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/* Copyright (c) 2012-2013 Stanislaw Halik <sthalik@misaki.pl>
*
* 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.
*/
/*
* this file appeared originally in facetracknoir, was rewritten completely
* following opentrack fork.
*
* originally written by Wim Vriend.
*/
#include "tracker.h"
#include "facetracknoir.h"
#include <opencv2/core/core.hpp>
#include <cmath>
#if defined(_WIN32)
# include <windows.h>
#endif
Tracker::Tracker( FaceTrackNoIR *parent ) :
should_quit(false),
do_center(false),
enabled(true),
compensate(true)
{
mainApp = parent;
}
Tracker::~Tracker()
{
}
static void get_curve(double pos, double& out, THeadPoseDOF& axis) {
bool altp = (pos < 0) && axis.altp;
if (altp) {
out = axis.invert * axis.curveAlt.getValue(pos);
axis.curve.setTrackingActive( false );
axis.curveAlt.setTrackingActive( true );
}
else {
out = axis.invert * axis.curve.getValue(pos);
axis.curve.setTrackingActive( true );
axis.curveAlt.setTrackingActive( false );
}
out += axis.zero;
}
/** QThread run method @override **/
void Tracker::run() {
T6DOF offset_camera, gameoutput_camera, target_camera;
bool bTracker1Confid = false;
bool bTracker2Confid = false;
double newpose[6] = {0};
double last_post_filter[6] ;
#if defined(_WIN32)
(void) timeBeginPeriod(1);
#endif
for (;;)
{
if (should_quit)
break;
if (Libraries->pSecondTracker) {
bTracker2Confid = Libraries->pSecondTracker->GiveHeadPoseData(newpose);
}
if (Libraries->pTracker) {
bTracker1Confid = Libraries->pTracker->GiveHeadPoseData(newpose);
}
{
QMutexLocker foo(&mtx);
const bool confid = bTracker1Confid || bTracker2Confid;
if ( confid ) {
for (int i = 0; i < 6; i++)
mainApp->axis(i).headPos = newpose[i];
}
if (do_center) {
for (int i = 0; i < 6; i++)
offset_camera.axes[i] = target_camera.axes[i];
do_center = false;
if (Libraries->pFilter)
Libraries->pFilter->Initialize();
}
T6DOF target_camera2, new_camera;
if (enabled && confid)
{
for (int i = 0; i < 6; i++)
target_camera.axes[i] = mainApp->axis(i).headPos;
target_camera2 = target_camera - offset_camera;
}
if (Libraries->pFilter) {
for (int i = 0; i < 6; i++)
last_post_filter[i] = gameoutput_camera.axes[i];
Libraries->pFilter->FilterHeadPoseData(target_camera2.axes, new_camera.axes, last_post_filter);
} else {
new_camera = target_camera2;
}
for (int i = 0; i < 6; i++) {
get_curve(new_camera.axes[i], output_camera.axes[i], mainApp->axis(i));
}
if (compensate)
{
const auto H = output_camera.axes[Yaw] * M_PI / 180;
const auto P = output_camera.axes[Pitch] * M_PI / 180;
const auto B = output_camera.axes[Roll] * M_PI / 180;
const auto cosH = cos(H);
const auto sinH = sin(H);
const auto cosP = cos(P);
const auto sinP = sin(P);
const auto cosB = cos(B);
const auto sinB = sin(B);
double foo[] = {
cosH * cosB - sinH * sinP * sinB,
- sinB * cosP,
sinH * cosB + cosH * sinP * sinB,
cosH * sinB + sinH * sinP * cosB,
cosB * cosP,
sinB * sinH - cosH * sinP * cosB,
- sinH * cosP,
- sinP,
cosH * cosP,
};
cv::Mat rmat(3, 3, CV_64F, foo);
cv::Mat tvec(3, 1, CV_64F, output_camera.axes);
cv::Mat ret = rmat * tvec;
for (int i = 0; i < 3; i++)
output_camera.axes[i] = ret.at<double>(i);
}
if (Libraries->pProtocol) {
gameoutput_camera = output_camera;
Libraries->pProtocol->sendHeadposeToGame( gameoutput_camera.axes ); // degrees & centimeters
}
}
msleep(15);
}
#if defined(_WIN32)
(void) timeEndPeriod(1);
#endif
for (int i = 0; i < 6; i++)
{
mainApp->axis(i).curve.setTrackingActive(false);
mainApp->axis(i).curveAlt.setTrackingActive(false);
}
}
void Tracker::getHeadPose( double *data ) {
QMutexLocker foo(&mtx);
for (int i = 0; i < 6; i++)
{
data[i] = mainApp->axis(i).headPos;
}
}
void Tracker::getOutputHeadPose( double *data ) {
QMutexLocker foo(&mtx);
for (int i = 0; i < 6; i++)
data[i] = output_camera.axes[i];
}
void Tracker::setInvertAxis(Axis axis, bool invert) { mainApp->axis(axis).invert = invert? -1.0 : 1.0; }
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