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
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
|
/********************************************************************************
* 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 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
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 member varables for saving the head pose **/
static float headPosX;
static float headPosY;
static float headPosZ; // Distance from camera
static float initial_headPosZ; // Initial distance when headpose is valid
static float headRotX;
static float headRotY;
static float headRotZ;
// Offsets, used to center view while tracking
static float offset_headPosX;
static float offset_headPosY;
static float offset_headPosZ; // Distance from camera
static float offset_headRotX;
static float offset_headRotY;
static float offset_headRotZ;
// Flags to start/stop/reset tracking
static bool confid;
static bool newdata;
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 member varables for calculating the virtual head pose **/
static float sensYaw;
static float sensPitch;
static float sensRoll;
static float sensX;
static float sensY;
static float sensZ;
static float invertYaw;
static float invertPitch;
static float invertRoll;
static float invertX;
static float invertY;
static float invertZ;
static bool useFilter;
/** Factors to remove jitter **/
static float redYaw;
static float redPitch;
static float redRoll;
static float redX;
static float redY;
static float redZ;
static float rotNeutralZone; // Neutral Zone for rotations (rad).
//
// The Raw FaceAPI-data may need smoothing.
// We implement smoothing, by taking the last 'x' raw samples and making an average of this.
// After 'x' samples, the oldest sample is removed and the fresh 'pre-pended' to the QList
//
QList<float> rawYawList; // List of last 'x' values from FaceAPI
QList<float> rawPitchList;
QList<float> rawRollList;
QList<float> rawXList;
QList<float> rawYList;
QList<float> rawZList;
int intMaxYawItems; // Max. number of items in QList: more = smoother (yet slower!)
int intMaxPitchItems;
int intMaxRollItems;
int intMaxXItems;
int intMaxYItems;
int intMaxZItems;
/** 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
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 headPosX;}
static float getHeadPosY() {return headPosY;}
static float getHeadPosZ() {return headPosZ;}
static void setHeadPosX(float x) { headPosX = x; }
static void setHeadPosY(float y) { headPosY = y; }
static void setHeadPosZ(float z) { headPosZ = z; }
static float getHeadRotX() {return headRotX;}
static float getHeadRotY() {return headRotY;}
static float getHeadRotZ() {return headRotZ;}
static void setHeadRotX(float x) { headRotX = x; }
static void setHeadRotY(float y) { headRotY = y; }
static void setHeadRotZ(float z) { headRotZ = z; }
static bool getConfid() { return confid; }
static void setSensYaw(int x) { sensYaw = x/100.0f; }
static void setSensPitch(int x) { sensPitch = x/100.0f; }
static void setSensRoll(int x) { sensRoll = x/100.0f; }
static void setSensX(int x) { sensX = x/100.0f; }
static void setSensY(int x) { sensY = x/100.0f; }
static void setSensZ(int x) { sensZ = x/100.0f; }
static void setInvertYaw(bool invert) { invertYaw = invert?-1.0f:+1.0f; }
static void setInvertPitch(bool invert) { invertPitch = invert?-1.0f:+1.0f; }
static void setInvertRoll(bool invert) { invertRoll = invert?-1.0f:+1.0f; }
static void setInvertX(bool invert) { invertX = invert?-1.0f:+1.0f; }
static void setInvertY(bool invert) { invertY = invert?-1.0f:+1.0f; }
static void setInvertZ(bool invert) { invertZ = invert?-1.0f:+1.0f; }
static void setUseFilter(bool set) { useFilter = set; }
static void setRedYaw(int x) { redYaw = x/100.0f; }
static void setRedPitch(int x) { redPitch = x/100.0f; }
static void setRedRoll(int x) { redRoll = x/100.0f; }
static void setRedX(int x) { redX = x/100.0f; }
static void setRedY(int x) { redY = x/100.0f; }
static void setRedZ(int x) { redZ = x/100.0f; }
static void setNeutralZone(int x) { rotNeutralZone = (x * 2.0f * 3.14159)/360.0f; }
void addRaw2List ( QList<float> *rawList, float maxIndex, float raw );
float getSmoothFromList ( QList<float> *rawList );
float getCorrectedNewRaw ( float NewRaw, float rotNeutral );
float lowPassFilter ( float newvalue, float *oldvalue, float dt, float coeff);
float getDegreesFromRads ( float rads ) { return ((rads * 360.0f)/ (2.0f * 3.14159)); }
// For now, use one slider for all
void setSmoothing(int x) {
intMaxYawItems = x;
intMaxPitchItems = x;
intMaxRollItems = x;
intMaxXItems = x;
intMaxYItems = x;
intMaxZItems = x;
}
};
#endif
|
