From dd87370ff2818ee3c3d67ba104405b85ee44daba Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sun, 19 Oct 2014 16:08:46 +0200
Subject: decruft more

---
 facetracknoir/tracker.cpp | 187 ----------------------------------------------
 1 file changed, 187 deletions(-)
 delete mode 100644 facetracknoir/tracker.cpp

(limited to 'facetracknoir/tracker.cpp')

diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp
deleted file mode 100644
index 41db7c19..00000000
--- a/facetracknoir/tracker.cpp
+++ /dev/null
@@ -1,187 +0,0 @@
-/* Copyright (c) 2012-2013 Stanislaw Halik <sthalik@misaki.pl>
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- */
-
-/*
- * this file appeared originally in facetracknoir, was rewritten completely
- * following opentrack fork.
- *
- * originally written by Wim Vriend.
- */
-
-#include <opencv2/core/core.hpp>
-
-#include "./tracker.h"
-#include <cmath>
-#include <algorithm>
-
-#if defined(_WIN32)
-#   include <windows.h>
-#endif
-
-Tracker::Tracker(main_settings& s, Mappings &m, SelectedLibraries &libs) :
-    s(s),
-    m(m),
-    centerp(false),
-    enabledp(true),
-    should_quit(false),
-    libs(libs)
-{
-}
-
-Tracker::~Tracker()
-{
-    should_quit = true;
-    wait();
-}
-
-double Tracker::map(double pos, Mapping& axis) {
-    bool altp = (pos < 0) && axis.opts.altp;
-    axis.curve.setTrackingActive( !altp );
-    axis.curveAlt.setTrackingActive( altp );
-    auto& fc = altp ? axis.curveAlt : axis.curve;
-    double invert = axis.opts.invert ? -1 : 1;
-    return invert * (fc.getValue(pos) + axis.opts.zero);
-}
-
-static cv::Matx33d euler_to_rmat(const double* input)
-{
-    static constexpr double pi = 3.141592653;
-    const auto H = input[0] * pi / -180;
-    const auto P = input[1] * pi / -180;
-    const auto B = input[2] * pi / 180;
-
-    const auto cosH = cos(H);
-    const auto sinH = sin(H);
-    const auto cosP = cos(P);
-    const auto sinP = sin(P);
-    const auto cosB = cos(B);
-    const auto sinB = sin(B);
-
-    double foo[] = {
-        cosH * cosB - sinH * sinP * sinB,
-        - sinB * cosP,
-        sinH * cosB + cosH * sinP * sinB,
-        cosH * sinB + sinH * sinP * cosB,
-        cosB * cosP,
-        sinB * sinH - cosH * sinP * cosB,
-        - sinH * cosP,
-        - sinP,
-        cosH * cosP,
-    };
-
-    return cv::Matx33d(foo);    
-}
-
-void Tracker::t_compensate(const double* input, double* output, bool rz)
-{
-    const cv::Matx33d rmat = euler_to_rmat(&input[Yaw]);
-    const cv::Vec3d tvec(input);
-    const cv::Vec3d ret = rmat * tvec;
-
-    const int max = !rz ? 3 : 2;
-
-    for (int i = 0; i < max; i++)
-        output[i] = ret(i);
-}
-
-void Tracker::logic()
-{
-    libs.pTracker->data(newpose);
-    
-    Pose final_raw;
-
-    if (enabledp)
-    {
-        for (int i = 0; i < 6; i++)
-        {
-            auto& axis = m(i);
-            int k = axis.opts.src;
-            if (k < 0 || k >= 6)
-            {
-                final_raw(i) = 0;
-                continue;
-            }
-            // not really raw, after axis remap -sh
-            final_raw(i) = newpose[k];
-        }
-        unstopped_raw = final_raw;
-    }
-    
-    Pose filtered_pose;
-    
-    if (libs.pFilter)
-        libs.pFilter->filter(final_raw, filtered_pose);
-    else
-        filtered_pose = final_raw;
-    
-    if (centerp)
-    {
-        centerp = false;
-        raw_center = final_raw;
-    }
-    
-    Pose raw_centered = filtered_pose & raw_center;
-    
-    Pose mapped_pose_precomp;
-    
-    for (int i = 0; i < 6; i++)
-        mapped_pose_precomp(i) = map(raw_centered(i), m(i));
-    
-    Pose mapped_pose;
-    
-    mapped_pose = mapped_pose_precomp;
-    if (s.tcomp_p)
-        t_compensate(mapped_pose_precomp, mapped_pose, s.tcomp_tz);
-
-    libs.pProtocol->pose(mapped_pose);
-
-    {
-        QMutexLocker foo(&mtx);
-        output_pose = mapped_pose;
-        raw_6dof = unstopped_raw;
-    }
-}
-
-void Tracker::run() {
-    const int sleep_ms = 3;
-
-#if defined(_WIN32)
-    (void) timeBeginPeriod(1);
-#endif
-
-    while (!should_quit)
-    {
-        t.start();
-
-        logic();
-
-        double q = sleep_ms * 1000L;
-        q -= t.elapsed();
-        q = std::max(0., q);
-        usleep((long)q);
-    }
-
-#if defined(_WIN32)
-    (void) timeEndPeriod(1);
-#endif
-
-    for (int i = 0; i < 6; i++)
-    {
-        m(i).curve.setTrackingActive(false);
-        m(i).curveAlt.setTrackingActive(false);
-    }
-}
-
-void Tracker::get_raw_and_mapped_poses(double* mapped, double* raw) const {
-    QMutexLocker foo(&const_cast<Tracker&>(*this).mtx);
-    for (int i = 0; i < 6; i++)
-    {
-        raw[i] = raw_6dof(i);
-        mapped[i] = output_pose(i);
-    }
-}
-
-- 
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