
- </property>
- <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>
- <widget class="QLabel" name="label_2">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>40</y>
- <width>137</width>
- <height>16</height>
- </rect>
- </property>
- <property name="text">
- <string>Frames per second</string>
- </property>
- </widget>
- <widget class="QComboBox" name="cameraFPS">
- <property name="geometry">
- <rect>
- <x>130</x>
- <y>40</y>
- <width>251</width>
- <height>22</height>
- </rect>
- </property>
- <item>
- <property name="text">
- <string notr="true">Default</string>
- </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <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>Horizontal FOV</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2" rowspan="3">
+ <widget class="QGroupBox" name="groupBox">
+ <property name="title">
+ <string>Enable axes</string>
+ </property>
+ <widget class="QCheckBox" name="rx">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>20</y>
+ <width>70</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>RX</string>
+ </property>
+ </widget>
+ <widget class="QCheckBox" name="ry">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>40</y>
+ <width>70</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>RY</string>
+ </property>
+ </widget>
+ <widget class="QCheckBox" name="rz">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>60</y>
+ <width>70</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>RZ</string>
+ </property>
+ </widget>
+ <widget class="QCheckBox" name="tx">
+ <property name="geometry">
+ <rect>
+ <x>60</x>
+ <y>20</y>
+ <width>70</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>TX</string>
+ </property>
+ </widget>
+ <widget class="QCheckBox" name="ty">
+ <property name="geometry">
+ <rect>
+ <x>60</x>
+ <y>40</y>
+ <width>70</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>TY</string>
+ </property>
+ </widget>
+ <widget class="QCheckBox" name="tz">
+ <property name="geometry">
+ <rect>
+ <x>60</x>
+ <y>60</y>
+ <width>70</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>TZ</string>
+ </property>
+ </widget>
+ </widget>
</item>
- <item>
- <property name="text">
- <string>30</string>
- </property>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>Frames per second</string>
+ </property>
+ </widget>
</item>
- <item>
- <property name="text">
- <string>60</string>
- </property>
+ <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>
- <property name="text">
- <string>120</string>
- </property>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_3">
+ <property name="text">
+ <string>Camera name</string>
+ </property>
+ </widget>
</item>
- </widget>
- <widget class="QLabel" name="label_3">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>70</y>
- <width>133</width>
- <height>16</height>
- </rect>
- </property>
- <property name="text">
- <string>Camera name</string>
- </property>
- </widget>
- <widget class="QPushButton" name="buttonOK">
- <property name="geometry">
- <rect>
- <x>430</x>
- <y>250</y>
- <width>75</width>
- <height>23</height>
- </rect>
- </property>
- <property name="text">
- <string>OK</string>
- </property>
- </widget>
- <widget class="QPushButton" name="buttonCancel">
- <property name="geometry">
- <rect>
- <x>510</x>
- <y>250</y>
- <width>75</width>
- <height>23</height>
- </rect>
- </property>
- <property name="text">
- <string>Cancel</string>
- </property>
- </widget>
- <widget class="QGroupBox" name="groupBox">
- <property name="geometry">
- <rect>
- <x>390</x>
- <y>10</y>
- <width>101</width>
- <height>81</height>
- </rect>
- </property>
- <property name="title">
- <string>Enable axes</string>
- </property>
- <widget class="QCheckBox" name="rx">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>20</y>
- <width>70</width>
- <height>17</height>
- </rect>
- </property>
- <property name="text">
- <string>RX</string>
- </property>
- </widget>
- <widget class="QCheckBox" name="ry">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>40</y>
- <width>70</width>
- <height>17</height>
- </rect>
- </property>
- <property name="text">
- <string>RY</string>
- </property>
- </widget>
- <widget class="QCheckBox" name="rz">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>60</y>
- <width>70</width>
- <height>17</height>
- </rect>
- </property>
- <property name="text">
- <string>RZ</string>
- </property>
- </widget>
- <widget class="QCheckBox" name="tx">
- <property name="geometry">
- <rect>
- <x>60</x>
- <y>20</y>
- <width>70</width>
- <height>17</height>
- </rect>
- </property>
- <property name="text">
- <string>TX</string>
- </property>
- </widget>
- <widget class="QCheckBox" name="ty">
- <property name="geometry">
- <rect>
- <x>60</x>
- <y>40</y>
- <width>70</width>
- <height>17</height>
- </rect>
- </property>
- <property name="text">
- <string>TY</string>
- </property>
- </widget>
- <widget class="QCheckBox" name="tz">
- <property name="geometry">
- <rect>
- <x>60</x>
- <y>60</y>
- <width>70</width>
- <height>17</height>
- </rect>
- </property>
- <property name="text">
- <string>TZ</string>
- </property>
- </widget>
- </widget>
- <widget class="QComboBox" name="cameraName">
- <property name="geometry">
- <rect>
- <x>130</x>
- <y>70</y>
- <width>251</width>
- <height>22</height>
- </rect>
- </property>
- </widget>
- <widget class="QLabel" name="label_4">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>100</y>
- <width>128</width>
- <height>16</height>
- </rect>
- </property>
- <property name="text">
- <string>Resolution</string>
- </property>
- </widget>
- <widget class="QComboBox" name="resolution">
- <property name="geometry">
- <rect>
- <x>130</x>
- <y>100</y>
- <width>251</width>
- <height>22</height>
- </rect>
- </property>
- <item>
- <property name="text">
- <string>640x480</string>
- </property>
+ <item row="2" column="1">
+ <widget class="QComboBox" name="cameraName"/>
</item>
- <item>
- <property name="text">
- <string>320x240</string>
- </property>
+ <item row="3" column="0">
+ <widget class="QLabel" name="label_4">
+ <property name="text">
+ <string>Resolution</string>
+ </property>
+ </widget>
</item>
- <item>
- <property name="text">
- <string>320x200</string>
- </property>
+ <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>
- <property name="text">
- <string>Default (not recommended!)</string>
- </property>
+ <item row="4" column="2">
+ <widget class="QDialogButtonBox" name="buttonBox">
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ </property>
+ </widget>
</item>
- </widget>
- <widget class="QDoubleSpinBox" name="doubleSpinBox">
- <property name="geometry">
- <rect>
- <x>130</x>
- <y>130</y>
- <width>171</width>
- <height>22</height>
- </rect>
- </property>
- <property name="frame">
- <bool>true</bool>
- </property>
- <property name="buttonSymbols">
- <enum>QAbstractSpinBox::NoButtons</enum>
- </property>
- <property name="decimals">
- <number>24</number>
- </property>
- <property name="minimum">
- <double>-1000.000000000000000</double>
- </property>
- <property name="maximum">
- <double>1000.000000000000000</double>
- </property>
- <property name="singleStep">
- <double>0.000000000000000</double>
- </property>
- </widget>
- <widget class="QLabel" name="label_5">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>130</y>
- <width>111</width>
- <height>16</height>
- </rect>
- </property>
- <property name="text">
- <string>Distortion coefficients</string>
- </property>
- </widget>
- <widget class="QDoubleSpinBox" name="doubleSpinBox_2">
- <property name="geometry">
- <rect>
- <x>130</x>
- <y>160</y>
- <width>171</width>
- <height>22</height>
- </rect>
- </property>
- <property name="frame">
- <bool>true</bool>
- </property>
- <property name="buttonSymbols">
- <enum>QAbstractSpinBox::NoButtons</enum>
- </property>
- <property name="decimals">
- <number>24</number>
- </property>
- <property name="minimum">
- <double>-1000.000000000000000</double>
- </property>
- <property name="maximum">
- <double>1000.000000000000000</double>
- </property>
- <property name="singleStep">
- <double>0.000000000000000</double>
- </property>
- </widget>
- <widget class="QDoubleSpinBox" name="doubleSpinBox_3">
- <property name="geometry">
- <rect>
- <x>130</x>
- <y>190</y>
- <width>171</width>
- <height>22</height>
- </rect>
- </property>
- <property name="frame">
- <bool>true</bool>
- </property>
- <property name="buttonSymbols">
- <enum>QAbstractSpinBox::NoButtons</enum>
- </property>
- <property name="decimals">
- <number>24</number>
- </property>
- <property name="minimum">
- <double>-1000.000000000000000</double>
- </property>
- <property name="maximum">
- <double>1000.000000000000000</double>
- </property>
- <property name="singleStep">
- <double>0.000000000000000</double>
- </property>
- </widget>
- <widget class="QDoubleSpinBox" name="doubleSpinBox_4">
- <property name="geometry">
- <rect>
- <x>130</x>
- <y>220</y>
- <width>171</width>
- <height>22</height>
- </rect>
- </property>
- <property name="frame">
- <bool>true</bool>
- </property>
- <property name="buttonSymbols">
- <enum>QAbstractSpinBox::NoButtons</enum>
- </property>
- <property name="decimals">
- <number>24</number>
- </property>
- <property name="minimum">
- <double>-1000.000000000000000</double>
- </property>
- <property name="maximum">
- <double>1000.000000000000000</double>
- </property>
- <property name="singleStep">
- <double>0.000000000000000</double>
- </property>
- </widget>
- <widget class="QDoubleSpinBox" name="doubleSpinBox_5">
- <property name="geometry">
- <rect>
- <x>130</x>
- <y>250</y>
- <width>171</width>
- <height>22</height>
- </rect>
- </property>
- <property name="frame">
- <bool>true</bool>
- </property>
- <property name="buttonSymbols">
- <enum>QAbstractSpinBox::NoButtons</enum>
- </property>
- <property name="decimals">
- <number>24</number>
- </property>
- <property name="minimum">
- <double>-1000.000000000000000</double>
- </property>
- <property name="maximum">
- <double>1000.000000000000000</double>
- </property>
- <property name="singleStep">
- <double>0.000000000000000</double>
- </property>
- </widget>
+ </layout>
</widget>
<resources/>
<connections/>
diff --git a/ftnoir_tracker_ht/ht_video_widget.cpp b/ftnoir_tracker_ht/ht_video_widget.cpp
new file mode 100644
index 00000000..c6d59b34
--- /dev/null
+++ b/ftnoir_tracker_ht/ht_video_widget.cpp
@@ -0,0 +1,44 @@
+/* Copyright (c) 2012 Patrick Ruoff
+ *
+ * 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"
+
+#include <QDebug>
+
+using namespace std;
+
+void HTVideoWidget::update_image(unsigned char *frame, int width, int height)
+{
+ QMutexLocker foo(&mtx);
+ memcpy(fb, frame, width * height * 3);
+ this->width = width;
+ this->height = height;
+}
+
+void HTVideoWidget::update_and_repaint()
+{
+ QMutexLocker foo(&mtx);
+ if (width*height <= 0)
+ return;
+ QImage 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);
+ data[y * pitch + x * 3 + 0] = fb[pos + 2];
+ data[y * pitch + x * 3 + 1] = fb[pos + 1];
+ data[y * pitch + x * 3 + 2] = fb[pos + 0];
+ }
+ }
+ auto qframe2 = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
+ texture = qframe2;
+ update();
+}
diff --git a/ftnoir_tracker_ht/video_widget.h b/ftnoir_tracker_ht/ht_video_widget.h
index 87b6278a..cbfe6ddc 100644
--- a/ftnoir_tracker_ht/video_widget.h
+++ b/ftnoir_tracker_ht/ht_video_widget.h
@@ -15,25 +15,33 @@
#include <QLabel>
#include <QPainter>
#include <QPaintEvent>
+#include <QTimer>
// ----------------------------------------------------------------------------
-class VideoWidget : public QWidget
+class HTVideoWidget : public QWidget
{
- Q_OBJECT
+ Q_OBJECT
public:
- VideoWidget(QWidget *parent) : QWidget(parent), mtx() {
- }
+ HTVideoWidget(QWidget *parent) : QWidget(parent), fb(), width(0), height(0) {
+ 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.drawPixmap(e->rect(), pixmap, e->rect());
+ painter.drawImage(e->rect(), texture);
}
+ void update_and_repaint();
+
private:
QMutex mtx;
- QPixmap pixmap;
+ QImage texture;
+ QTimer timer;
+ char fb[2048*2048*3];
+ int width,height;
};
#endif // VIDEOWIDGET_H
diff --git a/ftnoir_tracker_ht/stdafx.h b/ftnoir_tracker_ht/stdafx.h
index 0e532c9f..6f1539b7 100644
--- a/ftnoir_tracker_ht/stdafx.h
+++ b/ftnoir_tracker_ht/stdafx.h
@@ -4,7 +4,6 @@
#include <QImage>
#include <QLabel>
#include <QCoreApplication>
-#include <QSettings>
#include <QIcon>
#include <QHBoxLayout>
#include <QTimer>
diff --git a/ftnoir_tracker_ht/video_widget.cpp b/ftnoir_tracker_ht/video_widget.cpp
deleted file mode 100644
index 84cba6a3..00000000
--- a/ftnoir_tracker_ht/video_widget.cpp
+++ /dev/null
@@ -1,30 +0,0 @@
-/* Copyright (c) 2012 Patrick Ruoff
- *
- * 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 "video_widget.h"
-
-#include <QDebug>
-
-using namespace std;
-
-void VideoWidget::update_image(unsigned char *frame, int width, int height)
-{
- QMutexLocker foo(&mtx);
- QImage qframe = QImage(width, height, QImage::Format_RGB888);
- uchar* data = qframe.bits();
- const int pitch = qframe.bytesPerLine();
- for (int y = 0; y < height; y++)
- for (int x = 0; x < width; x++)
- {
- const int pos = 3 * (y*width + x);
- data[y * pitch + x * 3 + 0] = frame[pos + 2];
- data[y * pitch + x * 3 + 1] = frame[pos + 1];
- data[y * pitch + x * 3 + 2] = frame[pos + 0];
- }
- qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
- pixmap = QPixmap::fromImage(qframe);
-}
generated by cgit v1.2.3 (git 2.39.1) at 2025-01-09 10:07:46 +0000