diff options
Diffstat (limited to 'tracker-ht/ftnoir_tracker_ht.cpp')
| -rw-r--r-- | tracker-ht/ftnoir_tracker_ht.cpp | 224 |
1 files changed, 0 insertions, 224 deletions
diff --git a/tracker-ht/ftnoir_tracker_ht.cpp b/tracker-ht/ftnoir_tracker_ht.cpp deleted file mode 100644 index 045d05f8..00000000 --- a/tracker-ht/ftnoir_tracker_ht.cpp +++ /dev/null @@ -1,224 +0,0 @@ -#include "headtracker-ftnoir.h" -#include "ftnoir_tracker_ht.h" -#include "ui_ht-trackercontrols.h" -#include "api/plugin-api.hpp" -#include <cmath> -#include "api/camera-names.hpp" -#include "compat/sleep.hpp" - -typedef struct { - int width; - int height; -} resolution_tuple; - -static resolution_tuple resolution_choices[] = { - { 640, 480 }, - { 320, 240 }, - { 320, 200 }, - { 0, 0 } -}; - -void Tracker::load_settings(ht_config_t* config) -{ - 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; - } - - config->classification_delay = 500; - config->field_of_view = s.fov; - config->max_keypoints = 150; - config->keypoint_distance = 3.5; - config->force_fps = nframes; - config->camera_index = camera_name_to_index(s.camera_name); - - config->ransac_max_reprojection_error = 25; - config->ransac_max_inlier_error = config->ransac_max_reprojection_error; - - config->pyrlk_pyramids = 0; - config->pyrlk_win_size_w = config->pyrlk_win_size_h = 21; - - config->ransac_max_mean_error = 999; - config->ransac_abs_max_mean_error = 999; - - config->debug = 1; - config->ransac_min_features = 0.95; - config->ransac_num_iters = 300; - - 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 = 50; - for (int i = 0; i < 5; i++) - config->dist_coeffs[i] = 0; -} - -Tracker::Tracker() : - ht(nullptr), - ypr {0,0,0, 0,0,0}, - videoWidget(nullptr), - layout(nullptr), - should_stop(false) -{ -} - -Tracker::~Tracker() -{ - should_stop = true; - wait(); - ht_free_context(ht); - if (layout) - delete layout; - if (videoWidget) - delete videoWidget; -} - -void Tracker::start_tracker(QFrame* videoframe) -{ - videoframe->show(); - videoWidget = new HTVideoWidget(videoframe); - QHBoxLayout* layout_ = new QHBoxLayout(); - layout_->setContentsMargins(0, 0, 0, 0); - layout_->addWidget(videoWidget); - if (videoframe->layout()) - delete videoframe->layout(); - videoframe->setLayout(layout_); - videoWidget->show(); - layout = layout_; - - load_settings(&conf); - ht = ht_make_context(&conf, nullptr); - start(); -} - -void Tracker::run() -{ - while (!should_stop) - { - ht_result_t euler; - euler.filled = false; - { - QMutexLocker l(&camera_mtx); - - if (!ht_cycle(ht, &euler)) - break; - } - if (euler.filled) - { - QMutexLocker l(&ypr_mtx); - ypr[TX] = euler.tx; - ypr[TY] = euler.ty; - ypr[TZ] = euler.tz; - ypr[Yaw] = euler.rotx; - ypr[Pitch] = euler.roty; - ypr[Roll] = euler.rotz; - } - { - const cv::Mat frame_ = ht_get_bgr_frame(ht); - if (frame_.cols <= HT_MAX_VIDEO_WIDTH && frame_.rows <= HT_MAX_VIDEO_HEIGHT && frame_.channels() <= HT_MAX_VIDEO_CHANNELS) - { - QMutexLocker l(&frame_mtx); - - const int cols = frame_.cols; - const int rows = frame_.rows; - const int pitch = cols * 3; - for (int y = 0; y < rows; y++) - { - for (int x = 0; x < cols; x++) - { - unsigned char* dest = &frame.frame[y * pitch + 3 * x]; - const cv::Vec3b& elt = frame_.at<cv::Vec3b>(y, x); - const cv::Scalar elt2 = static_cast<cv::Scalar>(elt); - dest[0] = elt2.val[0]; - dest[1] = elt2.val[1]; - dest[2] = elt2.val[2]; - } - } - frame.channels = frame_.channels(); - frame.width = frame_.cols; - frame.height = frame_.rows; - } - } - } - // give opencv time to exit camera threads, etc. - portable::sleep(500); -} - -void Tracker::data(double* data) -{ - { - QMutexLocker l(&frame_mtx); - - if (frame.width > 0) - { - videoWidget->update_image(frame.frame, frame.width, frame.height); - frame.width = 0; - } - } - - { - QMutexLocker l(&ypr_mtx); - - for (int i = 0; i < 6; i++) - data[i] = ypr[i]; - } -} - -TrackerControls::TrackerControls() : tracker(nullptr) -{ - ui.setupUi(this); - ui.cameraName->clear(); - QList<QString> names = get_camera_names(); - names.prepend("Any available"); - ui.cameraName->addItems(names); - tie_setting(s.camera_name, ui.cameraName); - tie_setting(s.fps, ui.cameraFPS); - tie_setting(s.fov, ui.cameraFOV); - tie_setting(s.resolution, ui.resolution); - connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); - connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); - connect(ui.camera_settings, SIGNAL(pressed()), this, SLOT(camera_settings())); -} - -void TrackerControls::doOK() -{ - s.b->save(); - close(); -} - -void TrackerControls::doCancel() -{ - close(); -} - -void TrackerControls::camera_settings() -{ - if (tracker) - { - cv::VideoCapture* cap = ht_capture(tracker->ht); - open_camera_settings(cap, s.camera_name, &tracker->camera_mtx); - } - else - open_camera_settings(nullptr, s.camera_name, nullptr); -} - -OPENTRACK_DECLARE_TRACKER(Tracker, TrackerControls, TrackerDll) |