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-rw-r--r--tracker-ht/CMakeLists.txt12
-rw-r--r--tracker-ht/ftnoir_tracker_ht.cpp224
-rw-r--r--tracker-ht/ftnoir_tracker_ht.h90
-rw-r--r--tracker-ht/headtracker-ftnoir.h24
-rw-r--r--tracker-ht/ht-api.h51
-rw-r--r--tracker-ht/ht-tracker.qrc5
-rw-r--r--tracker-ht/ht-trackercontrols.ui157
-rw-r--r--tracker-ht/ht_video_widget.cpp53
-rw-r--r--tracker-ht/ht_video_widget.h39
-rw-r--r--tracker-ht/images/ht.pngbin2010 -> 0 bytes
10 files changed, 0 insertions, 655 deletions
diff --git a/tracker-ht/CMakeLists.txt b/tracker-ht/CMakeLists.txt
deleted file mode 100644
index 86684799..00000000
--- a/tracker-ht/CMakeLists.txt
+++ /dev/null
@@ -1,12 +0,0 @@
-if(FALSE)
-set(SDK_HT "" CACHE FILEPATH "Path to headtracker library")
-set(SDK_HT_FLANDMARK "" CACHE FILEPATH "Path to flandmark library for headtracker")
-find_package(OpenCV 3.0 QUIET COMPONENTS ${opencv-modules})
-if(OpenCV_FOUND)
- if(SDK_HT AND SDK_HT_FLANDMARK)
- otr_module(tracker-ht)
- target_link_libraries(opentrack-tracker-ht ${SDK_HT} ${SDK_HT_FLANDMARK} ${OpenCV_LIBS})
- target_include_directories(opentrack-tracker-ht SYSTEM PUBLIC ${OpenCV_INCLUDE_DIRS})
- endif()
-endif()
-endif()
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)
diff --git a/tracker-ht/ftnoir_tracker_ht.h b/tracker-ht/ftnoir_tracker_ht.h
deleted file mode 100644
index a29b3f20..00000000
--- a/tracker-ht/ftnoir_tracker_ht.h
+++ /dev/null
@@ -1,90 +0,0 @@
-/* Copyright (c) 2013 Stanislaw 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
- * copyright notice and this permission notice appear in all copies.
- */
-
-#pragma once
-
-#include "headtracker-ftnoir.h"
-#include "ui_ht-trackercontrols.h"
-#include "ht_video_widget.h"
-#include "compat/shm.h"
-#include <QObject>
-#include "options/options.hpp"
-#include "api/plugin-api.hpp"
-#include "api/opencv-camera-dialog.hpp"
-
-#include <QThread>
-#include <QMutex>
-#include <QMutexLocker>
-#include <QHBoxLayout>
-#include <QString>
-
-using namespace options;
-
-struct settings : opts {
- value<double> fov;
- value<QString> camera_name;
- value<int> fps, resolution;
- settings() :
- opts("HT-Tracker"),
- fov(b, "fov", 56),
- camera_name(b, "camera-name", ""),
- fps(b, "fps", 0),
- resolution(b, "resolution", 0)
- {}
-};
-
-class Tracker : public QThread, public ITracker
-{
- Q_OBJECT
-public:
- Tracker();
- ~Tracker() override;
- void run() override;
- void start_tracker(QFrame* frame) override;
- void data(double *data) override;
- void load_settings(ht_config_t* config);
- headtracker_t* ht;
- QMutex camera_mtx;
-private:
- double ypr[6];
- settings s;
- ht_config_t conf;
- HTVideoWidget* videoWidget;
- QHBoxLayout* layout;
- QMutex ypr_mtx, frame_mtx;
- ht_video_t frame;
- volatile bool should_stop;
-};
-
-class TrackerControls : public ITrackerDialog, protected camera_dialog
-{
- Q_OBJECT
-public:
- TrackerControls();
- void register_tracker(ITracker * t) override
- {
- tracker = static_cast<Tracker*>(t);
- }
- void unregister_tracker() override
- {
- tracker = nullptr;
- }
-private:
- Ui::Form ui;
- settings s;
- Tracker* tracker;
-private slots:
- void doOK();
- void doCancel();
- void camera_settings();
-};
-
-class TrackerDll : public Metadata
-{
- QString name() { return QString("ht -- face tracker"); }
- QIcon icon() { return QIcon(":/images/ht.png"); }
-};
diff --git a/tracker-ht/headtracker-ftnoir.h b/tracker-ht/headtracker-ftnoir.h
deleted file mode 100644
index 9a343bae..00000000
--- a/tracker-ht/headtracker-ftnoir.h
+++ /dev/null
@@ -1,24 +0,0 @@
-#pragma once
-#include <stdlib.h>
-#include <stdio.h>
-#include "ht-api.h"
-
-#define HT_SHM_NAME "ftnoir-tracker-ht-shm"
-#define HT_MUTEX_NAME "ftnoir-tracker-ht-mutex"
-
-#define HT_MAX_VIDEO_WIDTH 640
-#define HT_MAX_VIDEO_HEIGHT 480
-#define HT_MAX_VIDEO_CHANNELS 3
-
-typedef struct {
- int width, height, channels;
- unsigned char frame[HT_MAX_VIDEO_WIDTH * HT_MAX_VIDEO_HEIGHT * HT_MAX_VIDEO_CHANNELS];
-} ht_video_t;
-
-typedef struct {
- ht_video_t frame;
- ht_config_t config;
- ht_result_t result;
- volatile int timer;
- volatile bool pause, terminate, running;
-} ht_shm_t;
diff --git a/tracker-ht/ht-api.h b/tracker-ht/ht-api.h
deleted file mode 100644
index 4629a00b..00000000
--- a/tracker-ht/ht-api.h
+++ /dev/null
@@ -1,51 +0,0 @@
-#pragma once
-#ifndef HT_API
-# if defined(_WIN32) && !defined(MINGW)
-# define HT_API(t) __declspec(dllexport) t __stdcall
-# else
-# define HT_API(t) t
-# endif
-#endif
-#if !defined(_WIN32) && !defined(_isnan)
-# define _isnan isnan
-#endif
-#include <opencv2/core.hpp>
-#include <opencv2/highgui.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 ransac_max_inlier_error;
- float ransac_max_reprojection_error;
- int max_keypoints;
- float keypoint_distance;
- int force_width;
- int force_height;
- int force_fps;
- int camera_index;
- bool debug;
- int ransac_num_iters;
- float ransac_min_features;
- float ransac_max_mean_error;
- float ransac_abs_max_mean_error;
- float flandmark_delay;
- double dist_coeffs[5];
-} ht_config_t;
-
-typedef struct {
- double rotx, roty, rotz;
- double tx, ty, tz;
- bool filled;
-} ht_result_t;
-
-HT_API(headtracker_t*) ht_make_context(const ht_config_t* config, const char* filename);
-HT_API(void) ht_free_context(headtracker_t* ctx);
-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);
-HT_API(cv::VideoCapture*) ht_capture(headtracker_t* ctx);
diff --git a/tracker-ht/ht-tracker.qrc b/tracker-ht/ht-tracker.qrc
deleted file mode 100644
index b6af7a18..00000000
--- a/tracker-ht/ht-tracker.qrc
+++ /dev/null
@@ -1,5 +0,0 @@
-<RCC>
- <qresource prefix="/">
- <file>images/ht.png</file>
- </qresource>
-</RCC>
diff --git a/tracker-ht/ht-trackercontrols.ui b/tracker-ht/ht-trackercontrols.ui
deleted file mode 100644
index 29b80c8d..00000000
--- a/tracker-ht/ht-trackercontrols.ui
+++ /dev/null
@@ -1,157 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>Form</class>
- <widget class="QWidget" name="Form">
- <property name="windowModality">
- <enum>Qt::NonModal</enum>
- </property>
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>354</width>
- <height>179</height>
- </rect>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>750</width>
- <height>280</height>
- </size>
- </property>
- <property name="windowTitle">
- <string>HT tracker settings</string>
- </property>
- <layout class="QGridLayout" name="gridLayout">
- <item row="1" column="0">
- <widget class="QLabel" name="label_2">
- <property name="text">
- <string>Frames per second</string>
- </property>
- </widget>
- </item>
- <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>Diagonal FOV</string>
- </property>
- </widget>
- </item>
- <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 row="2" column="1">
- <widget class="QComboBox" name="cameraName"/>
- </item>
- <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 row="3" column="0">
- <widget class="QLabel" name="label_4">
- <property name="text">
- <string>Resolution</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_3">
- <property name="text">
- <string>Camera name</string>
- </property>
- </widget>
- </item>
- <item row="5" column="1">
- <widget class="QDialogButtonBox" name="buttonBox">
- <property name="standardButtons">
- <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
- </property>
- </widget>
- </item>
- <item row="4" column="0">
- <widget class="QLabel" name="label_5">
- <property name="text">
- <string>Camera settings</string>
- </property>
- </widget>
- </item>
- <item row="4" column="1">
- <widget class="QPushButton" name="camera_settings">
- <property name="text">
- <string>Open</string>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>
diff --git a/tracker-ht/ht_video_widget.cpp b/tracker-ht/ht_video_widget.cpp
deleted file mode 100644
index b62b9892..00000000
--- a/tracker-ht/ht_video_widget.cpp
+++ /dev/null
@@ -1,53 +0,0 @@
-/* Copyright (c) 2014 Stanislaw Halik
- *
- * 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"
-
-void HTVideoWidget::update_image(unsigned char *frame, int width_, int height_)
-{
- QMutexLocker foo(&mtx);
- if (!fresh)
- {
- width = width_;
- height = height_;
- fresh = true;
- memcpy(fb, frame, width_ * height_ * 3);
- }
-}
-
-void HTVideoWidget::update_and_repaint()
-{
- QImage qframe;
- {
- QMutexLocker foo(&mtx);
- if (width*height <= 0 || !fresh)
- return;
- fresh = false;
- 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);
- const int x_ = x * 3;
- data[x_ + 0] = fb[pos + 2];
- data[x_ + 1] = fb[pos + 1];
- data[x_ + 2] = fb[pos + 0];
- }
- data += pitch;
- }
- }
- qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
- {
- QMutexLocker foo(&mtx);
- texture = qframe;
- }
- update();
-}
diff --git a/tracker-ht/ht_video_widget.h b/tracker-ht/ht_video_widget.h
deleted file mode 100644
index 054b2cf4..00000000
--- a/tracker-ht/ht_video_widget.h
+++ /dev/null
@@ -1,39 +0,0 @@
-/* Copyright (c) 2014 Stanislaw Halik
- *
- * 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.
- */
-#pragma once
-
-#include <QTimer>
-#include <QWidget>
-#include <QMutex>
-#include <QMutexLocker>
-#include <QPainter>
-#include <QPaintEvent>
-
-class HTVideoWidget : public QWidget
-{
- Q_OBJECT
-public:
- HTVideoWidget(QWidget *parent) : QWidget(parent), fb(), width(0), height(0), fresh(false) {
- 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.drawImage(e->rect(), texture);
- }
- void update_and_repaint();
-private:
- QMutex mtx;
- QImage texture;
- QTimer timer;
- unsigned char fb[2048*2048*3];
- int width,height;
- bool fresh;
-};
diff --git a/tracker-ht/images/ht.png b/tracker-ht/images/ht.png
deleted file mode 100644
index 19c73d21..00000000
--- a/tracker-ht/images/ht.png
+++ /dev/null
Binary files differ
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