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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>
#include <algorithm>
#if defined(_WIN32)
# include <windows.h>
#endif
Tracker::Tracker(FaceTrackNoIR *parent , main_settings& s) :
mainApp(parent),
s(s),
should_quit(false),
do_center(false),
enabled(true)
{
}
Tracker::~Tracker()
{
should_quit = true;
wait();
}
static void get_curve(double pos, double& out, THeadPoseDOF& axis) {
bool altp = (pos < 0) && axis.opts.altp;
if (altp) {
out = (axis.opts.invert ? -1 : 1) * axis.curveAlt.getValue(pos);
axis.curve.setTrackingActive( false );
axis.curveAlt.setTrackingActive( true );
}
else {
out = (axis.opts.invert ? -1 : 1) * axis.curve.getValue(pos);
axis.curve.setTrackingActive( true );
axis.curveAlt.setTrackingActive( false );
}
out += axis.opts.zero;
}
static void t_compensate(double* input, double* output, bool rz)
{
const auto H = input[Yaw] * M_PI / -180;
const auto P = input[Pitch] * M_PI / -180;
const auto B = input[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);
const cv::Mat tvec(3, 1, CV_64F, input);
cv::Mat ret = rmat * tvec;
const int max = !rz ? 3 : 2;
for (int i = 0; i < max; i++)
output[i] = ret.at<double>(i);
}
/** QThread run method @override **/
void Tracker::run() {
T6DOF offset_camera;
double newpose[6] = {0};
int sleep_ms = 15;
if (Libraries->pTracker)
sleep_ms = std::min(sleep_ms, 1000 / Libraries->pTracker->preferredHz());
if (Libraries->pSecondTracker)
sleep_ms = std::min(sleep_ms, 1000 / Libraries->pSecondTracker->preferredHz());
qDebug() << "tracker Hz:" << 1000 / sleep_ms;
#if defined(_WIN32)
(void) timeBeginPeriod(1);
#endif
for (;;)
{
if (should_quit)
break;
if (Libraries->pSecondTracker) {
Libraries->pSecondTracker->GetHeadPoseData(newpose);
}
if (Libraries->pTracker) {
Libraries->pTracker->GetHeadPoseData(newpose);
}
{
QMutexLocker foo(&mtx);
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] = mainApp->axis(i).headPos;
do_center = false;
if (Libraries->pFilter)
Libraries->pFilter->reset();
}
T6DOF target_camera, target_camera2, new_camera;
if (enabled)
{
for (int i = 0; i < 6; i++)
target_camera.axes[i] = mainApp->axis(i).headPos;
target_camera2 = target_camera - offset_camera;
}
if (Libraries->pFilter) {
Libraries->pFilter->FilterHeadPoseData(target_camera2.axes, new_camera.axes);
} 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 (mainApp->s.tcomp_p)
t_compensate(output_camera.axes, output_camera.axes, mainApp->s.tcomp_tz);
if (Libraries->pProtocol) {
Libraries->pProtocol->sendHeadposeToGame( output_camera.axes ); // degrees & centimeters
}
}
msleep(sleep_ms);
}
#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];
}
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