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/********************************************************************************
* FaceTrackNoIR This program is a private project of the some enthusiastic *
* gamers from Holland, who don't like to pay much for *
* head-tracking. *
* *
* Copyright (C) 2012 Wim Vriend (Developing) *
* Ron Hendriks (Researching and Testing) *
* *
* Homepage: http://facetracknoir.sourceforge.net/home/default.htm *
* *
* 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/>. *
*********************************************************************************/
#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)
{
// Retieve the pointer to the parent
mainApp = parent;
// Load the settings from the INI-file
}
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, new_camera, gameoutput_camera, target_camera, target_camera2;
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();
}
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 double yi = mainApp->axis(Yaw).invert;
const double pi = mainApp->axis(Pitch).invert;
const double ri = mainApp->axis(Roll).invert;
const auto H = output_camera.axes[Yaw] * M_PI / 180 * yi;
const auto P = output_camera.axes[Pitch] * M_PI / 180 * pi;
const auto B = output_camera.axes[Roll] * M_PI / 180 * ri;
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;
cv::Mat junk1(3, 3, CV_64FC1), junk2(3, 3, CV_64FC1);
for (int i = 0; i < 3; i++)
output_camera.axes[i] = ret.at<double>(i);
output_camera.axes[Yaw] += atan2(output_camera.axes[TZ], output_camera.axes[TX]) * yi;
output_camera.axes[Pitch] -= atan2(output_camera.axes[TZ], output_camera.axes[TY]) * pi;
}
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);
}
}
//
// Get the raw headpose, so it can be displayed.
//
void Tracker::getHeadPose( double *data ) {
QMutexLocker foo(&mtx);
for (int i = 0; i < 6; i++)
{
data[i] = mainApp->axis(i).headPos;
}
}
//
// Get the output-headpose, so it can be displayed.
//
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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