def toggle_unreal():
global g_TIS_server
streaming_TIS = State.getKey('/root/ui/attrs/streaming_TIS')
if streaming_TIS:
g_TIS_server.Stop()
State._setKey('/root/ui/attrs/streaming_TIS', False)
print "Stopping Server"
else:
print 'Trying to start Server'
if g_TIS_server.Start('',6500):
State._setKey('/root/ui/attrs/streaming_TIS', True)
else:
print 'ARGH!!! Failed to start server'
def rbfn_view_cb(fi, attrs):
# g_mode = 1
global g_rbfn
group,gn,pn,slider_indices,slider_names,pose_splits = rbfn_info_from_frame(fi)
QApp.view().displayText = [(10, 100, gn), (10,125, pn)]
img = group['images'][pn]
img = JPEG.decompress(img)
h,wm = img.shape[0]*0.5,img.shape[1]*0.5
out_shape = extract_x2ds(group, pn, g_rbfn['marker_names'])
svs = group['slider_data'][pn][slider_indices]
State._setKey('/root/sliders/attrs', dict(zip(slider_names, svs))) # NO UNDO
# compensate for roll, translation and scale
norm_shape, head_pan, head_tilt, A = stabilize_shape(out_shape)
# extract angles from the measured values
mirror_scale = -1 if attrs['mirroring'] else 1
new_pose = np.degrees(np.arctan2([head_pan*mirror_scale, head_tilt, -mirror_scale*A[1][0]],[2,2,A[1][1]]))
head_roll = -np.arctan2(A[1][0],A[1][1])
head_pan = np.arctan2(head_pan, 2.0)
head_tilt = np.arctan2(head_tilt, 2.0)
#print head_roll, head_pan, head_tilt
slider_names, slider_values = applyRetarget(g_rbfn, norm_shape)
svs[np.where(svs < 1e-4)] = 0
slider_values[np.where(slider_values < 1e-4)] = 0
#print zip(slider_values,svs)
slider_names.extend(['NeckRoll','NeckPan','NeckTilt'])
svs = np.clip(svs,0,1)
slider_values = np.float32(list(svs)+list(np.degrees([head_roll,head_pan,head_tilt])))
return new_pose,out_shape,norm_shape,img,slider_names,slider_values,A
def setFrame_cb(fi):
attrs = State.getKey('/root/ui/attrs/')
global g_setting_frame
if g_setting_frame: return
g_setting_frame = True
try: # within this loop we handle the timeline, which could trigger calling this function recursively
global g_mode, g_frame, g_TIS_server, g_neutral_corrective_shape
global g_smooth_pose
view = QApp.view()
cid = view.cameraIndex()
if cid != g_mode: # deal with changing modes
g_mode = cid
if g_mode == 0:
if g_md is not None: QApp.app.qtimeline.setRange(0, g_md['vmaxframe'])
elif g_mode == 1:
pose_splits = rbfn_pose_splits()
QApp.app.qtimeline.setRange(0, pose_splits[-1]-1)
new_frame = g_frame.get(g_mode,fi)
if new_frame != fi:
QApp.app.qtimeline.frame = new_frame
fi = new_frame
except Exception as e:
print 'exc setFrame',e
g_setting_frame = False
g_frame[g_mode] = fi
if not attrs['setting_neutral']: g_neutral_corrective_shape = 0
new_pose,new_shape,norm_shape,img,slider_names,slider_values,A = [track_view_cb,rbfn_view_cb][g_mode](fi,attrs)
mirror_scale = -1 if attrs['mirroring'] else 1
h,wm = img.shape[0]*0.5,img.shape[1]*0.5*mirror_scale
geo_vs = np.zeros((new_shape.shape[0],3), dtype=np.float32)
if attrs['debugging']: # display the stabilised data
geo_vs[:,:2] = norm_shape
geo_vs *= 200
geo_vs[:,:2] += np.int32(np.mean(new_shape, axis=0)/200)*200
else: # display the tracking data
geo_vs[:,:2] = new_shape
geo_mesh,image_mesh,bs_mesh = QApp.app.getLayers(['geo_mesh', 'image_mesh', 'bs_mesh'])
bs_mesh.visible = attrs['show_harpy']
if bs_mesh.visible:
global g_bs_vs, g_bs_shape_mat_T
bs_mesh.setVs(g_bs_vs + np.dot(g_bs_shape_mat_T, np.clip(slider_values[:-3],0,1)))
# compute the Harpy position
R = Calibrate.composeR(new_pose*[1,-1,-1])
if g_mode == 1: R = np.eye(3) # TODO
bs_ts = Calibrate.composeRT(R,[0,1720,0],0) # compensate for the offset of the Harpy (temples ~1720mm above origin)
scale = 1.0/np.linalg.norm(160.*A) # IPD (64mm) / 0.4 (ref_shape) = 160.
off = np.mean(new_shape[[0,16]],axis=0) # get the position of the temples (pixels)
g_smooth_pose[g_mode] = filter_data(np.float32([scale,off[0],off[1]]), g_smooth_pose.setdefault(g_mode,None), 10.0)
pose = g_smooth_pose[g_mode]
bs_ts[:3] *= pose[0]
bs_ts[:3,3] += [pose[1]-abs(wm),1000+pose[2]-h,0]
# offset screen-right 300mm
bs_ts[:3,3] += (pose[0]*attrs['harpy_xoffset'])*np.float32([np.cos(np.radians(view.camera.cameraRoll)),-np.sin(np.radians(view.camera.cameraRoll)),0.0])
bs_mesh.transforms[0] = bs_ts.T
geo_mesh.setVs(geo_vs)
geo_mesh.colour=[0 if attrs['streaming_TIS'] else 1,1 if attrs['streaming_TIS'] else 0,0,1]
geo_mesh.transforms[0][:,:3] = [[mirror_scale,0,0],[0,1,0],[0,0,1],[-wm,1000-h,0.1]]
image_mesh.setVs(np.float32([[-wm,-h,0],[wm,-h,0],[wm,h,0],[-wm,h,0]]))
image_mesh.setImage(img)
if attrs['unreal']:
if not attrs['streaming_TIS']: toggle_unreal()
ret, activeConnections = g_TIS_server.WriteAll(PyTISStream.getBlendshapeData(slider_names, slider_values))
if not ret:
print "Server is not Initialised"
State._setKey('/root/ui/attrs/streaming_TIS', False)
else:
# Turn off streaming
if attrs['streaming_TIS']: toggle_unreal()
QApp.app.updateGL()