From 88f3a9e7f6bc7d54fa98a63166eaf55e4762224e Mon Sep 17 00:00:00 2001 From: Xavier Hallade Date: Fri, 21 Aug 2015 20:22:52 +0200 Subject: added a tracker that uses the RealSense SDK --- ftnoir_tracker_rs/ftnoir_tracker_rs.cpp | 111 ++++++++++++++++++++++++++++++++ 1 file changed, 111 insertions(+) create mode 100644 ftnoir_tracker_rs/ftnoir_tracker_rs.cpp (limited to 'ftnoir_tracker_rs/ftnoir_tracker_rs.cpp') diff --git a/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp b/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp new file mode 100644 index 00000000..deae3bca --- /dev/null +++ b/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp @@ -0,0 +1,111 @@ +/* + * Copyright (c) 2015, Intel Corporation + * Author: Xavier Hallade + * 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. + * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. + */ + +#include "ftnoir_tracker_rs.h" +#include "ftnoir_tracker_rs_controls.h" + +#include "opentrack/plugin-api.hpp" +#include + +RSTracker::RSTracker() : mPose{ 0,0,0, 0,0,0 } { + mThread.setObjectName("RSTrackerWorkerThread"); + + mRealSenseImplProcess.moveToThread(&mThread); + mSocket.moveToThread(&mThread); + + connect(&mRealSenseImplProcess, SIGNAL(finished(int)), + this, SLOT(rsImplProcessFinished(int)), Qt::QueuedConnection); + + qRegisterMetaType("QProcess::ProcessError"); + connect(&mRealSenseImplProcess, SIGNAL(error(QProcess::ProcessError)), + this, SLOT(rsImplProcessError(QProcess::ProcessError)), Qt::QueuedConnection); + + connect(&mSocket, SIGNAL(readyRead()), + this, SLOT(readPendingUdpPoseData()), Qt::DirectConnection); + + connect(&mThread, &QThread::started, + &mThread, [this]{ + mSocket.bind(QHostAddress::LocalHost, 4242, QUdpSocket::DontShareAddress); + mRealSenseImplProcess.start("clientfiles\\opentrack-tracker-rs-impl.exe", QProcess::NotOpen); + }, Qt::DirectConnection); + + connect(&mThread, &QThread::finished, + &mThread, [this]{ + mRealSenseImplProcess.kill(); + mRealSenseImplProcess.waitForFinished(); + }, Qt::DirectConnection); +} + +void RSTracker::start_tracker(QFrame*) +{ + mThread.start(); +} + +void RSTracker::readPendingUdpPoseData(){ + double pose[6]; + + while(mSocket.hasPendingDatagrams()) { + mSocket.readDatagram((char*)pose, sizeof(pose)); + QMutexLocker foo(&mMutex); + memcpy(mPose, pose, sizeof(pose)); + } +} + +void RSTracker::rsImplProcessError(QProcess::ProcessError error){ + if(error == QProcess::FailedToStart){ + QMessageBox::warning(NULL, "RealSense Tracking Error", "Couldn't start the RealSense tracking module.\nMaybe clientfiles\\opentrack-tracker-rs-impl.exe is missing.", QMessageBox::Ok); + } + else if(error == QProcess::Crashed){ + QMessageBox::warning(NULL, "RealSense Tracking Error", "The RealSense tracking module has crashed.", QMessageBox::Ok); + } +} + + +void RSTracker::rsImplProcessFinished(int exitCode){ + if(exitCode!=0){ + QMessageBox msgBox; + msgBox.setIcon(QMessageBox::Critical); + msgBox.setText("RealSense Tracking Error"); + if(exitCode==-101){ //The implementation got an invalid handle from the RealSense SDK session/modules + msgBox.setInformativeText("Couldn't initialize RealSense tracking. Please install SDK Runtime R4."); + } + else { + msgBox.setInformativeText("Status code: " + QString::number(exitCode) + ".\n\nNote that you need the latest camera drivers and the SDK runtime R4 to be installed."); + } + QPushButton* triggerSdkInstallation = msgBox.addButton("Install Runtime", QMessageBox::ActionRole); + msgBox.addButton(QMessageBox::Ok); + msgBox.exec(); + + if(msgBox.clickedButton() == triggerSdkInstallation){ + bool pStarted = QProcess::startDetached("clientfiles\\intel_rs_sdk_runtime_websetup_6.0.21.6598.exe --finstall=core,face3d --fnone=all"); + if(!pStarted){ + QMessageBox::warning(0, "Intel® RealSenseTM Runtime Installation", "Installation process failed to start.", QMessageBox::Ok); + } + } + } +} + +void RSTracker::data(double *data) +{ + QMutexLocker foo(&mMutex); + memcpy(data, mPose, sizeof(mPose)); +} + +RSTracker::~RSTracker() { + mThread.quit(); + mThread.wait(); +} + +QString RSTrackerMetaData::name() { + return QString("RealSense 3D Face Tracking"); +} + +QIcon RSTrackerMetaData::icon() { + return QIcon(":/images/RS.png"); +} + +OPENTRACK_DECLARE_TRACKER(RSTracker, RSTrackerControls, RSTrackerMetaData) -- cgit v1.2.3 From 12973a386f313ca363d0b37ea3a6c42922894a19 Mon Sep 17 00:00:00 2001 From: Xavier Hallade Date: Fri, 21 Aug 2015 21:44:24 +0200 Subject: fixed path to opentrack-tracker-rs-impl.exe (RealSense tracker) --- ftnoir_tracker_rs/ftnoir_tracker_rs.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'ftnoir_tracker_rs/ftnoir_tracker_rs.cpp') diff --git a/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp b/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp index deae3bca..8fa46df2 100644 --- a/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp +++ b/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp @@ -30,7 +30,7 @@ RSTracker::RSTracker() : mPose{ 0,0,0, 0,0,0 } { connect(&mThread, &QThread::started, &mThread, [this]{ mSocket.bind(QHostAddress::LocalHost, 4242, QUdpSocket::DontShareAddress); - mRealSenseImplProcess.start("clientfiles\\opentrack-tracker-rs-impl.exe", QProcess::NotOpen); + mRealSenseImplProcess.start("opentrack-tracker-rs-impl.exe", QProcess::NotOpen); }, Qt::DirectConnection); connect(&mThread, &QThread::finished, @@ -57,7 +57,7 @@ void RSTracker::readPendingUdpPoseData(){ void RSTracker::rsImplProcessError(QProcess::ProcessError error){ if(error == QProcess::FailedToStart){ - QMessageBox::warning(NULL, "RealSense Tracking Error", "Couldn't start the RealSense tracking module.\nMaybe clientfiles\\opentrack-tracker-rs-impl.exe is missing.", QMessageBox::Ok); + QMessageBox::warning(NULL, "RealSense Tracking Error", "Couldn't start the RealSense tracking module.\nMaybe opentrack-tracker-rs-impl.exe is missing.", QMessageBox::Ok); } else if(error == QProcess::Crashed){ QMessageBox::warning(NULL, "RealSense Tracking Error", "The RealSense tracking module has crashed.", QMessageBox::Ok); -- cgit v1.2.3 From b942fcf2224a3e59ea3dabb3d5c9eca9ba68d16f Mon Sep 17 00:00:00 2001 From: Xavier Hallade Date: Wed, 26 Aug 2015 15:10:30 +0200 Subject: tracker_rs: prevent potential thread starvation --- ftnoir_tracker_rs/ftnoir_tracker_rs.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) (limited to 'ftnoir_tracker_rs/ftnoir_tracker_rs.cpp') diff --git a/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp b/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp index 8fa46df2..a9a50963 100644 --- a/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp +++ b/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp @@ -50,8 +50,10 @@ void RSTracker::readPendingUdpPoseData(){ while(mSocket.hasPendingDatagrams()) { mSocket.readDatagram((char*)pose, sizeof(pose)); - QMutexLocker foo(&mMutex); - memcpy(mPose, pose, sizeof(pose)); + { + QMutexLocker foo(&mMutex); + memcpy(mPose, pose, sizeof(pose)); + } } } -- cgit v1.2.3 From 4b9e2b009fbc290d5108b8a83010dcbf2c5841e2 Mon Sep 17 00:00:00 2001 From: Xavier Hallade Date: Wed, 26 Aug 2015 17:36:04 +0200 Subject: tracker_rs: more readable icon --- ftnoir_tracker_rs/ftnoir_tracker_rs.cpp | 10 +++++----- ftnoir_tracker_rs/images/RS.png | Bin 4287 -> 4770 bytes ftnoir_tracker_rs/images/intel-16x16.png | Bin 0 -> 637 bytes ftnoir_tracker_rs/rs_tracker.qrc | 1 + 4 files changed, 6 insertions(+), 5 deletions(-) create mode 100644 ftnoir_tracker_rs/images/intel-16x16.png (limited to 'ftnoir_tracker_rs/ftnoir_tracker_rs.cpp') diff --git a/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp b/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp index a9a50963..fee56fd1 100644 --- a/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp +++ b/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp @@ -35,8 +35,8 @@ RSTracker::RSTracker() : mPose{ 0,0,0, 0,0,0 } { connect(&mThread, &QThread::finished, &mThread, [this]{ - mRealSenseImplProcess.kill(); - mRealSenseImplProcess.waitForFinished(); + mRealSenseImplProcess.kill(); + mRealSenseImplProcess.waitForFinished(); }, Qt::DirectConnection); } @@ -85,7 +85,7 @@ void RSTracker::rsImplProcessFinished(int exitCode){ if(msgBox.clickedButton() == triggerSdkInstallation){ bool pStarted = QProcess::startDetached("clientfiles\\intel_rs_sdk_runtime_websetup_6.0.21.6598.exe --finstall=core,face3d --fnone=all"); if(!pStarted){ - QMessageBox::warning(0, "Intel® RealSenseTM Runtime Installation", "Installation process failed to start.", QMessageBox::Ok); + QMessageBox::warning(0, "Intel® RealSense™ Runtime Installation", "Installation process failed to start.", QMessageBox::Ok); } } } @@ -103,11 +103,11 @@ RSTracker::~RSTracker() { } QString RSTrackerMetaData::name() { - return QString("RealSense 3D Face Tracking"); + return QString("RealSense™ 3D Face Tracking"); } QIcon RSTrackerMetaData::icon() { - return QIcon(":/images/RS.png"); + return QIcon(":/images/intel-16x16.png"); } OPENTRACK_DECLARE_TRACKER(RSTracker, RSTrackerControls, RSTrackerMetaData) diff --git a/ftnoir_tracker_rs/images/RS.png b/ftnoir_tracker_rs/images/RS.png index bc1dfc11..4ca11aac 100644 Binary files a/ftnoir_tracker_rs/images/RS.png and b/ftnoir_tracker_rs/images/RS.png differ diff --git a/ftnoir_tracker_rs/images/intel-16x16.png b/ftnoir_tracker_rs/images/intel-16x16.png new file mode 100644 index 00000000..e985ace1 Binary files /dev/null and b/ftnoir_tracker_rs/images/intel-16x16.png differ diff --git a/ftnoir_tracker_rs/rs_tracker.qrc b/ftnoir_tracker_rs/rs_tracker.qrc index ccdda669..155a5bd1 100644 --- a/ftnoir_tracker_rs/rs_tracker.qrc +++ b/ftnoir_tracker_rs/rs_tracker.qrc @@ -1,5 +1,6 @@ images/RS.png + images/intel-16x16.png -- cgit v1.2.3 From 574c13260fa00f4e55541763880284f63752e747 Mon Sep 17 00:00:00 2001 From: Xavier Hallade Date: Thu, 27 Aug 2015 09:40:51 +0200 Subject: tracker_rs: adjusted tracker's name --- ftnoir_tracker_rs/ftnoir_tracker_rs.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'ftnoir_tracker_rs/ftnoir_tracker_rs.cpp') diff --git a/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp b/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp index fee56fd1..12330fd2 100644 --- a/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp +++ b/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp @@ -103,7 +103,7 @@ RSTracker::~RSTracker() { } QString RSTrackerMetaData::name() { - return QString("RealSense™ 3D Face Tracking"); + return QString("Intel® RealSense™ Technology"); } QIcon RSTrackerMetaData::icon() { -- cgit v1.2.3