From f41f404de607b4f8f5aa270e36ae7c43baf63862 Mon Sep 17 00:00:00 2001 From: Xavier Hallade Date: Wed, 3 Feb 2016 23:40:48 +0100 Subject: tracker/rs: added camera preview, removed separate process and TCP socket the RS implementation still resides in a different DLL as it has to be compiled separately by MSVC compiler. --- tracker-rs/ftnoir_tracker_rs_worker.cpp | 56 +++++++++++++++++++++++++++++++++ 1 file changed, 56 insertions(+) create mode 100644 tracker-rs/ftnoir_tracker_rs_worker.cpp (limited to 'tracker-rs/ftnoir_tracker_rs_worker.cpp') diff --git a/tracker-rs/ftnoir_tracker_rs_worker.cpp b/tracker-rs/ftnoir_tracker_rs_worker.cpp new file mode 100644 index 00000000..c387b731 --- /dev/null +++ b/tracker-rs/ftnoir_tracker_rs_worker.cpp @@ -0,0 +1,56 @@ +/* + * 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_worker.h" +#include "rs_impl/ftnoir_tracker_rs_impl.h" +#include + +RSTrackerWorkerThread::RSTrackerWorkerThread(): mPose{0,0,0,0,0,0}{ + setObjectName("RSTrackerWorkerThread"); + mPreviewRawData = (uchar*)malloc(kPreviewStreamWidth*kPreviewStreamHeight); + memset(mPreviewRawData, 125, kPreviewStreamWidth*kPreviewStreamHeight); //start with a gray image. +} + +void RSTrackerWorkerThread::run(){ + double pose[6]; + int retValue; + + retValue = rs_tracker_impl_start(); + if(retValue==0) + emit trackingHasStarted(); + else { + emit trackingHasFinished(retValue); + return; + } + + while(!isInterruptionRequested()){ + retValue = rs_tracker_impl_update_pose(pose); + if(retValue!=0 && retValue!=-303){ // -303 is only a timeout. + emit trackingHasFinished(retValue); + break; + } + + QMutexLocker lock(&mMutex); + memcpy(mPose, pose, sizeof(pose)); + } + + rs_tracker_impl_end(); +} + +void RSTrackerWorkerThread::getPose(double *pose){ + QMutexLocker lock(&mMutex); + memcpy(pose, mPose, sizeof(mPose)); +} + +const QImage RSTrackerWorkerThread::getPreview(){ + rs_tracker_impl_get_preview(mPreviewRawData, kPreviewStreamWidth, kPreviewStreamHeight); + return QImage((const uchar*)mPreviewRawData, kPreviewStreamWidth, kPreviewStreamHeight, QImage::Format_Grayscale8).copy();//TODO: avoid deep copy? +} + +RSTrackerWorkerThread::~RSTrackerWorkerThread() { + free(mPreviewRawData); +} -- cgit v1.2.3 From 652bdad279f7769523d3c6faa609448028907256 Mon Sep 17 00:00:00 2001 From: Xavier Hallade Date: Thu, 11 Feb 2016 16:50:09 +0100 Subject: tracker/rs: updated runtime to 2016 R1. --- tracker-rs/CMakeLists.txt | 2 +- tracker-rs/ftnoir_tracker_rs.cpp | 4 ++-- tracker-rs/ftnoir_tracker_rs_controls.ui | 10 +++++----- tracker-rs/ftnoir_tracker_rs_worker.cpp | 9 +++++---- .../intel_rs_sdk_runtime_websetup_7.0.23.8048.exe | Bin 1203240 -> 0 bytes .../intel_rs_sdk_runtime_websetup_8.0.24.6528.exe | Bin 0 -> 1226096 bytes .../rs_impl/bin/opentrack-tracker-rs-impl.dll | Bin 72704 -> 72704 bytes .../rs_impl/bin/opentrack-tracker-rs-impl.lib | Bin 2882 -> 2882 bytes 8 files changed, 13 insertions(+), 12 deletions(-) delete mode 100644 tracker-rs/redist/intel_rs_sdk_runtime_websetup_7.0.23.8048.exe create mode 100644 tracker-rs/redist/intel_rs_sdk_runtime_websetup_8.0.24.6528.exe (limited to 'tracker-rs/ftnoir_tracker_rs_worker.cpp') diff --git a/tracker-rs/CMakeLists.txt b/tracker-rs/CMakeLists.txt index 76ffd191..9219aafd 100644 --- a/tracker-rs/CMakeLists.txt +++ b/tracker-rs/CMakeLists.txt @@ -2,5 +2,5 @@ if(WIN32) opentrack_boilerplate(opentrack-tracker-rs) target_link_libraries(opentrack-tracker-rs "${CMAKE_SOURCE_DIR}/tracker-rs/rs_impl/bin/opentrack-tracker-rs-impl.lib") install(FILES "${CMAKE_SOURCE_DIR}/tracker-rs/rs_impl/bin/opentrack-tracker-rs-impl.dll" DESTINATION . ${opentrack-perms}) - install(FILES "${CMAKE_SOURCE_DIR}/tracker-rs/redist/intel_rs_sdk_runtime_websetup_7.0.23.8048.exe" DESTINATION ./contrib/ ${opentrack-perms}) + install(FILES "${CMAKE_SOURCE_DIR}/tracker-rs/redist/intel_rs_sdk_runtime_websetup_8.0.24.6528.exe" DESTINATION ./contrib/ ${opentrack-perms}) endif() diff --git a/tracker-rs/ftnoir_tracker_rs.cpp b/tracker-rs/ftnoir_tracker_rs.cpp index 7bb47256..d8d12210 100644 --- a/tracker-rs/ftnoir_tracker_rs.cpp +++ b/tracker-rs/ftnoir_tracker_rs.cpp @@ -72,7 +72,7 @@ void RSTracker::handleTrackingEnded(int exitCode){ bool RSTracker::startSdkInstallationProcess() { - bool pStarted = QProcess::startDetached("contrib\\intel_rs_sdk_runtime_websetup_7.0.23.8048.exe --finstall=core,face3d --fnone=all"); + bool pStarted = QProcess::startDetached("contrib\\intel_rs_sdk_runtime_websetup_8.0.24.6528.exe --finstall=core,face3d --fnone=all"); if(!pStarted){ QMessageBox::warning(0, "Intel® RealSense™ Runtime Installation", "Installation process failed to start.", QMessageBox::Ok); } @@ -88,7 +88,7 @@ void RSTracker::showRealSenseErrorMessageBox(int exitCode) msgBox.setInformativeText("Couldn't initialize RealSense tracking. Please install SDK Runtime R5."); } else { - msgBox.setInformativeText("Status code: " + QString::number(exitCode) + ".\n\nNote that you need the latest camera drivers and the SDK runtime R5 to be installed."); + msgBox.setInformativeText("Status code: " + QString::number(exitCode) + ".\n\nNote that you need the latest camera drivers and the SDK runtime 2016 R1 to be installed."); } QPushButton* triggerSdkInstallation = msgBox.addButton("Install Runtime", QMessageBox::ActionRole); diff --git a/tracker-rs/ftnoir_tracker_rs_controls.ui b/tracker-rs/ftnoir_tracker_rs_controls.ui index 023e14d3..30d06956 100644 --- a/tracker-rs/ftnoir_tracker_rs_controls.ui +++ b/tracker-rs/ftnoir_tracker_rs_controls.ui @@ -9,8 +9,8 @@ 0 0 - 378 - 193 + 484 + 244 @@ -36,15 +36,15 @@ The application will activate your camera for face tracking by the Intel® RealSense™ SDK. By design, the application has no direct access to any camera images. -In order to use this tracker, you need a PC equipped with -an Intel® RealSense™ R200 camera and the RealSense™ SDK R5 runtime. +In order to use this tracker, you need a PC equipped with an Intel® RealSense™ +F200 or SR300 camera and the RealSense™ SDK 2016 R1 runtime. - Install SDK Runtime R5 + Install Runtime diff --git a/tracker-rs/ftnoir_tracker_rs_worker.cpp b/tracker-rs/ftnoir_tracker_rs_worker.cpp index c387b731..213f13ff 100644 --- a/tracker-rs/ftnoir_tracker_rs_worker.cpp +++ b/tracker-rs/ftnoir_tracker_rs_worker.cpp @@ -29,13 +29,14 @@ void RSTrackerWorkerThread::run(){ while(!isInterruptionRequested()){ retValue = rs_tracker_impl_update_pose(pose); - if(retValue!=0 && retValue!=-303){ // -303 is only a timeout. + if(retValue == 0){ // success + QMutexLocker lock(&mMutex); + memcpy(mPose, pose, sizeof(pose)); + } + else if(retValue != -303){ // pose update failed. -303 is OK as it's only a timeout. emit trackingHasFinished(retValue); break; } - - QMutexLocker lock(&mMutex); - memcpy(mPose, pose, sizeof(pose)); } rs_tracker_impl_end(); diff --git a/tracker-rs/redist/intel_rs_sdk_runtime_websetup_7.0.23.8048.exe b/tracker-rs/redist/intel_rs_sdk_runtime_websetup_7.0.23.8048.exe deleted file mode 100644 index 2e2b365c..00000000 Binary files a/tracker-rs/redist/intel_rs_sdk_runtime_websetup_7.0.23.8048.exe and /dev/null differ diff --git a/tracker-rs/redist/intel_rs_sdk_runtime_websetup_8.0.24.6528.exe b/tracker-rs/redist/intel_rs_sdk_runtime_websetup_8.0.24.6528.exe new file mode 100644 index 00000000..5b3704ed Binary files /dev/null and b/tracker-rs/redist/intel_rs_sdk_runtime_websetup_8.0.24.6528.exe differ diff --git a/tracker-rs/rs_impl/bin/opentrack-tracker-rs-impl.dll b/tracker-rs/rs_impl/bin/opentrack-tracker-rs-impl.dll index 9e75d4e3..d6e0a261 100644 Binary files a/tracker-rs/rs_impl/bin/opentrack-tracker-rs-impl.dll and b/tracker-rs/rs_impl/bin/opentrack-tracker-rs-impl.dll differ diff --git a/tracker-rs/rs_impl/bin/opentrack-tracker-rs-impl.lib b/tracker-rs/rs_impl/bin/opentrack-tracker-rs-impl.lib index 772cd340..47743c50 100644 Binary files a/tracker-rs/rs_impl/bin/opentrack-tracker-rs-impl.lib and b/tracker-rs/rs_impl/bin/opentrack-tracker-rs-impl.lib differ -- cgit v1.2.3 From 61a58641089b07b23910c94c677e262388039fb9 Mon Sep 17 00:00:00 2001 From: Xavier Hallade Date: Fri, 12 Feb 2016 10:46:39 +0100 Subject: tracker/rs: cleaned up preview widget setup and deletetion. --- tracker-rs/ftnoir_tracker_rs.cpp | 14 ++++++++++---- tracker-rs/ftnoir_tracker_rs_worker.cpp | 4 ++-- tracker-rs/imagewidget.cpp | 9 ++++++--- tracker-rs/imagewidget.h | 3 ++- 4 files changed, 20 insertions(+), 10 deletions(-) (limited to 'tracker-rs/ftnoir_tracker_rs_worker.cpp') diff --git a/tracker-rs/ftnoir_tracker_rs.cpp b/tracker-rs/ftnoir_tracker_rs.cpp index d8d12210..99c5e9d0 100644 --- a/tracker-rs/ftnoir_tracker_rs.cpp +++ b/tracker-rs/ftnoir_tracker_rs.cpp @@ -26,6 +26,8 @@ void RSTracker::configurePreviewFrame() if(mImageWidget!=nullptr || mPreviewFrame==nullptr) return; + mPreviewFrame->show(); + mImageWidget = new ImageWidget(mPreviewFrame); mImageWidget->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Ignored); @@ -35,19 +37,20 @@ void RSTracker::configurePreviewFrame() QLayout* layout = new QStackedLayout(); mPreviewFrame->setLayout(layout); - layout->addWidget(mImageWidget); + + mImageWidget->show(); } void RSTracker::start_tracker(QFrame* previewFrame) { mPreviewFrame = previewFrame; - mTrackerWorkerThread.start(QThread::HighPriority); - configurePreviewFrame(); startPreview(); + + mTrackerWorkerThread.start(QThread::HighPriority); } void RSTracker::startPreview(){ @@ -55,7 +58,7 @@ void RSTracker::startPreview(){ } void RSTracker::updatePreview(){ - if(mImageWidget->isEnabled()) + if(mImageWidget!=nullptr && mImageWidget->isEnabled()) mImageWidget->setImage(mTrackerWorkerThread.getPreview()); } @@ -107,6 +110,9 @@ void RSTracker::data(double *data) RSTracker::~RSTracker() { stopPreview(); + if(mImageWidget!=nullptr) + delete mImageWidget; + if (mPreviewFrame!=nullptr && mPreviewFrame->layout()!=nullptr) delete mPreviewFrame->layout(); diff --git a/tracker-rs/ftnoir_tracker_rs_worker.cpp b/tracker-rs/ftnoir_tracker_rs_worker.cpp index 213f13ff..c0ea6749 100644 --- a/tracker-rs/ftnoir_tracker_rs_worker.cpp +++ b/tracker-rs/ftnoir_tracker_rs_worker.cpp @@ -11,7 +11,7 @@ RSTrackerWorkerThread::RSTrackerWorkerThread(): mPose{0,0,0,0,0,0}{ setObjectName("RSTrackerWorkerThread"); - mPreviewRawData = (uchar*)malloc(kPreviewStreamWidth*kPreviewStreamHeight); + mPreviewRawData = (uchar*)malloc(1*kPreviewStreamWidth*kPreviewStreamHeight); memset(mPreviewRawData, 125, kPreviewStreamWidth*kPreviewStreamHeight); //start with a gray image. } @@ -33,7 +33,7 @@ void RSTrackerWorkerThread::run(){ QMutexLocker lock(&mMutex); memcpy(mPose, pose, sizeof(pose)); } - else if(retValue != -303){ // pose update failed. -303 is OK as it's only a timeout. + else if(retValue != -303){ // pose update failed and not because of a timeout (-303) emit trackingHasFinished(retValue); break; } diff --git a/tracker-rs/imagewidget.cpp b/tracker-rs/imagewidget.cpp index 0136c621..63986234 100644 --- a/tracker-rs/imagewidget.cpp +++ b/tracker-rs/imagewidget.cpp @@ -16,12 +16,15 @@ ImageWidget::ImageWidget(QWidget *parent) : void ImageWidget::setImage(const QImage image) { - mImage = image; + { + QMutexLocker lock(&mMutex); + mImage = image; + } repaint(); } void ImageWidget::paintEvent(QPaintEvent*) { - QPainter painter(this); - painter.drawImage(rect(), mImage, mImage.rect()); + QMutexLocker lock(&mMutex); + QPainter(this).drawImage(rect(), mImage, mImage.rect()); } diff --git a/tracker-rs/imagewidget.h b/tracker-rs/imagewidget.h index 8f800058..e8b6e61e 100644 --- a/tracker-rs/imagewidget.h +++ b/tracker-rs/imagewidget.h @@ -9,6 +9,7 @@ #include #include +#include class ImageWidget : public QWidget { Q_OBJECT @@ -18,7 +19,7 @@ public: private: QImage mImage; - uchar* mRawData; + QMutex mMutex; protected: void paintEvent(QPaintEvent* event); -- cgit v1.2.3