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https://github.com/overte-org/overte.git
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fix: update code style to conform to hifi convention
This commit is contained in:
Zu
parent
dcd7b81426
commit
113a173577
2 changed files with 125 additions and 138 deletions
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@ -30,32 +30,38 @@ static const glm::vec3 DEFAULT_HEAD_ORIGIN(0.0f, 0.0f, 0.0f);
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static const float TRANSLATION_SCALE = 1.0f;
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static const int NUM_BLENDSHAPE_COEFF = 30;
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struct CaraPerson
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{
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struct CaraPose
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{
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struct CaraPerson {
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struct CaraPose {
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float roll, pitch, yaw;
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CaraPose(): roll(0.0f), pitch(0.0f), yaw(0.0f) {}
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CaraPose() :
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roll(0.0f),
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pitch(0.0f),
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yaw(0.0f)
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{
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}
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};
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struct CaraEmotion
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{
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struct CaraEmotion {
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float smile, surprise, negative, attention;
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CaraEmotion(): smile(0.0f), surprise(0.0f), negative(0.0f), attention(0.0f) {}
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CaraEmotion():
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smile(0.0f),
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surprise(0.0f),
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negative(0.0f),
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attention(0.0f)
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{
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}
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};
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enum CaraBlink
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{
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enum CaraBlink {
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BLINK_NOT_AVAILABLE,
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NO_BLINK,
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BLINK
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};
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CaraPerson():
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CaraPerson() :
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id(-1),
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blink(BLINK_NOT_AVAILABLE)
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{
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blink(BLINK_NOT_AVAILABLE)
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{
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}
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int id;
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@ -63,8 +69,7 @@ struct CaraPerson
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CaraEmotion emotion;
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CaraBlink blink;
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QString toString()
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{
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QString toString() {
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QString s = QString("id: %1, roll: %2, pitch: %3, yaw: %4, smi: %5, sur: %6, neg: %7, att: %8, blink: %9").
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arg(id).
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arg(pose.roll).
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@ -75,42 +80,35 @@ struct CaraPerson
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arg(emotion.negative).
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arg(emotion.attention).
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arg(blink);
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return s;
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}
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};
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class CaraPacketDecoder
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{
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class CaraPacketDecoder {
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public:
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static CaraPerson extractOne(const QByteArray& buffer, QJsonParseError* jsonError)
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{
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static CaraPerson extractOne(const QByteArray& buffer, QJsonParseError* jsonError) {
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CaraPerson person;
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QJsonDocument dom = QJsonDocument::fromJson(buffer, jsonError);
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//check for errors
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if(jsonError->error == QJsonParseError::NoError)
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{
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if(jsonError->error == QJsonParseError::NoError) {
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//read the dom structure and populate the blend shapes and head poses
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//qDebug() << "[Info] Cara Face Tracker Packet Parsing Successful!";
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//begin extracting the packet
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if(dom.isArray())
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{
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QJsonArray people = dom.array();
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if(people.size() > 0) //extract the first person in the array
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{
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if(dom.isArray()) {
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QJsonArray people = dom.array();
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//extract the first person in the array
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if(people.size() > 0) {
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QJsonValue val = people.at(0);
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if(val.isObject())
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{
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if(val.isObject()) {
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QJsonObject personDOM = val.toObject();
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person.id = extractId(personDOM);
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person.pose = extractPose(personDOM);
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//extract the classifier outputs
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QJsonObject::const_iterator it = personDOM.constFind("classifiers");
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if(it != personDOM.constEnd())
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{
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if(it != personDOM.constEnd()) {
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QJsonObject classifierDOM = (*it).toObject();
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person.emotion = extractEmotion(classifierDOM);
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person.blink = extractBlink(classifierDOM);
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@ -124,90 +122,85 @@ public:
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}
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private:
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static int extractId(const QJsonObject& person)
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{
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static int extractId(const QJsonObject& person) {
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int id = -1;
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QJsonObject::const_iterator it = person.constFind("id");
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if(it != person.constEnd())
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if(it != person.constEnd()) {
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id = (*it).toInt(-1);
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}
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return id;
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}
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static CaraPerson::CaraPose extractPose(const QJsonObject& person)
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{
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static CaraPerson::CaraPose extractPose(const QJsonObject& person) {
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CaraPerson::CaraPose pose;
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QJsonObject::const_iterator it = person.constFind("pose");
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if(it != person.constEnd())
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{
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if(it != person.constEnd()) {
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QJsonObject poseDOM = (*it).toObject();
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//look for the roll, pitch, yaw;
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QJsonObject::const_iterator poseIt = poseDOM.constFind("roll");
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QJsonObject::const_iterator poseEnd = poseDOM.constEnd();
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if(poseIt != poseEnd)
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if(poseIt != poseEnd) {
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pose.roll = (float)(*poseIt).toDouble(0.0);
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}
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poseIt = poseDOM.constFind("pitch");
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if(poseIt != poseEnd)
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if(poseIt != poseEnd) {
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pose.pitch = (float)(*poseIt).toDouble(0.0);
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}
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poseIt = poseDOM.constFind("yaw");
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if(poseIt != poseEnd)
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if(poseIt != poseEnd) {
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pose.yaw = (float)(*poseIt).toDouble(0.0);
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}
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}
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return pose;
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}
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static CaraPerson::CaraEmotion extractEmotion(const QJsonObject& classifiers)
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{
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static CaraPerson::CaraEmotion extractEmotion(const QJsonObject& classifiers) {
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CaraPerson::CaraEmotion emotion;
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QJsonObject::const_iterator it = classifiers.constFind("emotion");
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if(it != classifiers.constEnd())
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{
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if(it != classifiers.constEnd()) {
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QJsonObject emotionDOM = (*it).toObject();
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//look for smile, surprise, negative, attention responses
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QJsonObject::const_iterator emoEnd = emotionDOM.constEnd();
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QJsonObject::const_iterator emoIt = emotionDOM.constFind("smi");
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if(emoIt != emoEnd)
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if(emoIt != emoEnd) {
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emotion.smile = (float)(*emoIt).toDouble(0.0);
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}
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emoIt = emotionDOM.constFind("sur");
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if(emoIt != emoEnd)
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if(emoIt != emoEnd) {
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emotion.surprise = (float)(*emoIt).toDouble(0.0);
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}
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emoIt = emotionDOM.constFind("neg");
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if(emoIt != emoEnd)
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if(emoIt != emoEnd) {
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emotion.negative = (float)(*emoIt).toDouble(0.0);
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}
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emoIt = emotionDOM.constFind("att");
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if(emoIt != emoEnd)
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if(emoIt != emoEnd) {
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emotion.attention = (float)(*emoIt).toDouble(0.0);
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}
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}
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return emotion;
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}
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static CaraPerson::CaraBlink extractBlink(const QJsonObject& classifiers)
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{
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static CaraPerson::CaraBlink extractBlink(const QJsonObject& classifiers) {
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CaraPerson::CaraBlink blink = CaraPerson::BLINK_NOT_AVAILABLE;
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QJsonObject::const_iterator it = classifiers.constFind("blink");
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if(it != classifiers.constEnd())
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{
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if(it != classifiers.constEnd()) {
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int b = (*it).toInt(CaraPerson::BLINK_NOT_AVAILABLE);
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switch(b)
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{
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case CaraPerson::BLINK_NOT_AVAILABLE:
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blink = CaraPerson::BLINK_NOT_AVAILABLE;
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break;
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case CaraPerson::NO_BLINK:
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blink = CaraPerson::NO_BLINK;
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break;
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case CaraPerson::BLINK:
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blink = CaraPerson::BLINK;
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break;
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default:
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blink = CaraPerson::BLINK_NOT_AVAILABLE;
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break;
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switch(b) {
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case CaraPerson::BLINK_NOT_AVAILABLE:
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blink = CaraPerson::BLINK_NOT_AVAILABLE;
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break;
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case CaraPerson::NO_BLINK:
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blink = CaraPerson::NO_BLINK;
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break;
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case CaraPerson::BLINK:
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blink = CaraPerson::BLINK;
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break;
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default:
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blink = CaraPerson::BLINK_NOT_AVAILABLE;
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break;
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}
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}
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return blink;
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@ -219,9 +212,9 @@ CaraFaceTracker::CaraFaceTracker() :
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_previousPitch(0.0f),
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_previousYaw(0.0f),
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_previousRoll(0.0f),
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_eyeGazeLeftPitch(0),
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_eyeGazeLeftYaw(0),
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_eyeGazeRightPitch(0),
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_eyeGazeLeftPitch(0.0f),
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_eyeGazeLeftYaw(0.0f),
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_eyeGazeRightPitch(0.0f),
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_eyeGazeRightYaw(0),
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_leftBlinkIndex(0),
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_rightBlinkIndex(1),
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@ -234,7 +227,7 @@ CaraFaceTracker::CaraFaceTracker() :
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_browUpRightIndex(18),
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_mouthSmileLeftIndex(28),
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_mouthSmileRightIndex(29),
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_jawOpenIndex(21)
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_jawOpenIndex(21)
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{
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connect(&_udpSocket, SIGNAL(readyRead()), SLOT(readPendingDatagrams()));
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connect(&_udpSocket, SIGNAL(error(QAbstractSocket::SocketError)), SLOT(socketErrorOccurred(QAbstractSocket::SocketError)));
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@ -254,10 +247,10 @@ CaraFaceTracker::CaraFaceTracker(const QHostAddress& host, quint16 port) :
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_previousPitch(0.0f),
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_previousYaw(0.0f),
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_previousRoll(0.0f),
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_eyeGazeLeftPitch(0),
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_eyeGazeLeftYaw(0),
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_eyeGazeRightPitch(0),
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_eyeGazeRightYaw(0),
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_eyeGazeLeftPitch(0.0f),
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_eyeGazeLeftYaw(0.0f),
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_eyeGazeRightPitch(0.0f),
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_eyeGazeRightYaw(0.0f),
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_leftBlinkIndex(0),
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_rightBlinkIndex(1),
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_leftEyeOpenIndex(8),
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@ -269,7 +262,7 @@ CaraFaceTracker::CaraFaceTracker(const QHostAddress& host, quint16 port) :
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_browUpRightIndex(18),
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_mouthSmileLeftIndex(28),
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_mouthSmileRightIndex(29),
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_jawOpenIndex(21)
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_jawOpenIndex(21)
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{
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connect(&_udpSocket, SIGNAL(readyRead()), SLOT(readPendingDatagrams()));
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connect(&_udpSocket, SIGNAL(error(QAbstractSocket::SocketError)), SLOT(socketErrorOccurred(QAbstractSocket::SocketError)));
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@ -282,42 +275,36 @@ CaraFaceTracker::CaraFaceTracker(const QHostAddress& host, quint16 port) :
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_blendshapeCoefficients.fill(0.0f);
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}
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CaraFaceTracker::~CaraFaceTracker()
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{
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CaraFaceTracker::~CaraFaceTracker() {
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if(_udpSocket.isOpen())
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_udpSocket.close();
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}
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void CaraFaceTracker::init()
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{
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void CaraFaceTracker::init() {
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}
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void CaraFaceTracker::reset()
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{
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void CaraFaceTracker::reset() {
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}
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void CaraFaceTracker::bindTo(quint16 port)
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{
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void CaraFaceTracker::bindTo(quint16 port) {
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bindTo(QHostAddress::Any, port);
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}
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void CaraFaceTracker::bindTo(const QHostAddress& host, quint16 port)
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{
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if(_udpSocket.isOpen())
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void CaraFaceTracker::bindTo(const QHostAddress& host, quint16 port) {
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if(_udpSocket.isOpen()) {
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_udpSocket.close();
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}
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_udpSocket.bind(host, port);
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}
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bool CaraFaceTracker::isActive() const
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{
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bool CaraFaceTracker::isActive() const {
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static const int ACTIVE_TIMEOUT_USECS = 3000000; //3 secs
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return (usecTimestampNow() - _lastReceiveTimestamp < ACTIVE_TIMEOUT_USECS);
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}
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void CaraFaceTracker::update()
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{
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void CaraFaceTracker::update() {
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// get the euler angles relative to the window
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glm::vec3 eulers = glm::degrees(safeEulerAngles(_headRotation * glm::quat(glm::radians(glm::vec3(
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(_eyeGazeLeftPitch + _eyeGazeRightPitch) / 2.0f, (_eyeGazeLeftYaw + _eyeGazeRightYaw) / 2.0f, 0.0f)))));
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@ -329,36 +316,39 @@ void CaraFaceTracker::update()
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}
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//private slots and methods
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void CaraFaceTracker::socketErrorOccurred(QAbstractSocket::SocketError socketError)
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{
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void CaraFaceTracker::socketErrorOccurred(QAbstractSocket::SocketError socketError) {
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qDebug() << "[Error] Cara Face Tracker Socket Error: " << _udpSocket.errorString();
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}
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void CaraFaceTracker::socketStateChanged(QAbstractSocket::SocketState socketState)
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{
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void CaraFaceTracker::socketStateChanged(QAbstractSocket::SocketState socketState) {
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QString state;
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switch(socketState)
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{
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case QAbstractSocket::BoundState: state = "Bounded";
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break;
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case QAbstractSocket::ClosingState: state = "Closing";
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break;
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case QAbstractSocket::ConnectedState: state = "Connected";
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break;
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case QAbstractSocket::ConnectingState: state = "Connecting";
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break;
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case QAbstractSocket::HostLookupState: state = "Host Lookup";
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break;
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case QAbstractSocket::ListeningState: state = "Listening";
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break;
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case QAbstractSocket::UnconnectedState: state = "Unconnected";
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break;
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switch(socketState) {
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case QAbstractSocket::BoundState:
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state = "Bounded";
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break;
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case QAbstractSocket::ClosingState:
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state = "Closing";
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break;
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case QAbstractSocket::ConnectedState:
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state = "Connected";
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break;
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case QAbstractSocket::ConnectingState:
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state = "Connecting";
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break;
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case QAbstractSocket::HostLookupState:
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state = "Host Lookup";
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break;
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case QAbstractSocket::ListeningState:
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state = "Listening";
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break;
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case QAbstractSocket::UnconnectedState:
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state = "Unconnected";
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break;
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}
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qDebug() << "[Info] Cara Face Tracker Socket: " << socketState;
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}
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void CaraFaceTracker::readPendingDatagrams()
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{
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void CaraFaceTracker::readPendingDatagrams() {
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QByteArray buffer;
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while (_udpSocket.hasPendingDatagrams()) {
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buffer.resize(_udpSocket.pendingDatagramSize());
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@ -367,14 +357,12 @@ void CaraFaceTracker::readPendingDatagrams()
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}
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}
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void CaraFaceTracker::decodePacket(const QByteArray& buffer)
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{
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void CaraFaceTracker::decodePacket(const QByteArray& buffer) {
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//decode the incoming udp packet
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QJsonParseError jsonError;
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CaraPerson person = CaraPacketDecoder::extractOne(buffer, &jsonError);
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if(jsonError.error == QJsonParseError::NoError)
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{
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if(jsonError.error == QJsonParseError::NoError) {
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//do some noise filtering to the head poses
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//reduce the noise first by truncating to 1 dp
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person.pose.roll = glm::floor(person.pose.roll * 10) / 10;
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@ -388,8 +376,7 @@ void CaraFaceTracker::decodePacket(const QByteArray& buffer)
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// Compute angular velocity of the head
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glm::quat r = newRotation * glm::inverse(_headRotation);
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float theta = 2 * acos(r.w);
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if (theta > EPSILON)
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{
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if (theta > EPSILON) {
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float rMag = glm::length(glm::vec3(r.x, r.y, r.z));
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const float AVERAGE_CARA_FRAME_TIME = 0.033f;
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const float ANGULAR_VELOCITY_MIN = 1.2f;
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@ -398,18 +385,21 @@ void CaraFaceTracker::decodePacket(const QByteArray& buffer)
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_headAngularVelocity = theta / AVERAGE_CARA_FRAME_TIME * glm::vec3(r.x, r.y, r.z) / rMag;
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//use the angular velocity for roll and pitch, if it's below the threshold don't move
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if(glm::abs(_headAngularVelocity.x) < ANGULAR_VELOCITY_MIN)
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person.pose.pitch = _previousPitch;
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if(glm::abs(_headAngularVelocity.x) < ANGULAR_VELOCITY_MIN) {
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person.pose.pitch = _previousPitch;
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}
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if(glm::abs(_headAngularVelocity.z) < ANGULAR_VELOCITY_MIN)
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if(glm::abs(_headAngularVelocity.z) < ANGULAR_VELOCITY_MIN) {
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person.pose.roll = _previousRoll;
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}
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//for yaw, the jitter is great, you can't use angular velocity because it swings too much
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//use the previous and current yaw, calculate the
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//abs difference and move it the difference is above the standard deviation which is around 2.5
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// (this will introduce some jerks but will not encounter lag)
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if(glm::abs(person.pose.yaw - _previousYaw) < YAW_STANDARD_DEV_DEG) // < the standard deviation 2.5 deg, no move
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{
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// < the standard deviation 2.5 deg, no move
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if(glm::abs(person.pose.yaw - _previousYaw) < YAW_STANDARD_DEV_DEG) {
|
||||
//qDebug() << "Yaw Diff: " << glm::abs(person.pose.yaw - _previousYaw);
|
||||
person.pose.yaw = _previousYaw;
|
||||
}
|
||||
|
|
@ -422,8 +412,7 @@ void CaraFaceTracker::decodePacket(const QByteArray& buffer)
|
|||
//set the new rotation
|
||||
newRotation = glm::quat(glm::vec3(DEGTORAD(person.pose.pitch), DEGTORAD(person.pose.yaw), DEGTORAD(-person.pose.roll)));
|
||||
}
|
||||
else
|
||||
{
|
||||
else {
|
||||
//no change in position
|
||||
newRotation = glm::quat(glm::vec3(DEGTORAD(_previousPitch), DEGTORAD(_previousYaw), DEGTORAD(-_previousRoll)));
|
||||
_headAngularVelocity = glm::vec3(0,0,0);
|
||||
|
|
@ -434,7 +423,6 @@ void CaraFaceTracker::decodePacket(const QByteArray& buffer)
|
|||
|
||||
//TODO: head translation, right now is 0
|
||||
|
||||
|
||||
//Do Blendshapes, clip between 0.0f to 1.0f, neg should be ignored
|
||||
_blendshapeCoefficients[_leftBlinkIndex] = person.blink == CaraPerson::BLINK ? 1.0f : 0.0f;
|
||||
_blendshapeCoefficients[_rightBlinkIndex] = person.blink == CaraPerson::BLINK ? 1.0f : 0.0f;
|
||||
|
|
@ -450,14 +438,14 @@ void CaraFaceTracker::decodePacket(const QByteArray& buffer)
|
|||
_blendshapeCoefficients[_mouthSmileLeftIndex] = person.emotion.smile < 0.0f ? 0.0f : person.emotion.smile;
|
||||
_blendshapeCoefficients[_mouthSmileRightIndex] = person.emotion.smile < 0.0f ? 0.0f : person.emotion.smile;
|
||||
}
|
||||
else
|
||||
else {
|
||||
qDebug() << "[Error] Cara Face Tracker Decode Error: " << jsonError.errorString();
|
||||
}
|
||||
|
||||
_lastReceiveTimestamp = usecTimestampNow();
|
||||
}
|
||||
|
||||
float CaraFaceTracker::getBlendshapeCoefficient(int index) const
|
||||
{
|
||||
float CaraFaceTracker::getBlendshapeCoefficient(int index) const {
|
||||
return (index >= 0 && index < (int)_blendshapeCoefficients.size()) ? _blendshapeCoefficients[index] : 0.0f;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -26,8 +26,7 @@
|
|||
* host address (eg: 127.0.0.1 for localhost) and destination port 36555.
|
||||
**/
|
||||
|
||||
class CaraFaceTracker : public FaceTracker
|
||||
{
|
||||
class CaraFaceTracker : public FaceTracker {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
|
|
|
|||
Loading…
Reference in a new issue