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
|
/********************************************************************************
* 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>
#include <QPainterPath>
#define DIRECTINPUT_VERSION 0x0800
#include <Dinput.h>
#include "FTServer.h" // Freetrack-server
#include "FGServer.h" // FlightGear-server
#include "PPJoyServer.h" // Virtual Joystick
#include "FTIRServer.h" // FakeTIR-server
#include "SCServer.h" // SimConnect-server (for MS Flight Simulator X)
#include "FSUIPCServer.h" // FSUIPC-server (for MS Flight Simulator 2004)
#include "FTNoIR_cxx_protocolserver.h"
// include the DirectX Library files
#pragma comment (lib, "dinput8.lib")
#pragma comment (lib, "dxguid.lib")
using namespace sm::faceapi;
using namespace sm::faceapi::qt;
enum AngleName {
PITCH = 0,
YAW = 1,
ROLL = 2,
X = 3,
Y = 4,
Z = 5
};
enum FTNoIR_Client {
FREE_TRACK = 0,
FLIGHTGEAR = 1,
FTNOIR = 2,
PPJOY = 3,
TRACKIR = 4,
SIMCONNECT = 5,
FSUIPC = 6
};
enum FTNoIR_Face_Tracker {
FT_SM_FACEAPI = 0,
FT_FTNOIR = 1
};
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 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 prevPos; // Previous Position
float prevRawPos; // Previous Raw Position
QPainterPath curve; // Bezier curve to translate input -> output
int NeutralZone; // Neutral zone
int MaxInput; // Maximum raw input
};
//
// Structure to hold keycode and CTRL, SHIFT, ALT for shortkeys
//
struct TShortKey {
BYTE keycode; // Required Key
bool shift; // Modifiers to examine
bool ctrl;
bool alt;
bool doPitch; // Modifiers to act on axis
bool doYaw;
bool doRoll;
bool doX;
bool doY;
bool doZ;
};
class Tracker : public QThread {
Q_OBJECT
private:
// Handles to neatly terminate thread...
HANDLE m_StopThread;
HANDLE m_WaitThread;
FTNoIR_Client selectedClient;
FTNoIR_Face_Tracker selectedTracker;
/** face api variables **/
APIScope *faceapi_scope;
QSharedPointer<EngineBase> _engine;
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)
static TShortKey CenterKey; // ShortKey to Center headposition
static TShortKey StartStopKey; // ShortKey to Start/stop tracking
static TShortKey InhibitKey; // ShortKey to one or more axis during tracking
// 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 the shortkey
static bool do_center; // Center head-position, using the shortkey
static bool do_inhibit; // Inhibit DOF-axis, using the shortkey
static HANDLE hTrackMutex; // Prevent reading/writing the headpose simultaneously
static bool useFilter;
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;
QSharedPointer<ProtocolServerBase> server_Game; // Protocol Server to communicate headpose-data to the Game!
protected:
// qthread override run method
void run();
public:
Tracker( int clientID, int facetrackerID );
~Tracker();
void setup(QWidget *head, FaceTrackNoIR *parent);
void registerHeadPoseCallback();
bool handleGameCommand ( int command );
QString getGameProgramName(); // Get the ProgramName from the game and display it.
void loadSettings(); // Load settings from the INI-file
bool isShortKeyPressed( TShortKey *key, BYTE *keystate );
QSharedPointer<EngineBase> getEngine() { return _engine; };
static bool getConfid() { return confid; }
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 float getSmoothFromList ( QList<float> *rawList );
static float getDegreesFromRads ( float rads ) { return (rads * 57.295781f); }
static float getRadsFromDegrees ( float degrees ) { return (degrees * 0.017453f); }
static float getOutputFromCurve ( QPainterPath *curve, float input, float neutralzone, float maxinput );
// 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
|
