From 3685c645e0c3ffba4edc61536957ac6b9f9cac3e Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Wed, 24 Sep 2014 17:54:53 +0200 Subject: core: fix timer units --- facetracknoir/facetracknoir.ui | 2088 ++++++++++++++++++++-------------------- facetracknoir/tracker.cpp | 384 ++++---- 2 files changed, 1236 insertions(+), 1236 deletions(-) diff --git a/facetracknoir/facetracknoir.ui b/facetracknoir/facetracknoir.ui index 215b9b55..7f6b863c 100644 --- a/facetracknoir/facetracknoir.ui +++ b/facetracknoir/facetracknoir.ui @@ -1,1044 +1,1044 @@ - - - WVR - OpentrackUI - - - - 0 - 0 - 597 - 506 - - - - - 0 - 0 - - - - - :/images/facetracknoir.png:/images/facetracknoir.png - - - - - - 140 - 15 - 126 - 161 - - - - Game data - - - - - - true - - - - 13 - NoAntialias - false - - - - QFrame::NoFrame - - - QFrame::Raised - - - true - - - 2 - - - QLCDNumber::Flat - - - - - - - TX - - - - - - - true - - - - 13 - NoAntialias - false - - - - QFrame::NoFrame - - - QFrame::Raised - - - true - - - 2 - - - QLCDNumber::Flat - - - - - - - true - - - - 13 - NoAntialias - false - - - - QFrame::NoFrame - - - QFrame::Raised - - - true - - - 2 - - - QLCDNumber::Flat - - - - - - - true - - - - 13 - NoAntialias - false - - - - QFrame::NoFrame - - - QFrame::Raised - - - true - - - 2 - - - QLCDNumber::Flat - - - - - - - yaw - - - - - - - true - - - - 13 - NoAntialias - false - - - - QFrame::NoFrame - - - QFrame::Raised - - - true - - - 2 - - - QLCDNumber::Flat - - - - - - - roll - - - - - - - true - - - false - - - TY - - - - - - - true - - - false - - - TZ - - - - - - - true - - - - 13 - NoAntialias - false - - - - QFrame::NoFrame - - - QFrame::Raised - - - true - - - 2 - - - QLCDNumber::Flat - - - - - - - pitch - - - - - - - - - 405 - 380 - 181 - 56 - - - - Protocol - - - - - - - 0 - 0 - - - - 42 - - - - - - - true - - - - 0 - 0 - - - - Settings - - - - - - - - - 405 - 215 - 181 - 56 - - - - Tracker - - - - - - - 0 - 0 - - - - 42 - - - - - - - true - - - - 0 - 0 - - - - Settings - - - - - - - - - 405 - 325 - 181 - 56 - - - - Filter - - - - - - - 0 - 0 - - - - 42 - - - - - - - true - - - - 0 - 0 - - - - Settings - - - - - - - - - 405 - 270 - 181 - 56 - - - - Auxiliary tracker - - - - - - - 0 - 0 - - - - 42 - - - - - - - true - - - - 0 - 0 - - - - Settings - - - - - - - - - 24 - 204 - 366 - 281 - - - - - 0 - 0 - - - - - - 0 - 0 - 366 - 281 - - - - - 0 - 0 - - - - - NoAntialias - false - - - - - - - - - - - 405 - 15 - 181 - 81 - - - - Profile - - - - - - true - - - - 0 - 0 - - - - Save - - - - - - - - 0 - 0 - - - - Load - - - - - - - true - - - - 0 - 0 - - - - Save As ... - - - - - - - - 0 - 0 - - - - 10 - - - - - - - - - 405 - 440 - 181 - 56 - - - - - 0 - 0 - - - - - 65536 - 65536 - - - - Controls - - - - - - - 0 - 0 - - - - Start - - - - - - - false - - - - 0 - 0 - - - - Stop - - - - - - - - - 273 - 15 - 126 - 161 - - - - Raw pose - - - - - - TX - - - - - - - true - - - - 13 - NoAntialias - false - - - - QFrame::NoFrame - - - QFrame::Raised - - - true - - - 2 - - - QLCDNumber::Flat - - - - - - - true - - - - 13 - NoAntialias - false - - - - QFrame::NoFrame - - - QFrame::Raised - - - true - - - 2 - - - QLCDNumber::Flat - - - - - - - true - - - - 13 - NoAntialias - false - - - - QFrame::NoFrame - - - QFrame::Raised - - - true - - - 2 - - - QLCDNumber::Flat - - - - - - - true - - - - 13 - NoAntialias - false - - - - QFrame::NoFrame - - - QFrame::Raised - - - true - - - 2 - - - QLCDNumber::Flat - - - - - - - true - - - - 13 - NoAntialias - false - - - - QFrame::NoFrame - - - QFrame::Raised - - - true - - - 2 - - - QLCDNumber::Flat - - - - - - - true - - - false - - - TY - - - - - - - true - - - false - - - TZ - - - - - - - true - - - - 13 - NoAntialias - false - - - - QFrame::NoFrame - - - QFrame::Raised - - - true - - - 2 - - - QLCDNumber::Flat - - - - - - - pitch - - - - - - - yaw - - - - - - - roll - - - - - - - - - 15 - 179 - 386 - 316 - - - - Video preview - - - - - - 405 - 95 - 181 - 80 - - - - Settings - - - - - 10 - 45 - 161 - 26 - - - - - 0 - 0 - - - - Keys - - - - :/uielements/tools.png:/uielements/tools.png - - - - 98 - 24 - - - - - - - 10 - 15 - 161 - 26 - - - - - 0 - 0 - - - - Mapping - - - - :/uielements/curves.png:/uielements/curves.png - - - - 60 - 37 - - - - - - - - 15 - 15 - 116 - 161 - - - - Tracking preview - - - - - 5 - 15 - 106 - 141 - - - - - 0 - 0 - - - - - - - - 405 - 180 - 181 - 36 - - - - Detected app - - - - - 10 - 15 - 115 - 16 - - - - - 0 - 0 - - - - - box_mapped_headpose - groupGameProtocol - groupTrackerSource - groupFilter - groupBox_3 - video_frame - groupProfile - groupStartStop - box_raw_headpose - video_frame_label - video_frame_label - groupBox - groupBox_2 - groupBox_4 - groupBox_5 - - - - - GLWidget - QWidget -
glwidget.h
- - - - - - - - - 5 - - - 5 - - - true - - - true - - - true - - - + + + WVR + OpentrackUI + + + + 0 + 0 + 597 + 506 + + + + + 0 + 0 + + + + + :/images/facetracknoir.png:/images/facetracknoir.png + + + + + + 140 + 15 + 126 + 161 + + + + Game data + + + + + + true + + + + 13 + NoAntialias + false + + + + QFrame::NoFrame + + + QFrame::Raised + + + true + + + 2 + + + QLCDNumber::Flat + + + + + + + TX + + + + + + + true + + + + 13 + NoAntialias + false + + + + QFrame::NoFrame + + + QFrame::Raised + + + true + + + 2 + + + QLCDNumber::Flat + + + + + + + true + + + + 13 + NoAntialias + false + + + + QFrame::NoFrame + + + QFrame::Raised + + + true + + + 2 + + + QLCDNumber::Flat + + + + + + + true + + + + 13 + NoAntialias + false + + + + QFrame::NoFrame + + + QFrame::Raised + + + true + + + 2 + + + QLCDNumber::Flat + + + + + + + yaw + + + + + + + true + + + + 13 + NoAntialias + false + + + + QFrame::NoFrame + + + QFrame::Raised + + + true + + + 2 + + + QLCDNumber::Flat + + + + + + + roll + + + + + + + true + + + false + + + TY + + + + + + + true + + + false + + + TZ + + + + + + + true + + + + 13 + NoAntialias + false + + + + QFrame::NoFrame + + + QFrame::Raised + + + true + + + 2 + + + QLCDNumber::Flat + + + + + + + pitch + + + + + + + + + 405 + 380 + 181 + 56 + + + + Protocol + + + + + + + 0 + 0 + + + + 42 + + + + + + + true + + + + 0 + 0 + + + + Settings + + + + + + + + + 405 + 215 + 181 + 56 + + + + Tracker + + + + + + + 0 + 0 + + + + 42 + + + + + + + true + + + + 0 + 0 + + + + Settings + + + + + + + + + 405 + 325 + 181 + 56 + + + + Filter + + + + + + + 0 + 0 + + + + 42 + + + + + + + true + + + + 0 + 0 + + + + Settings + + + + + + + + + 405 + 270 + 181 + 56 + + + + Auxiliary tracker + + + + + + + 0 + 0 + + + + 42 + + + + + + + true + + + + 0 + 0 + + + + Settings + + + + + + + + + 24 + 204 + 366 + 281 + + + + + 0 + 0 + + + + + + 0 + 0 + 366 + 281 + + + + + 0 + 0 + + + + + NoAntialias + false + + + + + + + + + + + 405 + 15 + 181 + 81 + + + + Profile + + + + + + true + + + + 0 + 0 + + + + Save + + + + + + + + 0 + 0 + + + + Load + + + + + + + true + + + + 0 + 0 + + + + Save As ... + + + + + + + + 0 + 0 + + + + 10 + + + + + + + + + 405 + 440 + 181 + 56 + + + + + 0 + 0 + + + + + 65536 + 65536 + + + + Controls + + + + + + + 0 + 0 + + + + Start + + + + + + + false + + + + 0 + 0 + + + + Stop + + + + + + + + + 273 + 15 + 126 + 161 + + + + Raw pose + + + + + + TX + + + + + + + true + + + + 13 + NoAntialias + false + + + + QFrame::NoFrame + + + QFrame::Raised + + + true + + + 2 + + + QLCDNumber::Flat + + + + + + + true + + + + 13 + NoAntialias + false + + + + QFrame::NoFrame + + + QFrame::Raised + + + true + + + 2 + + + QLCDNumber::Flat + + + + + + + true + + + + 13 + NoAntialias + false + + + + QFrame::NoFrame + + + QFrame::Raised + + + true + + + 2 + + + QLCDNumber::Flat + + + + + + + true + + + + 13 + NoAntialias + false + + + + QFrame::NoFrame + + + QFrame::Raised + + + true + + + 2 + + + QLCDNumber::Flat + + + + + + + true + + + + 13 + NoAntialias + false + + + + QFrame::NoFrame + + + QFrame::Raised + + + true + + + 2 + + + QLCDNumber::Flat + + + + + + + true + + + false + + + TY + + + + + + + true + + + false + + + TZ + + + + + + + true + + + + 13 + NoAntialias + false + + + + QFrame::NoFrame + + + QFrame::Raised + + + true + + + 2 + + + QLCDNumber::Flat + + + + + + + pitch + + + + + + + yaw + + + + + + + roll + + + + + + + + + 15 + 179 + 386 + 316 + + + + Video preview + + + + + + 405 + 95 + 181 + 80 + + + + Settings + + + + + 10 + 45 + 161 + 26 + + + + + 0 + 0 + + + + Keys + + + + :/uielements/tools.png:/uielements/tools.png + + + + 98 + 24 + + + + + + + 10 + 15 + 161 + 26 + + + + + 0 + 0 + + + + Mapping + + + + :/uielements/curves.png:/uielements/curves.png + + + + 60 + 37 + + + + + + + + 15 + 15 + 116 + 161 + + + + Tracking preview + + + + + 5 + 15 + 106 + 141 + + + + + 0 + 0 + + + + + + + + 405 + 180 + 181 + 36 + + + + Detected app + + + + + 10 + 15 + 115 + 16 + + + + + 0 + 0 + + + + + box_mapped_headpose + groupGameProtocol + groupTrackerSource + groupFilter + groupBox_3 + video_frame + groupProfile + groupStartStop + box_raw_headpose + video_frame_label + video_frame_label + groupBox + groupBox_2 + groupBox_4 + groupBox_5 + + + + + GLWidget + QWidget +
glwidget.h
+ + + + + + + + + 5 + + + 5 + + + true + + + true + + + true + + + diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp index 90e9bdad..72ad22b4 100644 --- a/facetracknoir/tracker.cpp +++ b/facetracknoir/tracker.cpp @@ -1,192 +1,192 @@ -/* Copyright (c) 2012-2013 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. - */ - -/* - * this file appeared originally in facetracknoir, was rewritten completely - * following opentrack fork. - * - * originally written by Wim Vriend. - */ - -#include "tracker.h" -#include "facetracknoir.h" -#include -#include -#include - -#if defined(_WIN32) -# include -#endif - -Tracker::Tracker(FaceTrackNoIR *parent , main_settings& s) : - mainApp(parent), - s(s), - should_quit(false), - do_center(false), - enabled(true) -{ -} - -Tracker::~Tracker() -{ - should_quit = true; - wait(); -} - -static void get_curve(double pos, double& out, THeadPoseDOF& axis) { - bool altp = (pos < 0) && axis.opts.altp; - axis.curve.setTrackingActive( !altp ); - axis.curveAlt.setTrackingActive( altp ); - auto& fc = altp ? axis.curveAlt : axis.curve; - out = (axis.opts.invert ? -1 : 1) * fc.getValue(pos); - - out += axis.opts.zero; -} - -static void t_compensate(double* input, double* output, bool rz) -{ - const auto H = input[Yaw] * M_PI / -180; - const auto P = input[Pitch] * M_PI / -180; - const auto B = input[Roll] * M_PI / 180; - - const auto cosH = cos(H); - const auto sinH = sin(H); - const auto cosP = cos(P); - const auto sinP = sin(P); - const auto cosB = cos(B); - const auto sinB = sin(B); - - double foo[] = { - cosH * cosB - sinH * sinP * sinB, - - sinB * cosP, - sinH * cosB + cosH * sinP * sinB, - cosH * sinB + sinH * sinP * cosB, - cosB * cosP, - sinB * sinH - cosH * sinP * cosB, - - sinH * cosP, - - sinP, - cosH * cosP, - }; - - cv::Mat rmat(3, 3, CV_64F, foo); - const cv::Mat tvec(3, 1, CV_64F, input); - cv::Mat ret = rmat * tvec; - - const int max = !rz ? 3 : 2; - - for (int i = 0; i < max; i++) - output[i] = ret.at(i); -} - -void Tracker::run() { - T6DOF offset_camera; - - double newpose[6] = {0}; - int sleep_ms = 15; - - if (Libraries->pTracker) - sleep_ms = std::min(sleep_ms, 1000 / Libraries->pTracker->preferredHz()); - - qDebug() << "tracker Hz:" << 1000 / sleep_ms; - -#if defined(_WIN32) - (void) timeBeginPeriod(1); -#endif - - for (;;) - { - t.start(); - - if (should_quit) - break; - - if (Libraries->pTracker) { - Libraries->pTracker->GetHeadPoseData(newpose); - } - - { - QMutexLocker foo(&mtx); - - for (int i = 0; i < 6; i++) - { - raw_6dof.axes[i] = newpose[i]; - - auto& axis = mainApp->axis(i); - - int k = axis.opts.src; - if (k < 0 || k >= 6) - continue; - - axis.headPos = newpose[k]; - } - - if (do_center) { - for (int i = 0; i < 6; i++) - offset_camera.axes[i] = mainApp->axis(i).headPos; - - do_center = false; - - if (Libraries->pFilter) - Libraries->pFilter->reset(); - } - - T6DOF target_camera, target_camera2, new_camera; - - if (enabled) - { - for (int i = 0; i < 6; i++) - target_camera.axes[i] = mainApp->axis(i).headPos; - - target_camera2 = target_camera - offset_camera; - } - - if (Libraries->pFilter) { - Libraries->pFilter->FilterHeadPoseData(target_camera2.axes, new_camera.axes); - } else { - new_camera = target_camera2; - } - - for (int i = 0; i < 6; i++) { - get_curve(new_camera.axes[i], output_camera.axes[i], mainApp->axis(i)); - } - - if (mainApp->s.tcomp_p) - t_compensate(output_camera.axes, output_camera.axes, mainApp->s.tcomp_tz); - - if (Libraries->pProtocol) { - Libraries->pProtocol->sendHeadposeToGame( output_camera.axes ); - } - } - - const long q = std::max(0L, sleep_ms * 1000L - std::max(0L, t.elapsed())); - - usleep(q); - } -#if defined(_WIN32) - (void) timeEndPeriod(1); -#endif - - for (int i = 0; i < 6; i++) - { - mainApp->axis(i).curve.setTrackingActive(false); - mainApp->axis(i).curveAlt.setTrackingActive(false); - } -} - -void Tracker::getHeadPose( double *data ) { - QMutexLocker foo(&mtx); - for (int i = 0; i < 6; i++) - { - data[i] = raw_6dof.axes[i]; - } -} - -void Tracker::getOutputHeadPose( double *data ) { - QMutexLocker foo(&mtx); - for (int i = 0; i < 6; i++) - data[i] = output_camera.axes[i]; -} +/* Copyright (c) 2012-2013 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. + */ + +/* + * this file appeared originally in facetracknoir, was rewritten completely + * following opentrack fork. + * + * originally written by Wim Vriend. + */ + +#include "tracker.h" +#include "facetracknoir.h" +#include +#include +#include + +#if defined(_WIN32) +# include +#endif + +Tracker::Tracker(FaceTrackNoIR *parent , main_settings& s) : + mainApp(parent), + s(s), + should_quit(false), + do_center(false), + enabled(true) +{ +} + +Tracker::~Tracker() +{ + should_quit = true; + wait(); +} + +static void get_curve(double pos, double& out, THeadPoseDOF& axis) { + bool altp = (pos < 0) && axis.opts.altp; + axis.curve.setTrackingActive( !altp ); + axis.curveAlt.setTrackingActive( altp ); + auto& fc = altp ? axis.curveAlt : axis.curve; + out = (axis.opts.invert ? -1 : 1) * fc.getValue(pos); + + out += axis.opts.zero; +} + +static void t_compensate(double* input, double* output, bool rz) +{ + const auto H = input[Yaw] * M_PI / -180; + const auto P = input[Pitch] * M_PI / -180; + const auto B = input[Roll] * M_PI / 180; + + const auto cosH = cos(H); + const auto sinH = sin(H); + const auto cosP = cos(P); + const auto sinP = sin(P); + const auto cosB = cos(B); + const auto sinB = sin(B); + + double foo[] = { + cosH * cosB - sinH * sinP * sinB, + - sinB * cosP, + sinH * cosB + cosH * sinP * sinB, + cosH * sinB + sinH * sinP * cosB, + cosB * cosP, + sinB * sinH - cosH * sinP * cosB, + - sinH * cosP, + - sinP, + cosH * cosP, + }; + + cv::Mat rmat(3, 3, CV_64F, foo); + const cv::Mat tvec(3, 1, CV_64F, input); + cv::Mat ret = rmat * tvec; + + const int max = !rz ? 3 : 2; + + for (int i = 0; i < max; i++) + output[i] = ret.at(i); +} + +void Tracker::run() { + T6DOF offset_camera; + + double newpose[6] = {0}; + int sleep_ms = 15; + + if (Libraries->pTracker) + sleep_ms = std::min(sleep_ms, 1000 / Libraries->pTracker->preferredHz()); + + qDebug() << "tracker Hz:" << 1000 / sleep_ms; + +#if defined(_WIN32) + (void) timeBeginPeriod(1); +#endif + + for (;;) + { + t.start(); + + if (should_quit) + break; + + if (Libraries->pTracker) { + Libraries->pTracker->GetHeadPoseData(newpose); + } + + { + QMutexLocker foo(&mtx); + + for (int i = 0; i < 6; i++) + { + raw_6dof.axes[i] = newpose[i]; + + auto& axis = mainApp->axis(i); + + int k = axis.opts.src; + if (k < 0 || k >= 6) + continue; + + axis.headPos = newpose[k]; + } + + if (do_center) { + for (int i = 0; i < 6; i++) + offset_camera.axes[i] = mainApp->axis(i).headPos; + + do_center = false; + + if (Libraries->pFilter) + Libraries->pFilter->reset(); + } + + T6DOF target_camera, target_camera2, new_camera; + + if (enabled) + { + for (int i = 0; i < 6; i++) + target_camera.axes[i] = mainApp->axis(i).headPos; + + target_camera2 = target_camera - offset_camera; + } + + if (Libraries->pFilter) { + Libraries->pFilter->FilterHeadPoseData(target_camera2.axes, new_camera.axes); + } else { + new_camera = target_camera2; + } + + for (int i = 0; i < 6; i++) { + get_curve(new_camera.axes[i], output_camera.axes[i], mainApp->axis(i)); + } + + if (mainApp->s.tcomp_p) + t_compensate(output_camera.axes, output_camera.axes, mainApp->s.tcomp_tz); + + if (Libraries->pProtocol) { + Libraries->pProtocol->sendHeadposeToGame( output_camera.axes ); + } + } + + const long q = std::max(0L, sleep_ms * 1000L - std::max(0L, t.elapsed())); + + usleep(q); + } +#if defined(_WIN32) + (void) timeEndPeriod(1); +#endif + + for (int i = 0; i < 6; i++) + { + mainApp->axis(i).curve.setTrackingActive(false); + mainApp->axis(i).curveAlt.setTrackingActive(false); + } +} + +void Tracker::getHeadPose( double *data ) { + QMutexLocker foo(&mtx); + for (int i = 0; i < 6; i++) + { + data[i] = raw_6dof.axes[i]; + } +} + +void Tracker::getOutputHeadPose( double *data ) { + QMutexLocker foo(&mtx); + for (int i = 0; i < 6; i++) + data[i] = output_camera.axes[i]; +} -- cgit v1.2.3