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-rw-r--r--FaceTrackNoIR/tracker.cpp224
1 files changed, 36 insertions, 188 deletions
diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp
index 49417733..2d4c5917 100644
--- a/FaceTrackNoIR/tracker.cpp
+++ b/FaceTrackNoIR/tracker.cpp
@@ -91,12 +91,12 @@ T6DOF Tracker::target_camera(0,0,0,0,0,0);
T6DOF Tracker::new_camera(0,0,0,0,0,0);
T6DOF Tracker::output_camera(0,0,0,0,0,0); // Position sent to game protocol
-THeadPoseDOF Tracker::Pitch; // One structure for each of 6DOF's
-THeadPoseDOF Tracker::Yaw;
-THeadPoseDOF Tracker::Roll;
-THeadPoseDOF Tracker::X;
-THeadPoseDOF Tracker::Y;
-THeadPoseDOF Tracker::Z;
+THeadPoseDOF Tracker::Pitch("PitchUp", "PitchDown"); // One structure for each of 6DOF's
+THeadPoseDOF Tracker::Yaw("Yaw", "");
+THeadPoseDOF Tracker::Roll("Roll", "");
+THeadPoseDOF Tracker::X("X","");
+THeadPoseDOF Tracker::Y("Y","");
+THeadPoseDOF Tracker::Z("Z","");
TShortKey Tracker::CenterKey; // ShortKey to Center headposition
TShortKey Tracker::StartStopKey; // ShortKey to Start/stop tracking
@@ -234,6 +234,12 @@ Tracker::~Tracker() {
::WaitForSingleObject(m_WaitThread, INFINITE);
}
+ //
+ // Remove the Tracker
+ // 20120615, WVR: As suggested by Stanislaw
+ if (pTracker)
+ pTracker.Release();
+
// Close handles
::CloseHandle(m_StopThread);
::CloseHandle(m_WaitThread);
@@ -516,12 +522,23 @@ T6DOF gameoutput_camera(0,0,0,0,0,0);
new_camera.position.yaw = getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos;
new_camera.position.roll = getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos;
}
- output_camera.position.x = X.invert * getOutputFromCurve(&X.curve, new_camera.position.x, X.NeutralZone, X.MaxInput);
- output_camera.position.y = Y.invert * getOutputFromCurve(&Y.curve, new_camera.position.y, Y.NeutralZone, Y.MaxInput);
- output_camera.position.z = Z.invert * getOutputFromCurve(&Z.curve, new_camera.position.z, Z.NeutralZone, Z.MaxInput);
- output_camera.position.pitch = Pitch.invert * getOutputFromCurve(&Pitch.curve, new_camera.position.pitch, Pitch.NeutralZone, Pitch.MaxInput);
- output_camera.position.yaw = Yaw.invert * getOutputFromCurve(&Yaw.curve, new_camera.position.yaw, Yaw.NeutralZone, Yaw.MaxInput);
- output_camera.position.roll = Roll.invert * getOutputFromCurve(&Roll.curve, new_camera.position.roll, Roll.NeutralZone, Roll.MaxInput);
+ output_camera.position.x = X.invert * X.curvePtr->getValue(new_camera.position.x);
+ output_camera.position.y = Y.invert * Y.curvePtr->getValue(new_camera.position.y);
+ output_camera.position.z = Z.invert * Z.curvePtr->getValue(new_camera.position.z);
+ int altp = new_camera.position.pitch < 0;
+ output_camera.position.pitch = Pitch.invert * (altp ? Pitch.curvePtrAlt : Pitch.curvePtr)->getValue(new_camera.position.pitch);
+ ///output_camera.position.pitch = Pitch.invert * Pitch.curvePtr->getValue(new_camera.position.pitch);
+ output_camera.position.yaw = Yaw.invert * Yaw.curvePtr->getValue(new_camera.position.yaw);
+ output_camera.position.roll = Roll.invert * Roll.curvePtr->getValue(new_camera.position.roll);
+
+
+ X.curvePtr->setTrackingActive( true );
+ Y.curvePtr->setTrackingActive( true );
+ Z.curvePtr->setTrackingActive( true );
+ Yaw.curvePtr->setTrackingActive( true );
+ Pitch.curvePtr->setTrackingActive( true );
+ Pitch.curvePtrAlt->setTrackingActive( true );
+ Roll.curvePtr->setTrackingActive( true );
//
// Reverse Axis.
@@ -583,6 +600,13 @@ T6DOF gameoutput_camera(0,0,0,0,0,0);
gameoutput_camera = output_camera + gamezero_camera;
pProtocol->sendHeadposeToGame( &gameoutput_camera ); // degrees & centimeters
}
+ X.curvePtr->setTrackingActive( false );
+ Y.curvePtr->setTrackingActive( false );
+ Z.curvePtr->setTrackingActive( false );
+ Yaw.curvePtr->setTrackingActive( false );
+ Pitch.curvePtr->setTrackingActive( false );
+ Pitch.curvePtrAlt->setTrackingActive( false );
+ Roll.curvePtr->setTrackingActive( false );
}
}
@@ -732,111 +756,12 @@ float sum = 0;
}
//
-// Correct the Raw value, with the Neutral Zone supplied
-//
-//float Tracker::getCorrectedNewRaw ( float NewRaw, float rotNeutral ) {
-//
-// //
-// // Return 0, if NewRaw is within the Neutral Zone
-// //
-// if ( fabs( NewRaw ) < rotNeutral ) {
-// return 0.0f;
-// }
-//
-// //
-// // NewRaw is outside the zone.
-// // Substract rotNeutral from the NewRaw
-// //
-// if ( NewRaw > 0.0f ) {
-// return (NewRaw - rotNeutral);
-// }
-// else {
-// return (NewRaw + rotNeutral); // Makes sense?
-// }
-//
-//}
-
-//
-// Implementation of an Exponentially Weighted Moving Average, used to serve as a low-pass filter.
-// The code was adopted from Melchior Franz, who created it for FlightGear (aircraft.nas).
-//
-// The function takes the new value, the delta-time (sec) and a weighing coefficient (>0 and <1)
-// All previous values are taken into account, the weight of this is determined by 'coeff'.
-//
-//float Tracker::lowPassFilter ( float newvalue, float *oldvalue, float dt, float coeff) {
-//float c = 0.0f;
-//float fil = 0.0f;
-//
-// c = dt / (coeff + dt);
-// fil = (newvalue * c) + (*oldvalue * (1 - c));
-// *oldvalue = fil;
-//
-// return fil;
-//}
-
-//
-// Implementation of a Rate Limiter, used to eliminate spikes in the raw data.
-//
-// The function takes the new value, the delta-time (sec) and the positive max. slew-rate (engineering units/sec)
-//
-//float Tracker::rateLimiter ( float newvalue, float *oldvalue, float dt, float max_rate) {
-//float rate = 0.0f;
-//float clamped_value = 0.0f;
-//
-// rate = (newvalue - *oldvalue) / dt;
-// clamped_value = newvalue; // If all is well, the newvalue is returned
-//
-// //
-// // One max-rate is used for ramp-up and ramp-down
-// // If the rate exceeds max_rate, return the maximum value that the max_rate allows
-// //
-// if (fabs(rate) > max_rate) {
-// //
-// // For ramp-down, apply a factor -1 to the max_rate
-// //
-// if (rate < 0.0f) {
-// clamped_value = (-1.0f * dt * max_rate) + *oldvalue;
-// }
-// else {
-// clamped_value = (dt * max_rate) + *oldvalue;
-// }
-// }
-// *oldvalue = clamped_value;
-//
-// return clamped_value;
-//}
-
-//
-// Get the output from the curve.
-//
-float Tracker::getOutputFromCurve ( QPainterPath *curve, float input, float neutralzone, float maxinput ) {
-float sign;
-
- sign = 1.0f;
- if (input < 0.0f) {
- sign = -1.0f;
- }
-
- //
- // Always return 0 inside the NeutralZone
- // Always return max. when input larger than expected
- //
- if (fabs(input) > maxinput) return sign * curve->pointAtPercent(1.0).x();
-
- //
- // Return the value, derived from the Bezier-curve
- //
- return sign * curve->pointAtPercent((fabs(input))/maxinput).x();
-}
-
-//
// Load the current Settings from the currently 'active' INI-file.
//
void Tracker::loadSettings() {
int NeutralZone;
int sensYaw, sensPitch, sensRoll;
int sensX, sensY, sensZ;
-QPointF point1, point2, point3, point4;
qDebug() << "Tracker::loadSettings says: Starting ";
QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER)
@@ -860,83 +785,6 @@ QPointF point1, point2, point3, point4;
iniFile.endGroup ();
//
- // Read the curve-settings from the file. Use the (deprecated) settings, if the curves are not there.
- //
- iniFile.beginGroup ( "Curves" );
-
- //
- // Create a new path and assign it to the curve.
- //
- getCurvePoints( &iniFile, "Yaw_", &point1, &point2, &point3, &point4, NeutralZone, sensYaw, 50, 180 );
- QPainterPath newYawCurve;
- newYawCurve.moveTo( QPointF(0,0) );
- newYawCurve.lineTo( point1 );
- newYawCurve.cubicTo(point2, point3, point4);
-
- Yaw.NeutralZone = point1.y(); // Get the Neutral Zone
- Yaw.MaxInput = point4.y(); // Get Maximum Input
- Yaw.curve = newYawCurve;
-
- qDebug() << "loadSettings says: curve-elementcount = " << Yaw.curve.elementCount();
-
- // Pitch
- getCurvePoints( &iniFile, "Pitch_", &point1, &point2, &point3, &point4, NeutralZone, sensPitch, 50, 180 );
- QPainterPath newPitchCurve;
- newPitchCurve.moveTo( QPointF(0,0) );
- newPitchCurve.lineTo( point1 );
- newPitchCurve.cubicTo(point2, point3, point4);
-
- Pitch.NeutralZone = point1.y(); // Get the Neutral Zone
- Pitch.MaxInput = point4.y(); // Get Maximum Input
- Pitch.curve = newPitchCurve;
-
- // Roll
- getCurvePoints( &iniFile, "Roll_", &point1, &point2, &point3, &point4, NeutralZone, sensRoll, 50, 180 );
- QPainterPath newRollCurve;
- newRollCurve.moveTo( QPointF(0,0) );
- newRollCurve.lineTo( point1 );
- newRollCurve.cubicTo(point2, point3, point4);
-
- Roll.NeutralZone = point1.y(); // Get the Neutral Zone
- Roll.MaxInput = point4.y(); // Get Maximum Input
- Roll.curve = newRollCurve;
-
- // X
- getCurvePoints( &iniFile, "X_", &point1, &point2, &point3, &point4, NeutralZone, sensX, 50, 180 );
- QPainterPath newXCurve;
- newXCurve.moveTo( QPointF(0,0) );
- newXCurve.lineTo( point1 );
- newXCurve.cubicTo(point2, point3, point4);
-
- X.NeutralZone = point1.y(); // Get the Neutral Zone
- X.MaxInput = point4.y(); // Get Maximum Input
- X.curve = newXCurve;
-
- // Y
- getCurvePoints( &iniFile, "Y_", &point1, &point2, &point3, &point4, NeutralZone, sensY, 50, 180 );
- QPainterPath newYCurve;
- newYCurve.moveTo( QPointF(0,0) );
- newYCurve.lineTo( point1 );
- newYCurve.cubicTo(point2, point3, point4);
-
- Y.NeutralZone = point1.y(); // Get the Neutral Zone
- Y.MaxInput = point4.y(); // Get Maximum Input
- Y.curve = newYCurve;
-
- // Z
- getCurvePoints( &iniFile, "Z_", &point1, &point2, &point3, &point4, NeutralZone, sensZ, 50, 180 );
- QPainterPath newZCurve;
- newZCurve.moveTo( QPointF(0,0) );
- newZCurve.lineTo( point1 );
- newZCurve.cubicTo(point2, point3, point4);
-
- Z.NeutralZone = point1.y(); // Get the Neutral Zone
- Z.MaxInput = point4.y(); // Get Maximum Input
- Z.curve = newZCurve;
-
- iniFile.endGroup ();
-
- //
// Read the keyboard shortcuts.
//
iniFile.beginGroup ( "KB_Shortcuts" );
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