1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
|
/********************************************************************************
* FaceTrackNoIR This program is a private project of the some enthusiastic *
* gamers from Holland, who don't like to pay for *
* head-tracking. *
* *
* Copyright (C) 2010 Wim Vriend (Developing) *
* Ron Hendriks (Researching and Testing) *
* *
* Homepage * *
* This program is free software; you can redistribute it and/or modify it *
* under the terms of the GNU General Public License as published by the *
* Free Software Foundation; either version 3 of the License, or (at your *
* option) any later version. *
* *
* This program is distributed in the hope that it will be useful, but *
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY *
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for *
* more details. *
* *
* You should have received a copy of the GNU General Public License along *
* with this program; if not, see <http://www.gnu.org/licenses/>. *
*********************************************************************************/
#ifndef __TRACKER_H__
#define __TRACKER_H__
#include <sm_api_qt.h>
#include <QThread>
#include <QMessageBox>
#include <QLineEdit>
#include <QThread>
#include <QPoint>
#include <QWaitCondition>
#include <QList>
#define DIRECTINPUT_VERSION 0x0800
#include <Dinput.h>
#include "FTServer.h" // Freetrack-server
#include "FGServer.h" // FlightGear-server
#include "PPJoyServer.h" // Virtual Joystick
// include the DirectX Library files
#pragma comment (lib, "dinput8.lib")
#pragma comment (lib, "dxguid.lib")
using namespace sm::faceapi;
using namespace sm::faceapi::qt;
class FaceTrackNoIR; // pre-define parent-class to avoid circular includes
//
// Structure to hold all variables concerning one of 6 DOF's
//
struct THeadPoseDOF {
float headPos; // Current position (from faceTracker, radials or meters)
float initial_headPos; // Position on startup (first valid value)
float offset_headPos; // Offset for centering
float sens; // Sensitivity (multiplication factor)
float invert; // Invert measured value (= 1.0f or -1.0f)
float red; // Reduction factor (used for EWMA-filtering, between 0.0f and 1.0f)
QList<float> rawList; // List of 'n' headPos values (used for moving average)
int maxItems; // Maximum number of elements is rawList
float newPos; // New Position (used locally)
float prevPos; // Previous Position
float prevRawPos; // Previous Raw Position
};
class Tracker : public QThread {
Q_OBJECT
private:
// Handles to neatly terminate thread...
HANDLE m_StopThread;
HANDLE m_WaitThread;
/** face api variables **/
APIScope *faceapi_scope;
QSharedPointer<EngineBase> _engine;
QSharedPointer<HeadTracker> _headtracker;
smEngineHandle _engine_handle;
/** static callback method for the head pose tracking **/
static void STDCALL receiveHeadPose(void *,smEngineHeadPoseData head_pose, smCameraVideoFrame video_frame);
static void addRaw2List ( QList<float> *rawList, float maxIndex, float raw );
static float lowPassFilter ( float newvalue, float *oldvalue, float dt, float coeff);
static float rateLimiter ( float newvalue, float *oldvalue, float dt, float max_rate);
static float getCorrectedNewRaw ( float NewRaw, float rotNeutral );
/** static member variables for saving the head pose **/
static THeadPoseDOF Pitch; // Head-rotation X-direction (Up/Down)
static THeadPoseDOF Yaw; // Head-rotation Y-direction ()
static THeadPoseDOF Roll; // Head-rotation Z-direction ()
static THeadPoseDOF X; // Head-movement X-direction (Left/Right)
static THeadPoseDOF Y; // Head-movement Y-direction (Up/Down)
static THeadPoseDOF Z; // Head-movement Z-direction (To/From camera)
// Flags to start/stop/reset tracking
static bool confid; // Tracker data is OK
static bool set_initial; // initial headpose is set
static bool do_tracking; // Start/stop tracking, using MINUS key on keyboard
static bool do_center; // Center head-position, using EQUALS key on keyboard
static bool useFilter;
static float rotNeutralZone; // Neutral Zone for rotations (rad).
static long prevHeadPoseTime; // Time from previous sample
/** QT objects **/
QLineEdit *headXLine;
QLineEdit *headYLine;
QLineEdit *headZLine;
QLineEdit *headRotXLine;
QLineEdit *headRotYLine;
QLineEdit *headRotZLine;
QWidget *headPoseWidget;
FaceTrackNoIR *mainApp;
FTServer *server_FT; // Freetrack Server
FGServer *server_FG; // FlightGear Server
PPJoyServer *server_PPJoy; // PPJoy Server
protected:
// qthread override run method
void run();
public:
Tracker();
~Tracker();
void setup(QWidget *head, FaceTrackNoIR *parent);
void registerHeadPoseCallback();
bool handleGameCommand ( int command );
QString getGameProgramName(); // Get the ProgramName from the game and display it.
QSharedPointer<EngineBase> getEngine() { return _engine; };
// smEngineHandle getEngineHandle() { return _engine->handle(); };
static float getHeadPosX() {return X.headPos;}
static float getHeadPosY() {return Y.headPos;}
static float getHeadPosZ() {return Z.headPos;}
static void setHeadPosX(float x) { X.headPos = x; }
static void setHeadPosY(float y) { Y.headPos = y; }
static void setHeadPosZ(float z) { Z.headPos = z; }
static float getHeadRotX() {return Pitch.headPos;}
static float getHeadRotY() {return Yaw.headPos;}
static float getHeadRotZ() {return Roll.headPos;}
static void setHeadRotX(float x) { Pitch.headPos = x; }
static void setHeadRotY(float y) { Yaw.headPos = y; }
static void setHeadRotZ(float z) { Roll.headPos = z; }
static bool getConfid() { return confid; }
static void setSensPitch(int x) { Pitch.sens = x/100.0f; }
static void setSensYaw(int x) { Yaw.sens = x/100.0f; }
static void setSensRoll(int x) { Roll.sens = x/100.0f; }
static void setSensX(int x) { X.sens = x/100.0f; }
static void setSensY(int x) { Y.sens = x/100.0f; }
static void setSensZ(int x) { Z.sens = x/100.0f; }
static void setInvertPitch(bool invert) { Pitch.invert = invert?-1.0f:+1.0f; }
static void setInvertYaw(bool invert) { Yaw.invert = invert?-1.0f:+1.0f; }
static void setInvertRoll(bool invert) { Roll.invert = invert?-1.0f:+1.0f; }
static void setInvertX(bool invert) { X.invert = invert?-1.0f:+1.0f; }
static void setInvertY(bool invert) { Y.invert = invert?-1.0f:+1.0f; }
static void setInvertZ(bool invert) { Z.invert = invert?-1.0f:+1.0f; }
static void setUseFilter(bool set) { useFilter = set; }
static void setRedYaw(int x) { Yaw.red = x/100.0f; }
static void setRedPitch(int x) { Pitch.red = x/100.0f; }
static void setRedRoll(int x) { Roll.red = x/100.0f; }
static void setRedX(int x) { X.red = x/100.0f; }
static void setRedY(int x) { Y.red = x/100.0f; }
static void setRedZ(int x) { Z.red = x/100.0f; }
static void setNeutralZone(int x) { rotNeutralZone = (x * 2.0f * 3.14159)/360.0f; }
float getSmoothFromList ( QList<float> *rawList );
float getDegreesFromRads ( float rads ) { return (rads * 57.295781f); }
// For now, use one slider for all
void setSmoothing(int x) {
Pitch.maxItems = x;
Yaw.maxItems = x;
Roll.maxItems = x;
X.maxItems = x;
Y.maxItems = x;
Z.maxItems = x;
}
};
#endif
|
