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/********************************************************************************
* 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
//
// 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
};
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 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
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 getCorrectedNewRaw ( float NewRaw, float rotNeutral );
float getDegreesFromRads ( float rads ) { return ((rads * 360.0f)/ (2.0f * 3.14159)); }
// 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
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