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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;
}
config->classification_delay = 500;
config->field_of_view = s.fov;
config->pyrlk_pyramids = 0;
config->pyrlk_win_size_w = config->pyrlk_win_size_h = 21;
config->max_keypoints = 150;
config->keypoint_distance = 3.5;
config->force_fps = nframes;
config->camera_index = s.camera_idx - 1;
config->ransac_num_iters = 100;
config->ransac_max_reprojection_error = 10;
config->ransac_max_inlier_error = 10;
config->ransac_abs_max_mean_error = 14;
config->ransac_max_mean_error = 8;
config->debug = 0;
config->ransac_min_features = 0.8;
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 = 500;
for (int i = 0; i < 5; i++)
config->dist_coeffs[i] = 0;
}
Tracker::Tracker() :
lck_shm(HT_SHM_NAME, HT_MUTEX_NAME, sizeof(ht_shm_t)),
shm(reinterpret_cast<ht_shm_t*>(lck_shm.ptr())),
videoWidget(nullptr),
layout(nullptr)
{
shm->terminate = 0;
shm->result.filled = false;
}
Tracker::~Tracker()
{
if (shm) {
shm->terminate = true;
subprocess.waitForFinished(5000);
}
subprocess.kill();
if (shm)
shm->terminate = true;
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(&shm->config);
shm->frame.channels = shm->frame.width = shm->frame.height = 0;
shm->pause = shm->terminate = shm->running = false;
shm->timer = 0;
shm->result.filled = false;
subprocess.setProcessChannelMode(QProcess::ForwardedChannels);
subprocess.setWorkingDirectory(QCoreApplication::applicationDirPath() + "/tracker-ht");
#if defined(_WIN32)
subprocess.start("\"" + QCoreApplication::applicationDirPath() + "/tracker-ht/headtracker-ftnoir" + "\"");
#else
subprocess.start(QCoreApplication::applicationDirPath() + "/tracker-ht/headtracker-ftnoir");
#endif
}
void Tracker::data(double *data)
{
lck_shm.lock();
shm->timer = 0;
if (shm->frame.width > 0)
{
videoWidget->update_image(shm->frame.frame, shm->frame.width, shm->frame.height);
//memcpy(foo, shm->frame.frame, shm->frame.width * shm->frame.height * 3);
shm->frame.width = 0;
}
if (shm->result.filled) {
data[Yaw] = shm->result.rotx;
data[Pitch] = shm->result.roty;
data[Roll] = shm->result.rotz;
data[TX] = shm->result.tx;
data[TY] = shm->result.ty;
data[TZ] = shm->result.tz;
} else {
shm->pause = false;
}
lck_shm.unlock();
}
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()
{
ui.setupUi(this);
ui.cameraName->clear();
QList<QString> names = get_camera_names();
names.prepend("Any available");
ui.cameraName->addItems(names);
tie_setting(s.camera_idx, 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()));
}
void TrackerControls::doOK()
{
s.b->save();
this->close();
}
void TrackerControls::doCancel()
{
s.b->reload();
this->close();
}
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