From 9edc4683ecd75d4705aca13217779e3c1a721913 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Thu, 27 Jun 2013 16:06:34 +0200 Subject: Rename R[XYZ] to Yaw, Pitch, Roll to avoid confusion Requested-by: mm0zct --- facetracknoir/facetracknoir.cpp | 18 ++++++++-------- facetracknoir/facetracknoir.h | 6 +++--- facetracknoir/tracker.h | 6 +++--- facetracknoir/tracker_types.cpp | 24 +++++++++++----------- ftnoir_protocol_fg/ftnoir_protocol_fg.cpp | 6 +++--- ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp | 6 +++--- ftnoir_protocol_ft/ftnoir_protocol_ft.cpp | 12 +++++------ ftnoir_protocol_mouse/ftnoir_protocol_mouse.h | 6 +++--- ftnoir_protocol_sc/ftnoir_protocol_sc.cpp | 6 +++--- ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.cpp | 6 +++--- ftnoir_tracker_base/ftnoir_tracker_types.h | 2 +- .../ftnoir_tracker_hillcrest.cpp | 6 +++--- ftnoir_tracker_ht/ftnoir_tracker_ht.cpp | 8 ++++---- ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 6 +++--- ftnoir_tracker_rift/ftnoir_tracker_rift.cpp | 12 +++++------ ftnoir_tracker_sm/ftnoir_tracker_faceapi.cpp | 6 +++--- ftnoir_tracker_udp/ftnoir_tracker_udp.cpp | 6 +++--- 17 files changed, 71 insertions(+), 71 deletions(-) diff --git a/facetracknoir/facetracknoir.cpp b/facetracknoir/facetracknoir.cpp index 94a5257d..fafef908 100644 --- a/facetracknoir/facetracknoir.cpp +++ b/facetracknoir/facetracknoir.cpp @@ -681,9 +681,9 @@ void FaceTrackNoIR::startTracker( ) { // Setup the Tracker and send the settings. // This is necessary, because the events are only triggered 'on change' // - tracker->setInvertAxis(RX, ui.chkInvertYaw->isChecked() ); + tracker->setInvertAxis(Yaw, ui.chkInvertYaw->isChecked() ); tracker->setInvertAxis(TY, ui.chkInvertPitch->isChecked() ); - tracker->setInvertAxis(RZ, ui.chkInvertRoll->isChecked() ); + tracker->setInvertAxis(Roll, ui.chkInvertRoll->isChecked() ); tracker->setInvertAxis(TX, ui.chkInvertX->isChecked() ); tracker->setInvertAxis(TY, ui.chkInvertY->isChecked() ); tracker->setInvertAxis(TZ, ui.chkInvertZ->isChecked() ); @@ -849,9 +849,9 @@ void FaceTrackNoIR::showHeadPose() { ui.lcdNumY->display(QString("%1").arg(newdata[TY], 0, 'f', 1)); ui.lcdNumZ->display(QString("%1").arg(newdata[TZ], 0, 'f', 1)); - ui.lcdNumRotX->display(QString("%1").arg(newdata[RX], 0, 'f', 1)); - ui.lcdNumRotY->display(QString("%1").arg(newdata[RY], 0, 'f', 1)); - ui.lcdNumRotZ->display(QString("%1").arg(newdata[RZ], 0, 'f', 1)); + ui.lcdNumRotX->display(QString("%1").arg(newdata[Yaw], 0, 'f', 1)); + ui.lcdNumRotY->display(QString("%1").arg(newdata[Pitch], 0, 'f', 1)); + ui.lcdNumRotZ->display(QString("%1").arg(newdata[Roll], 0, 'f', 1)); ui.txtTracking->setVisible(tracker->getTrackingActive()); @@ -859,15 +859,15 @@ void FaceTrackNoIR::showHeadPose() { // Get the output-pose and also display it. // tracker->getOutputHeadPose(newdata); - ui.pose_display->rotateBy(newdata[RX], newdata[RZ], newdata[RY]); + ui.pose_display->rotateBy(newdata[Yaw], newdata[Roll], newdata[Pitch]); ui.lcdNumOutputPosX->display(QString("%1").arg(newdata[TX], 0, 'f', 1)); ui.lcdNumOutputPosY->display(QString("%1").arg(newdata[TY], 0, 'f', 1)); ui.lcdNumOutputPosZ->display(QString("%1").arg(newdata[TZ], 0, 'f', 1)); - ui.lcdNumOutputRotX->display(QString("%1").arg(newdata[RX], 0, 'f', 1)); - ui.lcdNumOutputRotY->display(QString("%1").arg(newdata[RY], 0, 'f', 1)); - ui.lcdNumOutputRotZ->display(QString("%1").arg(newdata[RZ], 0, 'f', 1)); + ui.lcdNumOutputRotX->display(QString("%1").arg(newdata[Yaw], 0, 'f', 1)); + ui.lcdNumOutputRotY->display(QString("%1").arg(newdata[Pitch], 0, 'f', 1)); + ui.lcdNumOutputRotZ->display(QString("%1").arg(newdata[Roll], 0, 'f', 1)); // // Update the curves in the curve-configurator. This shows the ball with the red lines. diff --git a/facetracknoir/facetracknoir.h b/facetracknoir/facetracknoir.h index ece1d9b9..fd9c06a7 100644 --- a/facetracknoir/facetracknoir.h +++ b/facetracknoir/facetracknoir.h @@ -186,13 +186,13 @@ private: void setInvertAxis( Axis axis, int invert ); void setInvertYaw(int invert) { - setInvertAxis(RX, invert); + setInvertAxis(Yaw, invert); } void setInvertPitch(int invert) { - setInvertAxis(RY, invert); + setInvertAxis(Pitch, invert); } void setInvertRoll(int invert) { - setInvertAxis(RZ, invert); + setInvertAxis(Roll, invert); } void setInvertX(int invert) { setInvertAxis(TX, invert); diff --git a/facetracknoir/tracker.h b/facetracknoir/tracker.h index 89fb2650..5500993c 100644 --- a/facetracknoir/tracker.h +++ b/facetracknoir/tracker.h @@ -142,9 +142,9 @@ public: axes[TX] = new THeadPoseDOF("tx","tx_alt", 100, 100, 100, 100); axes[TY] = new THeadPoseDOF("ty","ty_alt", 100, 100, 100, 100); axes[TZ] = new THeadPoseDOF("tz","tz_alt", 100, 100, 100, 100); - axes[RX] = new THeadPoseDOF("rx", "rx_alt", 180, 180, 180, 180); - axes[RY] = new THeadPoseDOF("ry", "ry_alt", 90, 90, 90, 90); - axes[RZ] = new THeadPoseDOF("rz", "rz_alt", 180, 180, 180, 180); + axes[Yaw] = new THeadPoseDOF("rx", "rx_alt", 180, 180, 180, 180); + axes[Pitch] = new THeadPoseDOF("ry", "ry_alt", 90, 90, 90, 90); + axes[Roll] = new THeadPoseDOF("rz", "rz_alt", 180, 180, 180, 180); } }; diff --git a/facetracknoir/tracker_types.cpp b/facetracknoir/tracker_types.cpp index eedd94f9..11adc985 100644 --- a/facetracknoir/tracker_types.cpp +++ b/facetracknoir/tracker_types.cpp @@ -7,15 +7,15 @@ T6DOF operator-(const T6DOF& A, const T6DOF& B) { - Rotation R_A(A.axes[RX]*D2R, A.axes[RY]*D2R, A.axes[RZ]*D2R); - Rotation R_B(B.axes[RX]*D2R, B.axes[RY]*D2R, B.axes[RZ]*D2R); + Rotation R_A(A.axes[Yaw]*D2R, A.axes[Pitch]*D2R, A.axes[Roll]*D2R); + Rotation R_B(B.axes[Yaw]*D2R, B.axes[Pitch]*D2R, B.axes[Roll]*D2R); Rotation R_C = R_A * R_B.inv(); T6DOF C; - R_C.toEuler(C.axes[RX], C.axes[RY], C.axes[RZ]); - C.axes[RX] *= R2D; - C.axes[RY] *= R2D; - C.axes[RZ] *= R2D; + R_C.toEuler(C.axes[Yaw], C.axes[Pitch], C.axes[Roll]); + C.axes[Yaw] *= R2D; + C.axes[Pitch] *= R2D; + C.axes[Roll] *= R2D; C.axes[TX] = A.axes[TX] - B.axes[TX]; C.axes[TY] = A.axes[TY] - B.axes[TY]; @@ -26,15 +26,15 @@ T6DOF operator-(const T6DOF& A, const T6DOF& B) T6DOF operator+(const T6DOF& A, const T6DOF& B) { - Rotation R_A(A.axes[RX]*D2R, A.axes[RY]*D2R, A.axes[RZ]*D2R); - Rotation R_B(B.axes[RX]*D2R, B.axes[RY]*D2R, B.axes[RZ]*D2R); + Rotation R_A(A.axes[Yaw]*D2R, A.axes[Pitch]*D2R, A.axes[Roll]*D2R); + Rotation R_B(B.axes[Yaw]*D2R, B.axes[Pitch]*D2R, B.axes[Roll]*D2R); Rotation R_C = R_A * R_B; T6DOF C; - R_C.toEuler(C.axes[RX], C.axes[RY], C.axes[RZ]); - C.axes[RX] *= R2D; - C.axes[RY] *= R2D; - C.axes[RZ] *= R2D; + R_C.toEuler(C.axes[Yaw], C.axes[Pitch], C.axes[Roll]); + C.axes[Yaw] *= R2D; + C.axes[Pitch] *= R2D; + C.axes[Roll] *= R2D; C.axes[TX] = A.axes[TX] + B.axes[TX]; C.axes[TY] = A.axes[TY] + B.axes[TY]; diff --git a/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp b/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp index bbeac489..7b43e306 100644 --- a/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp +++ b/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp @@ -98,11 +98,11 @@ quint16 senderPort; // Copy the Raw measurements directly to the client. // FlightData.x = headpose[TX]; - FlightData.y = headpose[RY]; + FlightData.y = headpose[Pitch]; FlightData.z = headpose[TZ]; FlightData.p = headpose[TY]; - FlightData.h = headpose[RX]; - FlightData.r = headpose[RZ]; + FlightData.h = headpose[Yaw]; + FlightData.r = headpose[Roll]; FlightData.status = fg_cmd; // diff --git a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp index 418003c0..e457d363 100644 --- a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp +++ b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp @@ -110,9 +110,9 @@ float virtRotZ; // qDebug() << "FSUIPCServer::run() says: started!"; - virtRotX = -headpose[RY]; // degrees - virtRotY = headpose[RX]; - virtRotZ = headpose[RZ]; + virtRotX = -headpose[Pitch]; // degrees + virtRotY = headpose[Yaw]; + virtRotZ = headpose[Roll]; virtPosX = 0.0f; // cm, X and Y are not working for FS2002/2004! virtPosY = 0.0f; diff --git a/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp b/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp index 3108f0d7..1ee8b49e 100644 --- a/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp +++ b/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp @@ -129,16 +129,16 @@ float headRotZ; // // Scale the Raw measurements to the client measurements. // - headRotX = getRadsFromDegrees(headpose[RY]); - headRotY = getRadsFromDegrees(headpose[RX]); - headRotZ = getRadsFromDegrees(headpose[RZ]); + headRotX = getRadsFromDegrees(headpose[Pitch]); + headRotY = getRadsFromDegrees(headpose[Yaw]); + headRotZ = getRadsFromDegrees(headpose[Roll]); headPosX = headpose[TX] * 10; headPosY = headpose[TY] * 10; headPosZ = headpose[TZ] * 10; - virtRotX = getRadsFromDegrees(headpose[RY]); - virtRotY = getRadsFromDegrees(headpose[RX]); - virtRotZ = getRadsFromDegrees(headpose[RZ]); + virtRotX = getRadsFromDegrees(headpose[Pitch]); + virtRotY = getRadsFromDegrees(headpose[Yaw]); + virtRotZ = getRadsFromDegrees(headpose[Roll]); virtPosX = headpose[TX] * 10; virtPosY = headpose[TY] * 10; virtPosZ = headpose[TZ] * 10; diff --git a/ftnoir_protocol_mouse/ftnoir_protocol_mouse.h b/ftnoir_protocol_mouse/ftnoir_protocol_mouse.h index 14719540..fd0058ea 100644 --- a/ftnoir_protocol_mouse/ftnoir_protocol_mouse.h +++ b/ftnoir_protocol_mouse/ftnoir_protocol_mouse.h @@ -46,9 +46,9 @@ #define MOUSE_AXIS_MAX 65535 enum FTN_AngleName { - FTN_YAW = RX, - FTN_PITCH = RY, - FTN_ROLL = RZ, + FTN_YAW = Yaw, + FTN_PITCH = Pitch, + FTN_ROLL = Roll, FTN_X = TX, FTN_Y = TY, FTN_Z = TZ diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp b/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp index ba4c9012..3cc25be4 100644 --- a/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp +++ b/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp @@ -90,9 +90,9 @@ void FTNoIR_Protocol::sendHeadposeToGame( double *headpose, double *rawheadpose PDWORD_PTR MsgResult = 0; - virtSCRotX = -headpose[RY]; // degrees - virtSCRotY = -headpose[RX]; - virtSCRotZ = headpose[RZ]; + virtSCRotX = -headpose[Pitch]; // degrees + virtSCRotY = -headpose[Yaw]; + virtSCRotZ = headpose[Roll]; virtSCPosX = headpose[TX]/100.f; // cm to meters virtSCPosY = headpose[TY]/100.f; diff --git a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.cpp b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.cpp index f4495e10..50a7bf97 100644 --- a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.cpp +++ b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.cpp @@ -17,9 +17,9 @@ FTNoIR_Protocol::~FTNoIR_Protocol() void FTNoIR_Protocol::sendHeadposeToGame( double *headpose, double *rawheadpose ) { JOYSTICK_STATE state[2] = { 0 }; - state[0].XAxis = std::min(VJOY_AXIS_MAX, std::max(VJOY_AXIS_MIN, headpose[RX] * VJOY_AXIS_MAX / 180.0)); - state[0].YAxis = std::min(VJOY_AXIS_MAX, std::max(VJOY_AXIS_MIN, headpose[RY] * VJOY_AXIS_MAX / 180.0)); - state[0].ZAxis = std::min(VJOY_AXIS_MAX, std::max(VJOY_AXIS_MIN, headpose[RZ] * VJOY_AXIS_MAX / 180.0)); + state[0].XAxis = std::min(VJOY_AXIS_MAX, std::max(VJOY_AXIS_MIN, headpose[Yaw] * VJOY_AXIS_MAX / 180.0)); + state[0].YAxis = std::min(VJOY_AXIS_MAX, std::max(VJOY_AXIS_MIN, headpose[Pitch] * VJOY_AXIS_MAX / 180.0)); + state[0].ZAxis = std::min(VJOY_AXIS_MAX, std::max(VJOY_AXIS_MIN, headpose[Roll] * VJOY_AXIS_MAX / 180.0)); state[0].XRotation = std::min(VJOY_AXIS_MAX, std::max(VJOY_AXIS_MIN, headpose[TX] * VJOY_AXIS_MAX / 100.0)); state[0].YRotation = std::min(VJOY_AXIS_MAX, std::max(VJOY_AXIS_MIN, headpose[TY] * VJOY_AXIS_MAX / 100.0)); state[0].ZRotation = std::min(VJOY_AXIS_MAX, std::max(VJOY_AXIS_MIN, headpose[TZ] * VJOY_AXIS_MAX / 100.0)); diff --git a/ftnoir_tracker_base/ftnoir_tracker_types.h b/ftnoir_tracker_base/ftnoir_tracker_types.h index d2981701..583d508b 100644 --- a/ftnoir_tracker_base/ftnoir_tracker_types.h +++ b/ftnoir_tracker_base/ftnoir_tracker_types.h @@ -31,7 +31,7 @@ #define FTNOIR_TRACKER_TYPES_H enum Axis { - TX = 0, TY, TZ, RX, RY, RZ + TX = 0, TY, TZ, Yaw, Pitch, Roll }; #endif // FTNOIR_TRACKER_TYPES_H diff --git a/ftnoir_tracker_hillcrest/ftnoir_tracker_hillcrest.cpp b/ftnoir_tracker_hillcrest/ftnoir_tracker_hillcrest.cpp index f2dd1fd7..e6c3bbf2 100644 --- a/ftnoir_tracker_hillcrest/ftnoir_tracker_hillcrest.cpp +++ b/ftnoir_tracker_hillcrest/ftnoir_tracker_hillcrest.cpp @@ -213,11 +213,11 @@ bool FTNoIR_Tracker::GiveHeadPoseData(double *data) freespace_perform(); body = cachedBodyFrame; if (bEnableYaw) - data[RX] = body.angularVelZ * TO_DEG; + data[Yaw] = body.angularVelZ * TO_DEG; if (bEnablePitch) - data[RY] = body.angularVelY * TO_DEG; + data[Pitch] = body.angularVelY * TO_DEG; if (bEnableRoll) - data[RZ] = body.angularVelX * TO_DEG; + data[Roll] = body.angularVelX * TO_DEG; } return device != -1; } diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp index 63c1eadd..29738dd2 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp @@ -109,7 +109,7 @@ static void load_settings(ht_config_t* config, Tracker* tracker) config->pyrlk_pyramids = 3; config->pyrlk_win_size_w = config->pyrlk_win_size_h = 21; config->max_keypoints = 200; - config->keypoint_distance = 5; + config->keypoint_distance = 4.5; //config->force_width = 640; //config->force_height = 480; config->force_fps = iniFile.value("fps", 0).toInt(); @@ -215,12 +215,12 @@ bool Tracker::GiveHeadPoseData(double *data) } if (shm->result.filled) { if (enableRX) - data[RX] = shm->result.rotx; + data[Yaw] = shm->result.rotx; if (enableRY) { - data[RY] = shm->result.roty; + data[Pitch] = shm->result.roty; } if (enableRZ) { - data[RZ] = shm->result.rotz; + data[Roll] = shm->result.rotz; } if (enableTX) data[TX] = shm->result.tx; diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index ddf91c59..99b2f680 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -240,13 +240,13 @@ bool Tracker::GiveHeadPoseData(double *data) gamma = atan2( R(2,1), R(2,2)); if (bEnableYaw) { - data[RX] = rad2deg * alpha; + data[Yaw] = rad2deg * alpha; } if (bEnablePitch) { - data[RY] = rad2deg * beta; + data[Pitch] = rad2deg * beta; } if (bEnableRoll) { - data[RZ] = rad2deg * gamma; + data[Roll] = rad2deg * gamma; } } return true; diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp index 9e985444..0e023bde 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp @@ -73,9 +73,9 @@ bool Rift_Tracker::GiveHeadPoseData(double *data) float pitch = 0.0f; float roll = 0.0f; hmdOrient.GetEulerAngles(&yaw, &pitch , &roll); - newHeadPose[RY] =pitch; - newHeadPose[RZ] = roll; - newHeadPose[RX] = yaw; + newHeadPose[Pitch] =pitch; + newHeadPose[Roll] = roll; + newHeadPose[Yaw] = yaw; #if 0 if (bEnableX) { data[TX] = newHeadPose[TX]; @@ -88,13 +88,13 @@ bool Rift_Tracker::GiveHeadPoseData(double *data) } #endif if (bEnableYaw) { - data[RX] = newHeadPose[RX] * 57.295781f; + data[Yaw] = newHeadPose[Yaw] * 57.295781f; } if (bEnablePitch) { - data[RY] = newHeadPose[RY] * 57.295781f; + data[Pitch] = newHeadPose[Pitch] * 57.295781f; } if (bEnableRoll) { - data[RZ] = newHeadPose[RZ] * 57.295781f; + data[Roll] = newHeadPose[Roll] * 57.295781f; } } return pHMD.GetPtr() != NULL; diff --git a/ftnoir_tracker_sm/ftnoir_tracker_faceapi.cpp b/ftnoir_tracker_sm/ftnoir_tracker_faceapi.cpp index b50f4916..74e1d3d2 100644 --- a/ftnoir_tracker_sm/ftnoir_tracker_faceapi.cpp +++ b/ftnoir_tracker_sm/ftnoir_tracker_faceapi.cpp @@ -112,13 +112,13 @@ bool FTNoIR_Tracker::GiveHeadPoseData(double *data) data[TZ] = pMemData->data.new_pose.head_pos.z * 100.0f; } if (bEnableYaw) { - data[RX] = pMemData->data.new_pose.head_rot.y_rads * 57.295781f; // From rads to degrees + data[Yaw] = pMemData->data.new_pose.head_rot.y_rads * 57.295781f; // From rads to degrees } if (bEnablePitch) { - data[RY] = pMemData->data.new_pose.head_rot.x_rads * 57.295781f; + data[Pitch] = pMemData->data.new_pose.head_rot.x_rads * 57.295781f; } if (bEnableRoll) { - data[RZ] = pMemData->data.new_pose.head_rot.z_rads * 57.295781f; + data[Roll] = pMemData->data.new_pose.head_rot.z_rads * 57.295781f; } // diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp index e62a54cc..83f518fa 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp @@ -121,13 +121,13 @@ bool FTNoIR_Tracker::GiveHeadPoseData(double *data) data[TZ] = newHeadPose[TZ]; } if (bEnableYaw) { - data[RX] = newHeadPose[RX]; + data[Yaw] = newHeadPose[Yaw]; } if (bEnablePitch) { - data[RY] = newHeadPose[RY]; + data[Pitch] = newHeadPose[Pitch]; } if (bEnableRoll) { - data[RZ] = newHeadPose[RZ]; + data[Roll] = newHeadPose[Roll]; } mutex.unlock(); return true; -- cgit v1.2.3