bool VisuoThread::getFixation(Bottle &bStereo)
{
Vector stereo(4);
imgMutex.wait();
if(img[LEFT]!=NULL)
{
stereo[0]=stereo[2]=0.5*img[LEFT]->width();
stereo[1]=stereo[3]=0.5*img[LEFT]->height();
}
else
{
stereo[0]=stereo[2]=160;
stereo[1]=stereo[3]=120;
}
imgMutex.post();
for(size_t i=0; i<stereo.size(); i++)
bStereo.addDouble(stereo[i]);
int side=40;
startTracker(stereo,side);
return true;
}
void Sensors::onBrainStart()
{
// start sensors
for( int k = 0; k < sensors.count(); k++ ) {
Sensor *sensor = sensors.getClassByIndex( k );
sensor -> startSensor();
logger.logInfo( "onBrainStart: sensor started - name=" + sensor -> getName() );
}
// start poller
startTracker();
}
bool VisuoThread::getRaw(Bottle &bStereo)
{
Vector stereo;
bool ok=false;
//empty the buffers
Bottle *bL=rawInPort[LEFT].read(false);
Bottle *bR=rawInPort[RIGHT].read(false);
double t=Time::now();
while(stereo.size()!=4 && Time::now()-t<rawWaitThresh && !interrupted)
{
Bottle *bL=rawInPort[LEFT].read(false);
Bottle *bR=rawInPort[RIGHT].read(false);
if(bL!=NULL || bR!=NULL)
stereo.resize(4,0.0);
if(bL!=NULL)
{
stereo[0]=bL->get(0).asInt();
stereo[1]=bL->get(1).asInt();
}
if(bR!=NULL)
{
stereo[2]=bR->get(0).asInt();
stereo[3]=bR->get(1).asInt();
}
}
if(stereo.size()==4)
{
int side=40;
startTracker(stereo,side);
ok=true;
}
for(size_t i=0; i<stereo.size(); i++)
bStereo.addDouble(stereo[i]);
return ok;
}
void BarabellaApp::setOperationMode(OperationMode mode) {
operationMode = mode;
switch (operationMode) {
case STREAMING:
view3d.setCube(sCube);
view3d.setDrawMode(View3D::NORMAL);
break;
case CLIPPLAYBACK:
view3d.setDrawMode(View3D::NORMAL);
break;
case TRACKING:
view3d.setDrawMode(View3D::TRACKING);
startTracker();
break;
}
}
FaceTrackNoIR::FaceTrackNoIR(QWidget *parent) :
QMainWindow(parent),
#if defined(_WIN32)
keybindingWorker(NULL),
#else
keyCenter(this),
keyToggle(this),
#endif
b(bundle("opentrack-ui")),
s(b),
pose(std::vector<axis_opts*>{&s.a_x, &s.a_y, &s.a_z, &s.a_yaw, &s.a_pitch, &s.a_roll}),
timUpdateHeadPose(this),
pTrackerDialog(NULL),
pSecondTrackerDialog(NULL),
pProtocolDialog(NULL),
pFilterDialog(NULL),
kbd_quit(QKeySequence("Ctrl+Q"), this),
looping(0)
{
ui.setupUi(this);
setFixedSize(size());
_keyboard_shortcuts = 0;
_curve_config = 0;
tracker = 0;
CurveConfigurationDialog* ccd;
if (!_curve_config)
{
ccd = new CurveConfigurationDialog( this, this );
_curve_config = ccd;
} else {
ccd = dynamic_cast<CurveConfigurationDialog*>(_curve_config);
}
QDir::setCurrent(QCoreApplication::applicationDirPath());
fill_profile_cbx();
connect(ui.btnLoad, SIGNAL(clicked()), this, SLOT(open()));
connect(ui.btnSave, SIGNAL(clicked()), this, SLOT(save()));
connect(ui.btnSaveAs, SIGNAL(clicked()), this, SLOT(saveAs()));
connect(ui.btnEditCurves, SIGNAL(clicked()), this, SLOT(showCurveConfiguration()));
connect(ui.btnShortcuts, SIGNAL(clicked()), this, SLOT(showKeyboardShortcuts()));
connect(ui.btnShowEngineControls, SIGNAL(clicked()), this, SLOT(showTrackerSettings()));
connect(ui.btnShowSecondTrackerSettings, SIGNAL(clicked()), this, SLOT(showSecondTrackerSettings()));
connect(ui.btnShowServerControls, SIGNAL(clicked()), this, SLOT(showServerControls()));
connect(ui.btnShowFilterControls, SIGNAL(clicked()), this, SLOT(showFilterControls()));
ui.cbxSecondTrackerSource->addItem(QIcon(), "");
dlopen_filters.push_back((DynamicLibrary*) NULL);
ui.iconcomboFilter->addItem(QIcon(), "");
fill_combobox("opentrack-proto-*.", dlopen_protocols, ui.iconcomboProtocol, NULL);
fill_combobox("opentrack-tracker-*.", dlopen_trackers, ui.iconcomboTrackerSource, ui.cbxSecondTrackerSource);
fill_combobox("opentrack-filter-*.", dlopen_filters, ui.iconcomboFilter, NULL);
tie_setting(s.tracker_dll, ui.iconcomboTrackerSource);
tie_setting(s.tracker2_dll, ui.cbxSecondTrackerSource);
tie_setting(s.protocol_dll, ui.iconcomboProtocol);
tie_setting(s.filter_dll, ui.iconcomboFilter);
connect(ui.btnStartTracker, SIGNAL(clicked()), this, SLOT(startTracker()));
connect(ui.btnStopTracker, SIGNAL(clicked()), this, SLOT(stopTracker()));
GetCameraNameDX();
connect(ui.iconcomboProfile, SIGNAL(currentIndexChanged(int)), this, SLOT(profileSelected(int)));
connect(&timUpdateHeadPose, SIGNAL(timeout()), this, SLOT(showHeadPose()));
#ifndef _WIN32
connect(&keyCenter, SIGNAL(activated()), this, SLOT(shortcutRecentered()));
connect(&keyToggle, SIGNAL(activated()), this, SLOT(shortcutToggled()));
#endif
connect(&kbd_quit, SIGNAL(activated()), this, SLOT(exit()));
kbd_quit.setEnabled(true);
}
bool VisuoThread::getMotion(Bottle &bStereo)
{
Vector stereo;
bool ok=false;
double t=Time::now();
while(Time::now()-t<motionWaitThresh && !interrupted)
{
motMutex.wait();
// If the buffers are sufficently dense and not so small, return true.
double size=0.0;
if (buffer[LEFT].size()>minMotionBufSize && buffer[RIGHT].size()>minMotionBufSize)
{
Vector p[2];
for (int cam=0; cam<2; cam++)
{
double size_cam,u,v,n;
double u_std,v_std;
size_cam=u=v=0.0;
u_std=v_std=0.0;
n=1.0/buffer[cam].size();
for (unsigned int i=0; i<buffer[cam].size(); i++)
{
size_cam+=buffer[cam][i].size;
u+=buffer[cam][i].p.x;
v+=buffer[cam][i].p.y;
u_std+=buffer[cam][i].p.x*buffer[cam][i].p.x;
v_std+=buffer[cam][i].p.y*buffer[cam][i].p.y;
}
size_cam*=n;
u*=n;
v*=n;
u_std=sqrt(n*u_std-u*u);
v_std=sqrt(n*v_std-v*v);
//check if the motion detected point is not wildly moving
if (u_std<motionStdThresh && v_std<motionStdThresh)
{
p[cam].resize(2);
p[cam][0]=u;
p[cam][1]=v;
}
else
break;
size+=size_cam;
}
int side=cvRound(2*sqrt(size/3.1415)*2);
if (p[LEFT].size()==2 && p[RIGHT].size()==2)
{
stereo.resize(4);
stereo[0]=p[LEFT][0];
stereo[1]=p[LEFT][1];
stereo[2]=p[RIGHT][0];
stereo[3]=p[RIGHT][1];
startTracker(stereo,cvRound(side));
ok=true;
}
}
motMutex.post();
}
for(size_t i=0; i<stereo.size(); i++)
bStereo.addDouble(stereo[i]);
return ok;
}
