Merge pull request #51 from AIRLegend/dev

Dev

Author: AIRLegend

AITracker/src/PositionSolver.cpp

@@ -90,9 +90,11 @@ void PositionSolver::solve_rotation(FaceData* face_data)
     for (int i = 0; i < 3; i++)
     {
         face_data->rotation[i] = rvec.at<double>(i, 0);
-        face_data->translation[i] = tvec.at<double>(i, 0);
+        face_data->translation[i] = tvec.at<double>(i, 0) * 10;
     }
 
+    correct_rotation(*face_data);
+
 }
 
 void PositionSolver::set_prior_pitch(float new_pitch)
@@ -135,3 +137,16 @@ void PositionSolver::get_euler(cv::Mat& rvec, cv::Mat& tvec)
 
 }
 
+void PositionSolver::correct_rotation(FaceData& face_data)
+{
+    float distance = -(face_data.translation[2]);
+    float lateral_offset = face_data.translation[1];
+    float verical_offset = face_data.translation[0];
+
+    float correction_yaw = std::atan(std::tan(lateral_offset / distance)) * TO_DEG;
+    float correction_pitch = std::atan(std::tan(verical_offset / distance)) * TO_DEG;
+
+    face_data.rotation[1] += correction_yaw;
+    face_data.rotation[0] += correction_pitch;
+}
+

AITracker/src/PositionSolver.h

@@ -33,6 +33,7 @@ class PositionSolver
 
 private:
 	static const int NB_CONTOUR_POINTS = 18;
+	const double TO_DEG = (180.0 / 3.14159265);
 
 	cv::Mat mat3dface;
 	cv::Mat mat3dcontour;
@@ -52,5 +53,11 @@ class PositionSolver
 		Gets euler angles from rotation matrix.
 	*/
 	void get_euler(cv::Mat& rvec, cv::Mat& tvec);
+
+	/**
+	* Lateral/Vertical offset adds an error to the calculated rotation.
+	* This method corrects them.
+	*/
+	void correct_rotation(FaceData& face_data);
 };
 

Client/Client.vcxproj

@@ -113,7 +113,7 @@
   </ItemDefinitionGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'" Label="QtSettings">
     <QtInstall>$(QTDIR)</QtInstall>
-    <QtModules>core;uitools;widgets;quick</QtModules>
+    <QtModules>core;uitools;widgets;quick;</QtModules>
     <QtBuildConfig>debug</QtBuildConfig>
     <QtLibrarySearchPath>$(QTDIR)\lib;$(QtLibrarySearchPath)</QtLibrarySearchPath>
     <QtHeaderSearchPath>$(QTDIR)\include</QtHeaderSearchPath>
@@ -179,6 +179,7 @@
     <ClCompile Include="src\camera\CameraFactory.cpp" />
     <ClCompile Include="src\model\Config.cpp" />
     <ClCompile Include="src\camera\Ps3Camera.cpp" />
+    <ClCompile Include="src\model\UpdateChecker.cpp" />
     <ClCompile Include="src\presenter\presenter.cpp" />
     <ClCompile Include="src\Main.cpp" />
     <ClCompile Include="src\model\UDPSender.cpp" />
@@ -200,8 +201,10 @@
     <ClInclude Include="src\camera\CameraFactory.h" />
     <ClInclude Include="Include\ps3eye.h" />
     <ClInclude Include="resource.h" />
+    <ClInclude Include="src\version.h" />
     <ClInclude Include="src\model\Config.h" />
     <ClInclude Include="src\camera\Ps3Camera.h" />
+    <QtMoc Include="src\model\UpdateChecker.h" />
     <ClInclude Include="src\presenter\i_presenter.h" />
     <ClInclude Include="src\presenter\presenter.h" />
     <ClInclude Include="src\model\UDPSender.h" />

Client/Client.vcxproj.filters

@@ -30,6 +30,9 @@
     <ClCompile Include="src\view\ConfigWindow.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="src\model\UpdateChecker.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="Include\ps3eye.h" />
@@ -68,12 +71,18 @@
     <ClInclude Include="src\camera\CameraSettings.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="src\version.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="src\view\WindowMain.h" />
     <QtMoc Include="src\view\ConfigWindow.h">
       <Filter>Header Files</Filter>
     </QtMoc>
+    <QtMoc Include="src\model\UpdateChecker.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
   </ItemGroup>
   <ItemGroup>
     <QtRcc Include="res\Resource.qrc">

Client/src/Main.cpp

@@ -14,6 +14,10 @@
 #include "spdlog/sinks/basic_file_sink.h"
 
 
+#include "model/UpdateChecker.h"
+
+
+
 int main(int argc, char *argv[])
 {
 

Client/src/camera/OCVCamera.cpp

@@ -27,11 +27,6 @@ OCVCamera::OCVCamera(int width, int height, int fps, int index) :
 	if (fps < 0)
 		this->fps = cam_native_fps;
 
-
-	cap.set(cv::CAP_PROP_FRAME_WIDTH, this->width);
-	cap.set(cv::CAP_PROP_FRAME_HEIGHT, this->height);
-	cap.set(cv::CAP_PROP_FPS, this->fps);
-
 	exposure, gain = -1;
 }
 
@@ -55,7 +50,7 @@ bool OCVCamera::is_camera_available()
 
 		cam_native_width = (int)cap.get(cv::CAP_PROP_FRAME_WIDTH);
 		cam_native_height = (int)cap.get(cv::CAP_PROP_FRAME_HEIGHT);
-		cam_native_fps = (int)cap.get(cv::CAP_PROP_FPS);
+		cam_native_fps = std::max(30, (int)cap.get(cv::CAP_PROP_FPS));
 		cap.release();
 	}
 	return available;
@@ -68,6 +63,13 @@ void OCVCamera::start_camera()
 	{
 		throw std::runtime_error("No compatible camera found.");
 	}
+
+	// Force its properties each time we start the camera
+	// because if we force them with the device switched off
+	// bugs will occur (tiling, for example).
+	cap.set(cv::CAP_PROP_FRAME_WIDTH, this->width);
+	cap.set(cv::CAP_PROP_FRAME_HEIGHT, this->height);
+	cap.set(cv::CAP_PROP_FPS, this->fps);
 }
 
 void OCVCamera::stop_camera()
@@ -89,7 +91,7 @@ void OCVCamera::set_settings(CameraSettings& settings)
 {
 	this->width = settings.width > 0 ? settings.width : this->cam_native_width;
 	this->height = settings.height > 0 ? settings.height : this->cam_native_height;
-	this->fps = settings.fps > 0 ? settings.fps : this->cam_native_fps;
+	this->fps = settings.fps >= 30 ? settings.fps : this->cam_native_fps;
 
 	// Disabled for the moment because of the different ranges in generic cameras.
 	//exposure = settings.exposure < 0 ? -1.0F : (float)settings.exposure/255;

Client/src/model/Config.cpp

@@ -20,6 +20,7 @@ ConfigData ConfigData::getGenericConfig()
 	conf.video_height = -1;
 	conf.video_fps = -1;
 	conf.use_landmark_stab = true;
+	conf.autocheck_updates = true;
 	conf.x, conf.y, conf.z, conf.pitch, conf.yaw, conf.roll = 0;
 	conf.cam_exposure = -1;
 	conf.cam_gain = -1;
@@ -55,6 +56,7 @@ void ConfigMgr::updateConfig(const ConfigData& data)
 	conf.setValue("cam_exposure", data.cam_exposure);
 	conf.setValue("cam_gain", data.cam_gain);
 	conf.setValue("selected_camera", data.selected_camera);
+	conf.setValue("autocheck_updates", data.autocheck_updates);
 }
 
 ConfigData ConfigMgr::getConfig()
@@ -74,6 +76,7 @@ ConfigData ConfigMgr::getConfig()
 	c.video_fps = conf.value("fps", 30).toInt();
 	c.cam_exposure= conf.value("cam_exposure", -1).toInt();
 	c.cam_gain = conf.value("cam_gain", -1).toInt();
+	c.autocheck_updates = conf.value("autocheck_updates", 1).toBool();
 	return c;
 }
 

Client/src/model/Config.h

@@ -18,6 +18,7 @@ struct ConfigData
 	double prior_pitch, prior_yaw, prior_distance;
 	bool show_video_feed;
 	bool use_landmark_stab;
+	bool autocheck_updates;
 
 	float x, y, z, yaw, pitch, roll;
 

Client/src/model/UpdateChecker.cpp

@@ -0,0 +1,52 @@
+#include "UpdateChecker.h"
+
+
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QJsonArray>
+#include <iostream>
+#include <QObject>
+
+
+UpdateChecker::UpdateChecker(std::string& version, IUpdateSub *obs):
+    request(),
+    manager(),
+    current_version(version)
+{
+    this->observer = obs;
+}
+
+void UpdateChecker::callback(QNetworkReply* reply)
+{
+    if (reply->error()) {
+        qDebug() << reply->errorString();
+        return;
+    }
+    QString answer = reply->readAll();
+    QJsonDocument doc = QJsonDocument::fromJson(answer.toUtf8());
+    QJsonArray json_array = doc.array();
+    QJsonObject latest_update = json_array[0].toObject();
+
+    Version v(latest_update["tag_name"].toString().toStdString());
+
+    qDebug() << latest_update["tag_name"].toString();
+
+    this->observer->on_update_check_completed((current_version < v));
+}
+
+
+void UpdateChecker::get_latest_update(std::string& repo)
+{
+    QObject::connect(
+        &manager,
+        SIGNAL(finished(QNetworkReply*)), 
+        this, 
+        SLOT(callback(QNetworkReply*))
+    );
+
+    std::cout << "   REQUEST   "<<std::endl;
+
+    QString url = QString("https://api.github.com/repos/%1/releases").arg(QString::fromStdString(repo));
+    request.setUrl(QUrl(url));
+    manager.get(request);
+}

Client/src/model/UpdateChecker.h

@@ -0,0 +1,86 @@
+#pragma once
+
+#include <string>
+#include <QNetworkAccessManager>
+#include <QNetworkReply>
+
+
+class Version
+{
+public:
+	int stage; // alpha, beta or normal
+	std::string ver;
+
+	Version(std::string version): ver(), stage(10)
+	{
+		int index_dash = -1;
+
+		for (int i = 0; i < version.size(); i++) 
+		{
+			if (version.at(i) == *".")
+				continue;
+			if (version.at(i) == *"-")
+			{
+				index_dash = i;
+				break;
+			}
+			ver.push_back(version.at(i));
+		}
+		
+		if (index_dash > 0)
+		{
+			// Version id contains alpha/beta
+			if (version.at(index_dash + 1) == *"a")  // alpha
+				stage = 0;
+			if (version.at(index_dash + 1) == *"b")  // beta
+				stage = 1;
+			// Else, its a normal version
+		}
+	};
+
+    bool operator<(Version const& rhs) const
+    {		
+		int numbers_comparison = rhs.ver.compare(ver);
+		if (numbers_comparison == 0)
+		{
+			return stage < rhs.stage;
+		}
+		else 
+		{
+			return numbers_comparison > 0;
+		}
+    }
+};
+
+class IUpdateSub
+{
+public:
+	/*
+	* Callback to check whether a newer version is available.
+	*/
+	virtual void on_update_check_completed(bool update_exists) = 0;
+};
+
+
+
+class UpdateChecker : public QObject
+{
+Q_OBJECT
+
+private:
+	QNetworkRequest request;
+	QNetworkAccessManager manager;
+	IUpdateSub* observer;
+	Version current_version;
+
+public:
+	UpdateChecker(std::string &version, IUpdateSub *obs);
+	void get_latest_update(std::string &repo);
+	
+
+private slots:
+	void callback(QNetworkReply* reply);
+};
+
+
+