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#include "stdafx.h"
#include "headtracker-ftnoir.h"
#include "ftnoir_tracker_ht.h"
#include "ftnoir_tracker_ht_dll.h"
#include "ui_ht-trackercontrols.h"
#include "opentrack/plugin-api.hpp"
#include <cmath>
#include "opentrack/camera-names.hpp"
typedef struct {
int width;
int height;
} resolution_tuple;
static resolution_tuple resolution_choices[] = {
{ 640, 480 },
{ 320, 240 },
{ 320, 200 },
{ 0, 0 }
};
void Tracker::load_settings(ht_config_t* config)
{
int nframes = 0;
switch (static_cast<int>(s.fps))
{
default:
case 0:
nframes = 0;
break;
case 1:
nframes = 30;
break;
case 2:
nframes = 60;
break;
case 3:
nframes = 120;
break;
case 4:
nframes = 180;
break;
}
static constexpr float pi = 3.14159265358979323846f;
config->classification_delay = 500;
config->field_of_view = s.fov;
config->max_keypoints = 150;
config->keypoint_distance = 3.4;
config->force_fps = nframes;
config->camera_index = camera_name_to_index(s.camera_name);
config->ransac_max_reprojection_error = 8;
config->ransac_max_inlier_error = 8;
config->pyrlk_pyramids = 0;
config->pyrlk_win_size_w = config->pyrlk_win_size_h = 21;
config->ransac_max_mean_error = 999;
config->ransac_abs_max_mean_error = 999;
config->debug = 0;
config->ransac_min_features = 0.85;
config->ransac_num_iters = 300;
int res = s.resolution;
if (res < 0 || res >= (int)(sizeof(resolution_choices) / sizeof(resolution_tuple)))
res = 0;
resolution_tuple r = resolution_choices[res];
config->force_width = r.width;
config->force_height = r.height;
config->flandmark_delay = 50;
for (int i = 0; i < 5; i++)
config->dist_coeffs[i] = 0;
}
Tracker::Tracker() :
ht(nullptr),
ypr {0,0,0, 0,0,0},
videoWidget(nullptr),
layout(nullptr),
should_stop(false)
{
}
Tracker::~Tracker()
{
should_stop = true;
wait();
ht_free_context(ht);
if (layout)
delete layout;
if (videoWidget)
delete videoWidget;
}
void Tracker::start_tracker(QFrame* videoframe)
{
videoframe->show();
videoWidget = new HTVideoWidget(videoframe);
QHBoxLayout* layout = new QHBoxLayout();
layout->setContentsMargins(0, 0, 0, 0);
layout->addWidget(videoWidget);
if (videoframe->layout())
delete videoframe->layout();
videoframe->setLayout(layout);
videoWidget->show();
this->layout = layout;
load_settings(&conf);
ht = ht_make_context(&conf, nullptr);
start();
}
void Tracker::run()
{
while (!should_stop)
{
ht_result_t euler;
euler.filled = false;
{
QMutexLocker l(&camera_mtx);
if (!ht_cycle(ht, &euler))
break;
}
if (euler.filled)
{
QMutexLocker l(&ypr_mtx);
ypr[TX] = euler.tx;
ypr[TY] = euler.ty;
ypr[TZ] = euler.tz;
ypr[Yaw] = euler.rotx;
ypr[Pitch] = euler.roty;
ypr[Roll] = euler.rotz;
}
{
const cv::Mat frame_ = ht_get_bgr_frame(ht);
if (frame_.cols <= HT_MAX_VIDEO_WIDTH && frame_.rows <= HT_MAX_VIDEO_HEIGHT && frame_.channels() <= HT_MAX_VIDEO_CHANNELS)
{
QMutexLocker l(&frame_mtx);
const int cols = frame_.cols;
const int rows = frame_.rows;
const int pitch = cols * 3;
for (int y = 0; y < rows; y++)
{
for (int x = 0; x < cols; x++)
{
unsigned char* dest = &frame.frame[y * pitch + 3 * x];
const cv::Vec3b& elt = frame_.at<cv::Vec3b>(y, x);
const cv::Scalar elt2 = static_cast<cv::Scalar>(elt);
dest[0] = elt2.val[0];
dest[1] = elt2.val[1];
dest[2] = elt2.val[2];
}
}
frame.channels = frame_.channels();
frame.width = frame_.cols;
frame.height = frame_.rows;
}
}
}
}
void Tracker::data(double* data)
{
{
QMutexLocker l(&frame_mtx);
if (frame.width > 0)
{
videoWidget->update_image(frame.frame, frame.width, frame.height);
frame.width = 0;
}
}
{
QMutexLocker l(&ypr_mtx);
for (int i = 0; i < 6; i++)
data[i] = ypr[i];
}
}
extern "C" OPENTRACK_EXPORT Metadata* GetMetadata()
{
return new TrackerDll;
}
extern "C" OPENTRACK_EXPORT ITracker* GetConstructor()
{
return new Tracker;
}
extern "C" OPENTRACK_EXPORT ITrackerDialog* GetDialog( )
{
return new TrackerControls;
}
TrackerControls::TrackerControls() : tracker(nullptr)
{
ui.setupUi(this);
ui.cameraName->clear();
QList<QString> names = get_camera_names();
names.prepend("Any available");
ui.cameraName->addItems(names);
tie_setting(s.camera_name, ui.cameraName);
tie_setting(s.fps, ui.cameraFPS);
tie_setting(s.fov, ui.cameraFOV);
tie_setting(s.resolution, ui.resolution);
connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
connect(ui.camera_settings, SIGNAL(pressed()), this, SLOT(camera_settings()));
}
void TrackerControls::doOK()
{
s.b->save();
this->close();
}
void TrackerControls::doCancel()
{
s.b->reload();
this->close();
}
void TrackerControls::camera_settings()
{
if (tracker)
{
cv::VideoCapture* cap = ht_capture(tracker->ht);
open_camera_settings(cap, s.camera_name, &tracker->camera_mtx);
}
else
open_camera_settings(nullptr, s.camera_name, nullptr);
}
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